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cone intersection
author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 09 Nov 2014 20:13:33 +0200
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1 /*
2 libvmath - a vector math library
3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
4
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.
9
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.
14
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 */
18
19 #ifndef VMATH_VECTOR_H_
20 #define VMATH_VECTOR_H_
21
22 #include <stdio.h>
23 #include "vmath_types.h"
24
25 #ifdef __cplusplus
26 extern "C" {
27 #endif /* __cplusplus */
28
29 /* C 2D vector functions */
30 static inline vec2_t v2_cons(scalar_t x, scalar_t y);
31 static inline void v2_print(FILE *fp, vec2_t v);
32
33 static inline vec2_t v2_add(vec2_t v1, vec2_t v2);
34 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2);
35 static inline vec2_t v2_scale(vec2_t v, scalar_t s);
36 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2);
37 static inline scalar_t v2_length(vec2_t v);
38 static inline scalar_t v2_length_sq(vec2_t v);
39 static inline vec2_t v2_normalize(vec2_t v);
40
41 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t);
42
43 /* C 3D vector functions */
44 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z);
45 static inline void v3_print(FILE *fp, vec3_t v);
46
47 static inline vec3_t v3_add(vec3_t v1, vec3_t v2);
48 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2);
49 static inline vec3_t v3_neg(vec3_t v);
50 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2);
51 static inline vec3_t v3_scale(vec3_t v1, scalar_t s);
52 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2);
53 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2);
54 static inline scalar_t v3_length(vec3_t v);
55 static inline scalar_t v3_length_sq(vec3_t v);
56 static inline vec3_t v3_normalize(vec3_t v);
57 static inline vec3_t v3_transform(vec3_t v, mat4_t m);
58
59 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z);
60 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
61 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q);
62
63 static inline vec3_t v3_reflect(vec3_t v, vec3_t n);
64
65 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t);
66
67 /* C 4D vector functions */
68 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w);
69 static inline void v4_print(FILE *fp, vec4_t v);
70
71 static inline vec4_t v4_add(vec4_t v1, vec4_t v2);
72 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2);
73 static inline vec4_t v4_neg(vec4_t v);
74 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2);
75 static inline vec4_t v4_scale(vec4_t v, scalar_t s);
76 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2);
77 static inline scalar_t v4_length(vec4_t v);
78 static inline scalar_t v4_length_sq(vec4_t v);
79 static inline vec4_t v4_normalize(vec4_t v);
80 static inline vec4_t v4_transform(vec4_t v, mat4_t m);
81
82 #ifdef __cplusplus
83 } /* extern "C" */
84
85 /* when included from C++ source files, also define the vector classes */
86 #include <iostream>
87
88 /** 2D Vector */
89 class Vector2 {
90 public:
91 scalar_t x, y;
92
93 Vector2(scalar_t x = 0.0, scalar_t y = 0.0);
94 Vector2(const vec2_t &vec);
95 Vector2(const Vector3 &vec);
96 Vector2(const Vector4 &vec);
97
98 inline scalar_t &operator [](int elem);
99 inline const scalar_t &operator [](int elem) const;
100
101 inline scalar_t length() const;
102 inline scalar_t length_sq() const;
103 void normalize();
104 Vector2 normalized() const;
105
106 void transform(const Matrix3x3 &mat);
107 Vector2 transformed(const Matrix3x3 &mat) const;
108
109 void rotate(scalar_t angle);
110 Vector2 rotated(scalar_t angle) const;
111
112 Vector2 reflection(const Vector2 &normal) const;
113 Vector2 refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const;
114 };
115
116 /* unary operations */
117 inline Vector2 operator -(const Vector2 &vec);
118
119 /* binary vector (op) vector operations */
120 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2);
121
122 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2);
123 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2);
124 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2);
125 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2);
126 inline bool operator ==(const Vector2 &v1, const Vector2 &v2);
127
128 inline void operator +=(Vector2 &v1, const Vector2 &v2);
129 inline void operator -=(Vector2 &v1, const Vector2 &v2);
130 inline void operator *=(Vector2 &v1, const Vector2 &v2);
131 inline void operator /=(Vector2 &v1, const Vector2 &v2);
132
133 /* binary vector (op) scalar and scalar (op) vector operations */
134 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar);
135 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec);
136 inline Vector2 operator -(const Vector2 &vec, scalar_t scalar);
137 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar);
138 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec);
139 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar);
140
141 inline void operator +=(Vector2 &vec, scalar_t scalar);
142 inline void operator -=(Vector2 &vec, scalar_t scalar);
143 inline void operator *=(Vector2 &vec, scalar_t scalar);
144 inline void operator /=(Vector2 &vec, scalar_t scalar);
145
146 std::ostream &operator <<(std::ostream &out, const Vector2 &vec);
147
148 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t);
149 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
