vrshoot

annotate libs/vmath/vector.inl @ 0:b2f14e535253

find changesets by author, revision, files, or words in the commit message
initial commit
author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 01 Feb 2014 19:58:19 +0200
parents
children
rev   line source
nuclear@0 1 /*
nuclear@0 2 libvmath - a vector math library
nuclear@0 3 Copyright (C) 2004-2013 John Tsiombikas <nuclear@member.fsf.org>
nuclear@0 4
nuclear@0 5 This program is free software: you can redistribute it and/or modify
nuclear@0 6 it under the terms of the GNU Lesser General Public License as published
nuclear@0 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@0 8 (at your option) any later version.
nuclear@0 9
nuclear@0 10 This program is distributed in the hope that it will be useful,
nuclear@0 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@0 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@0 13 GNU Lesser General Public License for more details.
nuclear@0 14
nuclear@0 15 You should have received a copy of the GNU Lesser General Public License
nuclear@0 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@0 17 */
nuclear@0 18
nuclear@0 19 #include <math.h>
nuclear@0 20
nuclear@0 21 #ifdef __cplusplus
nuclear@0 22 extern "C" {
nuclear@0 23 #endif /* __cplusplus */
nuclear@0 24
nuclear@0 25 scalar_t spline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@0 26 scalar_t bspline(scalar_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@0 27
nuclear@0 28 /* C 2D vector functions */
nuclear@0 29 static inline vec2_t v2_cons(scalar_t x, scalar_t y)
nuclear@0 30 {
nuclear@0 31 vec2_t v;
nuclear@0 32 v.x = x;
nuclear@0 33 v.y = y;
nuclear@0 34 return v;
nuclear@0 35 }
nuclear@0 36
nuclear@0 37 static inline void v2_print(FILE *fp, vec2_t v)
nuclear@0 38 {
nuclear@0 39 fprintf(fp, "[ %.4f %.4f ]", v.x, v.y);
nuclear@0 40 }
nuclear@0 41
nuclear@0 42 static inline vec2_t v2_add(vec2_t v1, vec2_t v2)
nuclear@0 43 {
nuclear@0 44 vec2_t res;
nuclear@0 45 res.x = v1.x + v2.x;
nuclear@0 46 res.y = v1.y + v2.y;
nuclear@0 47 return res;
nuclear@0 48 }
nuclear@0 49
nuclear@0 50 static inline vec2_t v2_sub(vec2_t v1, vec2_t v2)
nuclear@0 51 {
nuclear@0 52 vec2_t res;
nuclear@0 53 res.x = v1.x - v2.x;
nuclear@0 54 res.y = v1.y - v2.y;
nuclear@0 55 return res;
nuclear@0 56 }
nuclear@0 57
nuclear@0 58 static inline vec2_t v2_scale(vec2_t v, scalar_t s)
nuclear@0 59 {
nuclear@0 60 vec2_t res;
nuclear@0 61 res.x = v.x * s;
nuclear@0 62 res.y = v.y * s;
nuclear@0 63 return res;
nuclear@0 64 }
nuclear@0 65
nuclear@0 66 static inline scalar_t v2_dot(vec2_t v1, vec2_t v2)
nuclear@0 67 {
nuclear@0 68 return v1.x * v2.x + v1.y * v2.y;
nuclear@0 69 }
nuclear@0 70
nuclear@0 71 static inline scalar_t v2_length(vec2_t v)
nuclear@0 72 {
nuclear@0 73 return sqrt(v.x * v.x + v.y * v.y);
nuclear@0 74 }
nuclear@0 75
nuclear@0 76 static inline scalar_t v2_length_sq(vec2_t v)
nuclear@0 77 {
nuclear@0 78 return v.x * v.x + v.y * v.y;
nuclear@0 79 }
nuclear@0 80
nuclear@0 81 static inline vec2_t v2_normalize(vec2_t v)
nuclear@0 82 {
nuclear@0 83 scalar_t len = (scalar_t)sqrt(v.x * v.x + v.y * v.y);
nuclear@0 84 v.x /= len;
nuclear@0 85 v.y /= len;
nuclear@0 86 return v;
nuclear@0 87 }
nuclear@0 88
nuclear@0 89 static inline vec2_t v2_lerp(vec2_t v1, vec2_t v2, scalar_t t)
nuclear@0 90 {
nuclear@0 91 vec2_t res;
nuclear@0 92 res.x = v1.x + (v2.x - v1.x) * t;
nuclear@0 93 res.y = v1.y + (v2.y - v1.y) * t;
nuclear@0 94 return res;
nuclear@0 95 }
nuclear@0 96
nuclear@0 97
nuclear@0 98 /* C 3D vector functions */
nuclear@0 99 static inline vec3_t v3_cons(scalar_t x, scalar_t y, scalar_t z)
nuclear@0 100 {
nuclear@0 101 vec3_t v;
nuclear@0 102 v.x = x;
nuclear@0 103 v.y = y;
nuclear@0 104 v.z = z;
