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/* Copyright (c) 2016 Guillaume Chereau <guillaume@noctua-software.com>
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to
* deal in the Software without restriction, including without limitation the
* rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
* sell copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
* IN THE SOFTWARE.
*/
#ifndef VEC_H_
#define VEC_H_
#include <math.h>
#include <stdbool.h>
enum {
EULER_ORDER_DEFAULT = 0, // XYZ.
EULER_ORDER_XYZ = 0,
EULER_ORDER_XZY,
EULER_ORDER_YXZ,
EULER_ORDER_YZX,
EULER_ORDER_ZXY,
EULER_ORDER_ZYX
};
#define MAT4_IDENTITY {{1, 0, 0, 0}, \
{0, 1, 0, 0}, \
{0, 0, 1, 0}, \
{0, 0, 0, 1}}
#define DECL static inline
#define VEC(...) ((float[]){__VA_ARGS__})
#define QUAT(w, x, y, z) ((float[]){w, x, y, z})
static const float vec3_zero[] = {0, 0, 0};
static const float vec4_zero[] = {0, 0, 0, 0};
static const float mat4_identity[4][4] = {{1, 0, 0, 0},
{0, 1, 0, 0},
{0, 0, 1, 0},
{0, 0, 0, 1}};
static const float mat4_zero[4][4] = {{0, 0, 0, 0},
{0, 0, 0, 0},
{0, 0, 0, 0},
{0, 0, 0, 0}};
static const float quat_identity[4] = {1, 0, 0, 0};
DECL void vec2_set(float v[2], float x, float y)
{
v[0] = x;
v[1] = y;
}
DECL void vec3_set(float v[3], float x, float y, float z)
{
v[0] = x;
v[1] = y;
v[2] = z;
}
DECL void vec4_set(float v[4], float x, float y, float z, float w)
{
v[0] = x;
v[1] = y;
v[2] = z;
v[3] = w;
}
DECL void vec2_copy(const float a[2], float out[2])
{
out[0] = a[0];
out[1] = a[1];
}
DECL void vec3_copy(const float a[3], float out[3])
{
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
}
DECL void vec4_copy(const float a[4], float out[4])
{
out[0] = a[0];
out[1] = a[1];
out[2] = a[2];
out[3] = a[3];
}
DECL bool vec2_equal(const float a[2], const float b[2])
{
return a[0] == b[0] && a[1] == b[1];
}
DECL bool vec3_equal(const float a[3], const float b[3])
{
return a[0] == b[0] && a[1] == b[1] && a[2] == b[2];
}
DECL void vec3_add(const float a[3], const float b[3], float out[3])
{
out[0] = a[0] + b[0];
out[1] = a[1] + b[1];
out[2] = a[2] + b[2];
}
DECL void vec3_iadd(float a[3], const float b[3])
{
vec3_add(a, b, a);
}
DECL void vec3_addk(const float a[3], const float b[3], float k, float out[3])
{
out[0] = a[0] + b[0] * k;
out[1] = a[1] + b[1] * k;
out[2] = a[2] + b[2] * k;
}
DECL void vec3_iaddk(float a[3], const float b[3], float k)
{
vec3_addk(a, b, k, a);
}
DECL void vec2_sub(const float a[2], const float b[2], float out[2])
{
out[0] = a[0] - b[0];
out[1] = a[1] - b[1];
}
DECL void vec3_sub(const float a[3], const float b[3], float out[3])
{
out[0] = a[0] - b[0];
out[1] = a[1] - b[1];
out[2] = a[2] - b[2];
}
DECL void vec3_isub(float a[3], const float b[3])
{
vec3_sub(a, b, a);
}
DECL void vec2_mul(const float a[2], float k, float out[2])
{
out[0] = a[0] * k;
out[1] = a[1] * k;
}
