dbf-halloween2015: 4316c0c879e9 libs/vmath/vector.inl

dbf-halloween2015

view libs/vmath/vector.inl @ 4:4316c0c879e9

fixed RUN script for macosx

author	John Tsiombikas <nuclear@member.fsf.org>
date	Sun, 01 Nov 2015 06:18:18 +0200
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1 /*

2 libvmath - a vector math library

5 This program is free software: you can redistribute it and/or modify

6 it under the terms of the GNU Lesser General Public License as published

7 by the Free Software Foundation, either version 3 of the License, or

8 (at your option) any later version.

10 This program is distributed in the hope that it will be useful,

11 but WITHOUT ANY WARRANTY; without even the implied warranty of

12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

13 GNU Lesser General Public License for more details.

15 You should have received a copy of the GNU Lesser General Public License

16 along with this program. If not, see <http://www.gnu.org/licenses/>.

17 */

19 #include <math.h>

21 #ifdef __cplusplus

22 extern "C" {

23 #endif /* __cplusplus */

25 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);

26 scalar_t bspline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);

28 /* C 2D vector functions */

29 static inline vec2_t v2_cons(scalar_t x, scalar_t y)

30 {

31 vec2_t v;

32 v.x = x;

33 v.y = y;

34 return v;

35 }

37 static inline void v2_print(FILE *fp, vec2_t v)

38 {

39 fprintf(fp, "[ %.4f %.4f ]", v.x, v.y);

40 }

42 static inline vec2_t v2_add(vec2_t v1, vec2_t v2)

43 {

44 vec2_t res;

45 res.x = v1.x + v2.x;

46 res.y = v1.y + v2.y;

47 return res;

48 }

50 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2)

51 {

52 vec2_t res;

53 res.x = v1.x - v2.x;

54 res.y = v1.y - v2.y;

55 return res;

56 }

58 static inline vec2_t v2_scale(vec2_t v, scalar_t s)

59 {

60 vec2_t res;

61 res.x = v.x * s;

62 res.y = v.y * s;

63 return res;

64 }

66 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2)

67 {

68 return v1.x * v2.x + v1.y * v2.y;

69 }

71 static inline scalar_t v2_length(vec2_t v)

72 {

73 return sqrt(v.x * v.x + v.y * v.y);

74 }

76 static inline scalar_t v2_length_sq(vec2_t v)

77 {

78 return v.x * v.x + v.y * v.y;

79 }

81 static inline vec2_t v2_normalize(vec2_t v)

82 {

83 scalar_t len = (scalar_t)sqrt(v.x * v.x + v.y * v.y);

84 v.x /= len;

85 v.y /= len;

86 return v;

87 }

89 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t)

90 {

91 vec2_t res;

92 res.x = v1.x + (v2.x - v1.x) * t;

93 res.y = v1.y + (v2.y - v1.y) * t;

94 return res;

95 }

98 /* C 3D vector functions */

99 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z)

100 {

101 vec3_t v;

102 v.x = x;

103 v.y = y;

104 v.z = z;

105 return v;

106 }

107

108 static inline void v3_print(FILE *fp, vec3_t v)

109 {

110 fprintf(fp, "[ %.4f %.4f %.4f ]", v.x, v.y, v.z);

111 }

112

113 static inline vec3_t v3_add(vec3_t v1, vec3_t v2)

114 {

115 v1.x += v2.x;

116 v1.y += v2.y;

117 v1.z += v2.z;

118 return v1;

119 }

120

121 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2)

122 {

123 v1.x -= v2.x;

124 v1.y -= v2.y;

125 v1.z -= v2.z;

126 return v1;

127 }

128

129 static inline vec3_t v3_neg(vec3_t v)

130 {

131 v.x = -v.x;

132 v.y = -v.y;

133 v.z = -v.z;

134 return v;

135 }

136

137 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2)

138 {

139 v1.x *= v2.x;

140 v1.y *= v2.y;

141 v1.z *= v2.z;

142 return v1;

143 }

144

145 static inline vec3_t v3_scale(vec3_t v1, scalar_t s)

146 {

147 v1.x *= s;

148 v1.y *= s;

149 v1.z *= s;

150 return v1;

151 }

152

153 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2)

154 {

155 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;

156 }

157

158 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2)

159 {

160 vec3_t v;

161 v.x = v1.y * v2.z - v1.z * v2.y;

162 v.y = v1.z * v2.x - v1.x * v2.z;

