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annotate prototype/vmath/vector.inl @ 1:96de911d05d4

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started a rough prototype
author John Tsiombikas <nuclear@mutantstargoat.com>
date Thu, 28 Jun 2012 06:05:50 +0300
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rev   line source
nuclear@1 1 /*
nuclear@1 2 libvmath - a vector math library
nuclear@1 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@1 4
nuclear@1 5 This program is free software: you can redistribute it and/or modify
nuclear@1 6 it under the terms of the GNU Lesser General Public License as published
nuclear@1 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@1 8 (at your option) any later version.
nuclear@1 9
nuclear@1 10 This program is distributed in the hope that it will be useful,
nuclear@1 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@1 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@1 13 GNU Lesser General Public License for more details.
nuclear@1 14
nuclear@1 15 You should have received a copy of the GNU Lesser General Public License
nuclear@1 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@1 17 */
nuclear@1 18
nuclear@1 19 #include <math.h>
nuclear@1 20
nuclear@1 21 #ifdef __cplusplus
nuclear@1 22 extern "C" {
nuclear@1 23 #endif /* __cplusplus */
nuclear@1 24
nuclear@1 25 /* C 2D vector functions */
nuclear@1 26 static inline vec2_t v2_cons(scalar_t x, scalar_t y)
nuclear@1 27 {
nuclear@1 28 vec2_t v;
nuclear@1 29 v.x = x;
nuclear@1 30 v.y = y;
nuclear@1 31 return v;
nuclear@1 32 }
nuclear@1 33
nuclear@1 34 static inline void v2_print(FILE *fp, vec2_t v)
nuclear@1 35 {
nuclear@1 36 fprintf(fp, "[ %.4f %.4f ]", v.x, v.y);
nuclear@1 37 }
nuclear@1 38
nuclear@1 39 static inline vec2_t v2_add(vec2_t v1, vec2_t v2)
nuclear@1 40 {
nuclear@1 41 vec2_t res;
nuclear@1 42 res.x = v1.x + v2.x;
nuclear@1 43 res.y = v1.y + v2.y;
nuclear@1 44 return res;
nuclear@1 45 }
nuclear@1 46
nuclear@1 47 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2)
nuclear@1 48 {
nuclear@1 49 vec2_t res;
nuclear@1 50 res.x = v1.x - v2.x;
nuclear@1 51 res.y = v1.y - v2.y;
nuclear@1 52 return res;
nuclear@1 53 }
nuclear@1 54
nuclear@1 55 static inline vec2_t v2_scale(vec2_t v, scalar_t s)
nuclear@1 56 {
nuclear@1 57 vec2_t res;
nuclear@1 58 res.x = v.x * s;
nuclear@1 59 res.y = v.y * s;
nuclear@1 60 return res;
nuclear@1 61 }
nuclear@1 62
nuclear@1 63 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2)
nuclear@1 64 {
nuclear@1 65 return v1.x * v2.x + v1.y * v2.y;
nuclear@1 66 }
nuclear@1 67
nuclear@1 68 static inline scalar_t v2_length(vec2_t v)
nuclear@1 69 {
nuclear@1 70 return sqrt(v.x * v.x + v.y * v.y);
nuclear@1 71 }
nuclear@1 72
nuclear@1 73 static inline scalar_t v2_length_sq(vec2_t v)
nuclear@1 74 {
nuclear@1 75 return v.x * v.x + v.y * v.y;
nuclear@1 76 }
nuclear@1 77
nuclear@1 78 static inline vec2_t v2_normalize(vec2_t v)
nuclear@1 79 {
nuclear@1 80 scalar_t len = (scalar_t)sqrt(v.x * v.x + v.y * v.y);
nuclear@1 81 v.x /= len;
nuclear@1 82 v.y /= len;
nuclear@1 83 return v;
nuclear@1 84 }
nuclear@1 85
nuclear@1 86 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t)
nuclear@1 87 {
nuclear@1 88 vec2_t res;
nuclear@1 89 res.x = v1.x + (v2.x - v1.x) * t;
nuclear@1 90 res.y = v1.y + (v2.y - v1.y) * t;
nuclear@1 91 return res;
nuclear@1 92 }
nuclear@1 93
nuclear@1 94
nuclear@1 95 /* C 3D vector functions */