DECL void vec3_mul(const float a[3], float k, float out[3])
{
out[0] = a[0] * k;
out[1] = a[1] * k;
out[2] = a[2] * k;
}
DECL void vec3_imul(float a[3], float k)
{
vec3_mul(a, k, a);
}
DECL void vec3_neg(const float a[3], float out[3])
{
vec3_mul(a, -1, out);
}
DECL float vec2_dot(const float a[2], const float b[2])
{
return a[0] * b[0] + a[1] * b[1];
}
DECL float vec3_dot(const float a[3], const float b[3])
{
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
DECL float vec2_norm2(const float a[2])
{
return vec2_dot(a, a);
}
DECL float vec3_norm2(const float a[3])
{
return vec3_dot(a, a);
}
DECL float vec2_norm(const float a[2])
{
return sqrt(vec2_norm2(a));
}
DECL void vec2_normalize(const float a[2], float out[2])
{
vec2_mul(a, 1 / vec2_norm(a), out);
}
DECL float vec3_norm(const float a[3])
{
return sqrt(vec3_norm2(a));
}
DECL void vec3_normalize(const float a[3], float out[3])
{
vec3_mul(a, 1 / vec3_norm(a), out);
}
DECL float vec2_dist2(const float a[2], const float b[2])
{
float u[2];
vec2_sub(a, b, u);
return vec2_norm2(u);
}
DECL float vec2_dist(const float a[2], const float b[2])
{
return sqrt(vec2_dist2(a, b));
}
DECL float vec3_dist2(const float a[3], const float b[3])
{
float d[3];
vec3_sub(a, b, d);
return vec3_norm2(d);
}
DECL float vec3_dist(const float a[3], const float b[3])
{
return sqrt(vec3_dist2(a, b));
}
DECL void vec2_mix(const float a[2], const float b[2], float t, float out[2])
{
out[0] = a[0] * (1 - t) + b[0] * t;
out[1] = a[1] * (1 - t) + b[1] * t;
}
DECL void vec3_mix(const float a[3], const float b[3], float t, float out[3])
{
out[0] = a[0] * (1 - t) + b[0] * t;
out[1] = a[1] * (1 - t) + b[1] * t;
out[2] = a[2] * (1 - t) + b[2] * t;
}
DECL void vec3_lerp(const float a[3], const float b[3], float t, float out[3])
{
vec3_mix(a, b, t, out);
}
DECL bool vec3_lerp_const(const float a[3], const float b[3], float d,
float out[3])
{
float u[3];
float d2 = vec3_dist2(a, b);
if (d2 < d * d) {
vec3_copy(b, out);
return true;
}
vec3_sub(b, a, u);
vec3_normalize(u, u);
vec3_addk(a, u, d, out);
return false;
}
DECL bool vec3_ilerp_const(float a[3], const float b[3], float d)
{
return vec3_lerp_const(a, b, d, a);
}
DECL void vec3_project(const float a[3], const float b[3], float out[3])
{
vec3_mul(b, vec3_dot(a, b) / vec3_dot(b, b), out);
}
DECL float vec2_cross(const float a[2], const float b[2])
{
return a[0] * b[1] - a[1] * b[0];
}
DECL void vec3_cross(const float a[3], const float b[3], float out[3])
{
out[0] = a[1] * b[2] - a[2] * b[1];
out[1] = a[2] * b[0] - a[0] * b[2];
out[2] = a[0] * b[1] - a[1] * b[0];
}
DECL void mat4_copy(const float m[4][4], float out[4][4])
{
int i, j;
for (i = 0; i < 4; i++)
for (j = 0; j < 4; j++)
out[i][j] = m[i][j];
}
DECL void mat4_mul_vec4(const float m[4][4], const float v[4], float out[4])
{
float ret[4] = {};
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
ret[i] += m[j][i] * v[j];
