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