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diff --git a/include/BH/Math.h b/include/BH/Math.h new file mode 100644 index 0000000..badc092 --- /dev/null +++ b/include/BH/Math.h @@ -0,0 +1,1400 @@ +#ifndef BH_MATH_H +#define BH_MATH_H + + +#include "Common.h" + + +/** + * Adds \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fAdd(const float *a, + const float *b, + float *out); + + +/** + * Subtracts \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fSub(const float *a, + const float *b, + float *out); + + +/** + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fMul(const float *a, + const float *b, + float *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 4D vector + * \param b B value + * \param out Output vector + */ +void BH_Vec4fScale(const float *a, + float b, + float *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param c C 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fMulAdd(const float *a, + const float *b, + const float *c, + float *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fNegate(const float *in, + float *out); + + +/** + * Computes dot product of \a a and \a b vectors and returns the result. + * + * \param a A 4D vector + * \param b B 4D vector + */ +float BH_Vec4fDot(const float *a, + const float *b); + + +/** + * Computes length of the \a in vector and returns the result. + * + * \param in Input 4D vector + */ +float BH_Vec4fLength(const float *in); + + +/** + * Computes normal vector from the \a in and stores result into \a out. + * + * \param in Input 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fNormal(const float *in, + float *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result + * into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fMin(const float *a, + const float *b, + float *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result + * into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4fMax(const float *a, + const float *b, + float *out); + + +/** + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param t Amount + * \param out Output 4D vector + */ +void BH_Vec4fLerp(const float *a, + const float *b, + float t, + float *out); + + +/** + * Adds \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fAdd(const float *a, + const float *b, + float *out); + + +/** + * Subtracts \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fSub(const float *a, + const float *b, + float *out); + + +/** + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fMul(const float *a, + const float *b, + float *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 3D vector + * \param b B value + * \param out Output 3D vector + */ +void BH_Vec3fScale(const float *a, + float b, + float *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param c C 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fMulAdd(const float *a, + const float *b, + const float *c, + float *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 3D vector + * \param out Output 3D vector + * + */ +void BH_Vec3fNegate(const float *in, + float *out); + + +/** + * Computes dot product of \a a and \a b vectors and returns the result. + * + * \param a A 3D vector + * \param b B 3D vector + */ +float BH_Vec3fDot(const float *a, + const float *b); + + +/** + * Computes cross product of \a a and \a b vectors and stores + * result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fCross(const float *a, + const float *b, + float *out); + + +/** + * Computes length of the \a in vector and returns the result. + * + * \param in Input 3D vector + */ +float BH_Vec3fLength(const float *in); + + +/** + * Computes normal vector from the \a in and stores result into \a out. + * + * \param in Input 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fNormal(const float *in, + float *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fMin(const float *a, + const float *b, + float *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3fMax(const float *a, + const float *b, + float *out); + + +/** + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param t Amount + * \param out Output 3D vector + */ +void BH_Vec3fLerp(const float *a, + const float *b, + float t, + float *out); + + +/** + * Adds \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fAdd(const float *a, + const float *b, + float *out); + + +/** + * Subtracts \a a and \a b floating point vectors and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fSub(const float *a, + const float *b, + float *out); + + +/** + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fMul(const float *a, + const float *b, + float *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 2D vector + * \param b B value + * \param out Output 2D vector + */ +void BH_Vec2fScale(const float *a, + float b, + float *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param c C 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fMulAdd(const float *a, + const float *b, + const float *c, + float *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 2D vector + * \param out Output 2D vector + * + */ +void BH_Vec2fNegate(const float *in, + float *out); + + +/** + * Computes dot product of \a a and \a b vectors and returns the result. + * + * \param a A 2D vector + * \param b B 2D vector + */ +float BH_Vec2fDot(const float *a, + const float *b); + + +/** + * Computes cross product of \a a and \a b vectors and returns the result. + * + * \param a A 2D vector + * \param b B 2D vector + */ +float BH_Vec2fCross(const float *a, + const float *b); + + +/** + * Computes length of the \a in vector and returns the result. + * + * \param in Input 2D vector + */ +float