1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
|
/*
* P3
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/**********************************************
* matrix.h : matrix and other 3D math functions header
* Copyright (C) 2001-2002 Bertrand 'blam' LAMY
* Copyright (C) 2003-2006 Jean-Baptiste 'Jiba' LAMY
**********************************************/
#define FALSE 0
#define TRUE 1
/* option for raypick functions */
#define RAYPICK_CULL_FACE (1<<0)
#define RAYPICK_HALF_LINE (1<<1)
/* returned by math3d raypick functions */
#define RAYPICK_DIRECT 1
#define RAYPICK_INDIRECT 2
#define pi 3.1415927
#define _2_pi 6.2831853 /* pi * 2 */
#define pi_2 1.5707963 /* pi / 2 */
#define pi_180 0.0174533 /* pi / 180 */
#define pi_180_inv 57.216848 /* 180 / pi */
#define sqrt_2 1.4142136 /* sqrt(2) */
#define sqrt_2_2 0.7071068 /* sqrt(2) / 2 */
#define EPSILON 0.001 /* values under this value are considered as 0.0 */
#define UPSILON 0.00001
#define to_radians(angle) ((angle) * pi_180)
#define to_degrees(angle) ((angle) * pi_180_inv)
#define rnd ((GLfloat) (((double) rand ()) / ((double) RAND_MAX)))
typedef struct {
GLfloat position[3]; /* camera position (x,y,z) */
GLfloat points[24]; /* points : (x,y,z) * 8 */
GLfloat planes[24]; /* planes equation : (a,b,c,d) * 6 */
} Frustum;
void equation_2_2 (GLfloat* result, GLfloat a1, GLfloat b1, GLfloat c1, GLfloat a2, GLfloat b2, GLfloat c2);
int float_array_compare (GLfloat* values, GLfloat* references, int nb);
int exp_of_2 (int);
#define _2_pow_n(a) (1 << (a))
int cone_from_sphere_and_origin (GLfloat* cone, GLfloat* sphere, GLfloat* point, GLfloat length);
void cone_from_sphere_and_vector (GLfloat* cone, GLfloat* sphere, GLfloat* vector, GLfloat length);
int sphere_is_in_cone (GLfloat* sphere, GLfloat* cone);
int point_is_in_sphere (GLfloat[4], GLfloat[3]);
GLfloat sphere_distance_sphere (GLfloat[4], GLfloat[4]);
GLfloat sphere_distance_point (GLfloat[4], GLfloat[3]);
void sphere_instance_into (GLfloat[4], GLfloat*, GLfloat*);
void sphere_from_points (GLfloat[4], GLfloat*, int);
void sphere_from_3_points (GLfloat[4], GLfloat*, GLfloat*, GLfloat*);
void sphere_from_spheres (GLfloat[4], GLfloat*, int);
void sphere_from_2_spheres (GLfloat result[4], GLfloat[4], GLfloat[4]);
void face_normal (GLfloat result[3], GLfloat[3], GLfloat[3], GLfloat[3]);
void face_plane (GLfloat result[4], GLfloat[3], GLfloat[3], GLfloat[3]);
GLfloat point_square_distance_to (GLfloat[3], GLfloat[3]);
GLfloat point_distance_to (GLfloat[3], GLfloat[3]);
double point_distance_to_d (double [3], double [3]);
GLfloat point_distance_plane (GLfloat[3], GLfloat[4]);
void point_project_on_plane (GLfloat* , GLfloat[4]);
void point_rotate_y (GLfloat[3], GLfloat);
void point_rotate_x (GLfloat[3], GLfloat);
void point_rotate_z (GLfloat[3], GLfloat);
void point_rotate_axe (GLfloat[3], GLfloat, GLfloat, GLfloat, GLfloat);
void point_rotate (GLfloat[3], GLfloat, GLfloat[3], GLfloat[3]);
void plane_vector_normalize (GLfloat[4]);
void vector_normalize (GLfloat[3]);