}
}
vec4_copy(ret, out);
}
DECL void mat4_mul_vec3(const float m[4][4], const float v[3], float out[3])
{
float v4[4] = {v[0], v[1], v[2], 1.0f};
mat4_mul_vec4(m, v4, v4);
vec3_copy(v4, out);
}
DECL void mat4_translate(const float m[4][4], float x, float y, float z,
float out[4][4])
{
float tmp[4][4];
int i;
mat4_copy(m, tmp);
#define M(row,col) tmp[(row)][(col)]
for (i = 0; i < 4; i++) {
M(4 - 1, i) += M(0, i) * x + M(1, i) * y + M(2, i) * z;
}
#undef M
mat4_copy(tmp, out);
}
DECL void mat4_itranslate(float m[4][4], float x, float y, float z)
{
mat4_translate(m, x, y, z, m);
}
DECL void mat4_scale(const float m[4][4], float x, float y, float z,
float out[4][4])
{
int i;
float tmp[4][4];
mat4_copy(m, tmp);
for (i = 0; i < 4; i++) {
tmp[0][i] *= x;
tmp[1][i] *= y;
tmp[2][i] *= z;
}
mat4_copy(tmp, out);
}
DECL void mat4_iscale(float m[4][4], float x, float y, float z)
{
mat4_scale(m, x, y, z, m);
}
DECL bool mat4_invert(const float mat[4][4], float out[4][4])
{
float det;
int i;
const float *m = (const float*)mat;
float inv[16];
#define M(i, j, k) m[i] * m[j] * m[k]
inv[0] = M(5, 10, 15) - M(5, 11, 14) - M(9, 6, 15) +
M(9, 7, 14) + M(13, 6, 11) - M(13, 7, 10);
inv[4] = -M(4, 10, 15) + M( 4, 11, 14) + M( 8, 6, 15) -
M(8, 7, 14) - M(12, 6, 11) + M(12, 7, 10);
inv[8] = M(4, 9, 15) - M( 4, 11, 13) - M(8, 5, 15) +
M(8, 7, 13) + M(12, 5, 11) - M(12, 7, 9);
inv[12] = -M(4, 9, 14) + M(4, 10, 13) + M(8, 5, 14) -
M(8, 6, 13) - M(12, 5, 10) + M(12, 6, 9);
inv[1] = -M(1, 10, 15) + M(1, 11, 14) + M(9, 2, 15) -
M(9, 3, 14) - M(13, 2, 11) + M(13, 3, 10);
inv[5] = M(0, 10, 15) - M(0, 11, 14) - M(8, 2, 15) +
M(8, 3, 14) + M(12, 2, 11) - M(12, 3, 10);
inv[9] = -M(0, 9, 15) + M(0, 11, 13) + M(8, 1, 15) -
M(8, 3, 13) - M(12, 1, 11) + M(12, 3, 9);
inv[13] = M(0, 9, 14) - M(0, 10, 13) - M(8, 1, 14) +
M(8, 2, 13) + M(12, 1, 10) - M(12, 2, 9);
inv[2] = M(1, 6, 15) - M(1, 7, 14) - M(5, 2, 15) +
M(5, 3, 14) + M(13, 2, 7) - M(13, 3, 6);
inv[6] = -M(0, 6, 15) + M(0, 7, 14) + M(4, 2, 15) -
M(4, 3, 14) - M(12, 2, 7) + M(12, 3, 6);
inv[10] = M(0, 5, 15) - M(0, 7, 13) - M(4, 1, 15) +
M(4, 3, 13) + M(12, 1, 7) - M(12, 3, 5);
inv[14] = -M(0, 5, 14) + M(0, 6, 13) + M(4, 1, 14) -
M(4, 2, 13) - M(12, 1, 6) + M(12, 2, 5);
inv[3] = -M(1, 6, 11) + M(1, 7, 10) + M(5, 2, 11) -
M(5, 3, 10) - M(9, 2, 7) + M(9, 3, 6);
inv[7] = M(0, 6, 11) - M(0, 7, 10) - M(4, 2, 11) +
M(4, 3, 10) + M(8, 2, 7) - M(8, 3, 6);
inv[11] = -M(0, 5, 11) + M(0, 7, 9) + M(4, 1, 11) -
M(4, 3, 9) - M(8, 1, 7) + M(8, 3, 5);
inv[15] = M(0, 5, 10) - M(0, 6, 9) - M(4, 1, 10) +
M(4, 2, 9) + M(8, 1, 6) - M(8, 2, 5);
#undef M
det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
if (det == 0)
return false;
det = 1.0 / det;
for (i = 0; i < 16; i++)
out[i / 4][i % 4] = inv[i] * det;
return true;
}
DECL void mat4_igrow(float m[4][4], float x, float y, float z)
{
// XXX: need to optimize this.