BH_Vec2fLength(const float *in); + + +/** + * Computes normal vector from the \a in and stores result into + * \a out. + * + * \param in Input 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fNormal(const float *in, + float *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fMin(const float *a, + const float *b, + float *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2fMax(const float *a, + const float *b, + float *out); + + +/** + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param t Amount + * \param out Output 2D vector + */ +void BH_Vec2fLerp(const float *a, + const float *b, + float t, + float *out); + + +/** + * Adds \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iAdd(const int *a, + const int *b, + int *out); + + +/** + * Subtracts \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iSub(const int *a, + const int *b, + int *out); + + +/** + * Multiplies \a a and \a b integers vectors and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output vector + */ +void BH_Vec4iMul(const int *a, + const int *b, + int *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 4D vector + * \param b B value + * \param out Output 4D vector + */ +void BH_Vec4iScale(const int *a, + int b, + int *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param c C 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iMulAdd(const int *a, + const int *b, + const int *c, + int *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iNegate(const int *in, + int *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iMin(const int *a, + const int *b, + int *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Vec4iMax(const int *a, + const int *b, + int *out); + + +/** + * Adds \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iAdd(const int *a, + const int *b, + int *out); + + +/** + * Subtracts \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iSub(const int *a, + const int *b, + int *out); + + +/** + * Multiplies \a a and \a b integers vectors and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iMul(const int *a, + const int *b, + int *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 3D vector + * \param b B value + * \param out Output 3D vector + */ +void BH_Vec3iScale(const int *a, + int b, + int *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param c C 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iMulAdd(const int *a, + const int *b, + const int *c, + int *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 3D vector + * \param out Output 3D vector + * + */ +void BH_Vec3iNegate(const int *in, + int *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iMin(const int *a, + const int *b, + int *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Vec3iMax(const int *a, + const int *b, + int *out); + + +/** + * Adds \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iAdd(const int *a, + const int *b, + int *out); + + +/** + * Subtracts \a a and \a b integer vectors and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iSub(const int *a, + const int *b, + int *out); + + +/** + * Multiplies \a a and \a b integers vectors and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iMul(const int *a, + const int *b, + int *out); + + +/** + * Scales \a a vector by the value \a b and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D value + * \param out Output 2D vector + */ +void BH_Vec2iScale(const int *a, + int b, + int *out); + + +/** + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param c C 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iMulAdd(const int *a, + const int *b, + const int *c, + int *out); + + +/** + * Negates \a in vector and stores result into \a out. + * + * \param in Input 2D vector + * \param out Output 2D vector + * + */ +void BH_Vec2iNegate(const int *in, + int *out); + + +/** + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iMin(const int *a, + const int *b, + int *out); + + +/** + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. + * + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Vec2iMax(const int *a, + const int *b, + int *out); + + +/** + * Adds \a a and \a b floating point quaternions and stores result into \a out. + * + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion + */ +#define BH_Quat4fAdd(a, b, out) \ + BH_Vec4fAdd(a, b, out) + + +/** + * Subtracts \a a and \a b floating point quaternions and stores result into + * \a out. + * + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion + */ +#define BH_Quat4fSub(a, b, out) \ + BH_Vec4fSub(a, b, out) + + +/** + * Scales \a a quaternion by the value \a b and stores result into \a out. + * + * \param a A quaternion + * \param b B value + * \param out Output quaternion + */ +#define BH_Quat4fScale(a, b, out) \ + BH_Vec4fScale(a, b, out) + + +/** + * Negates \a in quaternion and stores result into \a out. + * + * \param in Input quaternion + * \param out Output quaternion + */ +#define BH_Quat4fNegate(in, out) \ + BH_Vec4fNegate(in, out) + + +/** + * Computes dot product of \a a and \a b quaternions and returns the result. + * + * \param a A quaternion + * \param b B quaternion + */ +#define BH_Quat4fDot(a, b) \ + BH_Vec4fDot(a, b) + + +/** + * Computes length of the \a in quaternion and returns the result. + * + * \param in Input quaternion + */ +#define BH_Quat4fLength(in) \ + BH_Vec4fLength(in) + + +/** + * Computes normal quaternion from the \a in and stores result into \a out. + * + * \param in Input quaternion + * \param out Output quaternion + */ +#define BH_Quat4fNormal(in, out) \ + BH_Vec4fNormal(in, out) + + +/** + * Interpolates between \a a and \a b quaternion