nuclear@1 96 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z)
nuclear@1 97 {
nuclear@1 98 vec3_t v;
nuclear@1 99 v.x = x;
nuclear@1 100 v.y = y;
nuclear@1 101 v.z = z;
nuclear@1 102 return v;
nuclear@1 103 }
nuclear@1 104
nuclear@1 105 static inline void v3_print(FILE *fp, vec3_t v)
nuclear@1 106 {
nuclear@1 107 fprintf(fp, "[ %.4f %.4f %.4f ]", v.x, v.y, v.z);
nuclear@1 108 }
nuclear@1 109
nuclear@1 110 static inline vec3_t v3_add(vec3_t v1, vec3_t v2)
nuclear@1 111 {
nuclear@1 112 v1.x += v2.x;
nuclear@1 113 v1.y += v2.y;
nuclear@1 114 v1.z += v2.z;
nuclear@1 115 return v1;
nuclear@1 116 }
nuclear@1 117
nuclear@1 118 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2)
nuclear@1 119 {
nuclear@1 120 v1.x -= v2.x;
nuclear@1 121 v1.y -= v2.y;
nuclear@1 122 v1.z -= v2.z;
nuclear@1 123 return v1;
nuclear@1 124 }
nuclear@1 125
nuclear@1 126 static inline vec3_t v3_neg(vec3_t v)
nuclear@1 127 {
nuclear@1 128 v.x = -v.x;
nuclear@1 129 v.y = -v.y;
nuclear@1 130 v.z = -v.z;
nuclear@1 131 return v;
nuclear@1 132 }
nuclear@1 133
nuclear@1 134 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2)
nuclear@1 135 {
nuclear@1 136 v1.x *= v2.x;
nuclear@1 137 v1.y *= v2.y;
nuclear@1 138 v1.z *= v2.z;
nuclear@1 139 return v1;
nuclear@1 140 }
nuclear@1 141
nuclear@1 142 static inline vec3_t v3_scale(vec3_t v1, scalar_t s)
nuclear@1 143 {
nuclear@1 144 v1.x *= s;
nuclear@1 145 v1.y *= s;
nuclear@1 146 v1.z *= s;
nuclear@1 147 return v1;
nuclear@1 148 }
nuclear@1 149
nuclear@1 150 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2)
nuclear@1 151 {
nuclear@1 152 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
nuclear@1 153 }
nuclear@1 154
nuclear@1 155 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2)
nuclear@1 156 {
nuclear@1 157 vec3_t v;
nuclear@1 158 v.x = v1.y * v2.z - v1.z * v2.y;
nuclear@1 159 v.y = v1.z * v2.x - v1.x * v2.z;
nuclear@1 160 v.z = v1.x * v2.y - v1.y * v2.x;
nuclear@1 161 return v;
nuclear@1 162 }
nuclear@1 163
nuclear@1 164 static inline scalar_t v3_length(vec3_t v)
nuclear@1 165 {
nuclear@1 166 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
nuclear@1 167 }
nuclear@1 168
nuclear@1 169 static inline scalar_t v3_length_sq(vec3_t v)
nuclear@1 170 {
nuclear@1 171 return v.x * v.x + v.y * v.y + v.z * v.z;
nuclear@1 172 }
nuclear@1 173
nuclear@1 174 static inline vec3_t v3_normalize(vec3_t v)
nuclear@1 175 {
nuclear@1 176 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
nuclear@1 177 v.x /= len;
nuclear@1 178 v.y /= len;
nuclear@1 179 v.z /= len;
nuclear@1 180 return v;
nuclear@1 181 }
nuclear@1 182
nuclear@1 183 static inline vec3_t v3_transform(vec3_t v, mat4_t m)
nuclear@1 184 {
nuclear@1 185 vec3_t res;
nuclear@1 186 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3];
nuclear@1 187 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3];
nuclear@1 188 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3];
nuclear@1 189 return res;
nuclear@1 190 }
nuclear@1 191
nuclear@1 192 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 193 {
nuclear@1 194 void m4_rotate(mat4_t, scalar_t, scalar_t, scalar_t);
nuclear@1 195
nuclear@1 196 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@1 197 m4_rotate(m, x, y, z);
nuclear@1 198 return v3_transform(v, m);
nuclear@1 199 }
nuclear@1 200
nuclear@1 201 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 202 {
nuclear@1 203 void m4_rotate_axis(mat4_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@1 204