void vector_set_length (GLfloat[3], GLfloat);
void vector_cross_product (GLfloat[3], GLfloat[3], GLfloat[3]);
GLfloat vector_length (GLfloat[3]);
GLfloat vector_square_length (GLfloat[3]);
GLfloat vector_dot_product (GLfloat[3], GLfloat[3]);
GLfloat vector_angle (GLfloat[3], GLfloat[3]);
void vector_from_points (GLfloat[3], GLfloat[3], GLfloat[3]);
void quaternion_normalize (GLfloat[4]);
void matrix_from_quaternion (GLfloat[19], GLfloat[4]);
void quaternion_from_matrix (GLfloat[4], GLfloat[16]);
void quaternion_rotation (GLfloat[4], GLfloat[4], GLfloat);
void multiply_quaternion (GLfloat[4], GLfloat[4], GLfloat[4]);
void quaternion_slerp (GLfloat[4], GLfloat[4] ,GLfloat[4], GLfloat, GLfloat);
void quaternion_copy (GLfloat[4], GLfloat[4]);
#define matrix_copy(dest, src) memcpy(dest, src, 19 * sizeof (GLfloat))
void matrix_invert (GLfloat[19], GLfloat[19]);
void multiply_matrix (GLfloat[19], GLfloat[19], GLfloat[19]);
void point_by_matrix (GLfloat[3], GLfloat[19]);
void point_by_matrix_copy (GLfloat result[3], GLfloat[3], GLfloat[19]);
void point4_by_matrix (GLfloat[4], GLfloat[19]);
void vector_by_matrix (GLfloat[3], GLfloat[19]);
void vector_by_matrix_copy (GLfloat result[3], GLfloat[3], GLfloat[19]);
GLfloat length_by_matrix (GLfloat, GLfloat[19]);
void sphere_by_matrix_copy (GLfloat result[4], GLfloat[4], GLfloat[19]);
void matrix_set_identity (GLfloat[19]);
void matrix_scale (GLfloat[19], GLfloat, GLfloat, GLfloat);
void matrix_turn_y (GLfloat[19], GLfloat);
void matrix_turn_x (GLfloat[19], GLfloat);
void matrix_turn_z (GLfloat[19], GLfloat);
void matrix_turn_axe (GLfloat[19], GLfloat angle, GLfloat, GLfloat, GLfloat);
void matrix_rotate_y (GLfloat[19], GLfloat);
void matrix_rotate_x (GLfloat[19], GLfloat);
void matrix_rotate_z (GLfloat[19], GLfloat);
void matrix_rotate_axe (GLfloat[16], GLfloat angle, GLfloat, GLfloat, GLfloat);
void matrix_rotate (GLfloat[19], GLfloat, GLfloat[3], GLfloat[3]);
void matrix_translate (GLfloat[19], GLfloat, GLfloat, GLfloat);
void matrix_look_at_Z (GLfloat[19], GLfloat[3]);
void matrix_look_at_Y (GLfloat[19], GLfloat[3]);
void matrix_look_at_X (GLfloat[19], GLfloat[3]);
void matrix_look_to_Z (GLfloat[19], GLfloat[3]);
void matrix_look_to_Y (GLfloat[19], GLfloat[3]);
void matrix_look_to_X (GLfloat[19], GLfloat[3]);
void matrix_frustum (GLfloat[19], GLfloat, GLfloat, GLfloat, GLfloat, GLfloat, GLfloat);
void matrix_print (GLfloat[19], char*);
int matrix_is_direct (GLfloat[19]);
void face_intersect_plane (GLfloat*, int, GLfloat[4], GLfloat**, int*);
int sphere_raypick (GLfloat* data, GLfloat sphere[4]);
int triangle_raypick (GLfloat* data,
GLfloat[3], GLfloat[3], GLfloat[3], GLfloat normal[3],
int option, GLfloat* result);
int quad_raypick (GLfloat* data,
GLfloat p1[3], GLfloat p2[3], GLfloat p3[3], GLfloat p4[3], GLfloat normal[3],
int option, GLfloat* result);
int point_in_frustum (Frustum*, GLfloat[3]);
int sphere_in_frustum (Frustum*, GLfloat[4]);
Frustum* frustum_by_matrix (Frustum*, Frustum*, GLfloat*);
void frustum_to_box (Frustum*, GLfloat*);
|