by \a t amount and stores + * result into \a out. + * + * \param a A quaternion + * \param b B quaternion + * \param t Amount + * \param out Output quaternion + */ +#define BH_Quat4fLerp(a, b, t, out) \ + BH_Vec4fLerp(a, b, t, out) + + +/** + * Stores identity quaternion into \a out. + * + * \param out Output quaternion. + */ +void BH_Quat4fIdentity(float *out); + + +/** + * Conjugates the \a in quaternion and stores result into \a out. + * + * \param in Input quaternion + * \param out Output quaternion + */ +void BH_Quat4fConjugate(const float *in, + float *out); + + +/** + * Computes the inverse of the \a in quaternion and stores result into \a out. + * + * \param in Input quaternion + * \param out Output quaternion + */ +void BH_Quat4fInverse(const float *in, + float *out); + + +/** + * Multiplies the \a a and \a b quaternions and stores result into \a out. + * + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion + */ +void BH_Quat4fMul(const float *a, + const float *b, + float *out); + + +/** + * Spherically interpolates between \a a and \a b quaternions by \a t amount and + * stores result into \a out. + * + * \param a A quaternion + * \param b B quaternion + * \param t Amount + * \param out Output quaternion + */ +void BH_Quat4fSlerp(const float *a, + const float *b, + float t, + float *out); + + +/** + * Computes the quaternion that represents \a roll, \a pitch, \a yaw (euler + * angles) and stores result into \a out. + * + * Order of the rotation is ZYX (yaw, pitch, roll) + * + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param out Output quaternion + */ +void BH_Quat4fFromEuler(float roll, + float pitch, + float yaw, + float *out); + + +/** + * Computes quaternion that represents rotation by angle \a angle around + * axis \a axis and stores result into \a out. + * + * \param axis Axis 3D vector + * \param angle Angle + * \param out Output quaternion + */ +void BH_Quat4fFromAxis(const float *axis, + float angle, + float *out); + + +/** + * Computes euler angles from quaternion \a in and stores result into \a roll, + * \a pitch, \a yaw. + * + * Order of the rotation is ZYX (yaw, pitch, roll) + * + * \param in Input quaternion + * \param roll Output roll + * \param pitch Output pitch + * \param yaw Output yaw + */ +void BH_Quat4fToEuler(const float *in, + float *roll, + float *pitch, + float *yaw); + + +/** + * Computes rotation around axis from quaternion \a in and stores result into + * \a axis and \a angle. + * + * \param in Input quaternion + * \param axis Output axis 3D vector + * \param angle Output angle + */ +void BH_Quat4fToAxis(const float *in, + float *axis, + float *angle); + + +/** + * Computes 4x4 rotation matrix from quaternion \a in and stores result into + * \a out. + * + * \param in Input quaternion + * \param out Output 4x4 matrix + */ +void BH_Quat4fToMat4f(const float *in, + float *out); + + +/** + * Stores identity matrix into \a out. + * + * \param out Output 4x4 matrix. + */ +void BH_Mat4fIdentity(float *out); + + +/** + * Adds \a a and \a b floating point matricies and stores result into \a out. + * + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix + */ +void BH_Mat4fAdd(const float *a, + const float *b, + float *out); + + +/** + * Subtracts \a a and \a b floating point matricies and stores result into + * \a out. + * + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix + */ +void BH_Mat4fSub(const float *a, + const float *b, + float *out); + + +/** + * Multiplies \a a and \a b floating point matricies and stores result into + * \a out. + * + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix + */ +void BH_Mat4fMul(const float *a, + const float *b, + float *out); + + +/** + * Scales \a a matrix by the value \a b and stores result into \a out. + * + * \param a A 4x4 matrix + * \param b B value + * \param out Output 4x4 matrix + */ +void BH_Mat4fScale(const float *a, + float b, + float *out); + + +/** + * Transposes matrix \a in and stores result into \a out. + * + * \param in Input 4x4 matrix + * \param out Output 4x4 matrix + */ +void BH_Mat4fTranspose(const float *in, + float *out); + + +/** + * Computes \a in matrix trace and returns the result. + * + * \param in Input 4x4 matrix + */ +float BH_Mat4fTrace(const float *in); + + +/** + * Computes \a in matrix determinant and returns the result. + * + * \param in Input 4x4 matrix + */ +float BH_Mat4fDet(const float *in); + + +/** + * Computes inverse of \a in matrix and stores result into \a out. + * + * \param in Input 4x4 matrix + * \param out OUtput 4x4 matrix + * + * \return On success, returns zero. + * \return On failure, returns error code. + */ +int BH_Mat4fInverse(const float *in, + float *out); + + +/** + * Computes scaling matrix from values \a x, \a y, \a z and stores result into + * \a out. + * + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromScale(float x, + float y, + float z, + float *out); + + +/** + * Computes translation matrix from values \a x, \a y, \a z and stores result + * into \a out. + * + * \param x X translation + * \param y Y translation + * \param z Z translation + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromTranslation(float x, + float y, + float z, + float *out); + + +/** + * Computes rotation matrix around x axis with angle \a angle and stores + * result \a out. + * + * \param angle Angle + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromRotationX(float angle, + float *out); + + +/** + * Computes rotation matrix around y axis with angle \a angle and stores + * result \a out. + * + * \param angle Angle + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromRotationY(float