--- /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.
+ *
+ * Function prefixes signify the data type of their operand(s):
+ * - cgm_v... functions are operations on cgm_vec3 vectors
+ * - cgm_w... functions are operations on cgm_vec4 vectors
+ * - cgm_q... functions are operations on cgm_quat quaternions (w + xi + yj + zk)
+ * - cgm_m... functions are operations on 4x4 matrices (stored as linear 16 float arrays)
+ * - cgm_r... functions are operations on cgm_ray rays
+ *
+ * NOTE: *ALL* matrix arguments are pointers to 16 floats. Even the functions
+ * which operate on 3x3 matrices, actually use the upper 3x3 of a 4x4 matrix,
+ * and still expect an array of 16 floats.
+ *
+ * NOTE: matrices are treated by all operations as column-major, to match OpenGL
+ * conventions, so everything is pretty much transposed.
+*/
+#ifndef CGMATH_H_
+#define CGMATH_H_
+
+#include <math.h>
+#include <string.h>
+
+typedef struct {
+ float x, y;
+} cgm_vec2;
+
+typedef struct {
+ float x, y, z;
+} cgm_vec3;
+
+typedef struct {
+ float x, y, z, w;
+} cgm_vec4, cgm_quat;
+
+typedef struct {
+ cgm_vec3 origin, dir;
+} cgm_ray;
+
+typedef enum cgm_euler_mode {
+ CGM_EULER_XYZ,
+ CGM_EULER_XZY,
+ CGM_EULER_YXZ,
+ CGM_EULER_YZX,
+ CGM_EULER_ZXY,
+ CGM_EULER_ZYX,
+ CGM_EULER_ZXZ,
+ CGM_EULER_ZYZ,
+ CGM_EULER_YXY,
+ CGM_EULER_YZY,
+ CGM_EULER_XYX,
+ CGM_EULER_XZX
+} cgm_euler_mode;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* --- operations on cgm_vec3 --- */
+static inline void cgm_vcons(cgm_vec3 *v, float x, float y, float z);
+
+static inline void cgm_vadd(cgm_vec3 *a, const cgm_vec3 *b);
+static inline void cgm_vsub(cgm_vec3 *a, const cgm_vec3 *b);
+static inline void cgm_vmul(cgm_vec3 *a, const cgm_vec3 *b);
+static inline void cgm_vscale(cgm_vec3 *v, float s);
+static inline void cgm_vmul_m4v3(cgm_vec3 *v, const float *m); /* m4x4 * v */
+static inline void cgm_vmul_v3m4(cgm_vec3 *v, const float *m); /* v * m4x4 */
+static inline void cgm_vmul_m3v3(cgm_vec3 *v, const float *m); /* m3x3 * v (m still 16 floats) */
+static inline void cgm_vmul_v3m3(cgm_vec3 *v, const float *m); /* v * m3x3 (m still 16 floats) */
+
+static inline float cgm_vdot(const cgm_vec3 *a, const cgm_vec3 *b);
+static inline void cgm_vcross(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b);
+static inline float cgm_vlength(const cgm_vec3 *v);
+static inline float cgm_vlength_sq(const cgm_vec3 *v);
+static inline float cgm_vdist(const cgm_vec3 *a, const cgm_vec3 *b);
+static inline float cgm_vdist_sq(const cgm_vec3 *a, const cgm_vec3 *b);
+static inline void cgm_vnormalize(cgm_vec3 *v);
+
+static inline void cgm_vreflect(cgm_vec3 *v, const cgm_vec3 *n);
+static inline void cgm_vrefract(cgm_vec3 *v, const cgm_vec3 *n, float ior);
+
+static inline void cgm_vrotate_quat(cgm_vec3 *v, const cgm_quat *q);
+static inline void cgm_vrotate_axis(cgm_vec3 *v, int axis, float angle);
+static inline void cgm_vrotate(cgm_vec3 *v, float angle, float x, float y, float z);
+static inline void cgm_vrotate_euler(cgm_vec3 *v, float a, float b, float c, enum cgm_euler_mode mode);
+
+static inline void cgm_vlerp(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b, float t);
+
+#define cgm_velem(vptr, idx) ((&(vptr)->x)[idx])
+
+/* --- operations on cgm_vec4 --- */
+static inline void cgm_wcons(cgm_vec4 *v, float x, float y, float z, float w);
+
+static inline void cgm_wadd(cgm_vec4 *a, const cgm_vec4 *b);
+static inline void cgm_wsub(cgm_vec4 *a, const cgm_vec4 *b);
+static inline void cgm_wmul(cgm_vec4 *a, const cgm_vec4 *b);
+static inline void cgm_wscale(cgm_vec4 *v, float s);
+
+static inline void cgm_wmul_m4v4(cgm_vec4 *v, const float *m);
+static inline void cgm_wmul_v4m4(cgm_vec4 *v, const float *m);
