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1 /*
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2 libvmath - a vector math library
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3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
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4
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5 This program is free software: you can redistribute it and/or modify
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6 it under the terms of the GNU Lesser General Public License as published
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7 by the Free Software Foundation, either version 3 of the License, or
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8 (at your option) any later version.
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9
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10 This program is distributed in the hope that it will be useful,
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11 but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 GNU Lesser General Public License for more details.
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14
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15 You should have received a copy of the GNU Lesser General Public License
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16 along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 */
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18
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19 #ifndef VMATH_VECTOR_H_
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20 #define VMATH_VECTOR_H_
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21
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22 #include <stdio.h>
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23 #include "vmath_types.h"
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24
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25 #ifdef __cplusplus
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26 extern "C" {
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27 #endif /* __cplusplus */
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28
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29 /* C 2D vector functions */
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30 static inline vec2_t v2_cons(scalar_t x, scalar_t y);
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31 static inline void v2_print(FILE *fp, vec2_t v);
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32
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33 static inline vec2_t v2_add(vec2_t v1, vec2_t v2);
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34 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2);
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35 static inline vec2_t v2_scale(vec2_t v, scalar_t s);
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36 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2);
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37 static inline scalar_t v2_length(vec2_t v);
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38 static inline scalar_t v2_length_sq(vec2_t v);
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39 static inline vec2_t v2_normalize(vec2_t v);
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40
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41 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t);
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42
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43 /* C 3D vector functions */
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44 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z);
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45 static inline void v3_print(FILE *fp, vec3_t v);
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46
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47 static inline vec3_t v3_add(vec3_t v1, vec3_t v2);
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48 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2);
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49 static inline vec3_t v3_neg(vec3_t v);
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50 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2);
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51 static inline vec3_t v3_scale(vec3_t v1, scalar_t s);
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52 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2);
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53 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2);
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54 static inline scalar_t v3_length(vec3_t v);
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55 static inline scalar_t v3_length_sq(vec3_t v);
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56 static inline vec3_t v3_normalize(vec3_t v);
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57 static inline vec3_t v3_transform(vec3_t v, mat4_t m);
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58
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59 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z);
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60 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
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61 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q);
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62
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63 static inline vec3_t v3_reflect(vec3_t v, vec3_t n);
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64
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65 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t);
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66
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67 /* C 4D vector functions */
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68 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w);
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69 static inline void v4_print(FILE *fp, vec4_t v);
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70
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71 static inline vec4_t v4_add(vec4_t v1, vec4_t v2);
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72 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2);
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73 static inline vec4_t v4_neg(vec4_t v);
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74 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2);
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75 static inline vec4_t v4_scale(vec4_t v, scalar_t s);
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76 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2);
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77 static inline scalar_t v4_length(vec4_t v);
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78 static inline scalar_t v4_length_sq(vec4_t v);
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79 static inline vec4_t v4_normalize(vec4_t v);
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80 static inline vec4_t v4_transform(vec4_t v, mat4_t m);
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81
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82 #ifdef __cplusplus
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83 } /* extern "C" */
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84
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85 /* when included from C++ source files, also define the vector classes */
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86 #include <iostream>
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87
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88 /** 2D Vector */
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89 class Vector2 {
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90 public:
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91 scalar_t x, y;
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92
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93 Vector2(scalar_t x = 0.0, scalar_t y = 0.0);
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94 Vector2(const vec2_t &vec);
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95 Vector2(const Vector3 &vec);
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96 Vector2(const Vector4 &vec);
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97
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98 inline scalar_t &operator [](int elem);
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99 inline const scalar_t &operator [](int elem) const;
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100
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101 inline scalar_t length() const;
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102 inline scalar_t length_sq() const;
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103 void normalize();
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104 Vector2 normalized() const;
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105
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106 void transform(const Matrix3x3 &mat);
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107 Vector2 transformed(const Matrix3x3 &mat) const;
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108
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109 void rotate(scalar_t angle);
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110 Vector2 rotated(scalar_t angle) const;
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111
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112 Vector2 reflection(const Vector2 &normal) const;
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113 Vector2 refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const;
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114 };
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115
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116 /* unary operations */
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117 inline Vector2 operator -(const Vector2 &vec);
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118
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119 /* binary vector (op) vector operations */
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120 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2);
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121
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122 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2);
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123 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2);
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124 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2);
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125 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2);
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126 inline bool operator ==(const Vector2 &v1, const Vector2 &v2);
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127
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128 inline void operator +=(Vector2 &v1, const Vector2 &v2);
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129 inline void operator -=(Vector2 &v1, const Vector2 &v2);
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130 inline void operator *=(Vector2 &v1, const Vector2 &v2);
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131 inline void operator /=(Vector2 &v1, const Vector2 &v2);
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132
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133 /* binary vector (op) scalar and scalar (op) vector operations */
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134 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar);
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135 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec);
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136 inline Vector2 operator -(const Vector2 &vec, scalar_t scalar);
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137 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar);
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138 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec);
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139 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar);
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140
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141 inline void operator +=(Vector2 &vec, scalar_t scalar);
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142 inline void operator -=(Vector2 &vec, scalar_t scalar);
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143 inline void operator *=(Vector2 &vec, scalar_t scalar);
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144 inline void operator /=(Vector2 &vec, scalar_t scalar);
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145
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146 std::ostream &operator <<(std::ostream &out, const Vector2 &vec);
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147
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148 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t);
