1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/libs/vmath/matrix.inl	Thu Sep 08 08:31:15 2011 +0300
     1.3 @@ -0,0 +1,147 @@
     1.4 +#include <string.h>
     1.5 +
     1.6 +#ifdef __cplusplus
     1.7 +extern "C" {
     1.8 +#endif	/* __cplusplus */
     1.9 +
    1.10 +/* C matrix 3x3 functions */
    1.11 +static inline void m3_identity(mat3_t m)
    1.12 +{
    1.13 +	static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    1.14 +	memcpy(m, id, sizeof id);
    1.15 +}
    1.16 +
    1.17 +static inline void m3_cons(mat3_t m,
    1.18 +		scalar_t m11, scalar_t m12, scalar_t m13,
    1.19 +		scalar_t m21, scalar_t m22, scalar_t m23,
    1.20 +		scalar_t m31, scalar_t m32, scalar_t m33)
    1.21 +{
    1.22 +	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
    1.23 +	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
    1.24 +	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
    1.25 +}
    1.26 +
    1.27 +static inline void m3_copy(mat3_t dest, mat3_t src)
    1.28 +{
    1.29 +	memcpy(dest, src, sizeof(mat3_t));
    1.30 +}
    1.31 +
    1.32 +
    1.33 +/* C matrix 4x4 functions */
    1.34 +static inline void m4_identity(mat4_t m)
    1.35 +{
    1.36 +	static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
    1.37 +	memcpy(m, id, sizeof id);
    1.38 +}
    1.39 +
    1.40 +static inline void m4_cons(mat4_t m,
    1.41 +		scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
    1.42 +		scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
    1.43 +		scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
    1.44 +		scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
    1.45 +{
    1.46 +	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
    1.47 +	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
    1.48 +	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
    1.49 +	m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
    1.50 +}
    1.51 +
    1.52 +static inline void m4_copy(mat4_t dest, mat4_t src)
    1.53 +{
    1.54 +	memcpy(dest, src, sizeof(mat4_t));
    1.55 +}
    1.56 +
    1.57 +static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
    1.58 +{
    1.59 +	res[0][0] = m1[0][0] * m2[0][0] + m1[0][1] * m2[1][0] + m1[0][2] * m2[2][0] + m1[0][3] * m2[3][0];
    1.60 +	res[0][1] = m1[0][0] * m2[0][1] + m1[0][1] * m2[1][1] + m1[0][2] * m2[2][1] + m1[0][3] * m2[3][1];
    1.61 +	res[0][2] = m1[0][0] * m2[0][2] + m1[0][1] * m2[1][2] + m1[0][2] * m2[2][2] + m1[0][3] * m2[3][2];
    1.62 +	res[0][3] = m1[0][0] * m2[0][3] + m1[0][1] * m2[1][3] + m1[0][2] * m2[2][3] + m1[0][3] * m2[3][3];
    1.63 +
    1.64 +	res[1][0] = m1[1][0] * m2[0][0] + m1[1][1] * m2[1][0] + m1[1][2] * m2[2][0] + m1[1][3] * m2[3][0];
    1.65 +	res[1][1] = m1[1][0] * m2[0][1] + m1[1][1] * m2[1][1] + m1[1][2] * m2[2][1] + m1[1][3] * m2[3][1];
    1.66 +	res[1][2] = m1[1][0] * m2[0][2] + m1[1][1] * m2[1][2] + m1[1][2] * m2[2][2] + m1[1][3] * m2[3][2];
    1.67 +	res[1][3] = m1[1][0] * m2[0][3] + m1[1][1] * m2[1][3] + m1[1][2] * m2[2][3] + m1[1][3] * m2[3][3];
    1.68 +
    1.69 +	res[2][0] = m1[2][0] * m2[0][0] + m1[2][1] * m2[1][0] + m1[2][2] * m2[2][0] + m1[2][3] * m2[3][0];
    1.70 +	res[2][1] = m1[2][0] * m2[0][1] + m1[2][1] * m2[1][1] + m1[2][2] * m2[2][1] + m1[2][3] * m2[3][1];
    1.71 +	res[2][2] = m1[2][0] * m2[0][2] + m1[2][1] * m2[1][2] + m1[2][2] * m2[2][2] + m1[2][3] * m2[3][2];
    1.72 +	res[2][3] = m1[2][0] * m2[0][3] + m1[2][1] * m2[1][3] + m1[2][2] * m2[2][3] + m1[2][3] * m2[3][3];
    1.73 +
    1.74 +	res[3][0] = m1[3][0] * m2[0][0] + m1[3][1] * m2[1][0] + m1[3][2] * m2[2][0] + m1[3][3] * m2[3][0];
    1.75 +	res[3][1] = m1[3][0] * m2[0][1] + m1[3][1] * m2[1][1] + m1[3][2] * m2[2][1] + m1[3][3] * m2[3][1];
    1.76 +	res[3][2] = m1[3][0] * m2[0][2] + m1[3][1] * m2[1][2] + m1[3][2] * m2[2][2] + m1[3][3] * m2[3][2];
    1.77 +	res[3][3] = m1[3][0] * m2[0][3] + m1[3][1] * m2[1][3] + m1[3][2] * m2[2][3] + m1[3][3] * m2[3][3];
    1.78 +}
    1.79 +
    1.80 +static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
    1.81 +{
    1.82 +	m[0][idx] = v.x;
    1.83 +	m[1][idx] = v.y;
    1.84 +	m[2][idx] = v.z;
    1.85 +	m[3][idx] = v.w;
    1.86 +}
    1.87 +
    1.88 +static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
    1.89 +{
    1.90 +	m[idx][0] = v.x;
    1.91 +	m[idx][1] = v.y;
    1.92 +	m[idx][2] = v.z;
    1.93 +	m[idx][3] = v.w;
    1.94 +}
    1.95 +
    1.96 +#ifdef __cplusplus
    1.97 +}	/* extern "C" */
    1.98 +
    1.99 +
   1.100 +/* unrolled to hell and inline */
   1.101 +inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
   1.102 +	Matrix4x4 res;
   1.103 +
   1.104 +	res.m[0][0] = m1.m[0][0] * m2.m[0][0] + m1.m[0][1] * m2.m[1][0] + m1.m[0][2] * m2.m[2][0] + m1.m[0][3] * m2.m[3][0];
   1.105 +	res.m[0][1] = m1.m[0][0] * m2.m[0][1] + m1.m[0][1] * m2.m[1][1] + m1.m[0][2] * m2.m[2][1] + m1.m[0][3] * m2.m[3][1];
   1.106 +	res.m[0][2] = m1.m[0][0] * m2.m[0][2] + m1.m[0][1] * m2.m[1][2] + m1.m[0][2] * m2.m[2][2] + m1.m[0][3] * m2.m[3][2];
   1.107 +	res.m[0][3] = m1.m[0][0] * m2.m[0][3] + m1.m[0][1] * m2.m[1][3] + m1.m[0][2] * m2.m[2][3] + m1.m[0][3] * m2.m[3][3];
   1.108 +