nuclear@0 105 return v;
nuclear@0 106 }
nuclear@0 107
nuclear@0 108 static inline void v3_print(FILE *fp, vec3_t v)
nuclear@0 109 {
nuclear@0 110 fprintf(fp, "[ %.4f %.4f %.4f ]", v.x, v.y, v.z);
nuclear@0 111 }
nuclear@0 112
nuclear@0 113 static inline vec3_t v3_add(vec3_t v1, vec3_t v2)
nuclear@0 114 {
nuclear@0 115 v1.x += v2.x;
nuclear@0 116 v1.y += v2.y;
nuclear@0 117 v1.z += v2.z;
nuclear@0 118 return v1;
nuclear@0 119 }
nuclear@0 120
nuclear@0 121 static inline vec3_t v3_sub(vec3_t v1, vec3_t v2)
nuclear@0 122 {
nuclear@0 123 v1.x -= v2.x;
nuclear@0 124 v1.y -= v2.y;
nuclear@0 125 v1.z -= v2.z;
nuclear@0 126 return v1;
nuclear@0 127 }
nuclear@0 128
nuclear@0 129 static inline vec3_t v3_neg(vec3_t v)
nuclear@0 130 {
nuclear@0 131 v.x = -v.x;
nuclear@0 132 v.y = -v.y;
nuclear@0 133 v.z = -v.z;
nuclear@0 134 return v;
nuclear@0 135 }
nuclear@0 136
nuclear@0 137 static inline vec3_t v3_mul(vec3_t v1, vec3_t v2)
nuclear@0 138 {
nuclear@0 139 v1.x *= v2.x;
nuclear@0 140 v1.y *= v2.y;
nuclear@0 141 v1.z *= v2.z;
nuclear@0 142 return v1;
nuclear@0 143 }
nuclear@0 144
nuclear@0 145 static inline vec3_t v3_scale(vec3_t v1, scalar_t s)
nuclear@0 146 {
nuclear@0 147 v1.x *= s;
nuclear@0 148 v1.y *= s;
nuclear@0 149 v1.z *= s;
nuclear@0 150 return v1;
nuclear@0 151 }
nuclear@0 152
nuclear@0 153 static inline scalar_t v3_dot(vec3_t v1, vec3_t v2)
nuclear@0 154 {
nuclear@0 155 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
nuclear@0 156 }
nuclear@0 157
nuclear@0 158 static inline vec3_t v3_cross(vec3_t v1, vec3_t v2)
nuclear@0 159 {
nuclear@0 160 vec3_t v;
nuclear@0 161 v.x = v1.y * v2.z - v1.z * v2.y;
nuclear@0 162 v.y = v1.z * v2.x - v1.x * v2.z;
nuclear@0 163 v.z = v1.x * v2.y - v1.y * v2.x;
nuclear@0 164 return v;
nuclear@0 165 }
nuclear@0 166
nuclear@0 167 static inline scalar_t v3_length(vec3_t v)
nuclear@0 168 {
nuclear@0 169 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
nuclear@0 170 }
nuclear@0 171
nuclear@0 172 static inline scalar_t v3_length_sq(vec3_t v)
nuclear@0 173 {
nuclear@0 174 return v.x * v.x + v.y * v.y + v.z * v.z;
nuclear@0 175 }
nuclear@0 176
nuclear@0 177 static inline vec3_t v3_normalize(vec3_t v)
nuclear@0 178 {
nuclear@0 179 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z);
nuclear@0 180 v.x /= len;
nuclear@0 181 v.y /= len;
nuclear@0 182 v.z /= len;
nuclear@0 183 return v;
nuclear@0 184 }
nuclear@0 185
nuclear@0 186 static inline vec3_t v3_transform(vec3_t v, mat4_t m)
nuclear@0 187 {
nuclear@0 188 vec3_t res;
nuclear@0 189 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3];
nuclear@0 190 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3];
nuclear@0 191 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3];
nuclear@0 192 return res;
nuclear@0 193 }
nuclear@0 194
nuclear@0 195 static inline vec3_t v3_rotate(vec3_t v, scalar_t x, scalar_t y, scalar_t z)
nuclear@0 196 {
nuclear@0 197 void m4_rotate(mat4_t, scalar_t, scalar_t, scalar_t);
nuclear@0 198
nuclear@0 199 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@0 200 m4_rotate(m, x, y, z);
nuclear@0 201 return v3_transform(v, m);
nuclear@0 202 }
nuclear@0 203
nuclear@0 204 static inline vec3_t v3_rotate_axis(vec3_t v, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
nuclear@0 205 {
nuclear@0 206 void m4_rotate_axis(mat4_t, scalar_t, scalar_t, scalar_t, scalar_t);
nuclear@0 207
nuclear@0 208 mat4_t m = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@0 209 m4_rotate_axis(m, angle, x, y, z);
nuclear@0 210 return v3_transform(v, m);
nuclear@0 211 }
nuclear@0 212
nuclear@0 213 static inline vec3_t v3_rotate_quat(vec3_t v, quat_t q)
nuclear@0 214 {
nuclear@0 215 quat_t quat_rotate_quat(quat_t, quat_t);
nuclear@0 216
