istereo: ff055bff6a15 libs/vmath/vector.inl

istereo

view libs/vmath/vector.inl @ 39:ff055bff6a15

author	John Tsiombikas <nuclear@mutantstargoat.com>
date	Sun, 11 Sep 2011 09:03:18 +0300
parents	fb4c9641059f
children

line source

1 /*

2 libvmath - a vector math library

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.

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.

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 */

19 #include <math.h>

21 #ifdef __cplusplus

22 extern "C" {

23 #endif /* __cplusplus */

25 /* C 2D vector functions */

26 static inline vec2_t v2_cons(scalar_t x, scalar_t y)

27 {

28 vec2_t v;

29 v.x = x;

30 v.y = y;

31 return v;

32 }

34 static inline void v2_print(FILE *fp, vec2_t v)

35 {

36 fprintf(fp, "[ %.4f %.4f ]", v.x, v.y);

37 }

39 static inline vec2_t v2_add(vec2_t v1, vec2_t v2)

40 {

41 vec2_t res;

42 res.x = v1.x + v2.x;

43 res.y = v1.y + v2.y;

44 return res;

45 }

47 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2)

48 {

49 vec2_t res;

50 res.x = v1.x - v2.x;

51 res.y = v1.y - v2.y;

52 return res;

53 }

55 static inline vec2_t v2_scale(vec2_t v, scalar_t s)

56 {

57 vec2_t res;

58 res.x = v.x * s;

59 res.y = v.y * s;

60 return res;

61 }

63 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2)

64 {

65 return v1.x * v2.x + v1.y * v2.y;

66 }

68 static inline scalar_t v2_length(vec2_t v)

69 {

70 return sqrt(v.x * v.x + v.y * v.y);

71 }

73 static inline scalar_t v2_length_sq(vec2_t v)

74 {

75 return v.x * v.x + v.y * v.y;

76 }

78 static inline vec2_t v2_normalize(vec2_t v)

79 {

80 scalar_t len = (scalar_t)sqrt(v.x * v.x + v.y * v.y);

81 v.x /= len;

82 v.y /= len;

83 return v;

84 }

86 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t)

87 {

88 vec2_t res;

89 res.x = v1.x + (v2.x - v1.x) * t;

90 res.y = v1.y + (v2.y - v1.y) * t;

91 return res;

92 }

95 /* C 3D vector functions */

96 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z)

97 {

98 vec3_t v;

99 v.x = x;

100 v.y = y;

101 v.z = z;

102 return v;

103 }

104

105 static inline void v3_print(FILE *fp, vec3_t v)

106 {

107 fprintf(fp, "[ %.4f %.4f %.4f ]", v.x, v.y, v.z);

108 }

109

110 static inline vec3_t v3_add(vec3_t v1, vec3_t v2)

111 {

112 v1.x += v2.x;

113 v1.y += v2.y;

114 v1.z += v2.z;

115 return v1;

116 }

117

118 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2)

119 {

120 v1.x -= v2.x;

121 v1.y -= v2.y;

122 v1.z -= v2.z;

123 return v1;

124 }

125

126 static inline vec3_t v3_neg(vec3_t v)

127 {

128 v.x = -v.x;

129 v.y = -v.y;

130 v.z = -v.z;

131 return v;

132 }

133

134 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2)

135 {

136 v1.x *= v2.x;

137 v1.y *= v2.y;

138 v1.z *= v2.z;

139 return v1;

140 }

141

142 static inline vec3_t v3_scale(vec3_t v1, scalar_t s)

143 {

144 v1.x *= s;

145 v1.y *= s;

146 v1.z *= s;

147 return v1;

148 }

149

150 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2)

151 {

152 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;

153 }

154

155 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2)

156 {

157 vec3_t v;

158 v.x = v1.y * v2.z - v1.z * v2.y;

159 v.y = v1.z * v2.x - v1.x * v2.z;

160 v.z = v1.x * v2.y - v1.y * v2.x;

161 return v;

162 }

163

164 static inline scalar_t v3_length(vec3_t v)

165 {

166 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z);

167 }

168

169 static inline scalar_t v3_length_sq(vec3_t v)

