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Diffstat (limited to 'include/BH/Math.h')
| -rw-r--r-- | include/BH/Math.h | 2148 |
1 files changed, 0 insertions, 2148 deletions
diff --git a/include/BH/Math.h b/include/BH/Math.h deleted file mode 100644 index ef1aa40..0000000 --- a/include/BH/Math.h +++ /dev/null @@ -1,2148 +0,0 @@ -#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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - float b, - float out[4]); - - -/** - * 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[4], - const float b[4], - const float c[4], - float out[4]); - - -/** - * 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[4], - float out[4]); - - -/** - * 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[4], - const float b[4]); - - -/** - * Computes length of the \a in vector and returns the result. - * - * \param in Input 4D vector - */ -float BH_Vec4fLength(const float in[4]); - - -/** - * 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[4], - float out[4]); - - -/** - * Computes normal vector from the \a in stores result into \a out and returns - * source length of the vector. - * - * \param in Input 4D vector - * \param out Output 4D vector - * - * \return Returns length prior to normalization - */ -float BH_Vec4fNormalEx(const float in[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float t, - float out[4]); - - -/** - * Projects \a a vector onto \a b vector and stores result into \a out. - * - * \param a A 4D vector - * \param b B 4D vector - * \param out Output 4D vector - */ -void BH_Vec4fProject(const float a[4], - const float b[4], - float out[4]); - - -/** - * Computes point from barycentric coordiantes \a v, \a w and points \a a, - * \a b and \a c vectors. - * - * Output vector is calculated as A + v*(B-A) + w*(C-A). - * - * \param a A 4D vector - * \param b B 4D vector - * \param c C 4D vector - * \param v V barycentric coordinate - * \param w W barycentric coordinate - * \param out Output 4D vector - */ -void BH_Vec4fBarycentric(const float a[4], - const float b[4], - const float c[4], - float v, - float w, - float out[4]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * 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[3], - float b, - float out[3]); - - -/** - * 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[3], - const float b[3], - const float c[3], - float out[3]); - - -/** - * 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[3], - float out[3]); - - -/** - * 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[3], - const float b[3]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * Computes length of the \a in vector and returns the result. - * - * \param in Input 3D vector - */ -float BH_Vec3fLength(const float in[3]); - - -/** - * 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[3], - float out[3]); - - -/** - * Computes normal vector from the \a in stores result into \a out and returns - * source length of the vector. - * - * \param in Input 3D vector - * \param out Output 3D vector - * - * \return Returns length prior to normalization - */ -float BH_Vec3fNormalEx(const float in[3], - float out[3]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * 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[3], - const float b[3], - float out[3]); - - -/** - * 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[3], - const float b[3], - float t, - float out[3]); - - -/** - * Projects \a a vector onto \a b vector and stores result into \a out. - * - * \param a A 3D vector - * \param b B 3D vector - * \param out Output 3D vector - */ -void BH_Vec3fProject(const float a[3], - const float b[3], - float out[3]); - - -/** - * Computes point from barycentric coordiantes \a v, \a w and points \a a, - * \a b and \a c vectors. - * - * Output vector is calculated as A + v*(B-A) + w*(C-A). - * - * \param a A 3D vector - * \param b B 3D vector - * \param c C 3D vector - * \param v V barycentric coordinate - * \param w W barycentric coordinate - * \param out Output 3D vector - */ -void BH_Vec3fBarycentric(const float a[3], - const float b[3], - const float c[3], - float v, - float w, - float out[3]); - - -/** - * 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[2], - const float b[2], - float out[2]); - - -/** - * 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[2], - const float b[2], - float out[2]); - - -/** - * 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[2], - const float b[2], - float out[2]); - - -/** - * 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[2], - float b, - float out[2]); - - -/** - * 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[2], - const float b[2], - const float c[2], - float out[2]); - - -/** - * 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[2], - float out[2]); - - -/** - * 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[2], - const float b[2]); - - -/** - * 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[2], - const float b[2]); - - -/** - * Computes length of the \a in vector and returns the result. - * - * \param in Input 2D vector - */ -float BH_Vec2fLength(const float in[2]); - - -/** - * 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[2], - float out[2]); - - -/** - * Computes normal vector from the \a in stores result into \a out and returns - * source length of the vector. - * - * \param in Input 2D vector - * \param out Output 2D vector - * - * \return Returns length prior to normalization - */ -float BH_Vec2fNormalEx(const float in[2], - float out[2]); - - -/** - * 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[2], - const float b[2], - float