nuclear@0 217 quat_t vq = v4_cons(v.x, v.y, v.z, 0.0);
nuclear@0 218 quat_t res = quat_rotate_quat(vq, q);
nuclear@0 219 return v3_cons(res.x, res.y, res.z);
nuclear@0 220 }
nuclear@0 221
nuclear@0 222 static inline vec3_t v3_reflect(vec3_t v, vec3_t n)
nuclear@0 223 {
nuclear@0 224 scalar_t dot = v3_dot(v, n);
nuclear@0 225 return v3_sub(v3_scale(n, dot * 2.0), v);
nuclear@0 226 }
nuclear@0 227
nuclear@0 228 static inline vec3_t v3_lerp(vec3_t v1, vec3_t v2, scalar_t t)
nuclear@0 229 {
nuclear@0 230 v1.x += (v2.x - v1.x) * t;
nuclear@0 231 v1.y += (v2.y - v1.y) * t;
nuclear@0 232 v1.z += (v2.z - v1.z) * t;
nuclear@0 233 return v1;
nuclear@0 234 }
nuclear@0 235
nuclear@0 236 /* C 4D vector functions */
nuclear@0 237 static inline vec4_t v4_cons(scalar_t x, scalar_t y, scalar_t z, scalar_t w)
nuclear@0 238 {
nuclear@0 239 vec4_t v;
nuclear@0 240 v.x = x;
nuclear@0 241 v.y = y;
nuclear@0 242 v.z = z;
nuclear@0 243 v.w = w;
nuclear@0 244 return v;
nuclear@0 245 }
nuclear@0 246
nuclear@0 247 static inline void v4_print(FILE *fp, vec4_t v)
nuclear@0 248 {
nuclear@0 249 fprintf(fp, "[ %.4f %.4f %.4f %.4f ]", v.x, v.y, v.z, v.w);
nuclear@0 250 }
nuclear@0 251
nuclear@0 252 static inline vec4_t v4_add(vec4_t v1, vec4_t v2)
nuclear@0 253 {
nuclear@0 254 v1.x += v2.x;
nuclear@0 255 v1.y += v2.y;
nuclear@0 256 v1.z += v2.z;
nuclear@0 257 v1.w += v2.w;
nuclear@0 258 return v1;
nuclear@0 259 }
nuclear@0 260
nuclear@0 261 static inline vec4_t v4_sub(vec4_t v1, vec4_t v2)
nuclear@0 262 {
nuclear@0 263 v1.x -= v2.x;
nuclear@0 264 v1.y -= v2.y;
nuclear@0 265 v1.z -= v2.z;
nuclear@0 266 v1.w -= v2.w;
nuclear@0 267 return v1;
nuclear@0 268 }
nuclear@0 269
nuclear@0 270 static inline vec4_t v4_neg(vec4_t v)
nuclear@0 271 {
nuclear@0 272 v.x = -v.x;
nuclear@0 273 v.y = -v.y;
nuclear@0 274 v.z = -v.z;
nuclear@0 275 v.w = -v.w;
nuclear@0 276 return v;
nuclear@0 277 }
nuclear@0 278
nuclear@0 279 static inline vec4_t v4_mul(vec4_t v1, vec4_t v2)
nuclear@0 280 {
nuclear@0 281 v1.x *= v2.x;
nuclear@0 282 v1.y *= v2.y;
nuclear@0 283 v1.z *= v2.z;
nuclear@0 284 v1.w *= v2.w;
nuclear@0 285 return v1;
nuclear@0 286 }
nuclear@0 287
nuclear@0 288 static inline vec4_t v4_scale(vec4_t v, scalar_t s)
nuclear@0 289 {
nuclear@0 290 v.x *= s;
nuclear@0 291 v.y *= s;
nuclear@0 292 v.z *= s;
nuclear@0 293 v.w *= s;
nuclear@0 294 return v;
nuclear@0 295 }
nuclear@0 296
nuclear@0 297 static inline scalar_t v4_dot(vec4_t v1, vec4_t v2)
nuclear@0 298 {
nuclear@0 299 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
nuclear@0 300 }
nuclear@0 301
nuclear@0 302 static inline scalar_t v4_length(vec4_t v)
nuclear@0 303 {
nuclear@0 304 return sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
nuclear@0 305 }
nuclear@0 306
nuclear@0 307 static inline scalar_t v4_length_sq(vec4_t v)
nuclear@0 308 {
nuclear@0 309 return v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w;
nuclear@0 310 }
nuclear@0 311
nuclear@0 312 static inline vec4_t v4_normalize(vec4_t v)
nuclear@0 313 {
nuclear@0 314 scalar_t len = sqrt(v.x * v.x + v.y * v.y + v.z * v.z + v.w * v.w);
nuclear@0 315 v.x /= len;
nuclear@0 316 v.y /= len;
nuclear@0 317 v.z /= len;
nuclear@0 318 v.w /= len;
nuclear@0 319 return v;
nuclear@0 320 }
nuclear@0 321
nuclear@0 322 static inline vec4_t v4_transform(vec4_t v, mat4_t m)
nuclear@0 323 {
nuclear@0 324 vec4_t res;
nuclear@0 325 res.x = m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w;
nuclear@0 326 res.y = m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w;
nuclear@0 327 res.z = m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w;
nuclear@0 328 res.w = m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w;
nuclear@0 329 return res;
nuclear@0 330 }
nuclear@0 331
nuclear@0 332 #ifdef __cplusplus