angle, + float *out); + + +/** + * Computes rotation matrix around z axis with angle \a angle and stores + * result \a out. + * + * \param angle Angle + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromRotationZ(float angle, + float *out); + + +/** + * Computes rotation matrix around axis \a axis with angle \a angle and stores + * result \a out. + * + * \param axis Axis 3D vector + * \param angle Angle + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromAxis(const float *axis, + float angle, + float *out); + + +/** + * Computes the rotation matrix that represents \a roll, \a pitch, \a yaw (euler + * angles) and stores result into \a out. + * + * Order of the rotation is ZYX (yaw, pitch, roll) + * + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromEuler(float roll, + float pitch, + float yaw, + float *out); + + +/** + * Computes 4x4 rotation matrix from quaternion \a in and stores result into + * \a out. + * + * \param in Input quaternion + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromQuat4f(const float *in, + float *out); + + +/** + * Computes orthographic projection matrix and stores result into \a out. + * + * \param x_min Min x value + * \param x_max Max x value + * \param y_min Min y value + * \param y_max Max y value + * \param z_min Min z value + * \param z_max Max z value + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromOrtho(float xMin, + float xMax, + float yMin, + float yMax, + float zMin, + float zMax, + float *out); + + +/** + * Computes perspective projection matrix and stores result into \a out. + * + * \param fov Field of view + * \param aspect Aspect ratio + * \param z_min Min z value + * \param z_max Max z value + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromFrustum(float fov, + float aspect, + float zMin, + float zMax, + float *out); + + +/** + * Computes camera view matrix and stores result into \a out. + * + * \param pos Position vector + * \param at Target vector + * \param up Up vector + * \param out Output 4x4 matrix + */ +void BH_Mat4fFromLookAt(const float *pos, + const float *at, + const float *up, + float *out); + + +/** + * Multiplies matrix \a a by vector \a b and stores result into \a out. + * + * \param a A 4x4 matrix + * \param b B 4D vector + * \param out Output 4D vector + */ +void BH_Mat4fApplyVec4f(const float *a, + const float *b, + float *out); + + +/** + * Multiplies matrix \a a by vector \a b and stores result into \a out. + * + * \param a A 4x4 matrix + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Mat4fApplyVec4f(const float *a, + const float *b, + float *out); + + +/** + * Stores identity matrix into \a out. + * + * \param out Output 3x3 matrix. + */ +void BH_Mat3fIdentity(float *out); + + +/** + * Adds \a a and \a b floating point matricies and stores result into \a out. + * + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix + */ +void BH_Mat3fAdd(const float *a, + const float *b, + float *out); + + +/** + * Subtracts \a a and \a b floating point matricies and stores result into + * \a out. + * + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix + */ +void BH_Mat3fSub(const float *a, + const float *b, + float *out); + + +/** + * Multiplies \a a and \a b floating point matricies and stores result into + * \a out. + * + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix + */ +void BH_Mat3fMul(const float *a, + const float *b, + float *out); + + +/** + * Scales \a a matrix by the value \a b and stores result into \a out. + * + * \param a A 3x3 matrix + * \param b B value + * \param out Output 3x3 matrix + */ +void BH_Mat3fScale(const float *a, + float b, + float *out); + + +/** + * Transposes matrix \a in and stores result into \a out. + * + * \param in Input 3x3 matrix + * \param out Output 3x3 matrix + */ +void BH_Mat3fTranspose(const float *in, + float *out); + + +/** + * Computes \a in matrix trace and returns the result. + * + * \param in Input 3x3 matrix + */ +float BH_Mat3fTrace(const float *in); + + +/** + * Computes \a in matrix determinant and returns the result. + * + * \param in Input 3x3 matrix + */ +float BH_Mat3fDet(const float *in); + + +/** + * Computes inverse of \a in matrix and stores result into \a out. + * + * \param in Input 3x3 matrix + * \param out OUtput 3x3 matrix + * + * \return On success, returns zero. + * \return On failure, returns error code. + */ +int BH_Mat3fInverse(const float *in, + float *out); + + +/** + * Computes scaling matrix from values \a x, \a y and stores result into + * \a out. + * + * \param x X scale + * \param y Y scale + * \param out Output 3x3 matrix + */ +void BH_Mat3fFromScale(float x, + float y, + float *out); + + +/** + * Computes translation matrix from values \a x, \a y and stores result + * into \a out. + * + * \param x X translation + * \param y Y translation + * \param out Output 3x3 matrix + */ +void BH_Mat3fFromTranslation(float x, + float y, + float *out); + + +/** + * Computes rotation matrix around with angle \a angle and stores result \a out. + * + * \param angle Angle + * \param out Output 3x3 matrix + */ +void BH_Mat3fFromRotation(float angle, + float *out); + + +/** + * Multiplies matrix \a a by vector \a b and stores result into \a out. + * + * \param a A 3x3 matrix + * \param b B 3D vector + * \param out Output 3D vector + */ +void BH_Mat3fApplyVec3f(float *a, + float *b, + float *out); + + +/** + * Multiplies matrix \a a by vector \a b and stores result into \a out. + * + * \param a A 3x3 matrix + * \param b B 2D vector + * \param out Output 2D vector + */ +void BH_Mat3fApplyVec2f(float *a, + float *b, + float *out); + + +#endif /* BH_MATH_H */ |