170 {

171 return v.x * v.x + v.y * v.y + v.z * v.z;

172 }

173

174 static inline vec3_t v3_normalize(vec3_t v)

175 {

176 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);

177 v.x /= len;

178 v.y /= len;

179 v.z /= len;

180 return v;

181 }

182

183 static inline vec3_t v3_transform(vec3_t v, mat4_t m)

184 {

185 vec3_t res;

186 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3];

187 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3];

188 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3];

189 return res;

190 }

191

192 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z)

193 {

194 void m4_rotate(mat4_t, scalar_t, scalar_t, scalar_t);

195

196 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};

197 m4_rotate(m, x, y, z);

198 return v3_transform(v, m);

199 }

200

201 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)

202 {

203 void m4_rotate_axis(mat4_t, scalar_t, scalar_t, scalar_t, scalar_t);

204

205 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};

206 m4_rotate_axis(m, angle, x, y, z);

207 return v3_transform(v, m);

208 }

209

210 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q)

211 {

212 quat_t quat_rotate_quat(quat_t, quat_t);

213

214 quat_t vq = v4_cons(v.x, v.y, v.z, 0.0);

215 quat_t res = quat_rotate_quat(vq, q);

216 return v3_cons(res.x, res.y, res.z);

217 }

218

219 static inline vec3_t v3_reflect(vec3_t v, vec3_t n)

220 {

221 scalar_t dot = v3_dot(v, n);

222 return v3_sub(v3_scale(n, dot * 2.0), v);

223 }

224

225 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t)

226 {

227 v1.x += (v2.x - v1.x) * t;

228 v1.y += (v2.y - v1.y) * t;

229 v1.z += (v2.z - v1.z) * t;

230 return v1;

231 }

232

233 /* C 4D vector functions */

234 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w)

235 {

236 vec4_t v;

237 v.x = x;

238 v.y = y;

239 v.z = z;

240 v.w = w;

241 return v;

242 }

243

244 static inline void v4_print(FILE *fp, vec4_t v)

245 {

246 fprintf(fp, "[ %.4f %.4f %.4f %.4f ]", v.x, v.y, v.z, v.w);

247 }

248

249 static inline vec4_t v4_add(vec4_t v1, vec4_t v2)

250 {

251 v1.x += v2.x;

252 v1.y += v2.y;

253 v1.z += v2.z;

254 v1.w += v2.w;

255 return v1;

256 }

257

258 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2)

259 {

260 v1.x -= v2.x;

261 v1.y -= v2.y;

262 v1.z -= v2.z;

263 v1.w -= v2.w;

264 return v1;

265 }

266

267 static inline vec4_t v4_neg(vec4_t v)

268 {

269 v.x = -v.x;

270 v.y = -v.y;

271 v.z = -v.z;

272 v.w = -v.w;

273 return v;

274 }

275

276 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2)

277 {

278 v1.x *= v2.x;

279 v1.y *= v2.y;

280 v1.z *= v2.z;

281 v1.w *= v2.w;

282 return v1;

283 }

284

285 static inline vec4_t v4_scale(vec4_t v, scalar_t s)

286 {

287 v.x *= s;

288 v.y *= s;

289 v.z *= s;

290 v.w *= s;

291 return v;

292 }

293

294 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2)

295 {

296 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;

297 }

298

299 static inline scalar_t v4_length(vec4_t v)

300 {

301 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);

302 }

303

304 static inline scalar_t v4_length_sq(vec4_t v)

305 {

306 return v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w;

307 }

308

309 static inline vec4_t v4_normalize(vec4_t v)

310 {

311 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);

312 v.x /= len;

313 v.y /= len;

314 v.z /= len;

315 v.w /= len;

316 return v;

317 }

318

319 static inline vec4_t v4_transform(vec4_t v, mat4_t m)

320 {

321 vec4_t res;

322 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w;

323 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w;

324 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w;

325 res.w = m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w;

326 return res;

327 }

328

329 #ifdef __cplusplus

330 } /* extern "C" */

331

332

333 /* --------------- C++ part -------------- */

334

335 inline scalar_t &Vector2::operator [](int elem) {

336 return elem ? y : x;