nuclear@0 333 } /* extern "C" */
nuclear@0 334
nuclear@0 335
nuclear@0 336 /* --------------- C++ part -------------- */
nuclear@0 337
nuclear@0 338 inline scalar_t &Vector2::operator [](int elem)
nuclear@0 339 {
nuclear@0 340 return elem ? y : x;
nuclear@0 341 }
nuclear@0 342
nuclear@0 343 inline const scalar_t &Vector2::operator [](int elem) const
nuclear@0 344 {
nuclear@0 345 return elem ? y : x;
nuclear@0 346 }
nuclear@0 347
nuclear@0 348 inline Vector2 operator -(const Vector2 &vec)
nuclear@0 349 {
nuclear@0 350 return Vector2(-vec.x, -vec.y);
nuclear@0 351 }
nuclear@0 352
nuclear@0 353 inline scalar_t dot_product(const Vector2 &v1, const Vector2 &v2)
nuclear@0 354 {
nuclear@0 355 return v1.x * v2.x + v1.y * v2.y;
nuclear@0 356 }
nuclear@0 357
nuclear@0 358 inline Vector2 operator +(const Vector2 &v1, const Vector2 &v2)
nuclear@0 359 {
nuclear@0 360 return Vector2(v1.x + v2.x, v1.y + v2.y);
nuclear@0 361 }
nuclear@0 362
nuclear@0 363 inline Vector2 operator -(const Vector2 &v1, const Vector2 &v2)
nuclear@0 364 {
nuclear@0 365 return Vector2(v1.x - v2.x, v1.y - v2.y);
nuclear@0 366 }
nuclear@0 367
nuclear@0 368 inline Vector2 operator *(const Vector2 &v1, const Vector2 &v2)
nuclear@0 369 {
nuclear@0 370 return Vector2(v1.x * v2.x, v1.y * v2.y);
nuclear@0 371 }
nuclear@0 372
nuclear@0 373 inline Vector2 operator /(const Vector2 &v1, const Vector2 &v2)
nuclear@0 374 {
nuclear@0 375 return Vector2(v1.x / v2.x, v1.y / v2.y);
nuclear@0 376 }
nuclear@0 377
nuclear@0 378 inline bool operator ==(const Vector2 &v1, const Vector2 &v2)
nuclear@0 379 {
nuclear@0 380 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.x) < XSMALL_NUMBER);
nuclear@0 381 }
nuclear@0 382
nuclear@0 383 inline void operator +=(Vector2 &v1, const Vector2 &v2)
nuclear@0 384 {
nuclear@0 385 v1.x += v2.x;
nuclear@0 386 v1.y += v2.y;
nuclear@0 387 }
nuclear@0 388
nuclear@0 389 inline void operator -=(Vector2 &v1, const Vector2 &v2)
nuclear@0 390 {
nuclear@0 391 v1.x -= v2.x;
nuclear@0 392 v1.y -= v2.y;
nuclear@0 393 }
nuclear@0 394
nuclear@0 395 inline void operator *=(Vector2 &v1, const Vector2 &v2)
nuclear@0 396 {
nuclear@0 397 v1.x *= v2.x;
nuclear@0 398 v1.y *= v2.y;
nuclear@0 399 }
nuclear@0 400
nuclear@0 401 inline void operator /=(Vector2 &v1, const Vector2 &v2)
nuclear@0 402 {
nuclear@0 403 v1.x /= v2.x;
nuclear@0 404 v1.y /= v2.y;
nuclear@0 405 }
nuclear@0 406
nuclear@0 407 inline Vector2 operator +(const Vector2 &vec, scalar_t scalar)
nuclear@0 408 {
nuclear@0 409 return Vector2(vec.x + scalar, vec.y + scalar);
nuclear@0 410 }
nuclear@0 411
nuclear@0 412 inline Vector2 operator +(scalar_t scalar, const Vector2 &vec)
nuclear@0 413 {
nuclear@0 414 return Vector2(vec.x + scalar, vec.y + scalar);
nuclear@0 415 }
nuclear@0 416
nuclear@0 417 inline Vector2 operator -(const Vector2 &vec, scalar_t scalar)
nuclear@0 418 {
nuclear@0 419 return Vector2(vec.x - scalar, vec.y - scalar);
nuclear@0 420 }
nuclear@0 421
nuclear@0 422 inline Vector2 operator *(const Vector2 &vec, scalar_t scalar)
nuclear@0 423 {
nuclear@0 424 return Vector2(vec.x * scalar, vec.y * scalar);
nuclear@0 425 }
nuclear@0 426
nuclear@0 427 inline Vector2 operator *(scalar_t scalar, const Vector2 &vec)
nuclear@0 428 {
nuclear@0 429 return Vector2(vec.x * scalar, vec.y * scalar);
nuclear@0 430 }
nuclear@0 431
nuclear@0 432 inline Vector2 operator /(const Vector2 &vec, scalar_t scalar)
nuclear@0 433 {
nuclear@0 434 return Vector2(vec.x / scalar, vec.y / scalar);
nuclear@0 435 }
nuclear@0 436
nuclear@0 437 inline void operator +=(Vector2 &vec, scalar_t scalar)
nuclear@0 438 {
nuclear@0 439 vec.x += scalar;
nuclear@0 440 vec.y += scalar;
nuclear@0 441 }
nuclear@0 442
nuclear@0 443 inline void operator -=(Vector2 &vec, scalar_t scalar)