nuclear@1 205 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@1 206 m4_rotate_axis(m, angle, x, y, z);
nuclear@1 207 return v3_transform(v, m);
nuclear@1 208 }
nuclear@1 209
nuclear@1 210 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q)
nuclear@1 211 {
nuclear@1 212 quat_t quat_rotate_quat(quat_t, quat_t);
nuclear@1 213
nuclear@1 214 quat_t vq = v4_cons(v.x, v.y, v.z, 0.0);
nuclear@1 215 quat_t res = quat_rotate_quat(vq, q);
nuclear@1 216 return v3_cons(res.x, res.y, res.z);
nuclear@1 217 }
nuclear@1 218
nuclear@1 219 static inline vec3_t v3_reflect(vec3_t v, vec3_t n)
nuclear@1 220 {
nuclear@1 221 scalar_t dot = v3_dot(v, n);
nuclear@1 222 return v3_sub(v3_scale(n, dot * 2.0), v);
nuclear@1 223 }
nuclear@1 224
nuclear@1 225 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t)
nuclear@1 226 {
nuclear@1 227 v1.x += (v2.x - v1.x) * t;
nuclear@1 228 v1.y += (v2.y - v1.y) * t;
nuclear@1 229 v1.z += (v2.z - v1.z) * t;
nuclear@1 230 return v1;
nuclear@1 231 }
nuclear@1 232
nuclear@1 233 /* C 4D vector functions */
nuclear@1 234 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w)
nuclear@1 235 {
nuclear@1 236 vec4_t v;
nuclear@1 237 v.x = x;
nuclear@1 238 v.y = y;
nuclear@1 239 v.z = z;
nuclear@1 240 v.w = w;
nuclear@1 241 return v;
nuclear@1 242 }
nuclear@1 243
nuclear@1 244 static inline void v4_print(FILE *fp, vec4_t v)
nuclear@1 245 {
nuclear@1 246 fprintf(fp, "[ %.4f %.4f %.4f %.4f ]", v.x, v.y, v.z, v.w);
nuclear@1 247 }
nuclear@1 248
nuclear@1 249 static inline vec4_t v4_add(vec4_t v1, vec4_t v2)
nuclear@1 250 {
nuclear@1 251 v1.x += v2.x;
nuclear@1 252 v1.y += v2.y;
nuclear@1 253 v1.z += v2.z;
nuclear@1 254 v1.w += v2.w;
nuclear@1 255 return v1;
nuclear@1 256 }
nuclear@1 257
nuclear@1 258 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2)
nuclear@1 259 {
nuclear@1 260 v1.x -= v2.x;
nuclear@1 261 v1.y -= v2.y;
nuclear@1 262 v1.z -= v2.z;
nuclear@1 263 v1.w -= v2.w;
nuclear@1 264 return v1;
nuclear@1 265 }
nuclear@1 266
nuclear@1 267 static inline vec4_t v4_neg(vec4_t v)
nuclear@1 268 {
nuclear@1 269 v.x = -v.x;
nuclear@1 270 v.y = -v.y;
nuclear@1 271 v.z = -v.z;
nuclear@1 272 v.w = -v.w;
nuclear@1 273 return v;
nuclear@1 274 }
nuclear@1 275
nuclear@1 276 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2)
nuclear@1 277 {
nuclear@1 278 v1.x *= v2.x;
nuclear@1 279 v1.y *= v2.y;
nuclear@1 280 v1.z *= v2.z;
nuclear@1 281 v1.w *= v2.w;
nuclear@1 282 return v1;
nuclear@1 283 }
nuclear@1 284
nuclear@1 285 static inline vec4_t v4_scale(vec4_t v, scalar_t s)
nuclear@1 286 {
nuclear@1 287 v.x *= s;
nuclear@1 288 v.y *= s;
nuclear@1 289 v.z *= s;
nuclear@1 290 v.w *= s;
nuclear@1 291 return v;
nuclear@1 292 }
nuclear@1 293
nuclear@1 294 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2)
nuclear@1 295 {
nuclear@1 296 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
nuclear@1 297 }
nuclear@1 298
nuclear@1 299 static inline scalar_t v4_length(vec4_t v)
nuclear@1 300 {
nuclear@1 301 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
nuclear@1 302 }
nuclear@1 303
nuclear@1 304 static inline scalar_t v4_length_sq(vec4_t v)
nuclear@1 305 {
nuclear@1 306 return v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w;
nuclear@1 307 }
nuclear@1 308
nuclear@1 309 static inline vec4_t v4_normalize(vec4_t v)
nuclear@1 310 {
nuclear@1 311 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
