vec4, quat, and half-done matrices

[gph-cmath] / src / cgmvec3.inl

diff --git a/src/cgmvec3.inl b/src/cgmvec3.inl
new file mode 100644 (file)
index 0000000..1320c08
--- /dev/null
+++ b/src/cgmvec3.inl
@@ -0,0 +1,173 @@
+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, const cgm_vec3 *axis, float angle)
+{
+       float m[16];
+       cgm_mrotation_axis(m, axis, angle);
+       cgm_vmul_m3v3(v, m);
+}
+
+static inline void cgm_vrotate_euler(cgm_vec3 *v, const cgm_vec3 *euler, enum cgm_euler_mode mode)
+{
+       float m[16];
+       cgm_mrotation_euler(m, euler, 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;
+}