out[2]); - - -/** - * 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[2], - const float b[2], - float out[2]); - - -/** - * 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[2], - const float b[2], - float t, - float out[2]); - - -/** - * Projects \a a vector onto \a b vector and stores result into \a out. - * - * \param a A 2D vector - * \param b B 2D vector - * \param out Output 2D vector - */ -void BH_Vec2fProject(const float a[2], - const float b[2], - float out[2]); - - -/** - * Computes point from barycentric coordiantes \a v, \a w and points \a a, - * \a b and \a c vectors. - * - * Output vector is calculated as A + v*(B-A) + w*(C-A). - * - * \param a A 2D vector - * \param b B 2D vector - * \param c C 2D vector - * \param v V barycentric coordinate - * \param w W barycentric coordinate - * \param out Output 2D vector - */ -void BH_Vec2fBarycentric(const float a[2], - const float b[2], - const float c[2], - float v, - float w, - float out[2]); - - -/** - * Interpolates between \a a and \a b values by \a t amount and returns the - * result. - * - * \param a A 2D vector - * \param b B 2D vector - * \param t Amount - * \param out Output 2D vector - */ -float BH_Lerpf(float a, float b, float t); - - -/** - * 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[4], - const int b[4], - int out[4]); - - -/** - * 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[4], - const int b[4], - int out[4]); - - -/** - * 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[4], - const int b[4], - int out[4]); - - -/** - * 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[4], - int b, - int out[4]); - - -/** - * 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[4], - const int b[4], - const int c[4], - int out[4]); - - -/** - * 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[4], - int out[4]); - - -/** - * 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[4], - const int b[4], - int out[4]); - - -/** - * 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[4], - const int b[4], - int out[4]); - - -/** - * 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[3], - const int b[3], - int out[3]); - - -/** - * 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[3], - const int b[3], - int out[3]); - - -/** - * 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[3], - const int b[3], - int out[3]); - - -/** - * 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[3], - int b, - int out[3]); - - -/** - * 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[3], - const int b[3], - const int c[3], - int out[3]); - - -/** - * 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[3], - int out[3]); - - -/** - * 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[3], - const int b[3], - int out[3]); - - -/** - * 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[3], - const int b[3], - int out[3]); - - -/** - * 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[2], - const int b[2], - int out[2]); - - -/** - * 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[2], - const int b[2], - int out[2]); - - -/** - * 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[2], - const int b[2], - int out[2]); - - -/** - * 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[2], - int b, - int out[2]); - - -/** - * 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[2], - const int b[2], - const int c[2], - int out[2]); - - -/** - * 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[2], - int out[2]); - - -/** - * 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[2], - const int b[2], - int out[2]); - - -/** - * 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[2], - const int b[2], - int out[2]); - - -/** - * 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[4]); - - -/** - * 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[4], - float out[4]); - - -/** - * 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[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float out[4]); - - -/** - * 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[4], - const float b[4], - float t, - float out[4]); - - -/** - * 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[4]); - - -/** - * 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[3], - float angle, - float out[4]); - - -/** - * 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[4], - 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[4], - float axis[3], - 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[4], - float out[16]); - - -/** - * Stores identity matrix into \a out. - * - * \param out Output 4x4 matrix. - */ -void BH_Mat4fIdentity(float out[16]); - - -/** - * 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[16], - const float b[16], - float out[16]); - - -/** - * 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[16], - const float b[16], - float out[16]); - - -/** - * 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[16], - const float b[16], - float out[16]); - - -/** - * 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[16], - float b, - float out[16]); - - -/** - * 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[16], - float out[16]); - - -/** - * Computes \a in matrix trace and returns the result. - * - * \param in Input 4x4 matrix - */ -float BH_Mat4fTrace(const float in[16]); - - -/** - * Computes \a in matrix determinant and returns the result. - * - * \param in Input 4x4 matrix - */ -float BH_Mat4fDet(const float in[16]); - - -/** - * 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[16], - float out[16]); - - -/** - * 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[16]); - - -/** - * 