337 }

338

339 inline const scalar_t &Vector2::operator [](int elem) const {

340 return elem ? y : x;

341 }

342

343 inline Vector2 operator -(const Vector2 &vec) {

344 return Vector2(-vec.x, -vec.y);

345 }

346

347 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2) {

348 return v1.x * v2.x + v1.y * v2.y;

349 }

350

351 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2) {

352 return Vector2(v1.x + v2.x, v1.y + v2.y);

353 }

354

355 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2) {

356 return Vector2(v1.x - v2.x, v1.y - v2.y);

357 }

358

359 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2) {

360 return Vector2(v1.x * v2.x, v1.y * v2.y);

361 }

362

363 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2) {

364 return Vector2(v1.x / v2.x, v1.y / v2.y);

365 }

366

367 inline bool operator ==(const Vector2 &v1, const Vector2 &v2) {

368 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.x) < XSMALL_NUMBER);

369 }

370

371 inline void operator +=(Vector2 &v1, const Vector2 &v2) {

372 v1.x += v2.x;

373 v1.y += v2.y;

374 }

375

376 inline void operator -=(Vector2 &v1, const Vector2 &v2) {

377 v1.x -= v2.x;

378 v1.y -= v2.y;

379 }

380

381 inline void operator *=(Vector2 &v1, const Vector2 &v2) {

382 v1.x *= v2.x;

383 v1.y *= v2.y;

384 }

385

386 inline void operator /=(Vector2 &v1, const Vector2 &v2) {

387 v1.x /= v2.x;

388 v1.y /= v2.y;

389 }

390

391 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar) {

392 return Vector2(vec.x + scalar, vec.y + scalar);

393 }

394

395 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec) {

396 return Vector2(vec.x + scalar, vec.y + scalar);

397 }

398

399 inline Vector2 operator -(scalar_t scalar, const Vector2 &vec) {

400 return Vector2(vec.x - scalar, vec.y - scalar);

401 }

402

403 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar) {

404 return Vector2(vec.x * scalar, vec.y * scalar);

405 }

406

407 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec) {

408 return Vector2(vec.x * scalar, vec.y * scalar);

409 }

410

411 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar) {

412 return Vector2(vec.x / scalar, vec.y / scalar);

413 }

414

415 inline void operator +=(Vector2 &vec, scalar_t scalar) {

416 vec.x += scalar;

417 vec.y += scalar;

418 }

419

420 inline void operator -=(Vector2 &vec, scalar_t scalar) {

421 vec.x -= scalar;

422 vec.y -= scalar;

423 }

424

425 inline void operator *=(Vector2 &vec, scalar_t scalar) {

426 vec.x *= scalar;

427 vec.y *= scalar;

428 }

429

430 inline void operator /=(Vector2 &vec, scalar_t scalar) {

431 vec.x /= scalar;

432 vec.y /= scalar;

433 }

434

435 inline scalar_t Vector2::length() const {

436 return sqrt(x*x + y*y);

437 }

438

439 inline scalar_t Vector2::length_sq() const {

440 return x*x + y*y;

441 }

442

443 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t)

444 {

445 return a + (b - a) * t;

446 }

447

448 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,

449 const Vector2 &v2, const Vector2 &v3, scalar_t t)

450 {

451 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);

452 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

453 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

454 return Vector2(x, y);

455 }

456

457

458 /* ------------- Vector3 -------------- */

459

460 inline scalar_t &Vector3::operator [](int elem) {

461 return elem ? (elem == 1 ? y : z) : x;

462 }

463

464 inline const scalar_t &Vector3::operator [](int elem) const {

465 return elem ? (elem == 1 ? y : z) : x;

466 }

467

468 /* unary operations */

469 inline Vector3 operator -(const Vector3 &vec) {

470 return Vector3(-vec.x, -vec.y, -vec.z);

471 }

472

473 /* binary vector (op) vector operations */

474 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2) {

475 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;

476 }

477

478 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2) {

479 return Vector3(v1.y * v2.z - v1.z * v2.y, v1.z * v2.x - v1.x * v2.z, v1.x * v2.y - v1.y * v2.x);