163 v.z = v1.x * v2.y - v1.y * v2.x;

164 return v;

165 }

166

167 static inline scalar_t v3_length(vec3_t v)

168 {

169 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z);

170 }

171

172 static inline scalar_t v3_length_sq(vec3_t v)

173 {

174 return v.x * v.x + v.y * v.y + v.z * v.z;

175 }

176

177 static inline vec3_t v3_normalize(vec3_t v)

178 {

179 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);

180 v.x /= len;

181 v.y /= len;

182 v.z /= len;

183 return v;

184 }

185

186 static inline vec3_t v3_transform(vec3_t v, mat4_t m)

187 {

188 vec3_t res;

189 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3];

190 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3];

191 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3];

192 return res;

193 }

194

195 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z)

196 {

197 void m4_rotate(mat4_t, scalar_t, scalar_t, scalar_t);

198

199 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};

200 m4_rotate(m, x, y, z);

201 return v3_transform(v, m);

202 }

203

204 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)

205 {

206 void m4_rotate_axis(mat4_t, scalar_t, scalar_t, scalar_t, scalar_t);

207

208 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};

209 m4_rotate_axis(m, angle, x, y, z);

210 return v3_transform(v, m);

211 }

212

213 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q)

214 {

215 quat_t quat_rotate_quat(quat_t, quat_t);

216

217 quat_t vq = v4_cons(v.x, v.y, v.z, 0.0);

218 quat_t res = quat_rotate_quat(vq, q);

219 return v3_cons(res.x, res.y, res.z);

220 }

221

222 static inline vec3_t v3_reflect(vec3_t v, vec3_t n)

223 {

224 scalar_t dot = v3_dot(v, n);

225 return v3_sub(v3_scale(n, dot * 2.0), v);

226 }

227

228 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t)

229 {

230 v1.x += (v2.x - v1.x) * t;

231 v1.y += (v2.y - v1.y) * t;

232 v1.z += (v2.z - v1.z) * t;

233 return v1;

234 }

235

236 /* C 4D vector functions */

237 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w)

238 {

239 vec4_t v;

240 v.x = x;

241 v.y = y;

242 v.z = z;

243 v.w = w;

244 return v;

245 }

246

247 static inline void v4_print(FILE *fp, vec4_t v)

248 {

249 fprintf(fp, "[ %.4f %.4f %.4f %.4f ]", v.x, v.y, v.z, v.w);

250 }

251

252 static inline vec4_t v4_add(vec4_t v1, vec4_t v2)

253 {

254 v1.x += v2.x;

255 v1.y += v2.y;

256 v1.z += v2.z;

257 v1.w += v2.w;

258 return v1;

259 }

260

261 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2)

262 {

263 v1.x -= v2.x;

264 v1.y -= v2.y;

265 v1.z -= v2.z;

266 v1.w -= v2.w;

267 return v1;

268 }

269

270 static inline vec4_t v4_neg(vec4_t v)

271 {

272 v.x = -v.x;

273 v.y = -v.y;

274 v.z = -v.z;

275 v.w = -v.w;

276 return v;

277 }

278

279 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2)

280 {

281 v1.x *= v2.x;

282 v1.y *= v2.y;

283 v1.z *= v2.z;

284 v1.w *= v2.w;

285 return v1;

286 }

287

288 static inline vec4_t v4_scale(vec4_t v, scalar_t s)

289 {

290 v.x *= s;

291 v.y *= s;

292 v.z *= s;

293 v.w *= s;

294 return v;

295 }

296

297 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2)

298 {

299 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;

300 }

301

302 static inline scalar_t v4_length(vec4_t v)

303 {

304 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);

305 }

306

307 static inline scalar_t v4_length_sq(vec4_t v)

308 {

309 return v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w;

310 }

311

312 static inline vec4_t v4_normalize(vec4_t v)

313 {

314 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);

315 v.x /= len;

316 v.y /= len;

317 v.z /= len;

318 v.w /= len;

319 return v;

320 }

321

322 static inline vec4_t v4_transform(vec4_t v, mat4_t m)

323 {

324 vec4_t res;

325 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w;

326 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w;

327 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w;

328 res.w = m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w;

329 return res;

330 }

331

332 #ifdef __cplusplus

333 } /* extern "C" */

334

335

336 /* --------------- C++ part -------------- */

337

338 inline scalar_t &Vector2::operator [](int elem)

339 {

340 return elem ? y : x;