   1.109 +	res.m[1][0] = m1.m[1][0] * m2.m[0][0] + m1.m[1][1] * m2.m[1][0] + m1.m[1][2] * m2.m[2][0] + m1.m[1][3] * m2.m[3][0];
   1.110 +	res.m[1][1] = m1.m[1][0] * m2.m[0][1] + m1.m[1][1] * m2.m[1][1] + m1.m[1][2] * m2.m[2][1] + m1.m[1][3] * m2.m[3][1];
   1.111 +	res.m[1][2] = m1.m[1][0] * m2.m[0][2] + m1.m[1][1] * m2.m[1][2] + m1.m[1][2] * m2.m[2][2] + m1.m[1][3] * m2.m[3][2];
   1.112 +	res.m[1][3] = m1.m[1][0] * m2.m[0][3] + m1.m[1][1] * m2.m[1][3] + m1.m[1][2] * m2.m[2][3] + m1.m[1][3] * m2.m[3][3];
   1.113 +
   1.114 +	res.m[2][0] = m1.m[2][0] * m2.m[0][0] + m1.m[2][1] * m2.m[1][0] + m1.m[2][2] * m2.m[2][0] + m1.m[2][3] * m2.m[3][0];
   1.115 +	res.m[2][1] = m1.m[2][0] * m2.m[0][1] + m1.m[2][1] * m2.m[1][1] + m1.m[2][2] * m2.m[2][1] + m1.m[2][3] * m2.m[3][1];
   1.116 +	res.m[2][2] = m1.m[2][0] * m2.m[0][2] + m1.m[2][1] * m2.m[1][2] + m1.m[2][2] * m2.m[2][2] + m1.m[2][3] * m2.m[3][2];
   1.117 +	res.m[2][3] = m1.m[2][0] * m2.m[0][3] + m1.m[2][1] * m2.m[1][3] + m1.m[2][2] * m2.m[2][3] + m1.m[2][3] * m2.m[3][3];
   1.118 +
   1.119 +	res.m[3][0] = m1.m[3][0] * m2.m[0][0] + m1.m[3][1] * m2.m[1][0] + m1.m[3][2] * m2.m[2][0] + m1.m[3][3] * m2.m[3][0];
   1.120 +	res.m[3][1] = m1.m[3][0] * m2.m[0][1] + m1.m[3][1] * m2.m[1][1] + m1.m[3][2] * m2.m[2][1] + m1.m[3][3] * m2.m[3][1];
   1.121 +	res.m[3][2] = m1.m[3][0] * m2.m[0][2] + m1.m[3][1] * m2.m[1][2] + m1.m[3][2] * m2.m[2][2] + m1.m[3][3] * m2.m[3][2];
   1.122 +	res.m[3][3] = m1.m[3][0] * m2.m[0][3] + m1.m[3][1] * m2.m[1][3] + m1.m[3][2] * m2.m[2][3] + m1.m[3][3] * m2.m[3][3];
   1.123 +
   1.124 +	return res;
   1.125 +}
   1.126 +
   1.127 +inline scalar_t *Matrix3x3::operator [](int index) {
   1.128 +	return m[index];
   1.129 +}
   1.130 +
   1.131 +inline const scalar_t *Matrix3x3::operator [](int index) const {
   1.132 +	return m[index];
   1.133 +}
   1.134 +
   1.135 +inline void Matrix3x3::reset_identity() {
   1.136 +	memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
   1.137 +}
   1.138 +
   1.139 +inline scalar_t *Matrix4x4::operator [](int index) {
   1.140 +	return m[index];
   1.141 +}
   1.142 +
   1.143 +inline const scalar_t *Matrix4x4::operator [](int index) const {
   1.144 +	return m[index];
   1.145 +}
   1.146 +
   1.147 +inline void Matrix4x4::reset_identity() {
   1.148 +	memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
   1.149 +}
   1.150 +#endif	/* __cplusplus */

     2.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     2.2 +++ b/libs/vmath/quat.inl	Thu Sep 08 08:31:15 2011 +0300
     2.3 @@ -0,0 +1,63 @@
     2.4 +#include "vector.h"
     2.5 +#include "matrix.h"
     2.6 +
     2.7 +#ifdef __cplusplus
     2.8 +extern "C" {
     2.9 +#endif	/* __cplusplus */
    2.10 +
    2.11 +static inline quat_t quat_mul(quat_t q1, quat_t q2)
    2.12 +{
    2.13 +	quat_t res;
    2.14 +	vec3_t v1 = quat_vec(q1);
    2.15 +	vec3_t v2 = quat_vec(q2);
    2.16 +
    2.17 +	res.w = q1.w * q2.w - v3_dot(v1, v2);
    2.18 +	/* resvec = v2 * q1 + v1 * q2 + cross(v1, v2) */
    2.19 +	res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);
    2.20 +	res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);
    2.21 +	res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);
    2.22 +	return res;
    2.23 +}
    2.24 +
    2.25 +static inline quat_t quat_conjugate(quat_t q)
    2.26 +{
    2.27 +	q.x = -q.x;
    2.28 +	q.y = -q.y;
    2.29 +	q.z = -q.z;
    2.30 +	return q;
    2.31 +}
    2.32 +
    2.33 +static inline quat_t quat_inverse(quat_t q)
    2.34 +{
    2.35 +	scalar_t lensq = quat_length_sq(q);
    2.36 +	q = quat_conjugate(q);
    2.37 +	q.x /= lensq;
    2.38 +	q.y /= lensq;
    2.39 +	q.z /= lensq;
    2.40 +	q.w /= lensq;
    2.41 +	return q;
    2.42 +}
    2.43 +
    2.44 +static inline void quat_to_mat3(mat3_t res, quat_t q)
    2.45 +{
    2.46 +	m3_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z,   2.0 * q.z * q.x - 2.0 * q.w * q.y,
    2.47 +				 2.0 * q.x * q.y - 2.0 * q.w * q.z,   1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x,
    2.48 +				 2.0 * q.z * q.x + 2.0 * q.w * q.y,   2.0 * q.y * q.z - 2.0 * q.w * q.x,   1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y);
    2.49 +}
    2.50 +
    2.51 +static inline void quat_to_mat4(mat4_t res, quat_t q)
    2.52 +{
    2.53 +	m4_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z,   2.0 * q.z * q.x - 2.0 * q.w * q.y,   0,
    2.54 +				 2.0 * q.x * q.y - 2.0 * q.w * q.z,   1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x,   0,
    2.55 +				 2.0 * q.z * q.x + 2.0 * q.w * q.y,   2.0 * q.y * q.z - 2.0 * q.w * q.x,   1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y, 0,
    2.56 +				 0, 0, 0, 1);
    2.57 +}
    2.58 +
    2.59 +#ifdef __cplusplus
    2.60 +}	/* extern "C" */
    2.61 +
    2.62 +inline Quaternion lerp(const Quaternion &a, const Quaternion &b, scalar_t t)
    2.63 +{
    2.64 +	return slerp(a, b, t);
    2.65 +}
    2.66 +#endif	/* __cplusplus */

     3.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     3.2 +++ b/libs/vmath/ray.inl	Thu Sep 08 08:31:15 2011 +0300
     3.3 @@ -0,0 +1,52 @@
     3.4 +#ifdef __cplusplus
     3.5 +extern "C" {
     3.6 +#endif	/* __cplusplus */
     3.7 +
     3.8 +static inline ray_t ray_cons(vec3_t origin, vec3_t dir)
     3.9 +{