480 }

481

482

483 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2) {

484 return Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);

485 }

486

487 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2) {

488 return Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);

489 }

490

491 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2) {

492 return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);

493 }

494

495 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2) {

496 return Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z);

497 }

498

499 inline bool operator ==(const Vector3 &v1, const Vector3 &v2) {

500 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.y) < XSMALL_NUMBER) && (fabs(v1.z - v2.z) < XSMALL_NUMBER);

501 }

502

503 inline void operator +=(Vector3 &v1, const Vector3 &v2) {

504 v1.x += v2.x;

505 v1.y += v2.y;

506 v1.z += v2.z;

507 }

508

509 inline void operator -=(Vector3 &v1, const Vector3 &v2) {

510 v1.x -= v2.x;

511 v1.y -= v2.y;

512 v1.z -= v2.z;

513 }

514

515 inline void operator *=(Vector3 &v1, const Vector3 &v2) {

516 v1.x *= v2.x;

517 v1.y *= v2.y;

518 v1.z *= v2.z;

519 }

520

521 inline void operator /=(Vector3 &v1, const Vector3 &v2) {

522 v1.x /= v2.x;

523 v1.y /= v2.y;

524 v1.z /= v2.z;

525 }

526 /* binary vector (op) scalar and scalar (op) vector operations */

527 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar) {

528 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);

529 }

530

531 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec) {

532 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);

533 }

534

535 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar) {

536 return Vector3(vec.x - scalar, vec.y - scalar, vec.z - scalar);

537 }

538

539 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar) {

540 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);

541 }

542

543 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec) {

544 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);

545 }

546

547 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar) {

548 return Vector3(vec.x / scalar, vec.y / scalar, vec.z / scalar);

549 }

550

551 inline void operator +=(Vector3 &vec, scalar_t scalar) {

552 vec.x += scalar;

553 vec.y += scalar;

554 vec.z += scalar;

555 }

556

557 inline void operator -=(Vector3 &vec, scalar_t scalar) {

558 vec.x -= scalar;

559 vec.y -= scalar;

560 vec.z -= scalar;

561 }

562

563 inline void operator *=(Vector3 &vec, scalar_t scalar) {

564 vec.x *= scalar;

565 vec.y *= scalar;

566 vec.z *= scalar;

567 }

568

569 inline void operator /=(Vector3 &vec, scalar_t scalar) {

570 vec.x /= scalar;

571 vec.y /= scalar;

572 vec.z /= scalar;

573 }

574

575 inline scalar_t Vector3::length() const {

576 return sqrt(x*x + y*y + z*z);

577 }

578 inline scalar_t Vector3::length_sq() const {

579 return x*x + y*y + z*z;

580 }

581

582 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t) {

583 return a + (b - a) * t;

584 }

585

586 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,

587 const Vector3 &v2, const Vector3 &v3, scalar_t t)

588 {

589 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);

590 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

591 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

592 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);

593 return Vector3(x, y, z);

594 }

595

596 /* ----------- Vector4 ----------------- */

597

598 inline scalar_t &Vector4::operator [](int elem) {

599 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;

600 }

601

602 inline const scalar_t &Vector4::operator [](int elem) const {

603 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;

604 }

605

606 inline Vector4 operator -(const Vector4 &vec) {

607 return Vector4(-vec.x, -vec.y, -vec.z, -vec.w);

608 }

609

610 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2) {

611 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;

612 }

613

614 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3) {

615 scalar_t a, b, c, d, e, f; /* Intermediate Values */

616 Vector4 result;

617

618 /* Calculate intermediate values. */

619 a = (v2.x * v3.y) - (v2.y * v3.x);

620 b = (v2.x * v3.z) - (v2.z * v3.x);

621 c = (v2.x * v3.w) - (v2.w * v3.x);

622 d = (v2.y * v3.z) - (v2.z * v3.y);

623 e = (v2.y * v3.w) - (v2.w * v3.y);

624 f = (v2.z * v3.w) - (v2.w * v3.z);

