nuclear@27: /* nuclear@27: libvmath - a vector math library nuclear@27: Copyright (C) 2004-2011 John Tsiombikas nuclear@27: nuclear@27: This program is free software: you can redistribute it and/or modify nuclear@27: it under the terms of the GNU Lesser General Public License as published nuclear@27: by the Free Software Foundation, either version 3 of the License, or nuclear@27: (at your option) any later version. nuclear@27: nuclear@27: This program is distributed in the hope that it will be useful, nuclear@27: but WITHOUT ANY WARRANTY; without even the implied warranty of nuclear@27: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the nuclear@27: GNU Lesser General Public License for more details. nuclear@27: nuclear@27: You should have received a copy of the GNU Lesser General Public License nuclear@27: along with this program. If not, see . nuclear@27: */ nuclear@27: nuclear@27: #ifndef VMATH_VECTOR_H_ nuclear@27: #define VMATH_VECTOR_H_ nuclear@27: nuclear@27: #include nuclear@27: #include "vmath_types.h" nuclear@27: nuclear@27: #ifdef __cplusplus nuclear@27: extern "C" { nuclear@27: #endif /* __cplusplus */ nuclear@27: nuclear@27: /* C 2D vector functions */ nuclear@28: static VMATH_INLINE vec2_t v2_cons(scalar_t x, scalar_t y); nuclear@28: static VMATH_INLINE void v2_print(FILE *fp, vec2_t v); nuclear@27: nuclear@28: static VMATH_INLINE vec2_t v2_add(vec2_t v1, vec2_t v2); nuclear@28: static VMATH_INLINE vec2_t v2_sub(vec2_t v1, vec2_t v2); nuclear@28: static VMATH_INLINE vec2_t v2_scale(vec2_t v, scalar_t s); nuclear@28: static VMATH_INLINE scalar_t v2_dot(vec2_t v1, vec2_t v2); nuclear@28: static VMATH_INLINE scalar_t v2_length(vec2_t v); nuclear@28: static VMATH_INLINE scalar_t v2_length_sq(vec2_t v); nuclear@28: static VMATH_INLINE vec2_t v2_normalize(vec2_t v); nuclear@27: nuclear@28: static VMATH_INLINE vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t); nuclear@27: nuclear@27: /* C 3D vector functions */ nuclear@28: static VMATH_INLINE vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z); nuclear@28: static VMATH_INLINE void v3_print(FILE *fp, vec3_t v); nuclear@27: nuclear@28: static VMATH_INLINE vec3_t v3_add(vec3_t v1, vec3_t v2); nuclear@28: static VMATH_INLINE vec3_t v3_sub(vec3_t v1, vec3_t v2); nuclear@28: static VMATH_INLINE vec3_t v3_neg(vec3_t v); nuclear@28: static VMATH_INLINE vec3_t v3_mul(vec3_t v1, vec3_t v2); nuclear@28: static VMATH_INLINE vec3_t v3_scale(vec3_t v1, scalar_t s); nuclear@28: static VMATH_INLINE scalar_t v3_dot(vec3_t v1, vec3_t v2); nuclear@28: static VMATH_INLINE vec3_t v3_cross(vec3_t v1, vec3_t v2); nuclear@28: static VMATH_INLINE scalar_t v3_length(vec3_t v); nuclear@28: static VMATH_INLINE scalar_t v3_length_sq(vec3_t v); nuclear@28: static VMATH_INLINE vec3_t v3_normalize(vec3_t v); nuclear@28: static VMATH_INLINE vec3_t v3_transform(vec3_t v, mat4_t m); nuclear@27: nuclear@28: static VMATH_INLINE vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z); nuclear@28: static VMATH_INLINE vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z); nuclear@28: static VMATH_INLINE vec3_t v3_rotate_quat(vec3_t v, quat_t q); nuclear@27: nuclear@28: static VMATH_INLINE vec3_t v3_reflect(vec3_t v, vec3_t n); nuclear@27: nuclear@28: static VMATH_INLINE vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t); nuclear@27: nuclear@27: /* C 4D vector functions */ nuclear@28: static VMATH_INLINE vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w); nuclear@28: static VMATH_INLINE void v4_print(FILE *fp, vec4_t v); nuclear@27: nuclear@28: static VMATH_INLINE vec4_t v4_add(vec4_t v1, vec4_t v2); nuclear@28: static VMATH_INLINE vec4_t v4_sub(vec4_t v1, vec4_t v2); nuclear@28: static VMATH_INLINE vec4_t v4_neg(vec4_t v); nuclear@28: static VMATH_INLINE vec4_t v4_mul(vec4_t v1, vec4_t v2); nuclear@28: static VMATH_INLINE vec4_t v4_scale(vec4_t v, scalar_t s); nuclear@28: static VMATH_INLINE scalar_t v4_dot(vec4_t v1, vec4_t v2); nuclear@28: static VMATH_INLINE scalar_t v4_length(vec4_t v); nuclear@28: static VMATH_INLINE scalar_t v4_length_sq(vec4_t v); nuclear@28: static VMATH_INLINE vec4_t v4_normalize(vec4_t v); nuclear@28: static VMATH_INLINE vec4_t v4_transform(vec4_t v, mat4_t m); nuclear@27: nuclear@27: #ifdef __cplusplus nuclear@27: } /* extern "C" */ nuclear@27: nuclear@27: /* when included from C++ source files, also define the vector classes */ nuclear@27: #include nuclear@27: nuclear@27: /** 2D Vector */ nuclear@27: class Vector2 { nuclear@27: public: nuclear@27: scalar_t x, y; nuclear@27: nuclear@27: Vector2(scalar_t x = 0.0, scalar_t y = 0.0); nuclear@27: Vector2(const vec2_t &vec); nuclear@27: Vector2(const Vector3 &vec); nuclear@27: Vector2(const Vector4 &vec); nuclear@27: nuclear@28: VMATH_INLINE scalar_t &operator [](int elem); nuclear@28: VMATH_INLINE const scalar_t &operator [](int elem) const; nuclear@27: nuclear@28: VMATH_INLINE scalar_t length() const; nuclear@28: VMATH_INLINE scalar_t length_sq() const; nuclear@27: void normalize(); nuclear@27: Vector2 normalized() const; nuclear@27: nuclear@27: void transform(const Matrix3x3 &mat); nuclear@27: Vector2 transformed(const Matrix3x3 &mat) const; nuclear@27: nuclear@27: void rotate(scalar_t angle); nuclear@27: Vector2 rotated(scalar_t angle) const; nuclear@27: nuclear@27: Vector2 reflection(const Vector2 &normal) const; nuclear@27: Vector2 refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const; nuclear@27: }; nuclear@27: nuclear@27: /* unary operations */ nuclear@28: VMATH_INLINE Vector2 operator -(const Vector2 &vec); nuclear@27: nuclear@27: /* binary vector (op) vector operations */ nuclear@28: VMATH_INLINE scalar_t dot_product(const Vector2 &v1, const Vector2 &v2); nuclear@27: nuclear@28: VMATH_INLINE Vector2 operator +(const Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE Vector2 operator -(const Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE Vector2 operator *(const Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE Vector2 operator /(const Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE bool operator ==(const Vector2 &v1, const Vector2 &v2); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE void operator -=(Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE void operator *=(Vector2 &v1, const Vector2 &v2); nuclear@28: VMATH_INLINE void operator /=(Vector2 &v1, const Vector2 &v2); nuclear@27: nuclear@27: /* binary vector (op) scalar and scalar (op) vector operations */ nuclear@28: VMATH_INLINE Vector2 operator +(const Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector2 operator +(scalar_t scalar, const Vector2 &vec); nuclear@28: VMATH_INLINE Vector2 operator -(const Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector2 operator *(const Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector2 operator *(scalar_t scalar, const Vector2 &vec); nuclear@28: VMATH_INLINE Vector2 operator /(const Vector2 &vec, scalar_t scalar); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator -=(Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator *=(Vector2 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator /=(Vector2 &vec, scalar_t scalar); nuclear@27: nuclear@27: std::ostream &operator <<(std::ostream &out, const Vector2 &vec); nuclear@27: nuclear@28: VMATH_INLINE Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t); nuclear@28: VMATH_INLINE Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1, nuclear@27: const Vector2 &v2, const Vector2 &v3, scalar_t t); nuclear@27: nuclear@27: /* 3D Vector */ nuclear@27: class Vector3 { nuclear@27: public: nuclear@27: scalar_t x, y, z; nuclear@27: nuclear@27: Vector3(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0); nuclear@27: Vector3(const vec3_t &vec); nuclear@27: Vector3(const Vector2 &vec); nuclear@27: Vector3(const Vector4 &vec); nuclear@27: Vector3(const SphVector &sph); nuclear@27: nuclear@27: Vector3 &operator =(const SphVector &sph); nuclear@27: nuclear@28: VMATH_INLINE scalar_t &operator [](int elem); nuclear@28: VMATH_INLINE const scalar_t &operator [](int elem) const; nuclear@27: nuclear@28: VMATH_INLINE scalar_t length() const; nuclear@28: VMATH_INLINE scalar_t length_sq() const; nuclear@27: void normalize(); nuclear@27: Vector3 normalized() const; nuclear@27: nuclear@27: void transform(const Matrix3x3 &mat); nuclear@27: Vector3 transformed(const Matrix3x3 &mat) const; nuclear@27: void transform(const Matrix4x4 &mat); nuclear@27: Vector3 transformed(const Matrix4x4 &mat) const; nuclear@27: void transform(const Quaternion &quat); nuclear@27: Vector3 transformed(const Quaternion &quat) const; nuclear@27: nuclear@27: void rotate(const Vector3 &euler); nuclear@27: Vector3 rotated(const Vector3 &euler) const; nuclear@27: nuclear@27: Vector3 reflection(const Vector3 &normal) const; nuclear@27: Vector3 refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const; nuclear@27: Vector3 refraction(const Vector3 &normal, scalar_t ior) const; nuclear@27: }; nuclear@27: nuclear@27: /* unary operations */ nuclear@28: VMATH_INLINE Vector3 operator -(const Vector3 &vec); nuclear@27: nuclear@27: /* binary vector (op) vector operations */ nuclear@28: VMATH_INLINE scalar_t dot_product(const Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE Vector3 cross_product(const Vector3 &v1, const Vector3 &v2); nuclear@27: nuclear@28: VMATH_INLINE Vector3 operator +(const Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE Vector3 operator -(const Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE Vector3 operator *(const Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE Vector3 operator /(const Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE bool operator ==(const Vector3 &v1, const Vector3 &v2); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE void operator -=(Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE void operator *=(Vector3 &v1, const Vector3 &v2); nuclear@28: VMATH_INLINE void operator /=(Vector3 &v1, const Vector3 &v2); nuclear@27: nuclear@27: /* binary vector (op) scalar and scalar (op) vector operations */ nuclear@28: VMATH_INLINE Vector3 operator +(const Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector3 operator +(scalar_t scalar, const Vector3 &vec); nuclear@28: VMATH_INLINE Vector3 operator -(const Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector3 operator *(const Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector3 operator *(scalar_t scalar, const Vector3 &vec); nuclear@28: VMATH_INLINE Vector3 operator /(const Vector3 &vec, scalar_t scalar); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator -=(Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator *=(Vector3 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator /=(Vector3 &vec, scalar_t scalar); nuclear@27: nuclear@27: std::ostream &operator <<(std::ostream &out, const Vector3 &vec); nuclear@27: nuclear@28: VMATH_INLINE Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t); nuclear@28: VMATH_INLINE Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1, nuclear@27: const Vector3 &v2, const Vector3 &v3, scalar_t t); nuclear@27: nuclear@27: /* 4D Vector */ nuclear@27: class Vector4 { nuclear@27: public: nuclear@27: scalar_t x, y, z, w; nuclear@27: nuclear@27: Vector4(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0, scalar_t w = 0.0); nuclear@27: Vector4(const vec4_t &vec); nuclear@27: Vector4(const Vector2 &vec); nuclear@27: Vector4(const Vector3 &vec); nuclear@27: nuclear@28: VMATH_INLINE scalar_t &operator [](int elem); nuclear@28: VMATH_INLINE const scalar_t &operator [](int elem) const; nuclear@27: nuclear@28: VMATH_INLINE scalar_t length() const; nuclear@28: VMATH_INLINE scalar_t length_sq() const; nuclear@27: void normalize(); nuclear@27: Vector4 normalized() const; nuclear@27: nuclear@27: void transform(const Matrix4x4 &mat); nuclear@27: Vector4 transformed(const Matrix4x4 &mat) const; nuclear@27: nuclear@27: Vector4 reflection(const Vector4 &normal) const; nuclear@27: Vector4 refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const; nuclear@27: }; nuclear@27: nuclear@27: nuclear@27: /* unary operations */ nuclear@28: VMATH_INLINE Vector4 operator -(const Vector4 &vec); nuclear@27: nuclear@27: /* binary vector (op) vector operations */ nuclear@28: VMATH_INLINE scalar_t dot_product(const Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3); nuclear@27: nuclear@28: VMATH_INLINE Vector4 operator +(const Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE Vector4 operator -(const Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE Vector4 operator *(const Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE Vector4 operator /(const Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE bool operator ==(const Vector4 &v1, const Vector4 &v2); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE void operator -=(Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE void operator *=(Vector4 &v1, const Vector4 &v2); nuclear@28: VMATH_INLINE void operator /=(Vector4 &v1, const Vector4 &v2); nuclear@27: nuclear@27: /* binary vector (op) scalar and scalar (op) vector operations */ nuclear@28: VMATH_INLINE Vector4 operator +(const Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector4 operator +(scalar_t scalar, const Vector4 &vec); nuclear@28: VMATH_INLINE Vector4 operator -(const Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector4 operator *(const Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE Vector4 operator *(scalar_t scalar, const Vector4 &vec); nuclear@28: VMATH_INLINE Vector4 operator /(const Vector4 &vec, scalar_t scalar); nuclear@27: nuclear@28: VMATH_INLINE void operator +=(Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator -=(Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator *=(Vector4 &vec, scalar_t scalar); nuclear@28: VMATH_INLINE void operator /=(Vector4 &vec, scalar_t scalar); nuclear@27: nuclear@27: std::ostream &operator <<(std::ostream &out, const Vector4 &vec); nuclear@27: nuclear@28: VMATH_INLINE Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t); nuclear@28: VMATH_INLINE Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1, nuclear@27: const Vector4 &v2, const Vector4 &v3, scalar_t t); nuclear@27: nuclear@27: #endif /* __cplusplus */ nuclear@27: nuclear@27: #include "vector.inl" nuclear@27: nuclear@27: #endif /* VMATH_VECTOR_H_ */