    3.10 +	ray_t r;
    3.11 +	r.origin = origin;
    3.12 +	r.dir = dir;
    3.13 +	return r;
    3.14 +}
    3.15 +
    3.16 +#ifdef __cplusplus
    3.17 +}
    3.18 +
    3.19 +inline Ray reflect_ray(const Ray &inray, const Vector3 &norm)
    3.20 +{
    3.21 +	Ray ray = inray;
    3.22 +	ray.iter--;
    3.23 +	ray.dir = ray.dir.reflection(norm);
    3.24 +	return ray;
    3.25 +}
    3.26 +
    3.27 +inline Ray refract_ray(const Ray &inray, const Vector3 &norm, scalar_t mat_ior, bool entering, scalar_t ray_mag)
    3.28 +{
    3.29 +	Ray ray = inray;
    3.30 +	ray.iter--;
    3.31 +
    3.32 +	scalar_t ior = ray.calc_ior(entering, mat_ior);
    3.33 +	
    3.34 +	if(entering) {
    3.35 +		ray.enter(mat_ior);
    3.36 +	} else {
    3.37 +		ray.leave();
    3.38 +	}
    3.39 +
    3.40 +	if(ray_mag < 0.0) {
    3.41 +		ray_mag = ray.dir.length();
    3.42 +	}
    3.43 +	ray.dir = (ray.dir / ray_mag).refraction(norm, ior) * ray_mag;
    3.44 +
    3.45 +	/* check TIR */
    3.46 +	if(dot_product(ray.dir, norm) > 0.0) {
    3.47 +		if(entering) {
    3.48 +			ray.leave();
    3.49 +		} else {
    3.50 +			ray.enter(mat_ior);
    3.51 +		}
    3.52 +	}
    3.53 +	return ray;
    3.54 +}
    3.55 +#endif	/* __cplusplus */

     4.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     4.2 +++ b/libs/vmath/vector.inl	Thu Sep 08 08:31:15 2011 +0300
     4.3 @@ -0,0 +1,743 @@
     4.4 +#include <math.h>
     4.5 +
     4.6 +#ifdef __cplusplus
     4.7 +extern "C" {
     4.8 +#endif	/* __cplusplus */
     4.9 +
    4.10 +/* C 2D vector functions */
    4.11 +static inline vec2_t v2_cons(scalar_t x, scalar_t y)
    4.12 +{
    4.13 +	vec2_t v;
    4.14 +	v.x = x;
    4.15 +	v.y = y;
    4.16 +	return v;
    4.17 +}
    4.18 +
    4.19 +static inline void v2_print(FILE *fp, vec2_t v)
    4.20 +{
    4.21 +	fprintf(fp, "[ %.4f %.4f ]", v.x, v.y);
    4.22 +}
    4.23 +
    4.24 +static inline vec2_t v2_add(vec2_t v1, vec2_t v2)
    4.25 +{
    4.26 +	vec2_t res;
    4.27 +	res.x = v1.x + v2.x;
    4.28 +	res.y = v1.y + v2.y;
    4.29 +	return res;
    4.30 +}
    4.31 +
    4.32 +static inline vec2_t v2_sub(vec2_t v1, vec2_t v2)
    4.33 +{
    4.34 +	vec2_t res;
    4.35 +	res.x = v1.x - v2.x;
    4.36 +	res.y = v1.y - v2.y;
    4.37 +	return res;
    4.38 +}
    4.39 +
    4.40 +static inline vec2_t v2_scale(vec2_t v, scalar_t s)
    4.41 +{
    4.42 +	vec2_t res;
    4.43 +	res.x = v.x * s;
    4.44 +	res.y = v.y * s;
    4.45 +	return res;
    4.46 +}
    4.47 +
    4.48 +static inline scalar_t v2_dot(vec2_t v1, vec2_t v2)
    4.49 +{
    4.50 +	return v1.x * v2.x + v1.y * v2.y;
    4.51 +}
    4.52 +
    4.53 +static inline scalar_t v2_length(vec2_t v)
    4.54 +{
    4.55 +	return sqrt(v.x * v.x + v.y * v.y);
    4.56 +}
    4.57 +
    4.58 +static inline scalar_t v2_length_sq(vec2_t v)
    4.59 +{
    4.60 +	return v.x * v.x + v.y * v.y;
    4.61 +}
    4.62 +
    4.63 +static inline vec2_t v2_normalize(vec2_t v)
    4.64 +{
    4.65 +	scalar_t len = (scalar_t)sqrt(v.x * v.x + v.y * v.y);
    4.66 +	v.x /= len;
    4.67 +	v.y /= len;
    4.68 +	return v;
    4.69 +}
    4.70 +
    4.71 +static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t)
    4.72 +{
    4.73 +	vec2_t res;
    4.74 +	res.x = v1.x + (v2.x - v1.x) * t;
    4.75 +	res.y = v1.y + (v2.y - v1.y) * t;
    4.76 +	return res;
    4.77 +}
    4.78 +
    4.79 +
    4.80 +/* C 3D vector functions */
    4.81 +static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z)
    4.82 +{
    4.83 +	vec3_t v;
    4.84 +	v.x = x;
    4.85 +	v.y = y;
    4.86 +	v.z = z;
    4.87 +	return v;
    4.88 +}
    4.89 +
    4.90 +static inline void v3_print(FILE *fp, vec3_t v)
    4.91 +{
    4.92 +	fprintf(fp, "[ %.4f %.4f %.4f ]", v.x, v.y, v.z);
    4.93 +}
    4.94 +
    4.95 +static inline vec3_t v3_add(vec3_t v1, vec3_t v2)
    4.96 +{
    4.97 +	v1.x += v2.x;
    4.98 +	v1.y += v2.y;
    4.99 +	v1.z += v2.z;
   4.100 +	return v1;
   4.101 +}
   4.102 +
   4.103 +static inline vec3_t v3_sub(vec3_t v1, vec3_t v2)
   4.104 +{
   4.105 +	v1.x -= v2.x;
   4.106 +	v1.y -= v2.y;
   4.107 +	v1.z -= v2.z;
   4.108 +	return v1;
   4.109 +}
   4.110 +
   4.111 +static inline vec3_t v3_neg(vec3_t v)
   4.112 +{
   4.113 +	v.x = -v.x;
   4.114 +	v.y = -v.y;
   4.115 +	v.z = -v.z;
   4.116 +	return v;
   4.117 +}
   4.118 +
   4.119 +static inline vec3_t v3_mul(vec3_t v1, vec3_t v2)
   4.120 +{
   4.121 +	v1.x *= v2.x;
   4.122 +	v1.y *= v2.y;
   4.123 +	v1.z *= v2.z;
   4.124 +	return v1;
   4.125 +}
   4.126 +
   4.127 +static inline vec3_t v3_scale(vec3_t v1, scalar_t s)
   4.128 +{
   4.129 +	v1.x *= s;
   4.130 +	v1.y *= s;
   4.131 +	v1.z *= s;
   4.132 +	return v1;
   4.133 +}
   4.134 +
   4.135 +static inline scalar_t v3_dot(vec3_t v1, vec3_t v2)
   4.136 +{
   4.137 +	return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
   4.138 +}
   4.139 +
   4.140 +static inline vec3_t v3_cross(vec3_t v1, vec3_t v2)
   4.141 +{
   4.142 +	vec3_t v;
   4.143 +	v.x = v1.y * v2.z - v1.z * v2.y;
   4.144 +	v.y = v1.z * v2.x - v1.x * v2.z;
   4.145 +	v.z = v1.x * v2.y - v1.y * v2.x;
   4.146 +	return v;
   4.147 +}
   4.148 +
   4.149 +static inline scalar_t v3_length(vec3_t v)
   4.150 +{