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149 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
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150 const Vector2 &v2, const Vector2 &v3, scalar_t t);
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151
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152 /* 3D Vector */
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153 class Vector3 {
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154 public:
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155 scalar_t x, y, z;
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156
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157 Vector3(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0);
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158 Vector3(const vec3_t &vec);
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159 Vector3(const Vector2 &vec);
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160 Vector3(const Vector4 &vec);
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161
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162 inline scalar_t &operator [](int elem);
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163 inline const scalar_t &operator [](int elem) const;
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164
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165 inline scalar_t length() const;
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166 inline scalar_t length_sq() const;
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167 void normalize();
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168 Vector3 normalized() const;
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169
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170 void transform(const Matrix3x3 &mat);
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171 Vector3 transformed(const Matrix3x3 &mat) const;
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172 void transform(const Matrix4x4 &mat);
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173 Vector3 transformed(const Matrix4x4 &mat) const;
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174 void transform(const Quaternion &quat);
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175 Vector3 transformed(const Quaternion &quat) const;
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176
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177 void rotate(const Vector3 &euler);
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178 Vector3 rotated(const Vector3 &euler) const;
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179
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180 Vector3 reflection(const Vector3 &normal) const;
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181 Vector3 refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const;
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182 Vector3 refraction(const Vector3 &normal, scalar_t ior) const;
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183 };
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184
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185 /* unary operations */
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186 inline Vector3 operator -(const Vector3 &vec);
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187
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188 /* binary vector (op) vector operations */
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189 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2);
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190 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2);
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191
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192 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2);
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193 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2);
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194 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2);
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195 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2);
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196 inline bool operator ==(const Vector3 &v1, const Vector3 &v2);
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197
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198 inline void operator +=(Vector3 &v1, const Vector3 &v2);
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199 inline void operator -=(Vector3 &v1, const Vector3 &v2);
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200 inline void operator *=(Vector3 &v1, const Vector3 &v2);
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201 inline void operator /=(Vector3 &v1, const Vector3 &v2);
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202
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203 /* binary vector (op) scalar and scalar (op) vector operations */
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204 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar);
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205 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec);
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206 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar);
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207 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar);
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208 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec);
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209 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar);
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210
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211 inline void operator +=(Vector3 &vec, scalar_t scalar);
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212 inline void operator -=(Vector3 &vec, scalar_t scalar);
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213 inline void operator *=(Vector3 &vec, scalar_t scalar);
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214 inline void operator /=(Vector3 &vec, scalar_t scalar);
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215
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216 std::ostream &operator <<(std::ostream &out, const Vector3 &vec);
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217
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218 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t);
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219 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
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220 const Vector3 &v2, const Vector3 &v3, scalar_t t);
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221
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222 inline Vector3 faceforward(const Vector3 &v, const Vector3 &ref);
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223
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224 /* 4D Vector */
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225 class Vector4 {
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226 public:
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227 scalar_t x, y, z, w;
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228
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229 Vector4(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0, scalar_t w = 0.0);
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230 Vector4(const vec4_t &vec);
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231 Vector4(const Vector2 &vec);
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232 Vector4(const Vector3 &vec);
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233
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234 inline scalar_t &operator [](int elem);
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235 inline const scalar_t &operator [](int elem) const;
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236
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237 inline scalar_t length() const;
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238 inline scalar_t length_sq() const;
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239 void normalize();
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240 Vector4 normalized() const;
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241
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242 void transform(const Matrix4x4 &mat);
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243 Vector4 transformed(const Matrix4x4 &mat) const;
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244
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245 Vector4 reflection(const Vector4 &normal) const;
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246 Vector4 refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const;
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247 };
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248
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249
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250 /* unary operations */
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251 inline Vector4 operator -(const Vector4 &vec);
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252
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253 /* binary vector (op) vector operations */
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254 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2);
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255 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3);
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256
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257 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2);
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258 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2);
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259 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2);
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260 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2);
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261 inline bool operator ==(const Vector4 &v1, const Vector4 &v2);
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262
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263 inline void operator +=(Vector4 &v1, const Vector4 &v2);
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264 inline void operator -=(Vector4 &v1, const Vector4 &v2);
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265 inline void operator *=(Vector4 &v1, const Vector4 &v2);
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266 inline void operator /=(Vector4 &v1, const Vector4 &v2);
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267
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268 /* binary vector (op) scalar and scalar (op) vector operations */
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269 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar);
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270 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec);
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271 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar);
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272 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar);
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273 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec);
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274 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar);
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275
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276 inline void operator +=(Vector4 &vec, scalar_t scalar);
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277 inline void operator -=(Vector4 &vec, scalar_t scalar);
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278 inline void operator *=(Vector4 &vec, scalar_t scalar);
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279 inline void operator /=(Vector4 &vec, scalar_t scalar);
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280
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281 std::ostream &operator <<(std::ostream &out, const Vector4 &vec);
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282
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283 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t);
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284 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
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285 const Vector4 &v2, const Vector4 &v3, scalar_t t);
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286
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287 #endif /* __cplusplus */
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288
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289 #include "vector.inl"
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290
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291 #endif /* VMATH_VECTOR_H_ */
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