nuclear@1 312 v.x /= len;
nuclear@1 313 v.y /= len;
nuclear@1 314 v.z /= len;
nuclear@1 315 v.w /= len;
nuclear@1 316 return v;
nuclear@1 317 }
nuclear@1 318
nuclear@1 319 static inline vec4_t v4_transform(vec4_t v, mat4_t m)
nuclear@1 320 {
nuclear@1 321 vec4_t res;
nuclear@1 322 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w;
nuclear@1 323 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w;
nuclear@1 324 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w;
nuclear@1 325 res.w = m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w;
nuclear@1 326 return res;
nuclear@1 327 }
nuclear@1 328
nuclear@1 329 #ifdef __cplusplus
nuclear@1 330 } /* extern "C" */
nuclear@1 331
nuclear@1 332
nuclear@1 333 /* --------------- C++ part -------------- */
nuclear@1 334
nuclear@1 335 inline scalar_t &Vector2::operator [](int elem) {
nuclear@1 336 return elem ? y : x;
nuclear@1 337 }
nuclear@1 338
nuclear@1 339 inline const scalar_t &Vector2::operator [](int elem) const {
nuclear@1 340 return elem ? y : x;
nuclear@1 341 }
nuclear@1 342
nuclear@1 343 inline Vector2 operator -(const Vector2 &vec) {
nuclear@1 344 return Vector2(-vec.x, -vec.y);
nuclear@1 345 }
nuclear@1 346
nuclear@1 347 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 348 return v1.x * v2.x + v1.y * v2.y;
nuclear@1 349 }
nuclear@1 350
nuclear@1 351 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 352 return Vector2(v1.x + v2.x, v1.y + v2.y);
nuclear@1 353 }
nuclear@1 354
nuclear@1 355 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 356 return Vector2(v1.x - v2.x, v1.y - v2.y);
nuclear@1 357 }
nuclear@1 358
nuclear@1 359 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 360 return Vector2(v1.x * v2.x, v1.y * v2.y);
nuclear@1 361 }
nuclear@1 362
nuclear@1 363 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 364 return Vector2(v1.x / v2.x, v1.y / v2.y);
nuclear@1 365 }
nuclear@1 366
nuclear@1 367 inline bool operator ==(const Vector2 &v1, const Vector2 &v2) {
nuclear@1 368 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.x) < XSMALL_NUMBER);
nuclear@1 369 }
nuclear@1 370
nuclear@1 371 inline void operator +=(Vector2 &v1, const Vector2 &v2) {
nuclear@1 372 v1.x += v2.x;
nuclear@1 373 v1.y += v2.y;
nuclear@1 374 }
nuclear@1 375
nuclear@1 376 inline void operator -=(Vector2 &v1, const Vector2 &v2) {
nuclear@1 377 v1.x -= v2.x;
nuclear@1 378 v1.y -= v2.y;
nuclear@1 379 }
nuclear@1 380
nuclear@1 381 inline void operator *=(Vector2 &v1, const Vector2 &v2) {
nuclear@1 382 v1.x *= v2.x;
nuclear@1 383 v1.y *= v2.y;
nuclear@1 384 }
nuclear@1 385
nuclear@1 386 inline void operator /=(Vector2 &v1, const Vector2 &v2) {
nuclear@1 387 v1.x /= v2.x;
nuclear@1 388 v1.y /= v2.y;
nuclear@1 389 }
nuclear@1 390
nuclear@1 391 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar) {
nuclear@1 392 return Vector2(vec.x + scalar, vec.y + scalar);
nuclear@1 393 }
nuclear@1 394
nuclear@1 395 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec) {
nuclear@1 396 return Vector2(vec.x + scalar, vec.y + scalar);
nuclear@1 397 }
nuclear@1 398
nuclear@1 399 inline Vector2 operator -(scalar_t scalar, const Vector2 &vec) {
nuclear@1 400 return Vector2(vec.x - scalar, vec.y - scalar);
nuclear@1 401 }
nuclear@1 402
nuclear@1 403 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar) {
nuclear@1 404 return Vector2(vec.x * scalar, vec.y * scalar);
nuclear@1 405 }
nuclear@1 406
