--- /dev/null
+/* gph-cmath - C graphics math library
+ * Copyright (C) 2018 John Tsiombikas <nuclear@member.fsf.org>
+ *
+ * This program is free software. Feel free to use, modify, and/or redistribute
+ * it under the terms of the MIT/X11 license. See LICENSE for details.
+ * If you intend to redistribute parts of the code without the LICENSE file
+ * replace this paragraph with the full contents of the LICENSE file.
+ */
+static inline void cgm_vcons(cgm_vec3 *v, float x, float y, float z)
+{
+ v->x = x;
+ v->y = y;
+ v->z = z;
+}
+
+static inline void cgm_vadd(cgm_vec3 *a, const cgm_vec3 *b)
+{
+ a->x += b->x;
+ a->y += b->y;
+ a->z += b->z;
+}
+
+static inline void cgm_vsub(cgm_vec3 *a, const cgm_vec3 *b)
+{
+ a->x -= b->x;
+ a->y -= b->y;
+ a->z -= b->z;
+}
+
+static inline void cgm_vmul(cgm_vec3 *a, const cgm_vec3 *b)
+{
+ a->x *= b->x;
+ a->y *= b->y;
+ a->z *= b->z;
+}
+
+static inline void cgm_vscale(cgm_vec3 *v, float s)
+{
+ v->x *= s;
+ v->y *= s;
+ v->z *= s;
+}
+
+static inline void cgm_vmul_m4v3(cgm_vec3 *v, const float *m)
+{
+ float x = v->x * m[0] + v->y * m[4] + v->z * m[8] + m[12];
+ float y = v->x * m[1] + v->y * m[5] + v->z * m[9] + m[13];
+ v->z = v->x * m[2] + v->y * m[6] + v->z * m[10] + m[14];
+ v->x = x;
+ v->y = y;
+}
+
+static inline void cgm_vmul_v3m4(cgm_vec3 *v, const float *m)
+{
+ float x = v->x * m[0] + v->y * m[1] + v->z * m[2] + m[3];
+ float y = v->x * m[4] + v->y * m[5] + v->z * m[6] + m[7];
+ v->z = v->x * m[8] + v->y * m[9] + v->z * m[10] + m[11];
+ v->x = x;
+ v->y = y;
+}
+
+static inline void cgm_vmul_m3v3(cgm_vec3 *v, const float *m)
+{
+ float x = v->x * m[0] + v->y * m[4] + v->z * m[8];
+ float y = v->x * m[1] + v->y * m[5] + v->z * m[9];
+ v->z = v->x * m[2] + v->y * m[6] + v->z * m[10];
+ v->x = x;
+ v->y = y;
+}
+
+static inline void cgm_vmul_v3m3(cgm_vec3 *v, const float *m)
+{
+ float x = v->x * m[0] + v->y * m[1] + v->z * m[2];
+ float y = v->x * m[4] + v->y * m[5] + v->z * m[6];
+ v->z = v->x * m[8] + v->y * m[9] + v->z * m[10];
+ v->x = x;
+ v->y = y;
+}
+
+static inline float cgm_vdot(const cgm_vec3 *a, const cgm_vec3 *b)
+{
+ return a->x * b->x + a->y * b->y + a->z * b->z;
+}
+
+static inline void cgm_vcross(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b)
+{
+ res->x = a->y * b->z - a->z * b->y;
+ res->y = a->z * b->x - a->x * b->z;
+ res->z = a->x * b->y - a->y * b->x;
+}
+
+static inline float cgm_vlength(const cgm_vec3 *v)
+{
+ return sqrt(v->x * v->x + v->y * v->y + v->z * v->z);
+}
+
+static inline float cgm_vlength_sq(const cgm_vec3 *v)
+{
+ return v->x * v->x + v->y * v->y + v->z * v->z;
+}
+
+static inline float cgm_vdist(const cgm_vec3 *a, const cgm_vec3 *b)
+{
+ float dx = a->x - b->x;
+ float dy = a->y - b->y;
+ float dz = a->z - b->z;
+ return sqrt(dx * dx + dy * dy + dz * dz);
+}
+
+static inline float cgm_vdist_sq(const cgm_vec3 *a, const cgm_vec3 *b)
+{
+ float dx = a->x - b->x;
+ float dy = a->y - b->y;
+ float dz = a->z - b->z;
+ return dx * dx + dy * dy + dz * dz;
+}
+
+static inline void cgm_vnormalize(cgm_vec3 *v)
+{
+ float len = cgm_vlength(v);
+ if(len != 0.0f) {
+ float s = 1.0f / len;
+ v->x *= s;
+ v->y *= s;
+ v->z *= s;
+ }
+}
+
+static inline void cgm_vreflect(cgm_vec3 *v, const cgm_vec3 *n)
+{
+ float ndotv2 = cgm_vdot(v, n) * 2.0f;
+ v->x -= n->x * ndotv2;
+ v->y -= n->y * ndotv2;
+ v->z -= n->z * ndotv2;
+}
+
+static inline void cgm_vrefract(cgm_vec3 *v, const cgm_vec3 *n, float ior)
+{
+ float ndotv = cgm_vdot(v, n);
+ float k = 1.0f - ior * ior * (1.0f - ndotv * ndotv);
+ if(k < 0.0f) {
+ cgm_vreflect(v, n); /* TIR */
+ } else {
+ float sqrt_k = sqrt(k);
+ v->x = ior * v->x - (ior * ndotv + sqrt_k) * n->x;
+ v->y = ior * v->y - (ior * ndotv + sqrt_k) * n->y;
+ v->z = ior * v->z - (ior * ndotv + sqrt_k) * n->z;
+ }
+}
+
+static inline void cgm_vrotate_quat(cgm_vec3 *v, const cgm_quat *q)
+{
+ cgm_quat vq, inv_q = *q, tmp_q = *q;
+
+ cgm_qcons(&vq, v->x, v->y, v->z, 0.0f);
+ cgm_qinvert(&inv_q);
+ cgm_qmul(&tmp_q, &vq);
+ cgm_qmul(&tmp_q, &inv_q);
+ cgm_vcons(v, tmp_q.x, tmp_q.y, tmp_q.z);
+}
+
+static inline void cgm_vrotate_axis(cgm_vec3 *v, int axis, float angle)
+{
+ float m[16];
+ cgm_mrotation_axis(m, axis, angle);
+ cgm_vmul_m3v3(v, m);
+}
+
+static inline void cgm_vrotate(cgm_vec3 *v, float angle, float x, float y, float z)
+{
+ float m[16];
+ cgm_mrotation(m, angle, x, y, z);
+ cgm_vmul_m3v3(v, m);
+}
+
+static inline void cgm_vrotate_euler(cgm_vec3 *v, float a, float b, float c, enum cgm_euler_mode mode)
+{
+ float m[16];
+ cgm_mrotation_euler(m, a, b, c, mode);
+ cgm_vmul_m3v3(v, m);
+}
+
+static inline void cgm_vlerp(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b, float t)
+{
+ res->x = a->x + (b->x - a->x) * t;
+ res->y = a->y + (b->y - a->y) * t;
+ res->z = a->z + (b->z - a->z) * t;
+}
projects / bootcensus / blobdiff