anulax
/
glfw
1
0
Fork 0
Code Issues Pull Requests Packages project_board Releases Wiki Activity

Update linmath.h

Browse Source
master
Camilla Löwy ago%!(EXTRA string=4 years)
parent 1f34295a74
commit 9c62a21ba9
1 changed files with 66 additions and 85 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 151
      deps/linmath.h

151
deps/linmath.h vendored
Unescape View File

@ -1,13 +1,8 @@
#ifndef LINMATH_H
#define LINMATH_H
#include <string.h>
#include <math.h>
/* 2020-03-02 Camilla Löwy <elmindreda@elmindreda.org>
* - Added inclusion of string.h for memcpy
* - Replaced tan and acos with tanf and acosf
* - Replaced double constants with float equivalents
*/
#include <string.h>
#ifdef LINMATH_NO_INLINE
@ -38,7 +33,7 @@ LINMATH_H_FUNC void vec##n##_scale(vec##n r, vec##n const v, float const s) \
} \
LINMATH_H_FUNC float vec##n##_mul_inner(vec##n const a, vec##n const b) \
{ \
float p = 0.; \
float p = 0.f; \
int i; \
for(i=0; i<n; ++i) \
p += b[i]*a[i]; \
@ -64,6 +59,12 @@ LINMATH_H_FUNC void vec##n##_max(vec##n r, vec##n const a, vec##n const b) \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i]>b[i] ? a[i] : b[i]; \
} \
LINMATH_H_FUNC void vec##n##_dup(vec##n r, vec##n const src) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = src[i]; \
}
LINMATH_H_DEFINE_VEC(2)
@ -79,13 +80,13 @@ LINMATH_H_FUNC void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
LINMATH_H_FUNC void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
{
float p = 2.f*vec3_mul_inner(v, n);
float p = 2.f * vec3_mul_inner(v, n);
int i;
for(i=0;i<3;++i)
r[i] = v[i] - p*n[i];
}
LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 const a, vec4 const b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
@ -93,7 +94,7 @@ LINMATH_H_FUNC void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
r[3] = 1.f;
}
LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 v, vec4 n)
LINMATH_H_FUNC void vec4_reflect(vec4 r, vec4 const v, vec4 const n)
{
float p = 2.f*vec4_mul_inner(v, n);
int i;
@ -109,61 +110,59 @@ LINMATH_H_FUNC void mat4x4_identity(mat4x4 M)
for(j=0; j<4; ++j)
M[i][j] = i==j ? 1.f : 0.f;
}
LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 N)
LINMATH_H_FUNC void mat4x4_dup(mat4x4 M, mat4x4 const N)
{
int i, j;
int i;
for(i=0; i<4; ++i)
for(j=0; j<4; ++j)
M[i][j] = N[i][j];
vec4_dup(M[i], N[i]);
}
LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 M, int i)
LINMATH_H_FUNC void mat4x4_row(vec4 r, mat4x4 const M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[k][i];
}
LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 M, int i)
LINMATH_H_FUNC void mat4x4_col(vec4 r, mat4x4 const M, int i)
{
int k;
for(k=0; k<4; ++k)
r[k] = M[i][k];
}
LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 N)
LINMATH_H_FUNC void mat4x4_transpose(mat4x4 M, mat4x4 const N)
{
// Note: if M and N are the same, the user has to
// explicitly make a copy of M and set it to N.
int i, j;
for(j=0; j<4; ++j)
for(i=0; i<4; ++i)
M[i][j] = N[j][i];
}
LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
LINMATH_H_FUNC void mat4x4_add(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
int i;
for(i=0; i<4; ++i)
vec4_add(M[i], a[i], b[i]);
}
LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
LINMATH_H_FUNC void mat4x4_sub(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
int i;
for(i=0; i<4; ++i)
vec4_sub(M[i], a[i], b[i]);
}
LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
LINMATH_H_FUNC void mat4x4_scale(mat4x4 M, mat4x4 const a, float k)
{
int i;
for(i=0; i<4; ++i)
vec4_scale(M[i], a[i], k);
}
LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
LINMATH_H_FUNC void mat4x4_scale_aniso(mat4x4 M, mat4x4 const a, float x, float y, float z)
{
int i;
vec4_scale(M[0], a[0], x);
vec4_scale(M[1], a[1], y);
vec4_scale(M[2], a[2], z);
for(i = 0; i < 4; ++i) {
M[3][i] = a[3][i];
}
vec4_dup(M[3], a[3]);
}
LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 const a, mat4x4 const b)
{
mat4x4 temp;
int k, r, c;
@ -174,7 +173,7 @@ LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
}
mat4x4_dup(M, temp);
}
LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
LINMATH_H_FUNC void mat4x4_mul_vec4(vec4 r, mat4x4 const M, vec4 const v)
{
int i, j;
for(j=0; j<4; ++j) {
@ -200,13 +199,13 @@ LINMATH_H_FUNC void mat4x4_translate_in_place(mat4x4 M, float x, float y, float
M[3][i] += vec4_mul_inner(r, t);
}
}
LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
LINMATH_H_FUNC void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 const a, vec3 const b)
{
int i, j;
for(i=0; i<4; ++i) for(j=0; j<4; ++j)
M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
}
LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 const M, float x, float y, float z, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@ -234,13 +233,13 @@ LINMATH_H_FUNC void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
mat4x4_add(T, T, C);
mat4x4_add(T, T, S);
T[3][3] = 1.;
T[3][3] = 1.f;
mat4x4_mul(R, M, T);
} else {
mat4x4_dup(R, M);
}
}
LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@ -252,7 +251,7 @@ LINMATH_H_FUNC void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@ -264,7 +263,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 const M, float angle)
{
float s = sinf(angle);
float c = cosf(angle);
@ -276,7 +275,7 @@ LINMATH_H_FUNC void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
};
mat4x4_mul(Q, M, R);
}
LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 const M)
{
float s[6];
float c[6];
@ -317,10 +316,10 @@ LINMATH_H_FUNC void mat4x4_invert(mat4x4 T, mat4x4 M)
T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
}
LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
LINMATH_H_FUNC void mat4x4_orthonormalize(mat4x4 R, mat4x4 const M)
{
mat4x4_dup(R, M);
float s = 1.;
float s = 1.f;
vec3 h;
vec3_norm(R[2], R[2]);
@ -398,7 +397,7 @@ LINMATH_H_FUNC void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, floa
m[3][2] = -((2.f * f * n) / (f - n));
m[3][3] = 0.f;
}
LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 const eye, vec3 const center, vec3 const up)
{
/* Adapted from Android's OpenGL Matrix.java. */
/* See the OpenGL GLUT documentation for gluLookAt for a description */
@ -441,24 +440,18 @@ LINMATH_H_FUNC void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
}
typedef float quat[4];
#define quat_add vec4_add
#define quat_sub vec4_sub
#define quat_norm vec4_norm
#define quat_scale vec4_scale
#define quat_mul_inner vec4_mul_inner
LINMATH_H_FUNC void quat_identity(quat q)
{
q[0] = q[1] = q[2] = 0.f;
q[3] = 1.f;
}
LINMATH_H_FUNC void quat_add(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
r[i] = a[i] + b[i];
}
LINMATH_H_FUNC void quat_sub(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
r[i] = a[i] - b[i];
}
LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
LINMATH_H_FUNC void quat_mul(quat r, quat const p, quat const q)
{
vec3 w;
vec3_mul_cross(r, p, q);
@ -468,37 +461,22 @@ LINMATH_H_FUNC void quat_mul(quat r, quat p, quat q)
vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
}
LINMATH_H_FUNC void quat_scale(quat r, quat v, float s)
{
int i;
for(i=0; i<4; ++i)
r[i] = v[i] * s;
}
LINMATH_H_FUNC float quat_inner_product(quat a, quat b)
{
float p = 0.f;
int i;
for(i=0; i<4; ++i)
p += b[i]*a[i];
return p;
}
LINMATH_H_FUNC void quat_conj(quat r, quat q)
LINMATH_H_FUNC void quat_conj(quat r, quat const q)
{
int i;
for(i=0; i<3; ++i)
r[i] = -q[i];
r[3] = q[3];
}
LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) {
vec3 v;
vec3_scale(v, axis, sinf(angle / 2));
int i;
for(i=0; i<3; ++i)
r[i] = v[i];
r[3] = cosf(angle / 2);
LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 const axis) {
vec3 axis_norm;
vec3_norm(axis_norm, axis);
float s = sinf(angle / 2);
float c = cosf(angle / 2);
vec3_scale(r, axis_norm, s);
r[3] = c;
}
#define quat_norm vec4_norm
LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v)
LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat const q, vec3 const v)
{
/*
* Method by Fabian 'ryg' Giessen (of Farbrausch)
@ -518,7 +496,7 @@ v' = v + q.w * t + cross(q.xyz, t)
vec3_add(r, v, t);
vec3_add(r, r, u);
}
LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat const q)
{
float a = q[3];
float b = q[0];
@ -548,18 +526,21 @@ LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
M[3][3] = 1.f;
}
LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
LINMATH_H_FUNC void mat4x4o_mul_quat(mat4x4 R, mat4x4 const M, quat const q)
{
/* XXX: The way this is written only works for othogonal matrices. */
/* XXX: The way this is written only works for orthogonal matrices. */
/* TODO: Take care of non-orthogonal case. */
quat_mul_vec3(R[0], q, M[0]);
quat_mul_vec3(R[1], q, M[1]);
quat_mul_vec3(R[2], q, M[2]);
R[3][0] = R[3][1] = R[3][2] = 0.f;
R[3][3] = 1.f;
R[0][3] = M[0][3];
R[1][3] = M[1][3];
R[2][3] = M[2][3];
R[3][3] = M[3][3]; // typically 1.0, but here we make it general
}
LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 const M)
{
float r=0.f;
int i;
@ -589,7 +570,7 @@ LINMATH_H_FUNC void quat_from_mat4x4(quat q, mat4x4 M)
q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
}
LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s)
LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 const M, vec2 const _a, vec2 const _b, float s)
{
vec2 a; memcpy(a, _a, sizeof(a));
vec2 b; memcpy(b, _b, sizeof(b));
@ -597,14 +578,14 @@ LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s
float z_a = 0.;
float z_b = 0.;
if(vec2_len(a) < 1.f) {
z_a = sqrtf(1.f - vec2_mul_inner(a, a));
if(vec2_len(a) < 1.) {
z_a = sqrtf(1. - vec2_mul_inner(a, a));
} else {
vec2_norm(a, a);
}
if(vec2_len(b) < 1.f) {
z_b = sqrtf(1.f - vec2_mul_inner(b, b));
if(vec2_len(b) < 1.) {
z_b = sqrtf(1. - vec2_mul_inner(b, b));
} else {
vec2_norm(b, b);
}
@ -615,7 +596,7 @@ LINMATH_H_FUNC void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s
vec3 c_;
vec3_mul_cross(c_, a_, b_);
float const angle = acosf(vec3_mul_inner(a_, b_)) * s;
float const angle = acos(vec3_mul_inner(a_, b_)) * s;
mat4x4_rotate(R, M, c_[0], c_[1], c_[2], angle);
}
#endif

Write Preview
Loading…
Cancel
Save