X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=gph-cmath;a=blobdiff_plain;f=src%2Fcgmath.h;h=36632f2b442d15698a77d3d71c5c5439fa9777c8;hp=c033a22b0569756d5137d5aa9b203e3f6e6d986a;hb=cc26f59c90c0935eef7d7fdcf8ac327e23d14ebc;hpb=b5babc8bdd95af48fc377bb888c70aad4956d58a

diff --git a/src/cgmath.h b/src/cgmath.h
index c033a22..36632f2 100644
--- a/src/cgmath.h
+++ b/src/cgmath.h
@@ -1,8 +1,29 @@
-/* C version of the graphene math library */
+/* C version of the graphene 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)
+ *
+ * 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, z;
@@ -10,12 +31,38 @@ typedef struct {
 
 typedef struct {
 	float x, y, z, w;
-} cgm_quat;
+} cgm_vec4, cgm_quat;
+
+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);
@@ -25,6 +72,81 @@ 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);
 
-#include "cgmath.inl"
+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, const cgm_vec3 *axis, float angle);
+static inline void cgm_vrotate_euler(cgm_vec3 *v, const cgm_vec3 *euler, enum cgm_euler_mode mode);
+
+static inline void cgm_vlerp(cgm_vec3 *res, const cgm_vec3 *a, const cgm_vec3 *b, float t);
+
+/* --- 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_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);
+
+/* --- 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, const cgm_vec3 *axis, float angle);
+static inline void cgm_qrotate(cgm_quat *q, const cgm_vec3 *axis, float angle);
+
+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);
+
+/* --- 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_msetrow_v3(float *m, int idx, const cgm_vec3 *v);
+static inline void cgm_msetrow_v4(float *m, int idx, const cgm_vec4 *v);
+static inline void cgm_msetcol_v3(float *m, int idx, const cgm_vec3 *v);
+static inline void cgm_msetcol_v4(float *m, int idx, const cgm_vec4 *v);
+static inline void cgm_mgetrow_v3(cgm_vec3 *v, const float *m, int idx);
+static inline void cgm_mgetrow_v4(cgm_vec4 *v, const float *m, int idx);
+static inline void cgm_mgetcol_v3(cgm_vec3 *v, const float *m, int idx);
+static inline void cgm_mgetcol_v4(cgm_vec4 *v, const float *m, int idx);
+
+static inline void cgm_mupper3(float *m);
+
+#include "cgmvec3.inl"
+#include "cgmvec4.inl"
+#include "cgmquat.inl"
+#include "cgmmat.inl"
+
+#ifdef __cplusplus
+}
+#endif
 
 #endif	/* CGMATH_H_ */