nuclear@0 444 {
nuclear@0 445 vec.x -= scalar;
nuclear@0 446 vec.y -= scalar;
nuclear@0 447 }
nuclear@0 448
nuclear@0 449 inline void operator *=(Vector2 &vec, scalar_t scalar)
nuclear@0 450 {
nuclear@0 451 vec.x *= scalar;
nuclear@0 452 vec.y *= scalar;
nuclear@0 453 }
nuclear@0 454
nuclear@0 455 inline void operator /=(Vector2 &vec, scalar_t scalar)
nuclear@0 456 {
nuclear@0 457 vec.x /= scalar;
nuclear@0 458 vec.y /= scalar;
nuclear@0 459 }
nuclear@0 460
nuclear@0 461 inline scalar_t Vector2::length() const
nuclear@0 462 {
nuclear@0 463 return sqrt(x*x + y*y);
nuclear@0 464 }
nuclear@0 465
nuclear@0 466 inline scalar_t Vector2::length_sq() const
nuclear@0 467 {
nuclear@0 468 return x*x + y*y;
nuclear@0 469 }
nuclear@0 470
nuclear@0 471 inline Vector2 lerp(const Vector2 &a, const Vector2 &b, scalar_t t)
nuclear@0 472 {
nuclear@0 473 return a + (b - a) * t;
nuclear@0 474 }
nuclear@0 475
nuclear@0 476 inline Vector2 catmull_rom_spline(const Vector2 &v0, const Vector2 &v1,
nuclear@0 477 const Vector2 &v2, const Vector2 &v3, scalar_t t)
nuclear@0 478 {
nuclear@0 479 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 480 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 481 return Vector2(x, y);
nuclear@0 482 }
nuclear@0 483
nuclear@0 484 inline Vector2 bspline(const Vector2 &v0, const Vector2 &v1,
nuclear@0 485 const Vector2 &v2, const Vector2 &v3, scalar_t t)
nuclear@0 486 {
nuclear@0 487 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 488 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 489 return Vector2(x, y);
nuclear@0 490 }
nuclear@0 491
nuclear@0 492
nuclear@0 493 /* ------------- Vector3 -------------- */
nuclear@0 494
nuclear@0 495 inline scalar_t &Vector3::operator [](int elem) {
nuclear@0 496 return elem ? (elem == 1 ? y : z) : x;
nuclear@0 497 }
nuclear@0 498
nuclear@0 499 inline const scalar_t &Vector3::operator [](int elem) const {
nuclear@0 500 return elem ? (elem == 1 ? y : z) : x;
nuclear@0 501 }
nuclear@0 502
nuclear@0 503 /* unary operations */
nuclear@0 504 inline Vector3 operator -(const Vector3 &vec) {
nuclear@0 505 return Vector3(-vec.x, -vec.y, -vec.z);
nuclear@0 506 }
nuclear@0 507
nuclear@0 508 /* binary vector (op) vector operations */
nuclear@0 509 inline scalar_t dot_product(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 510 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
nuclear@0 511 }
nuclear@0 512
nuclear@0 513 inline Vector3 cross_product(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 514 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);
nuclear@0 515 }
nuclear@0 516
nuclear@0 517
nuclear@0 518 inline Vector3 operator +(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 519 return Vector3(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z);
nuclear@0 520 }
nuclear@0 521
nuclear@0 522 inline Vector3 operator -(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 523 return Vector3(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z);
nuclear@0 524 }
nuclear@0 525
nuclear@0 526 inline Vector3 operator *(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 527 return Vector3(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z);
nuclear@0 528 }
nuclear@0 529
nuclear@0 530 inline Vector3 operator /(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 531 return Vector3(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z);
nuclear@0 532 }
nuclear@0 533
nuclear@0 534 inline bool operator ==(const Vector3 &v1, const Vector3 &v2) {
nuclear@0 535 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) && (fabs(v1.y - v2.y) < XSMALL_NUMBER) && (fabs(v1.z - v2.z) < XSMALL_NUMBER);
nuclear@0 536 }
nuclear@0 537
nuclear@0 538 inline void operator +=(Vector3 &v1, const Vector3 &v2) {