float s[3];
float v[3][4] = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}};
int i;
for (i = 0; i < 3; i++) {
mat4_mul_vec4(m, v[i], v[i]);
s[i] = vec3_norm(v[i]);
}
s[0] = (2 * x + s[0]) / s[0];
s[1] = (2 * y + s[1]) / s[1];
s[2] = (2 * z + s[2]) / s[2];
mat4_iscale(m, s[0], s[1], s[2]);
}
DECL void mat4_mul(const float a[4][4], const float b[4][4], float out[4][4])
{
int i, j, k;
float ret[4][4] = {};
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
ret[j][i] = 0.0;
for (k = 0; k < 4; ++k) {
ret[j][i] += a[k][i] * b[j][k];
}
}
}
mat4_copy(ret, out);
}
DECL void mat4_imul(float a[4][4], const float b[4][4])
{
mat4_mul(a, b, a);
}
DECL void mat4_ortho(float m[4][4], float left, float right, float bottom,
float top, float nearval, float farval)
{
float tx = -(right + left) / (right - left);
float ty = -(top + bottom) / (top - bottom);
float tz = -(farval + nearval) / (farval - nearval);
const float ret[4][4] = {
{2 / (right - left), 0, 0, 0},
{0, 2 / (top - bottom), 0, 0},
{0, 0, -2 / (farval - nearval), 0},
{tx, ty, tz, 1},
};
mat4_copy(ret, m);
}
DECL void mat4_perspective(float m[4][4], float fovy, float aspect,
float nearval, float farval)
{
float radian = fovy * M_PI / 180.f;
float f = 1.f / tan(radian / 2.f);
const float ret[4][4] = {
{f / aspect, 0.f, 0.f, 0.f},
{0.f, f, 0.f, 0.f},
{0.f, 0.f, (farval + nearval) / (nearval - farval), -1.f},
{0.f, 0.f, 2.f * farval * nearval / (nearval - farval), 0.f},
};
mat4_copy(ret, m);
}
DECL void mat4_transpose(const float m[4][4], float out[4][4])
{
int i, j;
float ret[4][4] = {};
for (i = 0; i < 4; i++)
for (j = 0; j < 4; j++)
ret[i][j] = m[j][i];
mat4_copy(ret, out);
}
DECL void mat4_set_identity(float m[4][4])
{
mat4_copy(mat4_identity, m);
}
// Similar to gluLookAt
DECL void mat4_lookat(float m[4][4],
const float eye[3], const float center[3],
const float up[3])
{
float f[3], s[3], u[3], ret[4][4];
mat4_set_identity(ret);
vec3_sub(center, eye, f);
vec3_normalize(f, f);
vec3_cross(f, up, s);
vec3_normalize(s, s);
vec3_cross(s, f, u);
vec3_normalize(u, u);
vec3_copy(s, ret[0]);
vec3_copy(u, ret[1]);
vec3_neg(f, ret[2]);
mat4_transpose(ret, ret);
mat4_translate(ret, -eye[0], -eye[1], -eye[2], ret);
mat4_copy(ret, m);
}
DECL void quat_set_identity(float q[4])
{
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
DECL void quat_copy(const float q[4], float out[4])
{
out[0] = q[0];
out[1] = q[1];
out[2] = q[2];
out[3] = q[3];
}
DECL void quat_from_axis(float quat[4], float a, float x, float y, float z);
DECL void quat_to_mat4(const float q[4], float out[4][4]);
DECL void mat4_rotate(const float m[4][4], float a, float x, float y, float z,
float out[4][4])
{
if (a == 0.0) {
mat4_copy(m, out);
return;
}
float tmp[4][4];
float s = sin(a);
float c = cos(a);
mat4_set_identity(tmp);
#define M(row,col) tmp[col][row]
if (x == 1.0 && y == 0.0 && z == 0.0) {
