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added vmath library
author John Tsiombikas <nuclear@mutantstargoat.com>
date Thu, 08 Sep 2011 08:30:42 +0300
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children ff055bff6a15
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1 #ifndef VMATH_VECTOR_H_
2 #define VMATH_VECTOR_H_
3
4 #include <stdio.h>
5 #include "vmath_types.h"
6
7 #ifdef __cplusplus
8 extern "C" {
9 #endif /* __cplusplus */
10
11 /* C 2D vector functions */
12 static inline vec2_t v2_cons(scalar_t x, scalar_t y);
13 static inline void v2_print(FILE *fp, vec2_t v);
14
15 static inline vec2_t v2_add(vec2_t v1, vec2_t v2);
16 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2);
17 static inline vec2_t v2_scale(vec2_t v, scalar_t s);
18 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2);
19 static inline scalar_t v2_length(vec2_t v);
20 static inline scalar_t v2_length_sq(vec2_t v);
21 static inline vec2_t v2_normalize(vec2_t v);
22
23 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t);
24
25 /* C 3D vector functions */
26 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z);
27 static inline void v3_print(FILE *fp, vec3_t v);
28
29 static inline vec3_t v3_add(vec3_t v1, vec3_t v2);
30 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2);
31 static inline vec3_t v3_neg(vec3_t v);
32 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2);
33 static inline vec3_t v3_scale(vec3_t v1, scalar_t s);
34 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2);
35 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2);
36 static inline scalar_t v3_length(vec3_t v);
37 static inline scalar_t v3_length_sq(vec3_t v);
38 static inline vec3_t v3_normalize(vec3_t v);
39 static inline vec3_t v3_transform(vec3_t v, mat4_t m);
40
41 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z);
42 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
43 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q);
44
45 static inline vec3_t v3_reflect(vec3_t v, vec3_t n);
46
47 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t);
48
49 /* C 4D vector functions */
50 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w);
51 static inline void v4_print(FILE *fp, vec4_t v);
52
53 static inline vec4_t v4_add(vec4_t v1, vec4_t v2);
54 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2);
55 static inline vec4_t v4_neg(vec4_t v);
56 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2);
57 static inline vec4_t v4_scale(vec4_t v, scalar_t s);
58 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2);
59 static inline scalar_t v4_length(vec4_t v);
60 static inline scalar_t v4_length_sq(vec4_t v);
61 static inline vec4_t v4_normalize(vec4_t v);
62 static inline vec4_t v4_transform(vec4_t v, mat4_t m);
63
64 #ifdef __cplusplus
65 } /* extern "C" */
66
67 /* when included from C++ source files, also define the vector classes */
68 #include <iostream>
69
70 /** 2D Vector */
71 class Vector2 {
72 public:
73 scalar_t x, y;
74
75 explicit Vector2(scalar_t x = 0.0, scalar_t y = 0.0);
76 Vector2(const vec2_t &vec);
77 Vector2(const Vector3 &vec);
78 Vector2(const Vector4 &vec);
79
80 inline scalar_t &operator [](int elem);
81 inline const scalar_t &operator [](int elem) const;
82
83 inline scalar_t length() const;
84 inline scalar_t length_sq() const;
85 void normalize();
86 Vector2 normalized() const;
87
88 void transform(const Matrix3x3 &mat);
89 Vector2 transformed(const Matrix3x3 &mat) const;
90
91 void rotate(scalar_t angle);
92 Vector2 rotated(scalar_t angle) const;
93
94 Vector2 reflection(const Vector2 &normal) const;
95 Vector2 refraction(const Vector2 &normal, scalar_t src_ior, scalar_t dst_ior) const;
96 };
97
98 /* unary operations */
99 inline Vector2 operator -(const Vector2 &vec);
100
101 /* binary vector (op) vector operations */
102 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2);
103
104 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2);
105 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2);
106 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2);
107 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2);
108 inline bool operator ==(const Vector2 &v1, const Vector2 &v2);
109
110 inline void operator +=(Vector2 &v1, const Vector2 &v2);
111 inline void operator -=(Vector2 &v1, const Vector2 &v2);
112 inline void operator *=(Vector2 &v1, const Vector2 &v2);
113 inline void operator /=(Vector2 &v1, const Vector2 &v2);
114
115 /* binary vector (op) scalar and scalar (op) vector operations */
116 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar);
117 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec);
118 inline Vector2 operator -(const Vector2 &vec, scalar_t scalar);
119 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar);
120 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec);
121 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar);
122
123 inline void operator +=(Vector2 &vec, scalar_t scalar);
124 inline void operator -=(Vector2 &vec, scalar_t scalar);
125 inline void operator *=(Vector2 &vec, scalar_t scalar);
126 inline void operator /=(Vector2 &vec, scalar_t scalar);
127
128 std::ostream &operator <<(std::ostream &out, const Vector2 &vec);
129
130 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t);
131 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
132 const Vector2 &v2, const Vector2 &v3, scalar_t t);
133
134 /* 3D Vector */
135 class Vector3 {
136 public:
137 scalar_t x, y, z;
138