   4.151 +	return sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
   4.152 +}
   4.153 +
   4.154 +static inline scalar_t v3_length_sq(vec3_t v)
   4.155 +{
   4.156 +	return v.x * v.x + v.y * v.y + v.z * v.z;
   4.157 +}
   4.158 +
   4.159 +static inline vec3_t v3_normalize(vec3_t v)
   4.160 +{
   4.161 +	scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
   4.162 +	v.x /= len;
   4.163 +	v.y /= len;
   4.164 +	v.z /= len;
   4.165 +	return v;
   4.166 +}
   4.167 +
   4.168 +static inline vec3_t v3_transform(vec3_t v, mat4_t m)
   4.169 +{
   4.170 +	vec3_t res;
   4.171 +	res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3];
   4.172 +	res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3];
   4.173 +	res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3];
   4.174 +	return res;
   4.175 +}
   4.176 +
   4.177 +static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z)
   4.178 +{
   4.179 +	void m4_rotate(mat4_t, scalar_t, scalar_t, scalar_t);
   4.180 +
   4.181 +	mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
   4.182 +	m4_rotate(m, x, y, z);
   4.183 +	return v3_transform(v, m);
   4.184 +}
   4.185 +
   4.186 +static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
   4.187 +{
   4.188 +	void m4_rotate_axis(mat4_t, scalar_t, scalar_t, scalar_t, scalar_t);
   4.189 +
   4.190 +	mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
   4.191 +	m4_rotate_axis(m, angle, x, y, z);
   4.192 +	return v3_transform(v, m);
   4.193 +}
   4.194 +
   4.195 +static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q)
   4.196 +{
   4.197 +	quat_t quat_rotate_quat(quat_t, quat_t);
   4.198 +
   4.199 +	quat_t vq = v4_cons(v.x, v.y, v.z, 0.0);
   4.200 +	quat_t res = quat_rotate_quat(vq, q);
   4.201 +	return v3_cons(res.x, res.y, res.z);
   4.202 +}
   4.203 +
   4.204 +static inline vec3_t v3_reflect(vec3_t v, vec3_t n)
   4.205 +{
   4.206 +	scalar_t dot = v3_dot(v, n);
   4.207 +	return v3_sub(v3_scale(n, dot * 2.0), v);
   4.208 +}
   4.209 +
   4.210 +static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t)
   4.211 +{
   4.212 +	v1.x += (v2.x - v1.x) * t;
   4.213 +	v1.y += (v2.y - v1.y) * t;
   4.214 +	v1.z += (v2.z - v1.z) * t;
   4.215 +	return v1;
   4.216 +}
   4.217 +
   4.218 +/* C 4D vector functions */
   4.219 +static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w)
   4.220 +{
   4.221 +	vec4_t v;
   4.222 +	v.x = x;
   4.223 +	v.y = y;
   4.224 +	v.z = z;
   4.225 +	v.w = w;
   4.226 +	return v;
   4.227 +}
   4.228 +
   4.229 +static inline void v4_print(FILE *fp, vec4_t v)
   4.230 +{
   4.231 +	fprintf(fp, "[ %.4f %.4f %.4f %.4f ]", v.x, v.y, v.z, v.w);
   4.232 +}
   4.233 +
   4.234 +static inline vec4_t v4_add(vec4_t v1, vec4_t v2)
   4.235 +{
   4.236 +	v1.x += v2.x;
   4.237 +	v1.y += v2.y;
   4.238 +	v1.z += v2.z;
   4.239 +	v1.w += v2.w;
   4.240 +	return v1;
   4.241 +}
   4.242 +
   4.243 +static inline vec4_t v4_sub(vec4_t v1, vec4_t v2)
   4.244 +{
   4.245 +	v1.x -= v2.x;
   4.246 +	v1.y -= v2.y;
   4.247 +	v1.z -= v2.z;
   4.248 +	v1.w -= v2.w;
   4.249 +	return v1;
   4.250 +}
   4.251 +
   4.252 +static inline vec4_t v4_neg(vec4_t v)
   4.253 +{
   4.254 +	v.x = -v.x;
   4.255 +	v.y = -v.y;
   4.256 +	v.z = -v.z;
   4.257 +	v.w = -v.w;
   4.258 +	return v;
   4.259 +}
   4.260 +
   4.261 +static inline vec4_t v4_mul(vec4_t v1, vec4_t v2)
   4.262 +{
   4.263 +	v1.x *= v2.x;
   4.264 +	v1.y *= v2.y;
   4.265 +	v1.z *= v2.z;
   4.266 +	v1.w *= v2.w;
   4.267 +	return v1;
   4.268 +}
   4.269 +
   4.270 +static inline vec4_t v4_scale(vec4_t v, scalar_t s)
   4.271 +{
   4.272 +	v.x *= s;
   4.273 +	v.y *= s;
   4.274 +	v.z *= s;
   4.275 +	v.w *= s;
   4.276 +	return v;
   4.277 +}
   4.278 +
   4.279 +static inline scalar_t v4_dot(vec4_t v1, vec4_t v2)
   4.280 +{
   4.281 +	return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
   4.282 +}
   4.283 +
   4.284 +static inline scalar_t v4_length(vec4_t v)
   4.285 +{
   4.286 +	return sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
   4.287 +}
   4.288 +
   4.289 +static inline scalar_t v4_length_sq(vec4_t v)
   4.290 +{
   4.291 +	return v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w;
   4.292 +}
   4.293 +
   4.294 +static inline vec4_t v4_normalize(vec4_t v)
   4.295 +{
   4.296 +	scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
   4.297 +	v.x /= len;
   4.298 +	v.y /= len;
   4.299 +	v.z /= len;
   4.300 +	v.w /= len;
   4.301 +	return v;
   4.302 +}
   4.303 +
   4.304 +static inline vec4_t v4_transform(vec4_t v, mat4_t m)
   4.305 +{
   4.306 +	vec4_t res;
   4.307 +	res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w;
   4.308 +	res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w;
   4.309 +	res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w;
   4.310 +	res.w = m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w;
   4.311 +	return res;
   4.312 +}
   4.313 +
   4.314 +#ifdef __cplusplus
   4.315 +}	/* extern "C" */
   4.316 +
   4.317 +
   4.318 +/* --------------- C++ part -------------- */
   4.319 +
   4.320 +inline scalar_t &Vector2::operator [](int elem) {
   4.321 +	return elem ? y : x;
   4.322 +}
   4.323 +
   4.324 +inline const scalar_t &Vector2::operator [](int elem) const {
