istereo
diff libs/vmath/vector.h @ 28:c0ae8e668447
added vmath library
author | John Tsiombikas <nuclear@mutantstargoat.com> |
---|---|
date | Thu, 08 Sep 2011 08:30:42 +0300 |
parents | |
children | ff055bff6a15 |
line diff
1.1 --- /dev/null Thu Jan 01 00:00:00 1970 +0000 1.2 +++ b/libs/vmath/vector.h Thu Sep 08 08:30:42 2011 +0300 1.3 @@ -0,0 +1,274 @@ 1.4 +#ifndef VMATH_VECTOR_H_ 1.5 +#define VMATH_VECTOR_H_ 1.6 + 1.7 +#include <stdio.h> 1.8 +#include "vmath_types.h" 1.9 + 1.10 +#ifdef __cplusplus 1.11 +extern "C" { 1.12 +#endif /* __cplusplus */ 1.13 + 1.14 +/* C 2D vector functions */ 1.15 +static inline vec2_t v2_cons(scalar_t x, scalar_t y); 1.16 +static inline void v2_print(FILE *fp, vec2_t v); 1.17 + 1.18 +static inline vec2_t v2_add(vec2_t v1, vec2_t v2); 1.19 +static inline vec2_t v2_sub(vec2_t v1, vec2_t v2); 1.20 +static inline vec2_t v2_scale(vec2_t v, scalar_t s); 1.21 +static inline scalar_t v2_dot(vec2_t v1, vec2_t v2); 1.22 +static inline scalar_t v2_length(vec2_t v); 1.23 +static inline scalar_t v2_length_sq(vec2_t v); 1.24 +static inline vec2_t v2_normalize(vec2_t v); 1.25 + 1.26 +static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t); 1.27 + 1.28 +/* C 3D vector functions */ 1.29 +static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z); 1.30 +static inline void v3_print(FILE *fp, vec3_t v); 1.31 + 1.32 +static inline vec3_t v3_add(vec3_t v1, vec3_t v2); 1.33 +static inline vec3_t v3_sub(vec3_t v1, vec3_t v2); 1.34 +static inline vec3_t v3_neg(vec3_t v); 1.35 +static inline vec3_t v3_mul(vec3_t v1, vec3_t v2); 1.36 +static inline vec3_t v3_scale(vec3_t v1, scalar_t s); 1.37 +static inline scalar_t v3_dot(vec3_t v1, vec3_t v2); 1.38 +static inline vec3_t v3_cross(vec3_t v1, vec3_t v2); 1.39 +static inline scalar_t v3_length(vec3_t v); 1.40 +static inline scalar_t v3_length_sq(vec3_t v); 1.41 +static inline vec3_t v3_normalize(vec3_t v); 1.42 +static inline vec3_t v3_transform(vec3_t v, mat4_t m); 1.43 + 1.44 +static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z); 1.45 +static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z); 1.46 +static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q); 1.47 + 1.48 +static inline vec3_t v3_reflect(vec3_t v, vec3_t n); 1.49 + 1.50 +static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t); 1.51 + 1.52 +/* C 4D vector functions */ 1.53 +static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w); 1.54 +static inline void v4_print(FILE *fp, vec4_t v); 1.55 + 1.56 +static inline vec4_t v4_add(vec4_t v1, vec4_t v2); 1.57 +static inline vec4_t v4_sub(vec4_t v1, vec4_t v2); 1.58 +static inline vec4_t v4_neg(vec4_t v); 1.59 +static inline vec4_t v4_mul(vec4_t v1, vec4_t v2); 1.60 +static inline vec4_t v4_scale(vec4_t v, scalar_t s); 1.61 +static inline scalar_t v4_dot(vec4_t v1, vec4_t v2); 1.62 +static inline scalar_t v4_length(vec4_t v); 1.63 +static inline scalar_t v4_length_sq(vec4_t v); 1.64 +static inline vec4_t v4_normalize(vec4_t v); 1.65 +static inline vec4_t v4_transform(vec4_t v, mat4_t m); 1.66 + 1.67 +#ifdef __cplusplus 1.68 +} /* extern "C" */ 1.69 + 1.70 +/* when included from C++ source files, also define the vector classes */ 1.71 +#include <iostream> 1.72 + 1.73 +/** 2D Vector */ 1.74 +class Vector2 { 1.75 +public: 1.76 + scalar_t x, y; 1.77 + 1.78 + explicit Vector2(scalar_t x = 0.0, scalar_t y = 0.0); 1.79 + Vector2(const vec2_t &vec); 1.80 + Vector2(const Vector3 &vec); 1.81 + Vector2(const Vector4 &vec); 1.82 + 1.83 + inline scalar_t &operator [](int elem); 1.84 + inline const scalar_t &operator [](int elem) const; 1.85 + 1.86 + inline scalar_t length() const; 1.87 + inline scalar_t length_sq() const; 1.88 + void normalize(); 1.89 + Vector2 normalized() const; 1.90 + 1.91 + void transform(const Matrix3x3 &mat); 1.92 + Vector2 transformed(const Matrix3x3 &mat) const; 1.93 + 1.94 + void rotate(scalar_t angle); 1.95 + Vector2 rotated(scalar_t angle) const; 1.96 + 1.97 + Vector2 reflection(const Vector2 &normal) const; 1.98 + Vector2 refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const; 1.99 +}; 1.100 + 1.101 +/* unary operations */ 1.102 +inline Vector2 operator -(const Vector2 &vec); 1.103 + 1.104 +/* binary vector (op) vector operations */ 1.105 +inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2); 1.106 + 1.107 +inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2); 1.108 +inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2); 1.109 +inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2); 1.110 +inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2); 1.111 +inline bool operator ==(const Vector2 &v1, const Vector2 &v2); 1.112 + 1.113 +inline void operator +=(Vector2 &v1, const Vector2 &v2); 1.114 +inline void operator -=(Vector2 &v1, const Vector2 &v2); 1.115 +inline void operator *=(Vector2 &v1, const Vector2 &v2); 1.116 +inline void operator /=(Vector2 &v1, const Vector2 &v2); 1.117 + 1.118 +/* binary vector (op) scalar and scalar (op) vector operations */ 1.119 +inline Vector2 operator +(const Vector2 &vec, scalar_t scalar); 1.120 +inline Vector2 operator +(scalar_t scalar, const Vector2 &vec); 1.121 +inline Vector2 operator -(const Vector2 &vec, scalar_t scalar); 1.122 +inline Vector2 operator *(const Vector2 &vec, scalar_t scalar); 1.123 +inline Vector2 operator *(scalar_t scalar, const Vector2 &vec); 1.124 +inline Vector2 operator /(const Vector2 &vec, scalar_t scalar); 1.125 + 1.126 +inline void operator +=(Vector2 &vec, scalar_t scalar); 1.127 +inline void operator -=(Vector2 &vec, scalar_t scalar); 1.128 +inline void operator *=(Vector2 &vec, scalar_t scalar); 1.129 +inline void operator /=(Vector2 &vec, scalar_t scalar); 1.130 + 1.131 +std::ostream &operator <<(std::ostream &out, const Vector2 &vec); 1.132 + 1.133 +inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t); 1.134 +inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1, 1.135 + const Vector2 &v2, const Vector2 &v3, scalar_t t); 1.136 + 1.137 +/* 3D Vector */ 1.138 +class Vector3 { 1.139 +public: 1.140 + scalar_t x, y, z; 1.141 + 1.142 + explicit Vector3(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0); 1.143 + Vector3(const vec3_t &vec); 1.144 + Vector3(const Vector2 &vec); 1.145 + Vector3(const Vector4 &vec); 1.146 + Vector3(const SphVector &sph); 1.147 + 1.148 + Vector3 &operator =(const SphVector &sph); 1.149 + 1.150 + inline scalar_t &operator [](int elem); 1.151 + inline const scalar_t &operator [](int elem) const; 1.152 + 1.153 + inline scalar_t length() const; 1.154 + inline scalar_t length_sq() const; 1.155 + void normalize(); 1.156 + Vector3 normalized() const; 1.157 + 1.158 + void transform(const Matrix3x3 &mat); 1.159 + Vector3 transformed(const Matrix3x3 &mat) const; 1.160 + void transform(const Matrix4x4 &mat); 1.161 + Vector3 transformed(const Matrix4x4 &mat) const; 1.162 + void transform(const Quaternion &quat); 1.163 + Vector3 transformed(const Quaternion &quat) const; 1.164 + 1.165 + void rotate(const Vector3 &euler); 1.166 + Vector3 rotated(const Vector3 &euler) const; 1.167 + 1.168 + Vector3 reflection(const Vector3 &normal) const; 1.169 + Vector3 refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const; 1.170 + Vector3 refraction(const Vector3 &normal, scalar_t ior) const; 1.171 +}; 1.172 + 1.173 +/* unary operations */ 1.174 +inline Vector3 operator -(const Vector3 &vec); 1.175 + 1.176 +/* binary vector (op) vector operations */ 1.177 +inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2); 1.178 +inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2); 1.179 + 1.180 +inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2); 1.181 +inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2); 1.182 +inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2); 1.183 +inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2); 1.184 +inline bool operator ==(const Vector3 &v1, const Vector3 &v2); 1.185 + 1.186 +inline void operator +=(Vector3 &v1, const Vector3 &v2); 1.187 +inline void operator -=(Vector3 &v1, const Vector3 &v2); 1.188 +inline void operator *=(Vector3 &v1, const