341 }

342

343 inline const scalar_t &Vector2::operator [](int elem) const

344 {

345 return elem ? y : x;

346 }

347

348 inline Vector2 operator -(const Vector2 &vec)

349 {

350 return Vector2(-vec.x, -vec.y);

351 }

352

353 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2)

354 {

355 return v1.x * v2.x + v1.y * v2.y;

356 }

357

358 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2)

359 {

360 return Vector2(v1.x + v2.x, v1.y + v2.y);

361 }

362

363 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2)

364 {

365 return Vector2(v1.x - v2.x, v1.y - v2.y);

366 }

367

368 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2)

369 {

370 return Vector2(v1.x * v2.x, v1.y * v2.y);

371 }

372

373 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2)

374 {

375 return Vector2(v1.x / v2.x, v1.y / v2.y);

376 }

377

378 inline bool operator ==(const Vector2 &v1, const Vector2 &v2)

379 {

380 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.x) < XSMALL_NUMBER);

381 }

382

383 inline void operator +=(Vector2 &v1, const Vector2 &v2)

384 {

385 v1.x += v2.x;

386 v1.y += v2.y;

387 }

388

389 inline void operator -=(Vector2 &v1, const Vector2 &v2)

390 {

391 v1.x -= v2.x;

392 v1.y -= v2.y;

393 }

394

395 inline void operator *=(Vector2 &v1, const Vector2 &v2)

396 {

397 v1.x *= v2.x;

398 v1.y *= v2.y;

399 }

400

401 inline void operator /=(Vector2 &v1, const Vector2 &v2)

402 {

403 v1.x /= v2.x;

404 v1.y /= v2.y;

405 }

406

407 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar)

408 {

409 return Vector2(vec.x + scalar, vec.y + scalar);

410 }

411

412 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec)

413 {

414 return Vector2(vec.x + scalar, vec.y + scalar);

415 }

416

417 inline Vector2 operator -(const Vector2 &vec, scalar_t scalar)

418 {

419 return Vector2(vec.x - scalar, vec.y - scalar);

420 }

421

422 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar)

423 {

424 return Vector2(vec.x * scalar, vec.y * scalar);

425 }

426

427 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec)

428 {

429 return Vector2(vec.x * scalar, vec.y * scalar);

430 }

431

432 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar)

433 {

434 return Vector2(vec.x / scalar, vec.y / scalar);

435 }

436

437 inline void operator +=(Vector2 &vec, scalar_t scalar)

438 {

439 vec.x += scalar;

440 vec.y += scalar;

441 }

442

443 inline void operator -=(Vector2 &vec, scalar_t scalar)

444 {

445 vec.x -= scalar;

446 vec.y -= scalar;

447 }

448

449 inline void operator *=(Vector2 &vec, scalar_t scalar)

450 {

451 vec.x *= scalar;

452 vec.y *= scalar;

453 }

454

455 inline void operator /=(Vector2 &vec, scalar_t scalar)

456 {

457 vec.x /= scalar;

458 vec.y /= scalar;

459 }

460

461 inline scalar_t Vector2::length() const

462 {

463 return sqrt(x*x + y*y);

464 }

465

466 inline scalar_t Vector2::length_sq() const

467 {

468 return x*x + y*y;

469 }

470

471 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t)

472 {

473 return a + (b - a) * t;

474 }

475

476 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,

477 const Vector2 &v2, const Vector2 &v3, scalar_t t)

478 {

479 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

480 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

481 return Vector2(x, y);

482 }

483

484 inline Vector2 bspline(const Vector2 &v0, const Vector2 &v1,

485 const Vector2 &v2, const Vector2 &v3, scalar_t t)

486 {

487 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);

488 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);

489 return Vector2(x, y);

490 }

491

492

493 /* ------------- Vector3 -------------- */

494

495 inline scalar_t &Vector3::operator [](int elem) {

496 return elem ? (elem == 1 ? y : z) : x;

497 }

498

499 inline const scalar_t &Vector3::operator [](int elem) const {

500 return elem ? (elem == 1 ? y : z) : x;

501 }

502

503 /* unary operations */

504 inline Vector3 operator -(const Vector3 &vec) {

505 return Vector3(-vec.x, -vec.y, -vec.z);

506 }

507

508 /* binary vector (op) vector operations */

509 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2) {

510 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;

511 }

512

513 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2) {

514 return Vector3(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);

515 }

516

517

518 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2) {

519 return Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);