nuclear@1 407 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec) {
nuclear@1 408 return Vector2(vec.x * scalar, vec.y * scalar);
nuclear@1 409 }
nuclear@1 410
nuclear@1 411 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar) {
nuclear@1 412 return Vector2(vec.x / scalar, vec.y / scalar);
nuclear@1 413 }
nuclear@1 414
nuclear@1 415 inline void operator +=(Vector2 &vec, scalar_t scalar) {
nuclear@1 416 vec.x += scalar;
nuclear@1 417 vec.y += scalar;
nuclear@1 418 }
nuclear@1 419
nuclear@1 420 inline void operator -=(Vector2 &vec, scalar_t scalar) {
nuclear@1 421 vec.x -= scalar;
nuclear@1 422 vec.y -= scalar;
nuclear@1 423 }
nuclear@1 424
nuclear@1 425 inline void operator *=(Vector2 &vec, scalar_t scalar) {
nuclear@1 426 vec.x *= scalar;
nuclear@1 427 vec.y *= scalar;
nuclear@1 428 }
nuclear@1 429
nuclear@1 430 inline void operator /=(Vector2 &vec, scalar_t scalar) {
nuclear@1 431 vec.x /= scalar;
nuclear@1 432 vec.y /= scalar;
nuclear@1 433 }
nuclear@1 434
nuclear@1 435 inline scalar_t Vector2::length() const {
nuclear@1 436 return sqrt(x*x + y*y);
nuclear@1 437 }
nuclear@1 438
nuclear@1 439 inline scalar_t Vector2::length_sq() const {
nuclear@1 440 return x*x + y*y;
nuclear@1 441 }
nuclear@1 442
nuclear@1 443 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t)
nuclear@1 444 {
nuclear@1 445 return a + (b - a) * t;
nuclear@1 446 }
nuclear@1 447
nuclear@1 448 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
nuclear@1 449 const Vector2 &v2, const Vector2 &v3, scalar_t t)
nuclear@1 450 {
nuclear@1 451 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@1 452 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@1 453 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@1 454 return Vector2(x, y);
nuclear@1 455 }
nuclear@1 456
nuclear@1 457
nuclear@1 458 /* ------------- Vector3 -------------- */
nuclear@1 459
nuclear@1 460 inline scalar_t &Vector3::operator [](int elem) {
nuclear@1 461 return elem ? (elem == 1 ? y : z) : x;
nuclear@1 462 }
nuclear@1 463
nuclear@1 464 inline const scalar_t &Vector3::operator [](int elem) const {
nuclear@1 465 return elem ? (elem == 1 ? y : z) : x;
nuclear@1 466 }
nuclear@1 467
nuclear@1 468 /* unary operations */
nuclear@1 469 inline Vector3 operator -(const Vector3 &vec) {
nuclear@1 470 return Vector3(-vec.x, -vec.y, -vec.z);
nuclear@1 471 }
nuclear@1 472
nuclear@1 473 /* binary vector (op) vector operations */
nuclear@1 474 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 475 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
nuclear@1 476 }
nuclear@1 477
nuclear@1 478 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 479 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);
nuclear@1 480 }
nuclear@1 481
nuclear@1 482
nuclear@1 483 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 484 return Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
nuclear@1 485 }
nuclear@1 486
nuclear@1 487 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 488 return Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
nuclear@1 489 }
nuclear@1 490
nuclear@1 491 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 492 return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
nuclear@1 493 }
nuclear@1 494
nuclear@1 495 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 496 return Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z);
nuclear@1 497 }
nuclear@1 498
nuclear@1 499 inline bool operator ==(const Vector3 &v1, const Vector3 &v2) {