nuclear@0 539 v1.x += v2.x;
nuclear@0 540 v1.y += v2.y;
nuclear@0 541 v1.z += v2.z;
nuclear@0 542 }
nuclear@0 543
nuclear@0 544 inline void operator -=(Vector3 &v1, const Vector3 &v2) {
nuclear@0 545 v1.x -= v2.x;
nuclear@0 546 v1.y -= v2.y;
nuclear@0 547 v1.z -= v2.z;
nuclear@0 548 }
nuclear@0 549
nuclear@0 550 inline void operator *=(Vector3 &v1, const Vector3 &v2) {
nuclear@0 551 v1.x *= v2.x;
nuclear@0 552 v1.y *= v2.y;
nuclear@0 553 v1.z *= v2.z;
nuclear@0 554 }
nuclear@0 555
nuclear@0 556 inline void operator /=(Vector3 &v1, const Vector3 &v2) {
nuclear@0 557 v1.x /= v2.x;
nuclear@0 558 v1.y /= v2.y;
nuclear@0 559 v1.z /= v2.z;
nuclear@0 560 }
nuclear@0 561 /* binary vector (op) scalar and scalar (op) vector operations */
nuclear@0 562 inline Vector3 operator +(const Vector3 &vec, scalar_t scalar) {
nuclear@0 563 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
nuclear@0 564 }
nuclear@0 565
nuclear@0 566 inline Vector3 operator +(scalar_t scalar, const Vector3 &vec) {
nuclear@0 567 return Vector3(vec.x + scalar, vec.y + scalar, vec.z + scalar);
nuclear@0 568 }
nuclear@0 569
nuclear@0 570 inline Vector3 operator -(const Vector3 &vec, scalar_t scalar) {
nuclear@0 571 return Vector3(vec.x - scalar, vec.y - scalar, vec.z - scalar);
nuclear@0 572 }
nuclear@0 573
nuclear@0 574 inline Vector3 operator *(const Vector3 &vec, scalar_t scalar) {
nuclear@0 575 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
nuclear@0 576 }
nuclear@0 577
nuclear@0 578 inline Vector3 operator *(scalar_t scalar, const Vector3 &vec) {
nuclear@0 579 return Vector3(vec.x * scalar, vec.y * scalar, vec.z * scalar);
nuclear@0 580 }
nuclear@0 581
nuclear@0 582 inline Vector3 operator /(const Vector3 &vec, scalar_t scalar) {
nuclear@0 583 return Vector3(vec.x / scalar, vec.y / scalar, vec.z / scalar);
nuclear@0 584 }
nuclear@0 585
nuclear@0 586 inline void operator +=(Vector3 &vec, scalar_t scalar) {
nuclear@0 587 vec.x += scalar;
nuclear@0 588 vec.y += scalar;
nuclear@0 589 vec.z += scalar;
nuclear@0 590 }
nuclear@0 591
nuclear@0 592 inline void operator -=(Vector3 &vec, scalar_t scalar) {
nuclear@0 593 vec.x -= scalar;
nuclear@0 594 vec.y -= scalar;
nuclear@0 595 vec.z -= scalar;
nuclear@0 596 }
nuclear@0 597
nuclear@0 598 inline void operator *=(Vector3 &vec, scalar_t scalar) {
nuclear@0 599 vec.x *= scalar;
nuclear@0 600 vec.y *= scalar;
nuclear@0 601 vec.z *= scalar;
nuclear@0 602 }
nuclear@0 603
nuclear@0 604 inline void operator /=(Vector3 &vec, scalar_t scalar) {
nuclear@0 605 vec.x /= scalar;
nuclear@0 606 vec.y /= scalar;
nuclear@0 607 vec.z /= scalar;
nuclear@0 608 }
nuclear@0 609
nuclear@0 610 inline scalar_t Vector3::length() const {
nuclear@0 611 return sqrt(x*x + y*y + z*z);
nuclear@0 612 }
nuclear@0 613 inline scalar_t Vector3::length_sq() const {
nuclear@0 614 return x*x + y*y + z*z;
nuclear@0 615 }
nuclear@0 616
nuclear@0 617 inline Vector3 lerp(const Vector3 &a, const Vector3 &b, scalar_t t) {
nuclear@0 618 return a + (b - a) * t;
nuclear@0 619 }
nuclear@0 620
nuclear@0 621 inline Vector3 catmull_rom_spline(const Vector3 &v0, const Vector3 &v1,
nuclear@0 622 const Vector3 &v2, const Vector3 &v3, scalar_t t)
nuclear@0 623 {
nuclear@0 624 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 625 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 626 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@0 627 return Vector3(x, y, z);
nuclear@0 628 }
nuclear@0 629
nuclear@0 630 inline Vector3 bspline(const Vector3 &v0, const Vector3 &v1,
nuclear@0 631 const Vector3 &v2, const Vector3 &v3, scalar_t t)
nuclear@0 632 {
