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Update linmath.h

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Camilla Löwy 2021-03-10 21:39:16 +01:00
parent 1f34295a74
commit 9c62a21ba9
1 changed files with 66 additions and 85 deletions
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151
deps/linmath.h vendored
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@ -1,13 +1,8 @@
#ifndef LINMATH_H #ifndef LINMATH_H
#define LINMATH_H #define LINMATH_H
#include <string.h>
#include <math.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> #include <string.h>
#ifdef LINMATH_NO_INLINE #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) \ 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; \ int i; \
for(i=0; i<n; ++i) \ for(i=0; i<n; ++i) \
p += b[i]*a[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; \ int i; \
for(i=0; i<n; ++i) \ for(i=0; i<n; ++i) \
r[i] = a[i]>b[i] ? a[i] : b[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) 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) 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; int i;
for(i=0;i<3;++i) for(i=0;i<3;++i)
r[i] = v[i] - p*n[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[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2]; 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; 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); float p = 2.f*vec4_mul_inner(v, n);
int i; int i;
@ -109,61 +110,59 @@ LINMATH_H_FUNC void mat4x4_identity(mat4x4 M)
for(j=0; j<4; ++j) for(j=0; j<4; ++j)
M[i][j] = i==j ? 1.f : 0.f; 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(i=0; i<4; ++i)
for(j=0; j<4; ++j) vec4_dup(M[i], N[i]);
M[i][j] = N[i][j];
} }
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; int k;
for(k=0; k<4; ++k) for(k=0; k<4; ++k)
r[k] = M[k][i]; 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; int k;
for(k=0; k<4; ++k) for(k=0; k<4; ++k)
r[k] = M[i][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; int i, j;
for(j=0; j<4; ++j) for(j=0; j<4; ++j)
for(i=0; i<4; ++i) for(i=0; i<4; ++i)
M[i][j] = N[j][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; int i;
for(i=0; i<4; ++i) for(i=0; i<4; ++i)
vec4_add(M[i], a[i], b[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; int i;
for(i=0; i<4; ++i) for(i=0; i<4; ++i)
vec4_sub(M[i], a[i], b[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; int i;
for(i=0; i<4; ++i) for(i=0; i<4; ++i)
vec4_scale(M[i], a[i], k); 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[0], a[0], x);
vec4_scale(M[1], a[1], y); vec4_scale(M[1], a[1], y);
vec4_scale(M[2], a[2], z); vec4_scale(M[2], a[2], z);
for(i = 0; i < 4; ++i) { vec4_dup(M[3], a[3]);
M[3][i] = a[3][i];
}
} }
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; mat4x4 temp;
int k, r, c; int k, r, c;
@ -174,7 +173,7 @@ LINMATH_H_FUNC void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
} }
mat4x4_dup(M, temp); 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; int i, j;
for(j=0; j<4; ++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); 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; int i, j;
for(i=0; i<4; ++i) for(j=0; j<4; ++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; 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 s = sinf(angle);
float c = cosf(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, C);
mat4x4_add(T, T, S); mat4x4_add(T, T, S);
T[3][3] = 1.; T[3][3] = 1.f;
mat4x4_mul(R, M, T); mat4x4_mul(R, M, T);
} else { } else {
mat4x4_dup(R, M); 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 s = sinf(angle);
float c = cosf(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); 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 s = sinf(angle);
float c = cosf(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); 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 s = sinf(angle);
float c = cosf(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); 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 s[6];
float c[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][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; 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); mat4x4_dup(R, M);
float s = 1.; float s = 1.f;
vec3 h; vec3 h;
vec3_norm(R[2], R[2]); 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][2] = -((2.f * f * n) / (f - n));
m[3][3] = 0.f; 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. */ /* Adapted from Android's OpenGL Matrix.java. */
/* See the OpenGL GLUT documentation for gluLookAt for a description */ /* 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]; 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) LINMATH_H_FUNC void quat_identity(quat q)
{ {
q[0] = q[1] = q[2] = 0.f; q[0] = q[1] = q[2] = 0.f;
q[3] = 1.f; q[3] = 1.f;
} }
LINMATH_H_FUNC void quat_add(quat r, quat a, quat b) LINMATH_H_FUNC void quat_mul(quat r, quat const p, quat const q)
{
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)
{ {
vec3 w; vec3 w;
vec3_mul_cross(r, p, q); 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); vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q); r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
} }
LINMATH_H_FUNC void quat_scale(quat r, quat v, float s) LINMATH_H_FUNC void quat_conj(quat r, quat const q)
{
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)
{ {
int i; int i;
for(i=0; i<3; ++i) for(i=0; i<3; ++i)
r[i] = -q[i]; r[i] = -q[i];
r[3] = q[3]; r[3] = q[3];
} }
LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 axis) { LINMATH_H_FUNC void quat_rotate(quat r, float angle, vec3 const axis) {
vec3 v; vec3 axis_norm;
vec3_scale(v, axis, sinf(angle / 2)); vec3_norm(axis_norm, axis);
int i; float s = sinf(angle / 2);
for(i=0; i<3; ++i) float c = cosf(angle / 2);
r[i] = v[i]; vec3_scale(r, axis_norm, s);
r[3] = cosf(angle / 2); r[3] = c;
} }
#define quat_norm vec4_norm LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat const q, vec3 const v)
LINMATH_H_FUNC void quat_mul_vec3(vec3 r, quat q, vec3 v)
{ {
/* /*
* Method by Fabian 'ryg' Giessen (of Farbrausch) * 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, v, t);
vec3_add(r, r, u); 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 a = q[3];
float b = q[0]; float b = q[0];
@ -548,18 +526,21 @@ LINMATH_H_FUNC void mat4x4_from_quat(mat4x4 M, quat q)
M[3][3] = 1.f; 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. */ /* TODO: Take care of non-orthogonal case. */
quat_mul_vec3(R[0], q, M[0]); quat_mul_vec3(R[0], q, M[0]);
quat_mul_vec3(R[1], q, M[1]); quat_mul_vec3(R[1], q, M[1]);
quat_mul_vec3(R[2], q, M[2]); quat_mul_vec3(R[2], q, M[2]);
R[3][0] = R[3][1] = R[3][2] = 0.f; 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; float r=0.f;
int i; 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); 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 a; memcpy(a, _a, sizeof(a));
vec2 b; memcpy(b, _b, sizeof(b)); 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_a = 0.;
float z_b = 0.; float z_b = 0.;
if(vec2_len(a) < 1.f) { if(vec2_len(a) < 1.) {
z_a = sqrtf(1.f - vec2_mul_inner(a, a)); z_a = sqrtf(1. - vec2_mul_inner(a, a));
} else { } else {
vec2_norm(a, a); vec2_norm(a, a);
} }
if(vec2_len(b) < 1.f) { if(vec2_len(b) < 1.) {
z_b = sqrtf(1.f - vec2_mul_inner(b, b)); z_b = sqrtf(1. - vec2_mul_inner(b, b));
} else { } else {
vec2_norm(b, b); 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 c_;
vec3_mul_cross(c_, a_, b_); 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); mat4x4_rotate(R, M, c_[0], c_[1], c_[2], angle);
} }
#endif #endif