nuclear@1 500 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.y) < XSMALL_NUMBER) && (fabs(v1.z - v2.z) < XSMALL_NUMBER);
nuclear@1 501 }
nuclear@1 502
nuclear@1 503 inline void operator +=(Vector3 &v1, const Vector3 &v2) {
nuclear@1 504 v1.x += v2.x;
nuclear@1 505 v1.y += v2.y;
nuclear@1 506 v1.z += v2.z;
nuclear@1 507 }
nuclear@1 508
nuclear@1 509 inline void operator -=(Vector3 &v1, const Vector3 &v2) {
nuclear@1 510 v1.x -= v2.x;
nuclear@1 511 v1.y -= v2.y;
nuclear@1 512 v1.z -= v2.z;
nuclear@1 513 }
nuclear@1 514
nuclear@1 515 inline void operator *=(Vector3 &v1, const Vector3 &v2) {
nuclear@1 516 v1.x *= v2.x;
nuclear@1 517 v1.y *= v2.y;
nuclear@1 518 v1.z *= v2.z;
nuclear@1 519 }
nuclear@1 520
nuclear@1 521 inline void operator /=(Vector3 &v1, const Vector3 &v2) {
nuclear@1 522 v1.x /= v2.x;
nuclear@1 523 v1.y /= v2.y;
nuclear@1 524 v1.z /= v2.z;
nuclear@1 525 }
nuclear@1 526 /* binary vector (op) scalar and scalar (op) vector operations */
nuclear@1 527 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar) {
nuclear@1 528 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
nuclear@1 529 }
nuclear@1 530
nuclear@1 531 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec) {
nuclear@1 532 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
nuclear@1 533 }
nuclear@1 534
nuclear@1 535 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar) {
nuclear@1 536 return Vector3(vec.x - scalar, vec.y - scalar, vec.z - scalar);
nuclear@1 537 }
nuclear@1 538
nuclear@1 539 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar) {
nuclear@1 540 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
nuclear@1 541 }
nuclear@1 542
nuclear@1 543 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec) {
nuclear@1 544 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
nuclear@1 545 }
nuclear@1 546
nuclear@1 547 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar) {
nuclear@1 548 return Vector3(vec.x / scalar, vec.y / scalar, vec.z / scalar);
nuclear@1 549 }
nuclear@1 550
nuclear@1 551 inline void operator +=(Vector3 &vec, scalar_t scalar) {
nuclear@1 552 vec.x += scalar;
nuclear@1 553 vec.y += scalar;
nuclear@1 554 vec.z += scalar;
nuclear@1 555 }
nuclear@1 556
nuclear@1 557 inline void operator -=(Vector3 &vec, scalar_t scalar) {
nuclear@1 558 vec.x -= scalar;
nuclear@1 559 vec.y -= scalar;
nuclear@1 560 vec.z -= scalar;
nuclear@1 561 }
nuclear@1 562
nuclear@1 563 inline void operator *=(Vector3 &vec, scalar_t scalar) {
nuclear@1 564 vec.x *= scalar;
nuclear@1 565 vec.y *= scalar;
nuclear@1 566 vec.z *= scalar;
nuclear@1 567 }
nuclear@1 568
nuclear@1 569 inline void operator /=(Vector3 &vec, scalar_t scalar) {
nuclear@1 570 vec.x /= scalar;
nuclear@1 571 vec.y /= scalar;
nuclear@1 572 vec.z /= scalar;
nuclear@1 573 }
nuclear@1 574
nuclear@1 575 inline scalar_t Vector3::length() const {
nuclear@1 576 return sqrt(x*x + y*y + z*z);
nuclear@1 577 }
nuclear@1 578 inline scalar_t Vector3::length_sq() const {
nuclear@1 579 return x*x + y*y + z*z;
nuclear@1 580 }
nuclear@1 581
nuclear@1 582 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t) {
nuclear@1 583 return a + (b - a) * t;
nuclear@1 584 }
nuclear@1 585
nuclear@1 586 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
nuclear@1 587 const Vector3 &v2, const Vector3 &v3, scalar_t t)
nuclear@1 588 {