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[16]); - - -/** - * 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[16]); - - -/** - * 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[16]); - - -/** - * 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[16]); - - -/** - * 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[3], - float angle, - float out[16]); - - -/** - * 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[16]); - - -/** - * 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[4], - float out[16]); - - -/** - * 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[16]); - - -/** - * 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[16]); - - -/** - * Computes camera view matrix and stores result into \a out. - * - * \param position Position vector - * \param at Target vector - * \param up Up vector - * \param out Output 4x4 matrix - */ -void BH_Mat4fFromLookAt(const float position[3], - const float at[3], - const float up[3], - float out[16]); - - -/** - * 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[16], - const float b[4], - float out[4]); - - -/** - * 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_Mat4fApplyVec3f(const float a[16], - const float b[3], - float out[3]); - - -/** - * Stores identity matrix into \a out. - * - * \param out Output 3x3 matrix. - */ -void BH_Mat3fIdentity(float out[9]); - - -/** - * 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[9], - const float b[9], - float out[9]); - - -/** - * 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[9], - const float b[9], - float out[9]); - - -/** - * 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[9], - const float b[9], - float out[9]); - - -/** - * 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[9], - float b, - float out[9]); - - -/** - * 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[9], - float out[9]); - - -/** - * Computes \a in matrix trace and returns the result. - * - * \param in Input 3x3 matrix - */ -float BH_Mat3fTrace(const float in[9]); - - -/** - * Computes \a in matrix determinant and returns the result. - * - * \param in Input 3x3 matrix - */ -float BH_Mat3fDet(const float in[9]); - - -/** - * 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[9], - float out[9]); - - -/** - * 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[9]); - - -/** - * 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[9]); - - -/** - * 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[9]); - - -/** - * 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[9], - float b[3], - float out[3]); - - -/** - * 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[9], - float b[2], - float out[2]); - - -/** - * Computes plane from points \a a, \a b, \a c and stores result into \a out. - * - * X, Y, Z components of the \a out vector are plane normal, W component is a - * distance from the origin (0,0,0) to the plane. - * - * It is assumed, that points provided in clockwise order. - * - * If points form degenerate triangle, this function will return error. - * - * \param a A 3D vector - * \param b B 3D vector - * \param c C 3D vector - * \param out Output 4D vector - * - * \return On success, returns zero. - * \return On failure, returns error-code. - */ -int BH_PlaneFromPoints(const float a[3], - const float b[3], - const float c[3], - float out[4]); - - -/** - * Computes distance from \a plane to the \a point and returns result. - * - * \param plane Plane 4D vector - * \param point Point 3D vector - * - * \return Returns distance from plane to point. - */ -float BH_PlaneDistance(const float plane[4], - const float point[3]); - - -/** - * Computes closest point on the \a plane to the \a point and stores result - * into \a out. - * - * \param plane Plane 4D vector - * \param point Point 3D vector - * \param out Output 3D vector - */ -void BH_PlaneClosestPoint(const float plane[4], - const float point[3], - float out[3]); - - -/** - * Computes time of intersection \a t between ray (given \a start and - * \a direction) and \a plane and stores intersection point into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param start Start 3D vector - * \param direction Direction 3D vector - * \param plane Plane 4D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray3fIntersectPlane(const float start[3], - const float direction[3], - const float plane[4], - float *t, - float out[3]); - - -/** - * Computes time of intersection \a t between ray (given \a start and - * \a direction) and triangle formed by \a a, \a b, \a c points and intersection - * point into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param start Start 3D vector - * \param direction Direction 3D vector - * \param a A 3D vector - * \param b B 3D vector - * \param c C 3D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray3fIntersectTriangle(const float start[3], - const float direction[3], - const float a[3], - const float b[3], - const float c[3], - float *t, - float out[3]); - - -/** - * Computes time of intesection \a t between line segment (given \a a and \a b - * points) and \a plane and stores intersection point into \a out. - * - * The returned intersection time \a t is for the segment. - * - * \param a A 3D vector - * \param b B 3D vector - * \param plane Plane 4D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment3fIntersectPlane(const float start[3], - const float end[3], - const float plane[4], - float *t, - float out[3]); - - -/** - * Computes time of intersection \a t between segment (given \a start and - * \a end) and triangle formed by \a a, \a b, \a c points and intersection - * point into \a out. - * - * The returned