520 }

521

522 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2) {

523 return Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);

524 }

525

526 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2) {

527 return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);

528 }

529

530 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2) {

531 return Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z);

532 }

533

534 inline bool operator ==(const Vector3 &v1, const Vector3 &v2) {

535 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.y) < XSMALL_NUMBER) && (fabs(v1.z - v2.z) < XSMALL_NUMBER);

536 }

537

538 inline void operator +=(Vector3 &v1, const Vector3 &v2) {

539 v1.x += v2.x;

540 v1.y += v2.y;

541 v1.z += v2.z;

542 }

543

544 inline void operator -=(Vector3 &v1, const Vector3 &v2) {

545 v1.x -= v2.x;

546 v1.y -= v2.y;

547 v1.z -= v2.z;

548 }

549

550 inline void operator *=(Vector3 &v1, const Vector3 &v2) {

551 v1.x *= v2.x;

552 v1.y *= v2.y;

553 v1.z *= v2.z;

554 }

555

556 inline void operator /=(Vector3 &v1, const Vector3 &v2) {

557 v1.x /= v2.x;

558 v1.y /= v2.y;

559 v1.z /= v2.z;

560 }

561 /* binary vector (op) scalar and scalar (op) vector operations */

562 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar) {

563 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);

564 }

565

566 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec) {

567 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);

568 }

569

570 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar) {

571 return Vector3(vec.x - scalar, vec.y - scalar, vec.z - scalar);

572 }

573

574 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar) {

575 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);

576 }

577

578 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec) {

579 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);

580 }

581

582 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar) {

583 return Vector3(vec.x / scalar, vec.y / scalar, vec.z / scalar);

584 }

585

586 inline void operator +=(Vector3 &vec, scalar_t scalar) {

587 vec.x += scalar;

588 vec.y += scalar;

589 vec.z += scalar;

590 }

591

592 inline void operator -=(Vector3 &vec, scalar_t scalar) {

593 vec.x -= scalar;

594 vec.y -= scalar;

595 vec.z -= scalar;

596 }

597

598 inline void operator *=(Vector3 &vec, scalar_t scalar) {

599 vec.x *= scalar;

600 vec.y *= scalar;

601 vec.z *= scalar;

602 }

603

604 inline void operator /=(Vector3 &vec, scalar_t scalar) {

605 vec.x /= scalar;

606 vec.y /= scalar;

607 vec.z /= scalar;

608 }

609

610 inline scalar_t Vector3::length() const {

611 return sqrt(x*x + y*y + z*z);

612 }

613 inline scalar_t Vector3::length_sq() const {

614 return x*x + y*y + z*z;

615 }

616

617 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t) {

618 return a + (b - a) * t;

619 }

620

621 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,

622 const Vector3 &v2, const Vector3 &v3, scalar_t t)

623 {

624 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

625 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

626 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);

627 return Vector3(x, y, z);

628 }

629

630 inline Vector3 bspline(const Vector3 &v0, const Vector3 &v1,

631 const Vector3 &v2, const Vector3 &v3, scalar_t t)

632 {

633 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);

634 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);

635 scalar_t z = bspline(v0.z, v1.z, v2.z, v3.z, t);

636 return Vector3(x, y, z);

637 }

638

639 /* ----------- Vector4 ----------------- */

640

641 inline scalar_t &Vector4::operator [](int elem) {

642 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;

643 }

644

645 inline const scalar_t &Vector4::operator [](int elem) const {

646 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;

647 }

648

649 inline Vector4 operator -(const Vector4 &vec) {

650 return Vector4(-vec.x, -vec.y, -vec.z, -vec.w);

651 }

652

653 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2) {

654 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;

655 }

656

657 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3) {

658 scalar_t a, b, c, d, e, f; /* Intermediate Values */

659 Vector4 result;

660

661 /* Calculate intermediate values. */

662 a = (v2.x * v3.y) - (v2.y * v3.x);

663 b = (v2.x * v3.z) - (v2.z * v3.x);

664 c = (v2.x * v3.w) - (v2.w * v3.x);

665 d = (v2.y * v3.z) - (v2.z * v3.y);

666 e = (v2.y * v3.w) - (v2.w * v3.y);

667 f = (v2.z * v3.w) - (v2.w * v3.z);

668

669 /* Calculate the result-vector components. */

670 result.x = (v1.y * f) - (v1.z * e) + (v1.w * d);