nuclear@1 589 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@1 590 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@1 591 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@1 592 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@1 593 return Vector3(x, y, z);
nuclear@1 594 }
nuclear@1 595
nuclear@1 596 /* ----------- Vector4 ----------------- */
nuclear@1 597
nuclear@1 598 inline scalar_t &Vector4::operator [](int elem) {
nuclear@1 599 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
nuclear@1 600 }
nuclear@1 601
nuclear@1 602 inline const scalar_t &Vector4::operator [](int elem) const {
nuclear@1 603 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
nuclear@1 604 }
nuclear@1 605
nuclear@1 606 inline Vector4 operator -(const Vector4 &vec) {
nuclear@1 607 return Vector4(-vec.x, -vec.y, -vec.z, -vec.w);
nuclear@1 608 }
nuclear@1 609
nuclear@1 610 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 611 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
nuclear@1 612 }
nuclear@1 613
nuclear@1 614 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3) {
nuclear@1 615 scalar_t a, b, c, d, e, f; /* Intermediate Values */
nuclear@1 616 Vector4 result;
nuclear@1 617
nuclear@1 618 /* Calculate intermediate values. */
nuclear@1 619 a = (v2.x * v3.y) - (v2.y * v3.x);
nuclear@1 620 b = (v2.x * v3.z) - (v2.z * v3.x);
nuclear@1 621 c = (v2.x * v3.w) - (v2.w * v3.x);
nuclear@1 622 d = (v2.y * v3.z) - (v2.z * v3.y);
nuclear@1 623 e = (v2.y * v3.w) - (v2.w * v3.y);
nuclear@1 624 f = (v2.z * v3.w) - (v2.w * v3.z);
nuclear@1 625
nuclear@1 626 /* Calculate the result-vector components. */
nuclear@1 627 result.x = (v1.y * f) - (v1.z * e) + (v1.w * d);
nuclear@1 628 result.y = - (v1.x * f) + (v1.z * c) - (v1.w * b);
nuclear@1 629 result.z = (v1.x * e) - (v1.y * c) + (v1.w * a);
nuclear@1 630 result.w = - (v1.x * d) + (v1.y * b) - (v1.z * a);
nuclear@1 631 return result;
nuclear@1 632 }
nuclear@1 633
nuclear@1 634 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 635 return Vector4(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z, v1.w + v2.w);
nuclear@1 636 }
nuclear@1 637
nuclear@1 638 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 639 return Vector4(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z, v1.w - v2.w);
nuclear@1 640 }
nuclear@1 641
nuclear@1 642 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 643 return Vector4(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z, v1.w * v2.w);
nuclear@1 644 }
nuclear@1 645
nuclear@1 646 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 647 return Vector4(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z, v1.w / v2.w);
nuclear@1 648 }
nuclear@1 649
nuclear@1 650 inline bool operator ==(const Vector4 &v1, const Vector4 &v2) {
nuclear@1 651 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) &&
nuclear@1 652 (fabs(v1.y - v2.y) < XSMALL_NUMBER) &&
nuclear@1 653 (fabs(v1.z - v2.z) < XSMALL_NUMBER) &&
nuclear@1 654 (fabs(v1.w - v2.w) < XSMALL_NUMBER);
nuclear@1 655 }
nuclear@1 656
nuclear@1 657 inline void operator +=(Vector4 &v1, const Vector4 &v2) {
nuclear@1 658 v1.x += v2.x;
nuclear@1 659 v1.y += v2.y;
nuclear@1 660 v1.z += v2.z;
nuclear@1 661 v1.w += v2.w;
nuclear@1 662 }
nuclear@1 663
nuclear@1 664 inline void operator -=(Vector4 &v1, const Vector4 &v2) {
nuclear@1 665 v1.x -= v2.x;
nuclear@1 666 v1.y -= v2.y;
nuclear@1 667 v1.z -= v2.z;
nuclear@1 668 v1.w -= v2.w;
nuclear@1 669 }
nuclear@1 670
nuclear@1 671 inline void operator *=(Vector4 &v1, const Vector4 &v2) {