nuclear@0 633 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 634 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 635 scalar_t z = bspline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@0 636 return Vector3(x, y, z);
nuclear@0 637 }
nuclear@0 638
nuclear@0 639 /* ----------- Vector4 ----------------- */
nuclear@0 640
nuclear@0 641 inline scalar_t &Vector4::operator [](int elem) {
nuclear@0 642 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
nuclear@0 643 }
nuclear@0 644
nuclear@0 645 inline const scalar_t &Vector4::operator [](int elem) const {
nuclear@0 646 return elem ? (elem == 1 ? y : (elem == 2 ? z : w)) : x;
nuclear@0 647 }
nuclear@0 648
nuclear@0 649 inline Vector4 operator -(const Vector4 &vec) {
nuclear@0 650 return Vector4(-vec.x, -vec.y, -vec.z, -vec.w);
nuclear@0 651 }
nuclear@0 652
nuclear@0 653 inline scalar_t dot_product(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 654 return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
nuclear@0 655 }
nuclear@0 656
nuclear@0 657 inline Vector4 cross_product(const Vector4 &v1, const Vector4 &v2, const Vector4 &v3) {
nuclear@0 658 scalar_t a, b, c, d, e, f; /* Intermediate Values */
nuclear@0 659 Vector4 result;
nuclear@0 660
nuclear@0 661 /* Calculate intermediate values. */
nuclear@0 662 a = (v2.x * v3.y) - (v2.y * v3.x);
nuclear@0 663 b = (v2.x * v3.z) - (v2.z * v3.x);
nuclear@0 664 c = (v2.x * v3.w) - (v2.w * v3.x);
nuclear@0 665 d = (v2.y * v3.z) - (v2.z * v3.y);
nuclear@0 666 e = (v2.y * v3.w) - (v2.w * v3.y);
nuclear@0 667 f = (v2.z * v3.w) - (v2.w * v3.z);
nuclear@0 668
nuclear@0 669 /* Calculate the result-vector components. */
nuclear@0 670 result.x = (v1.y * f) - (v1.z * e) + (v1.w * d);
nuclear@0 671 result.y = - (v1.x * f) + (v1.z * c) - (v1.w * b);
nuclear@0 672 result.z = (v1.x * e) - (v1.y * c) + (v1.w * a);
nuclear@0 673 result.w = - (v1.x * d) + (v1.y * b) - (v1.z * a);
nuclear@0 674 return result;
nuclear@0 675 }
nuclear@0 676
nuclear@0 677 inline Vector4 operator +(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 678 return Vector4(v1.x + v2.x, v1.y + v2.y, v1.z + v2.z, v1.w + v2.w);
nuclear@0 679 }
nuclear@0 680
nuclear@0 681 inline Vector4 operator -(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 682 return Vector4(v1.x - v2.x, v1.y - v2.y, v1.z - v2.z, v1.w - v2.w);
nuclear@0 683 }
nuclear@0 684
nuclear@0 685 inline Vector4 operator *(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 686 return Vector4(v1.x * v2.x, v1.y * v2.y, v1.z * v2.z, v1.w * v2.w);
nuclear@0 687 }
nuclear@0 688
nuclear@0 689 inline Vector4 operator /(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 690 return Vector4(v1.x / v2.x, v1.y / v2.y, v1.z / v2.z, v1.w / v2.w);
nuclear@0 691 }
nuclear@0 692
nuclear@0 693 inline bool operator ==(const Vector4 &v1, const Vector4 &v2) {
nuclear@0 694 return (fabs(v1.x - v2.x) < XSMALL_NUMBER) &&
nuclear@0 695 (fabs(v1.y - v2.y) < XSMALL_NUMBER) &&
nuclear@0 696 (fabs(v1.z - v2.z) < XSMALL_NUMBER) &&
nuclear@0 697 (fabs(v1.w - v2.w) < XSMALL_NUMBER);
nuclear@0 698 }
nuclear@0 699
nuclear@0 700 inline void operator +=(Vector4 &v1, const Vector4 &v2) {
nuclear@0 701 v1.x += v2.x;
nuclear@0 702 v1.y += v2.y;
nuclear@0 703 v1.z += v2.z;
nuclear@0 704 v1.w += v2.w;
nuclear@0 705 }
nuclear@0 706
nuclear@0 707 inline void operator -=(Vector4 &v1, const Vector4 &v2) {
nuclear@0 708 v1.x -= v2.x;
nuclear@0 709 v1.y -= v2.y;
nuclear@0 710 v1.z -= v2.z;
nuclear@0 711 v1.w -= v2.w;
nuclear@0 712 }
nuclear@0 713
nuclear@0 714 inline void operator *=(Vector4 &v1, const Vector4 &v2) {
nuclear@0 715 v1.x *= v2.x;
nuclear@0 716 v1.y *= v2.y;
nuclear@0 717 v1.z *= v2.z;
nuclear@0 718 v1.w *= v2.w;
nuclear@0 719 }
nuclear@0 720
nuclear@0 721 inline void operator /=(Vector4 &v1, const Vector4 &v2) {
nuclear@0 722 v1.x /= v2.x;
