/* vector functions */\r
static inline vec3_t v3_cons(float x, float y, float z)\r
{\r
- vec3_t res;\r
- res.x = x;\r
- res.y = y;\r
- res.z = z;\r
- return res;\r
+ vec3_t res;\r
+ res.x = x;\r
+ res.y = y;\r
+ res.z = z;\r
+ return res;\r
}\r
\r
static inline vec3_t quat_vec(quat_t q)\r
{\r
- vec3_t v;\r
- v.x = q.x;\r
- v.y = q.y;\r
- v.z = q.z;\r
- return v;\r
+ vec3_t v;\r
+ v.x = q.x;\r
+ v.y = q.y;\r
+ v.z = q.z;\r
+ return v;\r
}\r
\r
static inline float v3_dot(vec3_t v1, vec3_t v2)\r
{\r
- return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;\r
+ return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;\r
}\r
\r
/* quaternion functions */\r
static inline quat_t quat_cons(float s, float x, float y, float z)\r
{\r
- quat_t q;\r
- q.x = x;\r
- q.y = y;\r
- q.z = z;\r
- q.w = s;\r
- return q;\r
+ quat_t q;\r
+ q.x = x;\r
+ q.y = y;\r
+ q.z = z;\r
+ q.w = s;\r
+ return q;\r
}\r
\r
static inline quat_t quat_mul(quat_t q1, quat_t q2)\r
{\r
- quat_t res;\r
- vec3_t v1 = quat_vec(q1);\r
- vec3_t v2 = quat_vec(q2);\r
+ quat_t res;\r
+ vec3_t v1 = quat_vec(q1);\r
+ vec3_t v2 = quat_vec(q2);\r
\r
- res.w = q1.w * q2.w - v3_dot(v1, v2);\r
- res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);\r
- res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);\r
- res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);\r
- return res;\r
+ res.w = q1.w * q2.w - v3_dot(v1, v2);\r
+ res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);\r
+ res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);\r
+ res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);\r
+ return res;\r
}\r
\r
static inline void quat_to_mat(mat4_t res, quat_t q)\r
{\r
- m4_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z, 2.0 * q.z * q.x - 2.0 * q.w * q.y, 0,\r
- 2.0 * q.x * q.y - 2.0 * q.w * q.z, 1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x, 0,\r
- 2.0 * q.z * q.x + 2.0 * q.w * q.y, 2.0 * q.y * q.z - 2.0 * q.w * q.x, 1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y, 0,\r
- 0, 0, 0, 1);\r
+ m4_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z, 2.0 * q.z * q.x - 2.0 * q.w * q.y, 0,\r
+ 2.0 * q.x * q.y - 2.0 * q.w * q.z, 1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x, 0,\r
+ 2.0 * q.z * q.x + 2.0 * q.w * q.y, 2.0 * q.y * q.z - 2.0 * q.w * q.x, 1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y, 0,\r
+ 0, 0, 0, 1);\r
}\r
\r
/* matrix functions */\r
static inline void m4_cons(mat4_t m,\r
- float m11, float m12, float m13, float m14,\r
- float m21, float m22, float m23, float m24,\r
- float m31, float m32, float m33, float m34,\r
- float m41, float m42, float m43, float m44)\r
+ float m11, float m12, float m13, float m14,\r
+ float m21, float m22, float m23, float m24,\r
+ float m31, float m32, float m33, float m34,\r
+ float m41, float m42, float m43, float m44)\r
{\r
- m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;\r
- m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;\r
- m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;\r
- m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;\r
+ m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;\r
+ m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;\r
+ m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;\r
+ m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;\r
}\r
projects / freeglut / blobdiff