M(1,1) = c;
M(2,2) = c;
M(1,2) = -s;
M(2,1) = s;
} else if (x == 0.0 && y == 1.0 && z == 0.0) {
M(0, 0) = c;
M(2, 2) = c;
M(0, 2) = s;
M(2, 0) = -s;
} else if (x == 0.0 && y == 0.0 && z == 1.0) {
M(0, 0) = c;
M(1, 1) = c;
M(0, 1) = -s;
M(1, 0) = s;
} else {
float quat[4];
quat_from_axis(quat, a, x, y, z);
quat_to_mat4(quat, tmp);
}
#undef M
mat4_mul(m, tmp, out);
}
DECL void mat4_irotate(float m[4][4], float a, float x, float y, float z)
{
mat4_rotate(m, a, x, y, z, m);
}
DECL void quat_from_axis(float quat[4], float a, float x, float y, float z)
{
float sin_angle;
float vn[3] = {x, y, z};
a *= 0.5f;
vec3_normalize(vn, vn);
sin_angle = sin(a);
quat[0] = cos(a);
quat[1] = vn[0] * sin_angle;
quat[2] = vn[1] * sin_angle;
quat[3] = vn[2] * sin_angle;
}
DECL void quat_to_mat4(const float q[4], float out[4][4])
{
float w, x, y, z;
w = q[0];
x = q[1];
y = q[2];
z = q[3];
const float ret[4][4] = {
{1-2*y*y-2*z*z, 2*x*y+2*z*w, 2*x*z-2*y*w, 0},
{ 2*x*y-2*z*w, 1-2*x*x-2*z*z, 2*y*z+2*x*w, 0},
{ 2*x*z+2*y*w, 2*y*z-2*x*w, 1-2*x*x-2*y*y, 0},
{ 0, 0, 0, 1}};
mat4_copy(ret, out);
}
DECL void quat_conjugate(const float q[4], float out[4]) {
out[0] = q[0];
out[1] = -q[1];
out[2] = -q[2];
out[3] = -q[3];
}
DECL void quat_mul(const float a[4], const float b[4], float out[4])
{
out[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
out[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
out[2] = a[0] * b[2] + a[2] * b[0] + a[3] * b[1] - a[1] * b[3];
out[3] = a[0] * b[3] + a[3] * b[0] + a[1] * b[2] - a[2] * b[1];
}
DECL void quat_imul(float a[4], const float b[4])
{
quat_mul(a, b, a);
}
DECL void quat_rotate(const float q[4], float a, float x, float y, float z,
float out[4])
{
float other[4];
quat_from_axis(other, a, x, y, z);
quat_mul(q, other, out);
}
DECL void quat_irotate(float q[4], float a, float x, float y, float z)
{
quat_rotate(q, a, x, y, z, q);
}
DECL void quat_mul_vec4(const float q[4], const float v[4], float out[4])
{
float m[4][4];
quat_to_mat4(q, m);
mat4_mul_vec4(m, v, out);
}
DECL void mat4_mul_quat(const float mat[4][4], const float q[4],
float out[4][4])
{
float qm[4][4];
quat_to_mat4(q, qm);
mat4_mul(mat, qm, out);
}
DECL void mat4_imul_quat(float mat[4][4], const float q[4])
{
mat4_mul_quat(mat, q, mat);
}
void mat3_to_eul(const float m[3][3], int order, float e[3]);
void mat3_to_eul2(const float m[3][3], int order, float e1[3], float e2[3]);
void quat_to_mat3(const float q[4], float out[3][3]);
DECL void quat_to_eul(const float q[4], int order, float e[3])
{
float m[3][3];
quat_to_mat3(q, m);
mat3_to_eul(m, order, e);
}
DECL void quat_to_eul2(const float q[4], int order, float e1[3], float e2[3])
{
float m[3][3];
quat_to_mat3(q, m);
mat3_to_eul2(m, order, e1, e2);
}
void eul_to_quat(const float e[3], int order, float out[4]);
#endif // VEC_H_
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