625

626 /* Calculate the result-vector components. */

627 result.x = (v1.y * f) - (v1.z * e) + (v1.w * d);

628 result.y = - (v1.x * f) + (v1.z * c) - (v1.w * b);

629 result.z = (v1.x * e) - (v1.y * c) + (v1.w * a);

630 result.w = - (v1.x * d) + (v1.y * b) - (v1.z * a);

631 return result;

632 }

633

634 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2) {

635 return Vector4(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z, v1.w + v2.w);

636 }

637

638 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2) {

639 return Vector4(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z, v1.w - v2.w);

640 }

641

642 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2) {

643 return Vector4(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z, v1.w * v2.w);

644 }

645

646 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2) {

647 return Vector4(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z, v1.w / v2.w);

648 }

649

650 inline bool operator ==(const Vector4 &v1, const Vector4 &v2) {

651 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) &&

652 (fabs(v1.y - v2.y) < XSMALL_NUMBER) &&

653 (fabs(v1.z - v2.z) < XSMALL_NUMBER) &&

654 (fabs(v1.w - v2.w) < XSMALL_NUMBER);

655 }

656

657 inline void operator +=(Vector4 &v1, const Vector4 &v2) {

658 v1.x += v2.x;

659 v1.y += v2.y;

660 v1.z += v2.z;

661 v1.w += v2.w;

662 }

663

664 inline void operator -=(Vector4 &v1, const Vector4 &v2) {

665 v1.x -= v2.x;

666 v1.y -= v2.y;

667 v1.z -= v2.z;

668 v1.w -= v2.w;

669 }

670

671 inline void operator *=(Vector4 &v1, const Vector4 &v2) {

672 v1.x *= v2.x;

673 v1.y *= v2.y;

674 v1.z *= v2.z;

675 v1.w *= v2.w;

676 }

677

678 inline void operator /=(Vector4 &v1, const Vector4 &v2) {

679 v1.x /= v2.x;

680 v1.y /= v2.y;

681 v1.z /= v2.z;

682 v1.w /= v2.w;

683 }

684

685 /* binary vector (op) scalar and scalar (op) vector operations */

686 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar) {

687 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);

688 }

689

690 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec) {

691 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);

692 }

693

694 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar) {

695 return Vector4(vec.x - scalar, vec.y - scalar, vec.z - scalar, vec.w - scalar);

696 }

697

698 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar) {

699 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);

700 }

701

702 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec) {

703 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);

704 }

705

706 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar) {

707 return Vector4(vec.x / scalar, vec.y / scalar, vec.z / scalar, vec.w / scalar);

708 }

709

710 inline void operator +=(Vector4 &vec, scalar_t scalar) {

711 vec.x += scalar;

712 vec.y += scalar;

713 vec.z += scalar;

714 vec.w += scalar;

715 }

716

717 inline void operator -=(Vector4 &vec, scalar_t scalar) {

718 vec.x -= scalar;

719 vec.y -= scalar;

720 vec.z -= scalar;

721 vec.w -= scalar;

722 }

723

724 inline void operator *=(Vector4 &vec, scalar_t scalar) {

725 vec.x *= scalar;

726 vec.y *= scalar;

727 vec.z *= scalar;

728 vec.w *= scalar;

729 }

730

731 inline void operator /=(Vector4 &vec, scalar_t scalar) {

732 vec.x /= scalar;

733 vec.y /= scalar;

734 vec.z /= scalar;

735 vec.w /= scalar;

736 }

737

738 inline scalar_t Vector4::length() const {

739 return sqrt(x*x + y*y + z*z + w*w);

740 }

741 inline scalar_t Vector4::length_sq() const {

742 return x*x + y*y + z*z + w*w;

743 }

744

745 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t)

746 {

747 return v0 + (v1 - v0) * t;

748 }

749

750 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,

751 const Vector4 &v2, const Vector4 &v3, scalar_t t)

752 {

753 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);

754 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);

755 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);

756 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);

757 scalar_t w = spline(v0.w, v1.w, v2.w, v3.w, t);

758 return Vector4(x, y, z, w);

759 }

760

761 #endif /* __cplusplus */