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Diffstat (limited to 'include/bh/math.h')
| -rw-r--r-- | include/bh/math.h | 1391 |
1 files changed, 1388 insertions, 3 deletions
diff --git a/include/bh/math.h b/include/bh/math.h index bdf1efa..3d3a53d 100644 --- a/include/bh/math.h +++ b/include/bh/math.h @@ -5,620 +5,1832 @@ #include "common.h" +/** + * 2D floating point vector. + */ typedef struct bh_point2f_s { + /** X component */ float x; + + /** Y Component */ float y; } bh_point2f_t; +/** + * 3D floating point vector. + */ typedef struct bh_point3f_s { + /** X component */ float x; + + /** Y component */ float y; + + /** Z component */ float z; } bh_point3f_t; +/** + * 4D floating point vector. + */ typedef struct bh_point4f_s { + /** X component */ float x; + + /** Y component */ float y; + + /** Z component */ float z; + + /** W component */ float w; } bh_point4f_t; +/** + * 2D integer vector. + */ typedef struct bh_point2i_s { + /** X component */ int x; + + /** Y component */ int y; } bh_point2i_t; +/** + * 3D integer vector. + */ typedef struct bh_point3i_s { + /** X component */ int x; + + /** Y component */ int y; + + /** Z component */ int z; } bh_point3i_t; +/** + * 4D integer vector. + */ typedef struct bh_point4i_s { + /** X component */ int x; + + /** Y component */ int y; + + /** Z component */ int z; + + /** W component */ int w; } bh_point4i_t; +/** + * 3x3 floating point matrix. + * + * Each vector represent one column of the matrix. + */ typedef struct bh_matrix3f_s { + /** First column */ bh_point3f_t x; + + /** Second column */ bh_point3f_t y; + + /** Third colum */ bh_point3f_t z; } bh_matrix3f_t; +/** + * 4x4 floating point matrix. + * + * Each vector represent one column of the matrix. + */ typedef struct bh_matrix4f_s { + /** First column */ bh_point4f_t x; + + /** Second column */ bh_point4f_t y; + + /** Third column */ bh_point4f_t z; + + /** Forth column */ bh_point4f_t w; } bh_matrix4f_t; +/** + * 2D floating point line. + */ typedef struct bh_line2f_s { + /** Normal vector */ bh_point2f_t normal; + + /** Distance from the origin */ float distance; } bh_line2f_t; +/** + * 3D floating point plane. + */ typedef struct bh_plane3f_s { + /** Normal vector */ bh_point3f_t normal; + + /** Distance from the origin */ float distance; } bh_plane3f_t; +/** + * 2D floating point ray. + */ typedef struct bh_ray2f_s { + /** Origin */ bh_point2f_t origin; + + /** Normal or direction */ bh_point2f_t normal; } bh_ray2f_t; +/** + * 3D floating point ray. + */ typedef struct bh_ray3f_s { + /** Origin */ bh_point3f_t origin; + + /** Normal or direction */ bh_point3f_t normal; } bh_ray3f_t; +/** + * 2D floating point AABB + */ typedef struct bh_aabb2f_s { + /** Origin */ bh_point2f_t origin; + + /** Size */ bh_point2f_t size; } bh_aabb2f_t; +/** + * 3D floating point AABB + */ typedef struct bh_aabb3f_s { + /** Origin */ bh_point3f_t origin; + + /** Size */ bh_point3f_t size; } bh_aabb3f_t; +/** + * 2D integer AABB + */ typedef struct bh_aabb2i_s { + /** Origin */ bh_point2i_t origin; + + /** Size */ bh_point2i_t size; } bh_aabb2i_t; +/** + * 3D integer AABB + */ typedef struct bh_aabb3i_s { + /** Origin */ bh_point3i_t origin; + + /** Size */ bh_point3i_t size; } bh_aabb3i_t; +/** + * Floating point quaternion + */ typedef bh_point4f_t bh_quat_t; +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_add(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_sub(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_mul(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_scale(const bh_point4f_t *a, float b, bh_point4f_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_madd(const bh_point4f_t *a, const bh_point4f_t *b, const bh_point4f_t *c, bh_point4f_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_negate(const bh_point4f_t *in, bh_point4f_t *result); +/** + * Calculates the dot product of two vectors. + * + * \param a Value + * \param b Value + * + * \return Returns the dot product. + */ float bh_point4f_dot(const bh_point4f_t *a, const bh_point4f_t *b); +/** + * Calculates the dot product of two vectors with w component. + * + * \param a Value + * \param b Value + * + * \return Returns the dot product. + */ float bh_point4f_dot3(const bh_point4f_t *a, const bh_point4f_t *b); +/** + * Calculates the cross product of two vectors without w component. + * + * result = a x b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_cross(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Calculates the length of the vector. + * + * \param in Value + * + * \return Returns the length. + */ float bh_point4f_length(const bh_point4f_t *in); +/** + * Normilizes the vector. + * + * result = in / |in| + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_normal(const bh_point4f_t *in, bh_point4f_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_min(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_max(const bh_point4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_lerp(const bh_point4f_t *a, const bh_point4f_t *b, float t, bh_point4f_t *result); +/** + * Calculates spherical linear interpolation between two vectors. + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_point4f_slerp(const bh_point4f_t *a, const bh_point4f_t *b, float t, bh_point4f_t *result); +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_add(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_sub(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_mul(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_scale(const bh_point3f_t *a, float b, bh_point3f_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_madd(const bh_point3f_t *a, const bh_point3f_t *b, const bh_point3f_t *c, bh_point3f_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_negate(const bh_point3f_t *in, bh_point3f_t *result); +/** + * Calculates the dot product of two vectors. + * + * \param a Value + * \param b Value + * + * \return Returns the dot product. + */ float bh_point3f_dot(const bh_point3f_t *a, const bh_point3f_t *b); +/** + * Calculates the cross product of two vectors. + * + * result = a x b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_cross(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Calculates the length of the vector. + * + * \param in Value + * + * \return Returns the length. + */ float bh_point3f_length(const bh_point3f_t *in); +/** + * Normilizes the vector. + * + * result = in / |in| + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_normal(const bh_point3f_t *in, bh_point3f_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_min(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_max(const bh_point3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_lerp(const bh_point3f_t *a, const bh_point3f_t *b, float t, bh_point3f_t *result); +/** + * Calculates spherical linear interpolation between two vectors. + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_point3f_slerp(const bh_point3f_t *a, const bh_point3f_t *b, float t, bh_point3f_t *result); +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_add(const bh_point2f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_sub(const bh_point2f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_mul(const bh_point2f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_scale(const bh_point2f_t *a, float b, bh_point2f_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_madd(const bh_point2f_t *a, const bh_point2f_t *b, const bh_point2f_t *c, bh_point2f_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_negate(const bh_point2f_t *in, bh_point2f_t *result); +/** + * Calculates the dot product of two vectors. + * + * \param a Value + * \param b Value + * + * \return Returns the dot product. + */ float bh_point2f_dot(const bh_point2f_t *a, const bh_point2f_t *b); +/** + * Calculates the cross product of two vectors and returns its z component. + * + * result = a x b + * + * \param a Value + * \param b Value + * + * \return Returns z component of the result vector. + */ float bh_point2f_cross(const bh_point2f_t *a, const bh_point2f_t *b); +/** + * Calculates the length of the vector. + * + * \param in Value + * + * \return Returns the length. + */ float bh_point2f_length(const bh_point2f_t *in); +/** + * Normilizes the vector. + * + * result = in / |in| + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_normal(const bh_point2f_t *in, bh_point2f_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_min(const bh_point2f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_max(const bh_point2f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_lerp(const bh_point2f_t *a, const bh_point2f_t *b, float t, bh_point2f_t *result); +/** + * Calculates spherical linear interpolation between two vectors. + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_point2f_slerp(const bh_point2f_t *a, const bh_point2f_t *b, float t, bh_point2f_t *result); +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_add(const bh_point4i_t *a, const bh_point4i_t *b, bh_point4i_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_sub(const bh_point4i_t *a, const bh_point4i_t *b, bh_point4i_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_mul(const bh_point4i_t *a, const bh_point4i_t *b, bh_point4i_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_scale(const bh_point4i_t *a, int b, bh_point4i_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_madd(const bh_point4i_t *a, const