intersection time \a t is for the segment. - * - * \param start Start 3D vector - * \param direction Direction 3D vector - * \param a A 3D vector - * \param b B 3D vector - * \param c C 3D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment3fIntersectTriangle(const float start[3], - const float end[3], - const float a[3], - const float b[3], - const float c[3], - float *t, - float out[3]); - - -/** - * Computes barycentric coordinates from \a point and triangle made of \a a, - * \a b, \a c points and stores result into \a out. - * - * \param a A 3D vector - * \param b B 3D vector - * \param c C 3D vector - * \param point Point 3D vector - * \param out Output 3D vector - */ -void BH_Triangle3fBarycentric(const float a[3], - const float b[3], - const float c[3], - const float point[3], - float out[3]); - - -/** - * Computes line from \a a and \a b points and stores result into \a out. - * - * \param a A 2D vector - * \param b B 2D vector - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_LineFromPoints(const float a[2], - const float b[2], - float out[3]); - - -/** - * Computes distance from \a line to the \a point and returns result. - * - * \param line Line 3D vector - * \param point Point 2D vector - * - * \return Returns distance from plane to point. - */ -float BH_LineDistance(const float line[3], - const float point[2]); - - -/** - * Computes closest point on the \a line to the \a point and stores result into - * \a out. - * - * \param line Line 3D vector - * \param point Point 2D vector - * \param out Output 2D vector - */ -void BH_LineClosestPoint(const float line[3], - const float point[2], - float out[2]); - - -/** - * Computes time of intersection \a t between ray (given \a start and - * \a direction) and \a line and stores intersection point into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param start Start 2D vector - * \param direction Direction 2D vector - * \param line Line 3D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray2fIntersectLine(const float start[2], - const float direction[2], - const float line[3], - float *t, - float out[2]); - - -/** - * Computes time of intersection \a time1 and \a time2 between one line (given - * \a aStart and \a aDirection) and other line (given \a bStart and - * \a bDirection). - * - * \param aStart A Start 2D vector - * \param aDirection A Direction 2D vector - * \param bStart B Start 2D vector - * \param bDirection B Direction 2D vector - * \param time1 Time of intersection of first line - * \param time2 Time of intersection of second line - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray2fIntersectTime(const float aStart[2], - const float aDirection[2], - const float bStart[2], - const float bDirection[2], - float *time1, - float *time2); - - -/** - * Computes time of intersection \a t between one ray (given \a aStart and - * \a aDirection) and other ray (given \a bStart and \a bDirection) and stores - * intersection point into \a out. - * - * The returned intersection time \a t is for the first ray. - * - * \param aStart A Start 2D vector - * \param aDirection A Direction 2D vector - * \param bStart B Start 2D vector - * \param bDirection B Direction 2D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray2fIntersectRay(const float aStart[2], - const float aDirection[2], - const float bStart[2], - const float bDirection[2], - float *t, - float out[2]); - - -/** - * Computes time of intersection \a t between one ray (given \a aStart and - * \a aDirection) and segment (given \a bStart and \a bEnd) and stores result - * into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param aStart A Start 2D vector - * \param aDirection A Direction 2D vector - * \param bStart B Start 2D vector - * \param bEnd B End 2D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray2fIntersectSegment(const float aStart[2], - const float aDirection[2], - const float bStart[2], - const float bEnd[2], - float *t, - float out[2]); - - -/** - * Computes time of intersection \a t between segment (given \a start and - * \a end) and \a line and stores intersection point into \a out. - * - * The returned intersection time \a t is for the segment. - * - * \param start Start 2D vector - * \param end End 2D vector - * \param line Line 3D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment2fIntersectLine(const float start[2], - const float end[2], - const float line[3], - float *t, - float out[2]); - - -/** - * Computes time of intersection \a t between one segment (given \a aStart and - * \a aEnd) and other sergment (given \a bStart and \a bEnd) and stores - * intersection point into \a out. - * - * The returned intersection time \a t is for the first segment. - * - * \param aStart A Start 2D vector - * \param aEnd A End 2D vector - * \param bStart B Start 2D vector - * \param bEnd B End 2D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment2fIntersectSegment(const float aStart[2], - const float aEnd[2], - const float bStart[2], - const float bEnd[2], - float *t, - float out[2]); - - -/** - * Computes union of two 3D boxes (given by \a aMin, \a aMax, \a bMin, \a bMax) - * and stores the result into \a outMin, \a outMax. - * - * \param aMin A minimal 3D vector - * \param aMax A maximal 3D vector - * \param bMin B minimal 3D vector - * \param bMax B maximal 3D vector - * \param outMin Output minimal 3D vector - * \param outMax Output maximal 3D vector - */ -void BH_Box3fUnion(const float aMin[3], - const float aMax[3], - const float bMin[3], - const float bMax[3], - float outMin[3], - float outMax[3]); - - -/** - * Computes intersection of two 3D boxes (given by \a aMin, \a aMax, \a