+static inline void cgm_wmul_m34v4(cgm_vec4 *v, const float *m); /* doesn't affect w */
+static inline void cgm_wmul_v4m43(cgm_vec4 *v, const float *m); /* doesn't affect w */
+static inline void cgm_wmul_m3v4(cgm_vec4 *v, const float *m); /* (m still 16 floats) */
+static inline void cgm_wmul_v4m3(cgm_vec4 *v, const float *m); /* (m still 16 floats) */
+
+static inline float cgm_wdot(const cgm_vec4 *a, const cgm_vec4 *b);
+
+static inline float cgm_wlength(const cgm_vec4 *v);
+static inline float cgm_wlength_sq(const cgm_vec4 *v);
+static inline float cgm_wdist(const cgm_vec4 *a, const cgm_vec4 *b);
+static inline float cgm_wdist_sq(const cgm_vec4 *a, const cgm_vec4 *b);
+static inline void cgm_wnormalize(cgm_vec4 *v);
+
+static inline void cgm_wlerp(cgm_vec4 *res, const cgm_vec4 *a, const cgm_vec4 *b, float t);
+
+#define cgm_welem(vptr, idx) ((&(vptr)->x)[idx])
+
+/* --- operations on quaternions --- */
+static inline void cgm_qcons(cgm_quat *q, float x, float y, float z, float w);
+
+static inline void cgm_qneg(cgm_quat *q);
+static inline void cgm_qadd(cgm_quat *a, const cgm_quat *b);
+static inline void cgm_qsub(cgm_quat *a, const cgm_quat *b);
+static inline void cgm_qmul(cgm_quat *a, const cgm_quat *b);
+
+static inline float cgm_qlength(const cgm_quat *q);
+static inline float cgm_qlength_sq(const cgm_quat *q);
+static inline void cgm_qnormalize(cgm_quat *q);
+static inline void cgm_qconjugate(cgm_quat *q);
+static inline void cgm_qinvert(cgm_quat *q);
+
+static inline void cgm_qrotation(cgm_quat *q, float angle, float x, float y, float z);
+static inline void cgm_qrotate(cgm_quat *q, float angle, float x, float y, float z);
+
+static inline void cgm_qslerp(cgm_quat *res, const cgm_quat *a, const cgm_quat *b, float t);
+static inline void cgm_qlerp(cgm_quat *res, const cgm_quat *a, const cgm_quat *b, float t);
+
+#define cgm_qelem(qptr, idx) ((&(qptr)->x)[idx])
+
+/* --- operations on matrices --- */
+static inline void cgm_mcopy(float *dest, const float *src);
+static inline void cgm_mzero(float *m);
+static inline void cgm_midentity(float *m);
+
+static inline void cgm_mmul(float *a, const float *b);
+static inline void cgm_mpremul(float *a, const float *b);
+
+static inline void cgm_msubmatrix(float *m, int row, int col);
+static inline void cgm_mupper3(float *m);
+static inline float cgm_msubdet(const float *m, int row, int col);
+static inline float cgm_mcofactor(const float *m, int row, int col);
+static inline float cgm_mdet(const float *m);
+static inline void cgm_mtranspose(float *m);
+static inline void cgm_mcofmatrix(float *m);
+static inline int cgm_minverse(float *m); /* returns 0 on success, -1 for singular */
+
+static inline void cgm_mtranslation(float *m, float x, float y, float z);
+static inline void cgm_mscaling(float *m, float sx, float sy, float sz);
+static inline void cgm_mrotation_x(float *m, float angle);
+static inline void cgm_mrotation_y(float *m, float angle);
+static inline void cgm_mrotation_z(float *m, float angle);
+static inline void cgm_mrotation_axis(float *m, int idx, float angle);
+static inline void cgm_mrotation(float *m, float angle, float x, float y, float z);
+static inline void cgm_mrotation_euler(float *m, float a, float b, float c, int mode);
+static inline void cgm_mrotation_quat(float *m, const cgm_quat *q);
+
+static inline void cgm_mtranslate(float *m, float x, float y, float z);
+static inline void cgm_mscale(float *m, float sx, float sy, float sz);
+static inline void cgm_mrotate_x(float *m, float angle);
+static inline void cgm_mrotate_y(float *m, float angle);
+static inline void cgm_mrotate_z(float *m, float angle);
+static inline void cgm_mrotate_axis(float *m, int idx, float angle);
+static inline void cgm_mrotate(float *m, float angle, float x, float y, float z);