   4.325 +	return elem ? y : x;
   4.326 +}
   4.327 +
   4.328 +inline Vector2 operator -(const Vector2 &vec) {
   4.329 +	return Vector2(-vec.x, -vec.y);
   4.330 +}
   4.331 +
   4.332 +inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2) {
   4.333 +	return v1.x * v2.x + v1.y * v2.y;
   4.334 +}
   4.335 +
   4.336 +inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2) {
   4.337 +	return Vector2(v1.x + v2.x, v1.y + v2.y);
   4.338 +}
   4.339 +
   4.340 +inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2) {
   4.341 +	return Vector2(v1.x - v2.x, v1.y - v2.y);
   4.342 +}
   4.343 +
   4.344 +inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2) {
   4.345 +	return Vector2(v1.x * v2.x, v1.y * v2.y);
   4.346 +}
   4.347 +
   4.348 +inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2) {
   4.349 +	return Vector2(v1.x / v2.x, v1.y / v2.y);
   4.350 +}
   4.351 +
   4.352 +inline bool operator ==(const Vector2 &v1, const Vector2 &v2) {
   4.353 +	return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.x) < XSMALL_NUMBER);
   4.354 +}
   4.355 +
   4.356 +inline void operator +=(Vector2 &v1, const Vector2 &v2) {
   4.357 +	v1.x += v2.x;
   4.358 +	v1.y += v2.y;
   4.359 +}
   4.360 +
   4.361 +inline void operator -=(Vector2 &v1, const Vector2 &v2) {
   4.362 +	v1.x -= v2.x;
   4.363 +	v1.y -= v2.y;
   4.364 +}
   4.365 +
   4.366 +inline void operator *=(Vector2 &v1, const Vector2 &v2) {
   4.367 +	v1.x *= v2.x;
   4.368 +	v1.y *= v2.y;
   4.369 +}
   4.370 +
   4.371 +inline void operator /=(Vector2 &v1, const Vector2 &v2) {
   4.372 +	v1.x /= v2.x;
   4.373 +	v1.y /= v2.y;
   4.374 +}
   4.375 +
   4.376 +inline Vector2 operator +(const Vector2 &vec, scalar_t scalar) {
   4.377 +	return Vector2(vec.x + scalar, vec.y + scalar);
   4.378 +}
   4.379 +
   4.380 +inline Vector2 operator +(scalar_t scalar, const Vector2 &vec) {
   4.381 +	return Vector2(vec.x + scalar, vec.y + scalar);
   4.382 +}
   4.383 +
   4.384 +inline Vector2 operator -(scalar_t scalar, const Vector2 &vec) {
   4.385 +	return Vector2(vec.x - scalar, vec.y - scalar);
   4.386 +}
   4.387 +
   4.388 +inline Vector2 operator *(const Vector2 &vec, scalar_t scalar) {
   4.389 +	return Vector2(vec.x * scalar, vec.y * scalar);
   4.390 +}
   4.391 +
   4.392 +inline Vector2 operator *(scalar_t scalar, const Vector2 &vec) {
   4.393 +	return Vector2(vec.x * scalar, vec.y * scalar);
   4.394 +}
   4.395 +
   4.396 +inline Vector2 operator /(const Vector2 &vec, scalar_t scalar) {
   4.397 +	return Vector2(vec.x / scalar, vec.y / scalar);
   4.398 +}
   4.399 +
   4.400 +inline void operator +=(Vector2 &vec, scalar_t scalar) {
   4.401 +	vec.x += scalar;
   4.402 +	vec.y += scalar;
   4.403 +}
   4.404 +
   4.405 +inline void operator -=(Vector2 &vec, scalar_t scalar) {
   4.406 +	vec.x -= scalar;
   4.407 +	vec.y -= scalar;
   4.408 +}
   4.409 +
   4.410 +inline void operator *=(Vector2 &vec, scalar_t scalar) {
   4.411 +	vec.x *= scalar;
   4.412 +	vec.y *= scalar;
   4.413 +}
   4.414 +
   4.415 +inline void operator /=(Vector2 &vec, scalar_t scalar) {
   4.416 +	vec.x /= scalar;
   4.417 +	vec.y /= scalar;
   4.418 +}
   4.419 +
   4.420 +inline scalar_t Vector2::length() const {
   4.421 +	return sqrt(x*x + y*y);
   4.422 +}
   4.423 +
   4.424 +inline scalar_t Vector2::length_sq() const {
   4.425 +	return x*x + y*y;
   4.426 +}
   4.427 +
   4.428 +inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t)
   4.429 +{
   4.430 +	return a + (b - a) * t;
   4.431 +}
   4.432 +
   4.433 +inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
   4.434 +		const Vector2 &v2, const Vector2 &v3, scalar_t t)
   4.435 +{
   4.436 +	scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
   4.437 +	scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
   4.438 +	scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
   4.439 +	return Vector2(x, y);
   4.440 +}
   4.441 +
   4.442 +
   4.443 +/* ------------- Vector3 -------------- */
   4.444 +
   4.445 +inline scalar_t &Vector3::operator [](int elem) {
   4.446 +	return elem ? (elem == 1 ? y : z) : x;
   4.447 +}
   4.448 +
   4.449 +inline const scalar_t &Vector3::operator [](int elem) const {
   4.450 +	return elem ? (elem == 1 ? y : z) : x;
   4.451 +}
   4.452 +
   4.453 +/* unary operations */
   4.454 +inline Vector3 operator -(const Vector3 &vec) {
   4.455 +	return Vector3(-vec.x, -vec.y, -vec.z);
   4.456 +}
   4.457 +
   4.458 +/* binary vector (op) vector operations */
   4.459 +inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2) {
   4.460 +	return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
   4.461 +}
   4.462 +
   4.463 +inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2) {
   4.464 +	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);
   4.465 +}
   4.466 +
   4.467 +
   4.468 +inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2) {
   4.469 +	return Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
   4.470 +}
   4.471 +
   4.472 +inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2) {
   4.473 +	return Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
   4.474 +}
   4.475 +
   4.476 +inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2) {