nuclear@1 672 v1.x *= v2.x;
nuclear@1 673 v1.y *= v2.y;
nuclear@1 674 v1.z *= v2.z;
nuclear@1 675 v1.w *= v2.w;
nuclear@1 676 }
nuclear@1 677
nuclear@1 678 inline void operator /=(Vector4 &v1, const Vector4 &v2) {
nuclear@1 679 v1.x /= v2.x;
nuclear@1 680 v1.y /= v2.y;
nuclear@1 681 v1.z /= v2.z;
nuclear@1 682 v1.w /= v2.w;
nuclear@1 683 }
nuclear@1 684
nuclear@1 685 /* binary vector (op) scalar and scalar (op) vector operations */
nuclear@1 686 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar) {
nuclear@1 687 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
nuclear@1 688 }
nuclear@1 689
nuclear@1 690 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec) {
nuclear@1 691 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
nuclear@1 692 }
nuclear@1 693
nuclear@1 694 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar) {
nuclear@1 695 return Vector4(vec.x - scalar, vec.y - scalar, vec.z - scalar, vec.w - scalar);
nuclear@1 696 }
nuclear@1 697
nuclear@1 698 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar) {
nuclear@1 699 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
nuclear@1 700 }
nuclear@1 701
nuclear@1 702 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec) {
nuclear@1 703 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
nuclear@1 704 }
nuclear@1 705
nuclear@1 706 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar) {
nuclear@1 707 return Vector4(vec.x / scalar, vec.y / scalar, vec.z / scalar, vec.w / scalar);
nuclear@1 708 }
nuclear@1 709
nuclear@1 710 inline void operator +=(Vector4 &vec, scalar_t scalar) {
nuclear@1 711 vec.x += scalar;
nuclear@1 712 vec.y += scalar;
nuclear@1 713 vec.z += scalar;
nuclear@1 714 vec.w += scalar;
nuclear@1 715 }
nuclear@1 716
nuclear@1 717 inline void operator -=(Vector4 &vec, scalar_t scalar) {
nuclear@1 718 vec.x -= scalar;
nuclear@1 719 vec.y -= scalar;
nuclear@1 720 vec.z -= scalar;
nuclear@1 721 vec.w -= scalar;
nuclear@1 722 }
nuclear@1 723
nuclear@1 724 inline void operator *=(Vector4 &vec, scalar_t scalar) {
nuclear@1 725 vec.x *= scalar;
nuclear@1 726 vec.y *= scalar;
nuclear@1 727 vec.z *= scalar;
nuclear@1 728 vec.w *= scalar;
nuclear@1 729 }
nuclear@1 730
nuclear@1 731 inline void operator /=(Vector4 &vec, scalar_t scalar) {
nuclear@1 732 vec.x /= scalar;
nuclear@1 733 vec.y /= scalar;
nuclear@1 734 vec.z /= scalar;
nuclear@1 735 vec.w /= scalar;
nuclear@1 736 }
nuclear@1 737
nuclear@1 738 inline scalar_t Vector4::length() const {
nuclear@1 739 return sqrt(x*x + y*y + z*z + w*w);
nuclear@1 740 }
nuclear@1 741 inline scalar_t Vector4::length_sq() const {
nuclear@1 742 return x*x + y*y + z*z + w*w;
nuclear@1 743 }
nuclear@1 744
nuclear@1 745 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t)
nuclear@1 746 {
nuclear@1 747 return v0 + (v1 - v0) * t;
nuclear@1 748 }
nuclear@1 749
nuclear@1 750 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
nuclear@1 751 const Vector4 &v2, const Vector4 &v3, scalar_t t)
nuclear@1 752 {
nuclear@1 753 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@1 754 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@1 755 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@1 756 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@1 757 scalar_t w = spline(v0.w, v1.w, v2.w, v3.w, t);
nuclear@1 758 return Vector4(x, y, z, w);
nuclear@1 759 }
nuclear@1 760
nuclear@1 761 #endif /* __cplusplus */