139 explicit Vector3(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0);
140 Vector3(const vec3_t &vec);
141 Vector3(const Vector2 &vec);
142 Vector3(const Vector4 &vec);
143 Vector3(const SphVector &sph);
144
145 Vector3 &operator =(const SphVector &sph);
146
147 inline scalar_t &operator [](int elem);
148 inline const scalar_t &operator [](int elem) const;
149
150 inline scalar_t length() const;
151 inline scalar_t length_sq() const;
152 void normalize();
153 Vector3 normalized() const;
154
155 void transform(const Matrix3x3 &mat);
156 Vector3 transformed(const Matrix3x3 &mat) const;
157 void transform(const Matrix4x4 &mat);
158 Vector3 transformed(const Matrix4x4 &mat) const;
159 void transform(const Quaternion &quat);
160 Vector3 transformed(const Quaternion &quat) const;
161
162 void rotate(const Vector3 &euler);
163 Vector3 rotated(const Vector3 &euler) const;
164
165 Vector3 reflection(const Vector3 &normal) const;
166 Vector3 refraction(const Vector3 &normal, scalar_t src_ior, scalar_t dst_ior) const;
167 Vector3 refraction(const Vector3 &normal, scalar_t ior) const;
168 };
169
170 /* unary operations */
171 inline Vector3 operator -(const Vector3 &vec);
172
173 /* binary vector (op) vector operations */
174 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2);
175 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2);
176
177 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2);
178 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2);
179 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2);
180 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2);
181 inline bool operator ==(const Vector3 &v1, const Vector3 &v2);
182
183 inline void operator +=(Vector3 &v1, const Vector3 &v2);
184 inline void operator -=(Vector3 &v1, const Vector3 &v2);
185 inline void operator *=(Vector3 &v1, const Vector3 &v2);
186 inline void operator /=(Vector3 &v1, const Vector3 &v2);
187
188 /* binary vector (op) scalar and scalar (op) vector operations */
189 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar);
190 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec);
191 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar);
192 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar);
193 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec);
194 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar);
195
196 inline void operator +=(Vector3 &vec, scalar_t scalar);
197 inline void operator -=(Vector3 &vec, scalar_t scalar);
198 inline void operator *=(Vector3 &vec, scalar_t scalar);
199 inline void operator /=(Vector3 &vec, scalar_t scalar);
200
201 std::ostream &operator <<(std::ostream &out, const Vector3 &vec);
202
203 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t);
204 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
205 const Vector3 &v2, const Vector3 &v3, scalar_t t);
206
207 /* 4D Vector */
208 class Vector4 {
209 public:
210 scalar_t x, y, z, w;
211
212 explicit Vector4(scalar_t x = 0.0, scalar_t y = 0.0, scalar_t z = 0.0, scalar_t w = 0.0);
213 Vector4(const vec4_t &vec);
214 Vector4(const Vector2 &vec);
215 Vector4(const Vector3 &vec);
216
217 inline scalar_t &operator [](int elem);
218 inline const scalar_t &operator [](int elem) const;
219
220 inline scalar_t length() const;
221 inline scalar_t length_sq() const;
222 void normalize();
223 Vector4 normalized() const;
224
225 void transform(const Matrix4x4 &mat);
226 Vector4 transformed(const Matrix4x4 &mat) const;
227
228 Vector4 reflection(const Vector4 &normal) const;
229 Vector4 refraction(const Vector4 &normal, scalar_t src_ior, scalar_t dst_ior) const;
230 };
231
232
233 /* unary operations */
234 inline Vector4 operator -(const Vector4 &vec);
235
236 /* binary vector (op) vector operations */
237 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2);
238 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3);
239
240 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2);
241 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2);
242 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2);
243 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2);
244 inline bool operator ==(const Vector4 &v1, const Vector4 &v2);
245
246 inline void operator +=(Vector4 &v1, const Vector4 &v2);
247 inline void operator -=(Vector4 &v1, const Vector4 &v2);
248 inline void operator *=(Vector4 &v1, const Vector4 &v2);
249 inline void operator /=(Vector4 &v1, const Vector4 &v2);
250
251 /* binary vector (op) scalar and scalar (op) vector operations */
252 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar);
253 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec);
254 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar);
255 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar);
256 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec);
257 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar);
258
259 inline void operator +=(Vector4 &vec, scalar_t scalar);
260 inline void operator -=(Vector4 &vec, scalar_t scalar);
261 inline void operator *=(Vector4 &vec, scalar_t scalar);
262 inline void operator /=(Vector4 &vec, scalar_t scalar);
263
264 std::ostream &operator <<(std::ostream &out, const Vector4 &vec);
265
266 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t);
267 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
268 const Vector4 &v2, const Vector4 &v3, scalar_t t);
269
270 #endif /* __cplusplus */
271
272 #include "vector.inl"
273
274 #endif /* VMATH_VECTOR_H_ */