+static inline void cgm_mrotate_euler(float *m, float a, float b, float c, int mode);
+static inline void cgm_mrotate_quat(float *m, const cgm_quat *q);
+
+static inline void cgm_mpretranslate(float *m, float x, float y, float z);
+static inline void cgm_mprescale(float *m, float sx, float sy, float sz);
+static inline void cgm_mprerotate_x(float *m, float angle);
+static inline void cgm_mprerotate_y(float *m, float angle);
+static inline void cgm_mprerotate_z(float *m, float angle);
+static inline void cgm_mprerotate_axis(float *m, int idx, float angle);
+static inline void cgm_mprerotate(float *m, float angle, float x, float y, float z);
+static inline void cgm_mprerotate_euler(float *m, float a, float b, float c, int mode);
+static inline void cgm_mprerotate_quat(float *m, const cgm_quat *q);
+
+static inline void cgm_mget_translation(const float *m, cgm_vec3 *res);
+static inline void cgm_mget_rotation(const float *m, cgm_quat *res);
+static inline void cgm_mget_scaling(const float *m, cgm_vec3 *res);
+static inline void cgm_mget_frustum_plane(const float *m, int p, cgm_vec4 *res);
+
+static inline void cgm_mlookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
+ const cgm_vec3 *up);
+static inline void cgm_minv_lookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
+ const cgm_vec3 *up);
+static inline void cgm_mortho(float *m, float left, float right, float bot, float top,
+ float znear, float zfar);
+static inline void cgm_mfrustum(float *m, float left, float right, float bot, float top,
+ float znear, float zfar);
+static inline void cgm_mperspective(float *m, float vfov, float aspect, float znear, float zfar);
+
+static inline void cgm_mmirror(float *m, float a, float b, float c, float d);
+
+/* --- operations on rays --- */
+static inline void cgm_rcons(cgm_ray *r, float x, float y, float z, float dx, float dy, float dz);
+
+static inline void cgm_rmul_mr(cgm_ray *ray, const float *m); /* m4x4 * ray */
+static inline void cgm_rmul_rm(cgm_ray *ray, const float *m); /* ray * m4x4 */
+
+static inline void cgm_rreflect(cgm_ray *ray, const cgm_vec3 *n);
+static inline void cgm_rrefract(cgm_ray *ray, const cgm_vec3 *n, float ior);
+
+/* --- miscellaneous utility functions --- */
+static inline float cgm_deg_to_rad(float deg);
+static inline float cgm_rad_to_deg(float rad);
+
+static inline float cgm_smoothstep(float a, float b, float x);
+static inline float cgm_lerp(float a, float b, float t);
+static inline float cgm_bezier(float a, float b, float c, float d, float t);
+static inline float cgm_bspline(float a, float b, float c, float d, float t);
+static inline float cgm_spline(float a, float b, float c, float d, float t);
+
+static inline void cgm_discrand(cgm_vec3 *v, float rad);
+static inline void cgm_sphrand(cgm_vec3 *v, float rad);
+
+static inline void cgm_unproject(cgm_vec3 *res, const cgm_vec3 *norm_scrpos,
+ const float *inv_viewproj);
+static inline void cgm_glu_unproject(float winx, float winy, float winz,
+ const float *view, const float *proj, const int *vp,
+ float *objx, float *objy, float *objz);
+
+static inline void cgm_pick_ray(cgm_ray *ray, float nx, float ny,
+ const float *viewmat, const float *projmat);
+
+static inline void cgm_raypos(cgm_vec3 *p, const cgm_ray *ray, float t);
+
+/* calculate barycentric coordinates of point pt in triangle (a, b, c) */
+static inline void cgm_bary(cgm_vec3 *bary, const cgm_vec3 *a,
+ const cgm_vec3 *b, const cgm_vec3 *c, const cgm_vec3 *pt);
+
+#include "cgmvec3.inl"
+#include "cgmvec4.inl"
+#include "cgmquat.inl"
+#include "cgmmat.inl"
+#include "cgmray.inl"
+#include "cgmmisc.inl"
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CGMATH_H_ */
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