150 const Vector2 &v2, const Vector2 &v3, scalar_t t);
151
152 /* 3D Vector */
153 class Vector3 {
154 public:
155 scalar_t x, y, z;
156
157 Vector3(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0);
158 Vector3(const vec3_t &vec);
159 Vector3(const Vector2 &vec);
160 Vector3(const Vector4 &vec);
161
162 inline scalar_t &operator [](int elem);
163 inline const scalar_t &operator [](int elem) const;
164
165 inline scalar_t length() const;
166 inline scalar_t length_sq() const;
167 void normalize();
168 Vector3 normalized() const;
169
170 void transform(const Matrix3x3 &mat);
171 Vector3 transformed(const Matrix3x3 &mat) const;
172 void transform(const Matrix4x4 &mat);
173 Vector3 transformed(const Matrix4x4 &mat) const;
174 void transform(const Quaternion &quat);
175 Vector3 transformed(const Quaternion &quat) const;
176
177 void rotate(const Vector3 &euler);
178 Vector3 rotated(const Vector3 &euler) const;
179
180 Vector3 reflection(const Vector3 &normal) const;
181 Vector3 refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const;
182 Vector3 refraction(const Vector3 &normal, scalar_t ior) const;
183 };
184
185 /* unary operations */
186 inline Vector3 operator -(const Vector3 &vec);
187
188 /* binary vector (op) vector operations */
189 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2);
190 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2);
191
192 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2);
193 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2);
194 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2);
195 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2);
196 inline bool operator ==(const Vector3 &v1, const Vector3 &v2);
197
198 inline void operator +=(Vector3 &v1, const Vector3 &v2);
199 inline void operator -=(Vector3 &v1, const Vector3 &v2);
200 inline void operator *=(Vector3 &v1, const Vector3 &v2);
201 inline void operator /=(Vector3 &v1, const Vector3 &v2);
202
203 /* binary vector (op) scalar and scalar (op) vector operations */
204 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar);
205 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec);
206 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar);
207 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar);
208 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec);
209 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar);
210
211 inline void operator +=(Vector3 &vec, scalar_t scalar);
212 inline void operator -=(Vector3 &vec, scalar_t scalar);
213 inline void operator *=(Vector3 &vec, scalar_t scalar);
214 inline void operator /=(Vector3 &vec, scalar_t scalar);
215
216 std::ostream &operator <<(std::ostream &out, const Vector3 &vec);
217
218 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t);
219 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
220 const Vector3 &v2, const Vector3 &v3, scalar_t t);
221
222 inline Vector3 faceforward(const Vector3 &v, const Vector3 &ref);
223
224 /* 4D Vector */
225 class Vector4 {
226 public:
227 scalar_t x, y, z, w;
228
229 Vector4(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0, scalar_t w = 0.0);
230 Vector4(const vec4_t &vec);
231 Vector4(const Vector2 &vec);
232 Vector4(const Vector3 &vec);
233
234 inline scalar_t &operator [](int elem);
235 inline const scalar_t &operator [](int elem) const;
236
237 inline scalar_t length() const;
238 inline scalar_t length_sq() const;
239 void normalize();
240 Vector4 normalized() const;
241
242 void transform(const Matrix4x4 &mat);
243 Vector4 transformed(const Matrix4x4 &mat) const;
244
245 Vector4 reflection(const Vector4 &normal) const;
246 Vector4 refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const;
247 };
248
249
250 /* unary operations */
251 inline Vector4 operator -(const Vector4 &vec);
252
253 /* binary vector (op) vector operations */
254 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2);
255 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3);
256
257 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2);
258 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2);
259 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2);
260 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2);
261 inline bool operator ==(const Vector4 &v1, const Vector4 &v2);
262
263 inline void operator +=(Vector4 &v1, const Vector4 &v2);
264 inline void operator -=(Vector4 &v1, const Vector4 &v2);
265 inline void operator *=(Vector4 &v1, const Vector4 &v2);
266 inline void operator /=(Vector4 &v1, const Vector4 &v2);
267
268 /* binary vector (op) scalar and scalar (op) vector operations */
269 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar);
270 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec);
271 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar);
272 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar);
273 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec);
274 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar);
275
276 inline void operator +=(Vector4 &vec, scalar_t scalar);
277 inline void operator -=(Vector4 &vec, scalar_t scalar);
278 inline void operator *=(Vector4 &vec, scalar_t scalar);
279 inline void operator /=(Vector4 &vec, scalar_t scalar);
280
281 std::ostream &operator <<(std::ostream &out, const Vector4 &vec);
282
283 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t);
284 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
285 const Vector4 &v2, const Vector4 &v3, scalar_t t);
286
287 #endif /* __cplusplus */
288
289 #include "vector.inl"
290
291 #endif /* VMATH_VECTOR_H_ */