bh_point4i_t *b, const bh_point4i_t *c, bh_point4i_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_negate(const bh_point4i_t *in, bh_point4i_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_min(const bh_point4i_t *a, const bh_point4i_t *b, bh_point4i_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_max(const bh_point4i_t *a, const bh_point4i_t *b, bh_point4i_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4i_t *bh_point4i_lerp(const bh_point4i_t *a, const bh_point4i_t *b, float t, bh_point4i_t *result); +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_add(const bh_point3i_t *a, const bh_point3i_t *b, bh_point3i_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_sub(const bh_point3i_t *a, const bh_point3i_t *b, bh_point3i_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_mul(const bh_point3i_t *a, const bh_point3i_t *b, bh_point3i_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_scale(const bh_point3i_t *a, int b, bh_point3i_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_madd(const bh_point3i_t *a, const bh_point3i_t *b, const bh_point3i_t *c, bh_point3i_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_negate(const bh_point3i_t *in, bh_point3i_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_min(const bh_point3i_t *a, const bh_point3i_t *b, bh_point3i_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_max(const bh_point3i_t *a, const bh_point3i_t *b, bh_point3i_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3i_t *bh_point3i_lerp(const bh_point3i_t *a, const bh_point3i_t *b, float t, bh_point3i_t *result); +/** + * Adds components of two vectors. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_add(const bh_point2i_t *a, const bh_point2i_t *b, bh_point2i_t *result); +/** + * Subtracts components of two vectors. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_sub(const bh_point2i_t *a, const bh_point2i_t *b, bh_point2i_t *result); +/** + * Multiplies components of two vectors. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_mul(const bh_point2i_t *a, const bh_point2i_t *b, bh_point2i_t *result); +/** + * Scales the vector. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_scale(const bh_point2i_t *a, int b, bh_point2i_t *result); +/** + * Multiplies and adds three vectors. + * + * result = a * b + c + * + * \param a Value + * \param b Value + * \param c Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_madd(const bh_point2i_t *a, const bh_point2i_t *b, const bh_point2i_t *c, bh_point2i_t *result); +/** + * Negates the vector. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_negate(const bh_point2i_t *in, bh_point2i_t *result); +/** + * Calculates vector, containing minimum components of two vectors. + * + * result = min(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_min(const bh_point2i_t *a, const bh_point2i_t *b, bh_point2i_t *result); +/** + * Calculates vector, containing maximum components of two vectors. + * + * result = max(a, b) + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_max(const bh_point2i_t *a, const bh_point2i_t *b, bh_point2i_t *result); +/** + * Calculates linear interpolation between two vectors. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2i_t *bh_point2i_lerp(const bh_point2i_t *a, const bh_point2i_t *b, float t, bh_point2i_t *result); +/** + * Adds components of two quaternions. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_add bh_point4f_add +/** + * Subtracts components of two quaternions. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_sub bh_point4f_sub +/** + * Scales the quaternion. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_scale bh_point4f_scale +/** + * Negates the quaternion. + * + * result = -in + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_negate bh_point4f_negate -#define bh_quat_length bh_point4f_length +/** + * Calculates the dot product of two quaternions. + * + * \param a Value + * \param b Value + * + * \return Returns the dot product. + */ +#define bh_quat_dot bh_point4f_dot -#define bh_quat_normal bh_point4f_normal +/** + * Calculates the length of the quaternion. + * + * \param in Value + * + * \return Returns the length. + */ +#define bh_quat_length bh_point4f_length -#define bh_quat_dot bh_point4f_dot +/** + * Normilizes the quaternion. + * + * result = in / |in| + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ +#define bh_quat_normal bh_point4f_normal +/** + * Calculates linear interpolation between two quaternions. + * + * result = a + (b - a) * t + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_lerp bh_point4f_lerp +/** + * Calculates spherical linear interpolation between two quaternions. + * + * \param a Value + * \param b Value + * \param t Factor + * \param result Result + * + * \return Returns pointer to the result. + */ #define bh_quat_slerp bh_point4f_slerp +/** + * Sets quaternions to identity. + * + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_identity(bh_quat_t *result); +/** + * Conjugates the quaternion. + * + * result = (-in.x, -in.y, -in.z, in.w) + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_conjugate(const bh_quat_t *in, bh_quat_t *result); +/** + * Calculates the inverse of the quaternion. + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_inverse(const bh_quat_t *in, bh_quat_t *result); +/** + * Multiplies two quaternions. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_mul(const bh_quat_t *a, const bh_quat_t *b, bh_quat_t *result); +/** + * Sets quaternion from euler angles (roll, pitch, yaw). + * + * Order of the rotation is ZYX (yaw, pitch, roll). + * + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_set_euler(float roll, float pitch, float yaw, bh_quat_t *result); +/** + * Sets quaternion from axis of rotation and angle. + * + * \param axis Axis + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_quat_t *bh_quat_set_rotation(const bh_point3f_t *axis, float angle, bh_quat_t *result); +/** + * Calculates euler angles (roll, pitch, yaw) from quaternion. + * + * Order of the rotation is ZYX (yaw, pitch, roll). + * + * \param in Value + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + */ void bh_quat_euler(const bh_quat_t *in, float *roll, float *pitch, float *yaw); +/** + * Calculates axis of rotation and angle from quaternion. + * + * \param in Value + * \param axis Axis + * \param angle Angle + */ void bh_quat_rotation(const bh_quat_t *in, bh_point3f_t *axis, float *angle); +/** + * Calculates rotation matrix from quaternion. + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_quat_matrix(const bh_quat_t *in, bh_matrix4f_t *result); +/** + * Sets matrix to identity. + * + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_identity(bh_matrix4f_t *result); +/** + * Adds two matricies. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_add(const bh_matrix4f_t *a, const bh_matrix4f_t *b, bh_matrix4f_t *result); +/** + * Subtracts two matricies. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_sub(const bh_matrix4f_t *a, const bh_matrix4f_t *b, bh_matrix4f_t *result); +/** + * Multiplies two matricies. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_mul(const bh_matrix4f_t *a, const bh_matrix4f_t *b, bh_matrix4f_t *result); +/** + * Scales the matrix. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_scale(const bh_matrix4f_t *a, float b, bh_matrix4f_t *result); +/** + * Transposes the matrix. + * + * result = a^T + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_transpose(const bh_matrix4f_t *in, bh_matrix4f_t *result); +/** + * Calculates the trace of the matrix. + * + * \param in Value + * + * \return Returns trace value. + */ float bh_matrix4f_trace(const bh_matrix4f_t *in); +/** + * Calculates the determinant of the matrix. + * + * \param in Value + * + * \return Returns determinant value. + */ float bh_matrix4f_determinant(const bh_matrix4f_t *in); +/** + * Calculates the inverse of the matrix. + * + * If matrix has no inverse - identity matrix will be returned. + * + * result = in^-1 + * + * \param in Value + * \param result Result + * + * \return On success, returns inverse of the matrix. + * \return On failure, returns identity matrix. + */ bh_matrix4f_t *bh_matrix4f_inverse(const bh_matrix4f_t *in, bh_matrix4f_t *result); +/** + * Calculates scaling matrix. + * + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_scaling(float x, float y, float z, bh_matrix4f_t *result); +/** + * Calculates translation matrix. + * + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_translation(float x, float y, float z, bh_matrix4f_t *result); +/** + * Calculates x-rotation matrix (or rotation around x axis). + * + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation_x(float angle, bh_matrix4f_t *result); +/** + * Calculates y-rotation matrix (or rotation around y axis). + * + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation_y(float angle, bh_matrix4f_t *result); +/** + * Calculates z-rotation matrix (or rotation around z axis). + * + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation_z(float angle, bh_matrix4f_t *result); +/** + * Calculates rotation matrix around axis. + * + * \param axis Axis + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation(const bh_point3f_t *axis, float angle, bh_matrix4f_t *result); +/** + * Calculates rotation matrix from euler angles (roll, pitch, yaw). + * + * Order of the rotation is ZYX (yaw, pitch, roll). + * + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation_euler(float roll, float pitch, float yaw, bh_matrix4f_t *result); +/** + * Calculates rotation matrix from quaternion. + * + * \param rotation Quaternion + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_rotation_quat(bh_quat_t *rotation, bh_matrix4f_t *result); +/** + * Calculates orthographic projection matrix. + * + * \param x_min Min x + * \param x_max Max x + * \param y_min Min y + * \param y_max Max y + * \param z_min Min z + * \param z_max Max z + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_ortho(float x_min, float x_max, float y_min, @@ -628,6 +1840,17 @@ bh_matrix4f_t *bh_matrix4f_ortho(float x_min, bh_matrix4f_t *result); +/** + * Calculates perspective projection matrix. + * + * \param fov Field of view + * \param aspect Aspect ratio + * \param z_min Min z + * \param z_max Max z + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_perspective(float fov, float aspect, float z_min, @@ -635,78 +1858,240 @@ bh_matrix4f_t *bh_matrix4f_perspective(float fov, bh_matrix4f_t *result); +/** + * Calculates camera view matrix. + * + * \param camera Position + * \param at Target + * \param up Up + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix4f_t *bh_matrix4f_lookat(const bh_point3f_t *camera, const bh_point3f_t *at, const bh_point3f_t *up, bh_matrix4f_t *result); +/** + * Applies matrix to vector. + * + * \param a Matrix + * \param b Vector + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_matrix4f_transform_point3f(const bh_matrix4f_t *a, const bh_point3f_t *b, bh_point3f_t *result); +/** + * Applies matrix to vector. + * + * \param a Matrix + * \param b Vector + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point4f_t *bh_matrix4f_transform_point4f(const bh_matrix4f_t *a, const bh_point4f_t *b, bh_point4f_t *result); +/** + * Sets matrix to identity. + * + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_identity(bh_matrix3f_t *result); +/** + * Adds two matricies. + * + * result = a + b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_add(const bh_matrix3f_t *a, const bh_matrix3f_t *b, bh_matrix3f_t *result); +/** + * Subtracts two matricies. + * + * result = a - b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_sub(const bh_matrix3f_t *a, const bh_matrix3f_t *b, bh_matrix3f_t *result); +/** + * Multiplies two matricies. + * + * result = a * b + * + * \param a Value + * \param b Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_mul(const bh_matrix3f_t *a, const bh_matrix3f_t *b, bh_matrix3f_t *result); +/** + * Scales the matrix. + * + * result = a * b + * + * \param a Value + * \param b Factor + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_scale(const bh_matrix3f_t *a, float b, bh_matrix3f_t *result); +/** + * Transposes the matrix. + * + * result = a^T + * + * \param in Value + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_transpose(const bh_matrix3f_t *in, bh_matrix3f_t *result); +/** + * Calculates the trace of the matrix. + * + * \param in Value + * + * \return Returns trace value. + */ float bh_matrix3f_trace(const bh_matrix3f_t *in); +/** + * Calculates the determinant of the matrix. + * + * \param in Value + * + * \return Returns determinant value. + */ float bh_matrix3f_determinant(const bh_matrix3f_t *in); +/** + * Calculates the inverse of the matrix. + * + * If matrix has no inverse - identity matrix will be returned. + * + * result = in^-1 + * + * \param in Value + * \param result Result + * + * \return On success, returns inverse of the matrix. + * \return On failure, returns identity matrix. + */ bh_matrix3f_t *bh_matrix3f_inverse(const bh_matrix3f_t *in, bh_matrix3f_t *result); +/** + * Calculates scaling matrix. + * + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_scaling(float x, float y, bh_matrix3f_t *result); +/** + * Calculates translation matrix. + * + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_translation(float x, float y, bh_matrix3f_t *result); +/** + * Calculates rotation matrix. + * + * \param angle Angle + * \param result Result + * + * \return Returns pointer to the result. + */ bh_matrix3f_t *bh_matrix3f_rotation(float angle, bh_matrix3f_t *result); +/** + * Applies matrix to vector. + * + * \param a Matrix + * \param b Vector + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point2f_t *bh_matrix3f_transform_point2f(const bh_matrix3f_t *a, const bh_point2f_t *b, bh_point2f_t *result); +/** + * Applies matrix to vector. + * + * \param a Matrix + * \param b Vector + * \param result Result + * + * \return Returns pointer to the result. + */ bh_point3f_t *bh_matrix3f_transform_point3f(const bh_matrix3f_t *a, const bh_point3f_t *b, bh_point3f_t *result); |