Vector3 &v2); 1.189 +inline void operator /=(Vector3 &v1, const Vector3 &v2); 1.190 + 1.191 +/* binary vector (op) scalar and scalar (op) vector operations */ 1.192 +inline Vector3 operator +(const Vector3 &vec, scalar_t scalar); 1.193 +inline Vector3 operator +(scalar_t scalar, const Vector3 &vec); 1.194 +inline Vector3 operator -(const Vector3 &vec, scalar_t scalar); 1.195 +inline Vector3 operator *(const Vector3 &vec, scalar_t scalar); 1.196 +inline Vector3 operator *(scalar_t scalar, const Vector3 &vec); 1.197 +inline Vector3 operator /(const Vector3 &vec, scalar_t scalar); 1.198 + 1.199 +inline void operator +=(Vector3 &vec, scalar_t scalar); 1.200 +inline void operator -=(Vector3 &vec, scalar_t scalar); 1.201 +inline void operator *=(Vector3 &vec, scalar_t scalar); 1.202 +inline void operator /=(Vector3 &vec, scalar_t scalar); 1.203 + 1.204 +std::ostream &operator <<(std::ostream &out, const Vector3 &vec); 1.205 + 1.206 +inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t); 1.207 +inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1, 1.208 + const Vector3 &v2, const Vector3 &v3, scalar_t t); 1.209 + 1.210 +/* 4D Vector */ 1.211 +class Vector4 { 1.212 +public: 1.213 + scalar_t x, y, z, w; 1.214 + 1.215 + explicit Vector4(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0, scalar_t w = 0.0); 1.216 + Vector4(const vec4_t &vec); 1.217 + Vector4(const Vector2 &vec); 1.218 + Vector4(const Vector3 &vec); 1.219 + 1.220 + inline scalar_t &operator [](int elem); 1.221 + inline const scalar_t &operator [](int elem) const; 1.222 + 1.223 + inline scalar_t length() const; 1.224 + inline scalar_t length_sq() const; 1.225 + void normalize(); 1.226 + Vector4 normalized() const; 1.227 + 1.228 + void transform(const Matrix4x4 &mat); 1.229 + Vector4 transformed(const Matrix4x4 &mat) const; 1.230 + 1.231 + Vector4 reflection(const Vector4 &normal) const; 1.232 + Vector4 refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const; 1.233 +}; 1.234 + 1.235 + 1.236 +/* unary operations */ 1.237 +inline Vector4 operator -(const Vector4 &vec); 1.238 + 1.239 +/* binary vector (op) vector operations */ 1.240 +inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2); 1.241 +inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3); 1.242 + 1.243 +inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2); 1.244 +inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2); 1.245 +inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2); 1.246 +inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2); 1.247 +inline bool operator ==(const Vector4 &v1, const Vector4 &v2); 1.248 + 1.249 +inline void operator +=(Vector4 &v1, const Vector4 &v2); 1.250 +inline void operator -=(Vector4 &v1, const Vector4 &v2); 1.251 +inline void operator *=(Vector4 &v1, const Vector4 &v2); 1.252 +inline void operator /=(Vector4 &v1, const Vector4 &v2); 1.253 + 1.254 +/* binary vector (op) scalar and scalar (op) vector operations */ 1.255 +inline Vector4 operator +(const Vector4 &vec, scalar_t scalar); 1.256 +inline Vector4 operator +(scalar_t scalar, const Vector4 &vec); 1.257 +inline Vector4 operator -(const Vector4 &vec, scalar_t scalar); 1.258 +inline Vector4 operator *(const Vector4 &vec, scalar_t scalar); 1.259 +inline Vector4 operator *(scalar_t scalar, const Vector4 &vec); 1.260 +inline Vector4 operator /(const Vector4 &vec, scalar_t scalar); 1.261 + 1.262 +inline void operator +=(Vector4 &vec, scalar_t scalar); 1.263 +inline void operator -=(Vector4 &vec, scalar_t scalar); 1.264 +inline void operator *=(Vector4 &vec, scalar_t scalar); 1.265 +inline void operator /=(Vector4 &vec, scalar_t scalar); 1.266 + 1.267 +std::ostream &operator <<(std::ostream &out, const Vector4 &vec); 1.268 + 1.269 +inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t); 1.270 +inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1, 1.271 + const Vector4 &v2, const Vector4 &v3, scalar_t t); 1.272 + 1.273 +#endif /* __cplusplus */ 1.274 + 1.275 +#include "vector.inl" 1.276 + 1.277 +#endif /* VMATH_VECTOR_H_ */