   4.477 +	return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
   4.478 +}
   4.479 +
   4.480 +inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2) {
   4.481 +	return Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z);
   4.482 +}
   4.483 +
   4.484 +inline bool operator ==(const Vector3 &v1, const Vector3 &v2) {
   4.485 +	return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.y) < XSMALL_NUMBER) && (fabs(v1.z - v2.z) < XSMALL_NUMBER);
   4.486 +}
   4.487 +
   4.488 +inline void operator +=(Vector3 &v1, const Vector3 &v2) {
   4.489 +	v1.x += v2.x;
   4.490 +	v1.y += v2.y;
   4.491 +	v1.z += v2.z;
   4.492 +}
   4.493 +
   4.494 +inline void operator -=(Vector3 &v1, const Vector3 &v2) {
   4.495 +	v1.x -= v2.x;
   4.496 +	v1.y -= v2.y;
   4.497 +	v1.z -= v2.z;
   4.498 +}
   4.499 +
   4.500 +inline void operator *=(Vector3 &v1, const Vector3 &v2) {
   4.501 +	v1.x *= v2.x;
   4.502 +	v1.y *= v2.y;
   4.503 +	v1.z *= v2.z;
   4.504 +}
   4.505 +
   4.506 +inline void operator /=(Vector3 &v1, const Vector3 &v2) {
   4.507 +	v1.x /= v2.x;
   4.508 +	v1.y /= v2.y;
   4.509 +	v1.z /= v2.z;
   4.510 +}
   4.511 +/* binary vector (op) scalar and scalar (op) vector operations */
   4.512 +inline Vector3 operator +(const Vector3 &vec, scalar_t scalar) {
   4.513 +	return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
   4.514 +}
   4.515 +
   4.516 +inline Vector3 operator +(scalar_t scalar, const Vector3 &vec) {
   4.517 +	return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
   4.518 +}
   4.519 +
   4.520 +inline Vector3 operator -(const Vector3 &vec, scalar_t scalar) {
   4.521 +	return Vector3(vec.x - scalar, vec.y - scalar, vec.z - scalar);
   4.522 +}
   4.523 +
   4.524 +inline Vector3 operator *(const Vector3 &vec, scalar_t scalar) {
   4.525 +	return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
   4.526 +}
   4.527 +
   4.528 +inline Vector3 operator *(scalar_t scalar, const Vector3 &vec) {
   4.529 +	return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
   4.530 +}
   4.531 +
   4.532 +inline Vector3 operator /(const Vector3 &vec, scalar_t scalar) {
   4.533 +	return Vector3(vec.x / scalar, vec.y / scalar, vec.z / scalar);
   4.534 +}
   4.535 +
   4.536 +inline void operator +=(Vector3 &vec, scalar_t scalar) {
   4.537 +	vec.x += scalar;
   4.538 +	vec.y += scalar;
   4.539 +	vec.z += scalar;
   4.540 +}
   4.541 +
   4.542 +inline void operator -=(Vector3 &vec, scalar_t scalar) {
   4.543 +	vec.x -= scalar;
   4.544 +	vec.y -= scalar;
   4.545 +	vec.z -= scalar;
   4.546 +}
   4.547 +
   4.548 +inline void operator *=(Vector3 &vec, scalar_t scalar) {
   4.549 +	vec.x *= scalar;
   4.550 +	vec.y *= scalar;
   4.551 +	vec.z *= scalar;
   4.552 +}
   4.553 +
   4.554 +inline void operator /=(Vector3 &vec, scalar_t scalar) {
   4.555 +	vec.x /= scalar;
   4.556 +	vec.y /= scalar;
   4.557 +	vec.z /= scalar;
   4.558 +}
   4.559 +
   4.560 +inline scalar_t Vector3::length() const {
   4.561 +	return sqrt(x*x + y*y + z*z);
   4.562 +}
   4.563 +inline scalar_t Vector3::length_sq() const {
   4.564 +	return x*x + y*y + z*z;
   4.565 +}
   4.566 +
   4.567 +inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t) {
   4.568 +	return a + (b - a) * t;
   4.569 +}
   4.570 +
   4.571 +inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
   4.572 +		const Vector3 &v2, const Vector3 &v3, scalar_t t)
   4.573 +{
   4.574 +	scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
   4.575 +	scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
   4.576 +	scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
   4.577 +	scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
   4.578 +	return Vector3(x, y, z);
   4.579 +}
   4.580 +
   4.581 +/* ----------- Vector4 ----------------- */
   4.582 +
   4.583 +inline scalar_t &Vector4::operator [](int elem) {
   4.584 +	return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
   4.585 +}
   4.586 +
   4.587 +inline const scalar_t &Vector4::operator [](int elem) const {
   4.588 +	return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
   4.589 +}
   4.590 +
   4.591 +inline Vector4 operator -(const Vector4 &vec) {
   4.592 +	return Vector4(-vec.x, -vec.y, -vec.z, -vec.w);
   4.593 +}
   4.594 +
   4.595 +inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2) {
   4.596 +	return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
   4.597 +}
   4.598 +
   4.599 +inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3) {
   4.600 +	scalar_t a, b, c, d, e, f;       /* Intermediate Values */
   4.601 +    Vector4 result;
   4.602 +
   4.603 +    /* Calculate intermediate values. */
   4.604 +    a = (v2.x * v3.y) - (v2.y * v3.x);
   4.605 +    b = (v2.x * v3.z) - (v2.z * v3.x);
   4.606 +    c = (v2.x * v3.w) - (v2.w * v3.x);
   4.607 +    d = (v2.y * v3.z) - (v2.z * v3.y);
   4.608 +    e = (v2.y * v3.w) - (v2.w * v3.y);
   4.609 +    f = (v2.z * v3.w) - (v2.w * v3.z);
   4.610 +
   4.611 +    /* Calculate the result-vector components. */
   4.612 +    result.x =   (v1.y * f) - (v1.z * e) + (v1.w * d);
   4.613 +    result.y = - (v1.x * f) + (v1.z * c) - (v1.w * b);
   4.614 +    result.z =   (v1.x * e) - (v1.y * c) + (v1.w * a);