nuclear@0 723 v1.y /= v2.y;
nuclear@0 724 v1.z /= v2.z;
nuclear@0 725 v1.w /= v2.w;
nuclear@0 726 }
nuclear@0 727
nuclear@0 728 /* binary vector (op) scalar and scalar (op) vector operations */
nuclear@0 729 inline Vector4 operator +(const Vector4 &vec, scalar_t scalar) {
nuclear@0 730 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
nuclear@0 731 }
nuclear@0 732
nuclear@0 733 inline Vector4 operator +(scalar_t scalar, const Vector4 &vec) {
nuclear@0 734 return Vector4(vec.x + scalar, vec.y + scalar, vec.z + scalar, vec.w + scalar);
nuclear@0 735 }
nuclear@0 736
nuclear@0 737 inline Vector4 operator -(const Vector4 &vec, scalar_t scalar) {
nuclear@0 738 return Vector4(vec.x - scalar, vec.y - scalar, vec.z - scalar, vec.w - scalar);
nuclear@0 739 }
nuclear@0 740
nuclear@0 741 inline Vector4 operator *(const Vector4 &vec, scalar_t scalar) {
nuclear@0 742 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
nuclear@0 743 }
nuclear@0 744
nuclear@0 745 inline Vector4 operator *(scalar_t scalar, const Vector4 &vec) {
nuclear@0 746 return Vector4(vec.x * scalar, vec.y * scalar, vec.z * scalar, vec.w * scalar);
nuclear@0 747 }
nuclear@0 748
nuclear@0 749 inline Vector4 operator /(const Vector4 &vec, scalar_t scalar) {
nuclear@0 750 return Vector4(vec.x / scalar, vec.y / scalar, vec.z / scalar, vec.w / scalar);
nuclear@0 751 }
nuclear@0 752
nuclear@0 753 inline void operator +=(Vector4 &vec, scalar_t scalar) {
nuclear@0 754 vec.x += scalar;
nuclear@0 755 vec.y += scalar;
nuclear@0 756 vec.z += scalar;
nuclear@0 757 vec.w += scalar;
nuclear@0 758 }
nuclear@0 759
nuclear@0 760 inline void operator -=(Vector4 &vec, scalar_t scalar) {
nuclear@0 761 vec.x -= scalar;
nuclear@0 762 vec.y -= scalar;
nuclear@0 763 vec.z -= scalar;
nuclear@0 764 vec.w -= scalar;
nuclear@0 765 }
nuclear@0 766
nuclear@0 767 inline void operator *=(Vector4 &vec, scalar_t scalar) {
nuclear@0 768 vec.x *= scalar;
nuclear@0 769 vec.y *= scalar;
nuclear@0 770 vec.z *= scalar;
nuclear@0 771 vec.w *= scalar;
nuclear@0 772 }
nuclear@0 773
nuclear@0 774 inline void operator /=(Vector4 &vec, scalar_t scalar) {
nuclear@0 775 vec.x /= scalar;
nuclear@0 776 vec.y /= scalar;
nuclear@0 777 vec.z /= scalar;
nuclear@0 778 vec.w /= scalar;
nuclear@0 779 }
nuclear@0 780
nuclear@0 781 inline scalar_t Vector4::length() const {
nuclear@0 782 return sqrt(x*x + y*y + z*z + w*w);
nuclear@0 783 }
nuclear@0 784 inline scalar_t Vector4::length_sq() const {
nuclear@0 785 return x*x + y*y + z*z + w*w;
nuclear@0 786 }
nuclear@0 787
nuclear@0 788 inline Vector4 lerp(const Vector4 &v0, const Vector4 &v1, scalar_t t)
nuclear@0 789 {
nuclear@0 790 return v0 + (v1 - v0) * t;
nuclear@0 791 }
nuclear@0 792
nuclear@0 793 inline Vector4 catmull_rom_spline(const Vector4 &v0, const Vector4 &v1,
nuclear@0 794 const Vector4 &v2, const Vector4 &v3, scalar_t t)
nuclear@0 795 {
nuclear@0 796 scalar_t x = spline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 797 scalar_t y = spline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 798 scalar_t z = spline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@0 799 scalar_t w = spline(v0.w, v1.w, v2.w, v3.w, t);
nuclear@0 800 return Vector4(x, y, z, w);
nuclear@0 801 }
nuclear@0 802
nuclear@0 803 inline Vector4 bspline(const Vector4 &v0, const Vector4 &v1,
nuclear@0 804 const Vector4 &v2, const Vector4 &v3, scalar_t t)
nuclear@0 805 {
nuclear@0 806 scalar_t x = bspline(v0.x, v1.x, v2.x, v3.x, t);
nuclear@0 807 scalar_t y = bspline(v0.y, v1.y, v2.y, v3.y, t);
nuclear@0 808 scalar_t z = bspline(v0.z, v1.z, v2.z, v3.z, t);
nuclear@0 809 scalar_t w = bspline(v0.w, v1.w, v2.w, v3.w, t);
nuclear@0 810 return Vector4(x, y, z, w);
nuclear@0 811 }
nuclear@0 812 #endif /* __cplusplus */