671 result.y = - (v1.x * f) + (v1.z * c) - (v1.w * b);

672 result.z = (v1.x * e) - (v1.y * c) + (v1.w * a);

673 result.w = - (v1.x * d) + (v1.y * b) - (v1.z * a);

674 return result;

675 }

676

677 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2) {

678 return Vector4(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z, v1.w + v2.w);

679 }

680

681 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2) {

682 return Vector4(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z, v1.w - v2.w);

683 }

684

685 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2) {

686 return Vector4(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z, v1.w * v2.w);

687 }

688

689 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2) {

690 return Vector4(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z, v1.w / v2.w);

691 }

692

693 inline bool operator ==(const Vector4 &v1, const Vector4 &v2) {

694 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) &&

695 (fabs(v1.y - v2.y) < XSMALL_NUMBER) &&

696 (fabs(v1.z - v2.z) < XSMALL_NUMBER) &&

697 (fabs(v1.w - v2.w) < XSMALL_NUMBER);

698 }

699

700 inline void operator +=(Vector4 &v1, const Vector4 &v2) {

701 v1.x += v2.x;

702 v1.y += v2.y;

703 v1.z += v2.z;

704 v1.w += v2.w;

705 }

706

707 inline void operator -=(Vector4 &v1, const Vector4 &v2) {

708 v1.x -= v2.x;

709 v1.y -= v2.y;

710 v1.z -= v2.z;

711 v1.w -= v2.w;

712 }

713

714 inline void operator *=(Vector4 &v1, const Vector4 &v2) {

715 v1.x *= v2.x;

716 v1.y *= v2.y;

717 v1.z *= v2.z;

718 v1.w *= v2.w;

719 }

720

721 inline void operator /=(Vector4 &v1, const Vector4 &v2) {

722 v1.x /= v2.x;

723 v1.y /= v2.y;

724 v1.z /= v2.z;

725 v1.w /= v2.w;

726 }

727

728 /* binary vector (op) scalar and scalar (op) vector operations */

729 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar) {

730 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);

731 }

732

733 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec) {

734 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);

735 }

736

737 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar) {

738 return Vector4(vec.x - scalar, vec.y - scalar, vec.z - scalar, vec.w - scalar);

739 }

740

741 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar) {

742 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);

743 }

744

745 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec) {

746 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);

747 }

748

749 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar) {

750 return Vector4(vec.x / scalar, vec.y / scalar, vec.z / scalar, vec.w / scalar);

751 }

752

753 inline void operator +=(Vector4 &vec, scalar_t scalar) {

754 vec.x += scalar;

755 vec.y += scalar;

756 vec.z += scalar;

757 vec.w += scalar;

758 }

759

760 inline void operator -=(Vector4 &vec, scalar_t scalar) {

761 vec.x -= scalar;

762 vec.y -= scalar;

763 vec.z -= scalar;

764 vec.w -= scalar;

765 }

766

767 inline void operator *=(Vector4 &vec, scalar_t scalar) {

768 vec.x *= scalar;

769 vec.y *= scalar;

770 vec.z *= scalar;

771 vec.w *= scalar;

772 }

773

774 inline void operator /=(Vector4 &vec, scalar_t scalar) {

775 vec.x /= scalar;

776 vec.y /= scalar;

777 vec.z /= scalar;

778 vec.w /= scalar;

779 }

780

781 inline scalar_t Vector4::length() const {

782 return sqrt(x*x + y*y + z*z + w*w);

783 }

784 inline scalar_t Vector4::length_sq() const {

785 return x*x + y*y + z*z + w*w;

786 }

787

788 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t)

789 {

790 return v0 + (v1 - v0) * t;

791 }

792

793 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,

794 const Vector4 &v2, const Vector4 &v3, scalar_t t)

795 {

796 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

797 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

798 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);

799 scalar_t w = spline(v0.w, v1.w, v2.w, v3.w, t);

800 return Vector4(x, y, z, w);

801 }

802

803 inline Vector4 bspline(const Vector4 &v0, const Vector4 &v1,

804 const Vector4 &v2, const Vector4 &v3, scalar_t t)

805 {

806 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);

807 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);

808 scalar_t z = bspline(v0.z, v1.z, v2.z, v3.z, t);

809 scalar_t w = bspline(v0.w, v1.w, v2.w, v3.w, t);

810 return Vector4(x, y, z, w);

811 }

812 #endif /* __cplusplus */