   4.615 +    result.w = - (v1.x * d) + (v1.y * b) - (v1.z * a);
   4.616 +    return result;
   4.617 +}
   4.618 +
   4.619 +inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2) {
   4.620 +	return Vector4(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z, v1.w + v2.w);
   4.621 +}
   4.622 +
   4.623 +inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2) {
   4.624 +	return Vector4(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z, v1.w - v2.w);
   4.625 +}
   4.626 +
   4.627 +inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2) {
   4.628 +	return Vector4(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z, v1.w * v2.w);
   4.629 +}
   4.630 +
   4.631 +inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2) {
   4.632 +	return Vector4(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z, v1.w / v2.w);
   4.633 +}
   4.634 +
   4.635 +inline bool operator ==(const Vector4 &v1, const Vector4 &v2) {
   4.636 +	return	(fabs(v1.x - v2.x) < XSMALL_NUMBER) &&
   4.637 +			(fabs(v1.y - v2.y) < XSMALL_NUMBER) &&
   4.638 +			(fabs(v1.z - v2.z) < XSMALL_NUMBER) &&
   4.639 +			(fabs(v1.w - v2.w) < XSMALL_NUMBER);
   4.640 +}
   4.641 +
   4.642 +inline void operator +=(Vector4 &v1, const Vector4 &v2) {
   4.643 +	v1.x += v2.x;
   4.644 +	v1.y += v2.y;
   4.645 +	v1.z += v2.z;
   4.646 +	v1.w += v2.w;
   4.647 +}
   4.648 +
   4.649 +inline void operator -=(Vector4 &v1, const Vector4 &v2) {
   4.650 +	v1.x -= v2.x;
   4.651 +	v1.y -= v2.y;
   4.652 +	v1.z -= v2.z;
   4.653 +	v1.w -= v2.w;
   4.654 +}
   4.655 +
   4.656 +inline void operator *=(Vector4 &v1, const Vector4 &v2) {
   4.657 +	v1.x *= v2.x;
   4.658 +	v1.y *= v2.y;
   4.659 +	v1.z *= v2.z;
   4.660 +	v1.w *= v2.w;
   4.661 +}
   4.662 +
   4.663 +inline void operator /=(Vector4 &v1, const Vector4 &v2) {
   4.664 +	v1.x /= v2.x;
   4.665 +	v1.y /= v2.y;
   4.666 +	v1.z /= v2.z;
   4.667 +	v1.w /= v2.w;
   4.668 +}
   4.669 +
   4.670 +/* binary vector (op) scalar and scalar (op) vector operations */
   4.671 +inline Vector4 operator +(const Vector4 &vec, scalar_t scalar) {
   4.672 +	return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
   4.673 +}
   4.674 +
   4.675 +inline Vector4 operator +(scalar_t scalar, const Vector4 &vec) {
   4.676 +	return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
   4.677 +}
   4.678 +
   4.679 +inline Vector4 operator -(const Vector4 &vec, scalar_t scalar) {
   4.680 +	return Vector4(vec.x - scalar, vec.y - scalar, vec.z - scalar, vec.w - scalar);
   4.681 +}
   4.682 +
   4.683 +inline Vector4 operator *(const Vector4 &vec, scalar_t scalar) {
   4.684 +	return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
   4.685 +}
   4.686 +
   4.687 +inline Vector4 operator *(scalar_t scalar, const Vector4 &vec) {
   4.688 +	return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
   4.689 +}
   4.690 +
   4.691 +inline Vector4 operator /(const Vector4 &vec, scalar_t scalar) {
   4.692 +	return Vector4(vec.x / scalar, vec.y / scalar, vec.z / scalar, vec.w / scalar);
   4.693 +}
   4.694 +
   4.695 +inline void operator +=(Vector4 &vec, scalar_t scalar) {
   4.696 +	vec.x += scalar;
   4.697 +	vec.y += scalar;
   4.698 +	vec.z += scalar;
   4.699 +	vec.w += scalar;
   4.700 +}
   4.701 +
   4.702 +inline void operator -=(Vector4 &vec, scalar_t scalar) {
   4.703 +	vec.x -= scalar;
   4.704 +	vec.y -= scalar;
   4.705 +	vec.z -= scalar;
   4.706 +	vec.w -= scalar;
   4.707 +}
   4.708 +
   4.709 +inline void operator *=(Vector4 &vec, scalar_t scalar) {
   4.710 +	vec.x *= scalar;
   4.711 +	vec.y *= scalar;
   4.712 +	vec.z *= scalar;
   4.713 +	vec.w *= scalar;
   4.714 +}
   4.715 +
   4.716 +inline void operator /=(Vector4 &vec, scalar_t scalar) {
   4.717 +	vec.x /= scalar;
   4.718 +	vec.y /= scalar;
   4.719 +	vec.z /= scalar;
   4.720 +	vec.w /= scalar;
   4.721 +}
   4.722 +
   4.723 +inline scalar_t Vector4::length() const {
   4.724 +	return sqrt(x*x + y*y + z*z + w*w);
   4.725 +}
   4.726 +inline scalar_t Vector4::length_sq() const {
   4.727 +	return x*x + y*y + z*z + w*w;
   4.728 +}
   4.729 +
   4.730 +inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t)
   4.731 +{
   4.732 +	return v0 + (v1 - v0) * t;
   4.733 +}
   4.734 +
   4.735 +inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
   4.736 +		const Vector4 &v2, const Vector4 &v3, scalar_t t)
   4.737 +{
   4.738 +	scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
   4.739 +	scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
   4.740 +	scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
   4.741 +	scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
   4.742 +	scalar_t w = spline(v0.w, v1.w, v2.w, v3.w, t);
   4.743 +	return Vector4(x, y, z, w);
   4.744 +}
   4.745 +
   4.746 +#endif	/* __cplusplus */

     5.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     5.2 +++ b/libs/vmath/vmath.inl	Thu Sep 08 08:31:15 2011 +0300
     5.3 @@ -0,0 +1,29 @@
     5.4 +#include <stdlib.h>
     5.5 +
     5.6 +/** Generates a random number in [0, range) */
     5.7 +static inline scalar_t frand(scalar_t range)
     5.8 +{
     5.9 +	return range * (scalar_t)rand() / (scalar_t)RAND_MAX;