bMin, - * \a bMax), stores the result into \a outMin, \a outMax and returns - * intersection test result. - * - * \param aMin A minimal 3D vector - * \param aMax A maximal 3D vector - * \param bMin B minimal 3D vector - * \param bMax B maximal 3D vector - * \param outMin Output minimal 3D vector - * \param outMax Output maximal 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box3fIntersect(const float aMin[3], - const float aMax[3], - const float bMin[3], - const float bMax[3], - float outMin[3], - float outMax[3]); - - -/** - * Checks if \a point is inside the box (given by \a aMin, \a aMax) and returns - * the result of the check. - * - * \param aMin A minimal 3D vector - * \param aMax A maximal 3D vector - * \param point Point 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box3fContains(const float aMin[3], - const float aMax[3], - const float point[3]); - - -/** - * Computes bounding box for the \a points of \a size elements and stores the - * result into \a outMin, \a outMax. - * - * \param points Array of 3D points - * \param size Array size - * \param outMin Output minimal 3D vector - * \param outMax Output maximal 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box3fEnclose(const float *points, - size_t size, - float outMin[3], - float outMax[3]); - - -/** - * Computes union of two 2D boxes (given by \a aMin, \a aMax, \a bMin, \a bMax) - * and stores the result into \a outMin, \a outMax. - * - * \param aMin A minimal 2D vector - * \param aMax A maximal 2D vector - * \param bMin B minimal 2D vector - * \param bMax B maximal 2D vector - * \param outMin Output minimal 2D vector - * \param outMax Output maximal 2D vector - */ -void BH_Box2fUnion(const float aMin[2], - const float aMax[2], - const float bMin[2], - const float bMax[2], - float outMin[2], - float outMax[2]); - - -/** - * Computes intersection of two 2D boxes (given by \a aMin, \a aMax, \a bMin, - * \a bMax), stores the result into \a outMin, \a outMax and returns - * intersection test result. - * - * \param aMin A minimal 2D vector - * \param aMax A maximal 2D vector - * \param bMin B minimal 2D vector - * \param bMax B maximal 2D vector - * \param outMin Output minimal 2D vector - * \param outMax Output maximal 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box2fIntersect(const float aMin[2], - const float aMax[2], - const float bMin[2], - const float bMax[2], - float outMin[2], - float outMax[2]); - - -/** - * Checks if \a point is inside the box (given by \a aMin, \a aMax) and returns - * the result of the check. - * - * \param aMin A minimal 2D vector - * \param aMax A maximal 2D vector - * \param point Point 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box2fContains(const float aMin[2], - const float aMax[2], - const float point[2]); - - -/** - * Computes bounding box for the \a points of \a size elements and stores the - * result into \a outMin, \a outMax. - * - * \param points Array of 2D points - * \param size Array size - * \param outMin Output minimal 2D vector - * \param outMax Output maximal 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Box2fEnclose(const float *points, - size_t size, - float outMin[2], - float outMax[2]); - - -/** - * Computes time of intersection \a t between ray (given \a aStart and - * \a aDirection) and 3D box (given \a bMin, \a bMax) and stores intersection - * point into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param aStart Start 3D vector - * \param aDirection Direction 3D vector - * \param bMin A 3D vector - * \param bMax B 3D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray3fIntersectBox3f(const float aStart[3], - const float aDirection[3], - const float bMin[3], - const float bMax[3], - float *t, - float out[3]); - - -/** - * Computes time of intersection \a t between segment (given \a aStart and - * \a aEnd) and 3D box (given \a bMin, \a bMax) and stores intersection point - * into \a out. - * - * The returned intersection time \a t is for the segment. - * - * \param aStart Start 3D vector - * \param aEnd End 3D vector - * \param bMin A 3D vector - * \param bMax B 3D vector - * \param t Time of intersection - * \param out Output 3D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment3fIntersectBox3f(const float aStart[3], - const float aEnd[3], - const float bMin[3], - const float bMax[3], - float *t, - float out[3]); - - -/** - * Computes time of intersection \a t between ray (given \a aStart and - * \a aDirection) and 2D box (given \a bMin, \a bMax) and stores intersection - * point into \a out. - * - * The returned intersection time \a t is for the ray. - * - * \param aStart Start 2D vector - * \param aDirection Direction 2D vector - * \param bMin A 2D vector - * \param bMax B 2D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Ray2fIntersectBox2f(const float aStart[2], - const float aDirection[2], - const float bMin[2], - const float bMax[2], - float *t, - float out[2]); - - -/** - * Computes time of intersection \a t between segment (given \a aStart and - * \a aEnd) and 2D box (given \a bMin, \a bMax) and stores intersection point - * into \a out. - * - * The returned intersection time \a t is for the segment. - * - * \param aStart Start 2D vector - * \param aEnd End 2D vector - * \param bMin A 2D vector - * \param bMax B 2D vector - * \param t Time of intersection - * \param out Output 2D vector - * - * \return On success, returns zero. - * \return On failure, returns error code. - */ -int BH_Segment2fIntersectBox2f(const float aStart[2], - const float aEnd[2], - const float bMin[2], - const float bMax[2], - float *t, - float out[2]); - - -#endif /* BH_MATH_H */ |