/* Copyright (C) 2018 John Tsiombikas 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(&vq, &inv_q); cgm_vcons(v, vq.x, vq.y, vq.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; }