    5.10 +}
    5.11 +
    5.12 +/** Generates a random vector on the surface of a sphere */
    5.13 +static inline vec3_t sphrand(scalar_t rad)
    5.14 +{
    5.15 +	scalar_t u = (scalar_t)rand() / RAND_MAX;
    5.16 +	scalar_t v = (scalar_t)rand() / RAND_MAX;
    5.17 +
    5.18 +	scalar_t theta = 2.0 * M_PI * u;
    5.19 +	scalar_t phi = acos(2.0 * v - 1.0);
    5.20 +
    5.21 +	vec3_t res;
    5.22 +	res.x = rad * cos(theta) * sin(phi);
    5.23 +	res.y = rad * sin(theta) * sin(phi);
    5.24 +	res.z = rad * cos(phi);
    5.25 +	return res;
    5.26 +}
    5.27 +
    5.28 +/** linear interpolation */
    5.29 +static inline scalar_t lerp(scalar_t a, scalar_t b, scalar_t t)
    5.30 +{
    5.31 +	return a + (b - a) * t;
    5.32 +}

     6.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     6.2 +++ b/sdr/text.p.glsl	Thu Sep 08 08:31:15 2011 +0300
     6.3 @@ -0,0 +1,22 @@
     6.4 +#ifdef GL_ES
     6.5 +precision highp float;
     6.6 +#endif
     6.7 +
     6.8 +uniform sampler2D tex;
     6.9 +
    6.10 +varying vec4 color;
    6.11 +varying vec3 vpos;
    6.12 +varying vec2 tc;
    6.13 +
    6.14 +void main()
    6.15 +{
    6.16 +	vec4 tcol = texture2D(tex, tc);
    6.17 +
    6.18 +	float fog = exp(-(0.2 * -vpos.z));
    6.19 +
    6.20 +	float alpha = fog * color.a;
    6.21 +
    6.22 +	vec4 color = vec4(1.0, 0.3, 0.2, tcol.x * alpha);
    6.23 +
    6.24 +	gl_FragColor = color;
    6.25 +}

     7.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     7.2 +++ b/sdr/text.v.glsl	Thu Sep 08 08:31:15 2011 +0300
     7.3 @@ -0,0 +1,21 @@
     7.4 +attribute vec4 attr_vertex, attr_texcoord, attr_color;
     7.5 +
     7.6 +uniform mat4 matrix_modelview, matrix_projection;
     7.7 +uniform float idx;
     7.8 +
     7.9 +varying vec4 color;
    7.10 +varying vec3 vpos;
    7.11 +varying vec2 tc;
    7.12 +
    7.13 +void main()
    7.14 +{
    7.15 +	mat4 mvp = matrix_projection * matrix_modelview;
    7.16 +	gl_Position = mvp * attr_vertex;
    7.17 +
    7.18 +	vpos = (matrix_modelview * attr_vertex).xyz;
    7.19 +
    7.20 +	float sz = 1.0 / 17.0;
    7.21 +	tc = vec2(attr_texcoord.x, (attr_texcoord.y + idx) * sz);
    7.22 +
    7.23 +	color = attr_color;
    7.24 +}

     8.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     8.2 +++ b/sdr/tunnel.p.glsl	Thu Sep 08 08:31:15 2011 +0300
     8.3 @@ -0,0 +1,52 @@
     8.4 +#ifdef GL_ES
     8.5 +precision highp float;
     8.6 +#endif
     8.7 +
     8.8 +uniform sampler2D tex, tex_norm;
     8.9 +
    8.10 +varying vec3 vpos, normal, tangent;
    8.11 +varying vec4 color, tc;
    8.12 +varying vec3 lpos;
    8.13 +
    8.14 +void main()
    8.15 +{
    8.16 +	vec4 fog_color = vec4(0.0, 0.0, 0.0, 1.0);
    8.17 +	vec3 tcol = texture2D(tex, tc.xy * vec2(1.0, -1.0)).xyz;
    8.18 +	vec3 tnorm = texture2D(tex_norm, tc.xy * vec2(1.0, -1.0)).xyz;
    8.19 +
    8.20 +	float fog = exp(-(0.2 * -vpos.z));
    8.21 +	
    8.22 +	vec3 ldir = lpos - vpos;
    8.23 +	float ldist = length(ldir);
    8.24 +
    8.25 +	/* bring the light direction to tangent space */
    8.26 +	vec3 norm = normalize(normal);
    8.27 +	vec3 tang = normalize(tangent);
    8.28 +	vec3 bitan = cross(norm, tang);
    8.29 +
    8.30 +	mat3 tbn_xform = mat3(tang.x, bitan.x, norm.x,
    8.31 +			tang.y, bitan.y, norm.y,
    8.32 +			tang.z, bitan.z, norm.z);
    8.33 +
    8.34 +	vec3 l = normalize(tbn_xform * ldir);
    8.35 +
    8.36 +	/* grab normal from the normalmap */
    8.37 +	vec3 n = normalize(tnorm * 2.0 - 1.0);
    8.38 +
    8.39 +	float diffuse = max(dot(n, l), 0.0);
    8.40 +
    8.41 +	/* blinn-phong specular */
    8.42 +	vec3 v = normalize(-vpos);
    8.43 +	vec3 h = normalize(v + l);
    8.44 +	float specular = pow(max(dot(n, h), 0.0), 60.0);
    8.45 +
    8.46 +	vec3 amb = vec3(0.02, 0.02, 0.02);
    8.47 +
    8.48 +	float att = clamp(1.0 / (0.5 * (ldist * ldist)), 0.0, 1.0);
    8.49 +
    8.50 +	vec3 dif = tcol * diffuse * att;
    8.51 +	vec3 spec = vec3(0.6, 0.6, 0.6) * specular * att;
    8.52 +
    8.53 +	//gl_FragColor = 0.5 * tcol + 0.5 * tnorm;//mix(fog_color, tcol, fog);
    8.54 +	gl_FragColor = vec4(fog * (amb + dif + spec), 1.0);
    8.55 +}

     9.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     9.2 +++ b/sdr/tunnel.v.glsl	Thu Sep 08 08:31:15 2011 +0300
     9.3 @@ -0,0 +1,27 @@
     9.4 +attribute vec4 attr_vertex, attr_color, attr_texcoord;
     9.5 +attribute vec4 attr_tangent;
     9.6 +attribute vec3 attr_normal;
     9.7 +
     9.8 +uniform mat4 matrix_modelview, matrix_projection, matrix_texture;
     9.9 +uniform mat3 normmat;
    9.10 +uniform float t;
    9.11 +uniform vec4 light_pos;
    9.12 +
    9.13 +varying vec3 vpos, normal, tangent;
    9.14 +varying vec4 tc;
    9.15 +varying vec3 lpos;
    9.16 +
    9.17 +void main()
    9.18 +{
    9.19 +	mat4 mvp = matrix_projection * matrix_modelview;
    9.20 +	gl_Position = mvp * attr_vertex;
    9.21 +
    9.22 +	vpos = (matrix_modelview * attr_vertex).xyz;
    9.23 +
    9.24 +	normal = normmat * attr_normal;
    9.25 +	tangent = normmat * attr_tangent.xyz;
    9.26 +
    9.27 +	lpos = (matrix_modelview * light_pos).xyz;
    9.28 +
    9.29 +	tc = matrix_texture * attr_texcoord;
    9.30 +}