updated cgmath

diff --git a/libs/cgmath/cgmath.h b/libs/cgmath/cgmath.h
index 8e6871d..5dc7e13 100644 (file)
--- a/libs/cgmath/cgmath.h
+++ b/libs/cgmath/cgmath.h
@@ -31,6 +31,10 @@
 #endif
 
 typedef struct {
+       float x, y;
+} cgm_vec2;
+
+typedef struct {
        float x, y, z;
 } cgm_vec3;
 
@@ -91,6 +95,8 @@ static inline void cgm_vrotate_euler(cgm_vec3 *v, float a, float b, float c, enu
 
 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);
 
@@ -106,6 +112,8 @@ static inline void cgm_wmul_v4m43(cgm_vec4 *v, const float *m);     /* doesn't affec
 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);
@@ -114,6 +122,8 @@ 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);
 
@@ -128,12 +138,14 @@ 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, const cgm_vec3 *axis, float angle);
-static inline void cgm_qrotate(cgm_quat *q, const cgm_vec3 *axis, float angle);
+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);
@@ -214,6 +226,8 @@ 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);

diff --git a/libs/cgmath/cgmmisc.inl b/libs/cgmath/cgmmisc.inl
index 6cfa37d..e4360f6 100644 (file)
--- a/libs/cgmath/cgmmisc.inl
+++ b/libs/cgmath/cgmmisc.inl
@@ -43,6 +43,42 @@ static inline float cgm_bezier(float a, float b, float c, float d, float t)
        return (a * omt3) + (b * f * omt) + (c * f * t) + (d * t3);
 }
 
+static inline float cgm_bspline(float a, float b, float c, float d, float t)
+{
+       static const float mat[] = {
+               -1, 3, -3, 1,
+               3, -6, 0, 4,
+               -3, 3, 3, 1,
+               1, 0, 0, 0
+       };
+       cgm_vec4 tmp, qfact;
+       float tsq = t * t;
+
+       cgm_wcons(&qfact, tsq * t, tsq, t, 1.0f);
+       cgm_wcons(&tmp, a, b, c, d);
+       cgm_wmul_m4v4(&tmp, mat);
+       cgm_wscale(&tmp, 1.0f / 6.0f);
+       return cgm_wdot(&tmp, &qfact);
+}
+
+static inline float cgm_spline(float a, float b, float c, float d, float t)
+{
+       static const float mat[] = {
+               -1, 2, -1, 0,
+               3, -5, 0, 2,
+               -3, 4, 1, 0,
+               1, -1, 0, 0
+       };
+       cgm_vec4 tmp, qfact;
+       float tsq = t * t;
+
+       cgm_wcons(&qfact, tsq * t, tsq, t, 1.0f);
+       cgm_wcons(&tmp, a, b, c, d);
+       cgm_wmul_m4v4(&tmp, mat);
+       cgm_wscale(&tmp, 1.0f / 6.0f);
+       return cgm_wdot(&tmp, &qfact);
+}
+
 static inline void cgm_discrand(cgm_vec3 *pt, float rad)
 {
        float theta = 2.0f * M_PI * (float)rand() / RAND_MAX;

diff --git a/libs/cgmath/cgmquat.inl b/libs/cgmath/cgmquat.inl
index 4b29fd2..743d818 100644 (file)
--- a/libs/cgmath/cgmquat.inl
+++ b/libs/cgmath/cgmquat.inl
@@ -98,20 +98,20 @@ static inline void cgm_qinvert(cgm_quat *q)
        }
 }
 
-static inline void cgm_qrotation(cgm_quat *q, const cgm_vec3 *axis, float angle)
+static inline void cgm_qrotation(cgm_quat *q, float angle, float x, float y, float z)
 {
        float hangle = angle * 0.5f;
        float sin_ha = sin(hangle);
        q->w = cos(hangle);
-       q->x = axis->x * sin_ha;
-       q->y = axis->y * sin_ha;
-       q->z = axis->z * sin_ha;
+       q->x = x * sin_ha;
+       q->y = y * sin_ha;
+       q->z = z * sin_ha;
 }
 
-static inline void cgm_qrotate(cgm_quat *q, const cgm_vec3 *axis, float angle)
+static inline void cgm_qrotate(cgm_quat *q, float angle, float x, float y, float z)
 {
        cgm_quat qrot;
-       cgm_qrotation(&qrot, axis, angle);
+       cgm_qrotation(&qrot, angle, x, y, z);
        cgm_qmul(q, &qrot);
 }
 

diff --git a/libs/cgmath/cgmvec3.inl b/libs/cgmath/cgmvec3.inl
index 88211c4..3747029 100644 (file)
--- a/libs/cgmath/cgmvec3.inl
+++ b/libs/cgmath/cgmvec3.inl
@@ -155,8 +155,8 @@ static inline void cgm_vrotate_quat(cgm_vec3 *v, const cgm_quat *q)
        cgm_qcons(&vq, v->x, v->y, v->z, 0.0f);
        cgm_qinvert(&inv_q);
        cgm_qmul(&tmp_q, &vq);
-       cgm_qmul(&vq, &inv_q);
-       cgm_vcons(v, vq.x, vq.y, vq.z);
+       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)

diff --git a/libs/cgmath/cgmvec4.inl b/libs/cgmath/cgmvec4.inl
index 1c143c2..b68856c 100644 (file)
--- a/libs/cgmath/cgmvec4.inl
+++ b/libs/cgmath/cgmvec4.inl
@@ -104,6 +104,11 @@ static inline void cgm_wmul_v4m3(cgm_vec4 *v, const float *m)
        v->y = y;
 }
 
+static inline float cgm_wdot(const cgm_vec4 *a, const cgm_vec4 *b)
+{
+       return a->x * b->x + a->y * b->y + a->z * b->z + a->w * b->w;
+}
+
 static inline float cgm_wlength(const cgm_vec4 *v)
 {
        return sqrt(v->x * v->x + v->y * v->y + v->z * v->z + v->w * v->w);