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Diffstat (limited to 'include/bh/math.h')
| -rw-r--r-- | include/bh/math.h | 2089 |
1 files changed, 798 insertions, 1291 deletions
diff --git a/include/bh/math.h b/include/bh/math.h index 25aef35..5471a4a 100644 --- a/include/bh/math.h +++ b/include/bh/math.h @@ -6,1888 +6,1395 @@ /** - * 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 line. - */ -typedef struct bh_line3f_s -{ - /** Origin */ - bh_point3f_t origin; - - /** Normal vector */ - bh_point3f_t normal; -} bh_line3f_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 bh_line3f_t 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 - */ -void 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 - */ -void 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 - */ -void 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 - */ -void 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 - */ -void 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 + * Adds \a a and \a b floating point vectors and stores result into \a out. * - * \param in Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4f_negate(const bh_point4f_t *in, - bh_point4f_t *result); +void BH_Vec4fAdd(const float *a, + const float *b, + float *out); /** - * Calculates the dot product of two vectors. + * Subtracts \a a and \a b floating point vectors and stores result into \a out. * - * \param a Value - * \param b Value - * - * \return Returns the dot product. + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -float bh_point4f_dot(const bh_point4f_t *a, - const bh_point4f_t *b); +void BH_Vec4fSub(const float *a, + const float *b, + float *out); /** - * Calculates the dot product of two vectors with w component. - * - * \param a Value - * \param b Value + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. * - * \return Returns the dot product. + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -float bh_point4f_dot3(const bh_point4f_t *a, - const bh_point4f_t *b); +void BH_Vec4fMul(const float *a, + const float *b, + float *out); /** - * Calculates the cross product of two vectors without w component. + * Scales \a a vector by the value \a b and stores result into \a out. * - * result = a x b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B value + * \param out Output vector */ -void bh_point4f_cross(const bh_point4f_t *a, - const bh_point4f_t *b, - bh_point4f_t *result); +void BH_Vec4fScale(const float *a, + float b, + float *out); /** - * Calculates the length of the vector. - * - * \param in Value + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * \return Returns the length. + * \param a A 4D vector + * \param b B 4D vector + * \param c C 4D vector + * \param out Output 4D vector */ -float bh_point4f_length(const bh_point4f_t *in); +void BH_Vec4fMulAdd(const float *a, + const float *b, + const float *c, + float *out); /** - * Normilizes the vector. + * Negates \a in vector and stores result into \a out. * - * result = in / |in| - * - * \param in Value - * \param result Result + * \param in Input 4D vector + * \param out Output 4D vector */ -void bh_point4f_normal(const bh_point4f_t *in, - bh_point4f_t *result); +void BH_Vec4fNegate(const float *in, + float *out); /** - * Calculates vector, containing minimum components of two vectors. - * - * result = min(a, b) + * Computes dot product of \a a and \a b vectors and returns the result. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector */ -void bh_point4f_min(const bh_point4f_t *a, - const bh_point4f_t *b, - bh_point4f_t *result); +float BH_Vec4fDot(const float *a, + const float *b); /** - * Calculates vector, containing maximum components of two vectors. + * Computes length of the \a in vector and returns the result. * - * result = max(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param in Input 4D vector */ -void bh_point4f_max(const bh_point4f_t *a, - const bh_point4f_t *b, - bh_point4f_t *result); +float BH_Vec4fLength(const float *in); /** - * Calculates linear interpolation between two vectors. - * - * result = a + (b - a) * t + * Computes normal vector from the \a in and stores result into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param in Input 4D vector + * \param out Output 4D vector */ -void bh_point4f_lerp(const bh_point4f_t *a, - const bh_point4f_t *b, - float t, - bh_point4f_t *result); +void BH_Vec4fNormal(const float *in, + float *out); /** - * Calculates spherical linear interpolation between two vectors. + * Computes minimum vector from the \a a and \a b vectors and stores result + * into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4f_slerp(const bh_point4f_t *a, - const bh_point4f_t *b, - float t, - bh_point4f_t *result); +void BH_Vec4fMin(const float *a, + const float *b, + float *out); /** - * Adds components of two vectors. + * Computes maximum vector from the \a a and \a b vectors and stores result + * into \a out. * - * result = a + b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point3f_add(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Vec4fMax(const float *a, + const float *b, + float *out); /** - * Subtracts components of two vectors. - * - * result = a - b + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param t Amount + * \param out Output 4D vector */ -void bh_point3f_sub(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Vec4fLerp(const float *a, + const float *b, + float t, + float *out); /** - * Multiplies components of two vectors. + * Adds \a a and \a b floating point vectors and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_mul(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Vec3fAdd(const float *a, + const float *b, + float *out); /** - * Scales the vector. - * - * result = a * b + * Subtracts \a a and \a b floating point vectors and stores result into \a out. * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_scale(const bh_point3f_t *a, - float b, - bh_point3f_t *result); +void BH_Vec3fSub(const float *a, + const float *b, + float *out); /** - * Multiplies and adds three vectors. + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. * - * result = a * b + c - * - * \param a Value - * \param b Value - * \param c Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_madd(const bh_point3f_t *a, - const bh_point3f_t *b, - const bh_point3f_t *c, - bh_point3f_t *result); +void BH_Vec3fMul(const float *a, + const float *b, + float *out); /** - * Negates the vector. - * - * result = -in + * Scales \a a vector by the value \a b and stores result into \a out. * - * \param in Value - * \param result Result + * \param a A 3D vector + * \param b B value + * \param out Output 3D vector */ -void bh_point3f_negate(const bh_point3f_t *in, - bh_point3f_t *result); +void BH_Vec3fScale(const float *a, + float b, + float *out); /** - * Calculates the dot product of two vectors. + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * \param a Value - * \param b Value - * - * \return Returns the dot product. + * \param a A 3D vector + * \param b B 3D vector + * \param c C 3D vector + * \param out Output 3D vector */ -float bh_point3f_dot(const bh_point3f_t *a, - const bh_point3f_t *b); +void BH_Vec3fMulAdd(const float *a, + const float *b, + const float *c, + float *out); /** - * Calculates the cross product of two vectors. + * Negates \a in vector and stores result into \a out. * - * result = a x b + * \param in Input 3D vector + * \param out Output 3D vector * - * \param a Value - * \param b Value - * \param result Result */ -void bh_point3f_cross(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Vec3fNegate(const float *in, + float *out); /** - * Calculates the length of the vector. - * - * \param in Value + * Computes dot product of \a a and \a b vectors and returns the result. * - * \return Returns the length. + * \param a A 3D vector + * \param b B 3D vector */ -float bh_point3f_length(const bh_point3f_t *in); +float BH_Vec3fDot(const float *a, + const float *b); /** - * Normilizes the vector. + * Computes cross product of \a a and \a b vectors and stores + * result into \a out. * - * result = in / |in| - * - * \param in Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_normal(const bh_point3f_t *in, - bh_point3f_t *result); +void BH_Vec3fCross(const float *a, + const float *b, + float *out); /** - * Calculates vector, containing minimum components of two vectors. - * - * result = min(a, b) + * Computes length of the \a in vector and returns the result. * - * \param a Value - * \param b Value - * \param result Result + * \param in Input 3D vector */ -void bh_point3f_min(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +float BH_Vec3fLength(const float *in); /** - * Calculates vector, containing maximum components of two vectors. + * Computes normal vector from the \a in and stores result into \a out. * - * result = max(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param in Input 3D vector + * \param out Output 3D vector */ -void bh_point3f_max(const bh_point3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Vec3fNormal(const float *in, + float *out); /** - * Calculates linear interpolation between two vectors. - * - * result = a + (b - a) * t + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_lerp(const bh_point3f_t *a, - const bh_point3f_t *b, - float t, - bh_point3f_t *result); +void BH_Vec3fMin(const float *a, + const float *b, + float *out); /** - * Calculates spherical linear interpolation between two vectors. + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3f_slerp(const bh_point3f_t *a, - const bh_point3f_t *b, - float t, - bh_point3f_t *result); +void BH_Vec3fMax(const float *a, + const float *b, + float *out); /** - * Adds components of two vectors. + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. * - * result = a + b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param t Amount + * \param out Output 3D vector */ -void bh_point2f_add(const bh_point2f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Vec3fLerp(const float *a, + const float *b, + float t, + float *out); /** - * Subtracts components of two vectors. - * - * result = a - b + * Adds \a a and \a b floating point vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2f_sub(const bh_point2f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Vec2fAdd(const float *a, + const float *b, + float *out); /** - * Multiplies components of two vectors. + * Subtracts \a a and \a b floating point vectors and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2f_mul(const bh_point2f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Vec2fSub(const float *a, + const float *b, + float *out); /** - * Scales the vector. - * - * result = a * b + * Multiplies \a a and \a b floating point vectors and stores result into + * \a out. * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2f_scale(const bh_point2f_t *a, - float b, - bh_point2f_t *result); +void BH_Vec2fMul(const float *a, + const float *b, + float *out); /** - * Multiplies and adds three vectors. + * Scales \a a vector by the value \a b and stores result into \a out. * - * result = a * b + c - * - * \param a Value - * \param b Value - * \param c Value - * \param result Result + * \param a A 2D vector + * \param b B value + * \param out Output 2D vector */ -void bh_point2f_madd(const bh_point2f_t *a, - const bh_point2f_t *b, - const bh_point2f_t *c, - bh_point2f_t *result); +void BH_Vec2fScale(const float *a, + float b, + float *out); /** - * Negates the vector. - * - * result = -in + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * \param in Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param c C 2D vector + * \param out Output 2D vector */ -void bh_point2f_negate(const bh_point2f_t *in, - bh_point2f_t *result); +void BH_Vec2fMulAdd(const float *a, + const float *b, + const float *c, + float *out); /** - * Calculates the dot product of two vectors. + * Negates \a in vector and stores result into \a out. * - * \param a Value - * \param b Value + * \param in Input 2D vector + * \param out Output 2D vector * - * \return Returns the dot product. */ -float bh_point2f_dot(const bh_point2f_t *a, - const bh_point2f_t *b); +void BH_Vec2fNegate(const float *in, + float *out); /** - * Calculates the cross product of two vectors and returns its z component. - * - * result = a x b - * - * \param a Value - * \param b Value + * Computes dot product of \a a and \a b vectors and returns the result. * - * \return Returns z component of the result vector. + * \param a A 2D vector + * \param b B 2D vector */ -float bh_point2f_cross(const bh_point2f_t *a, - const bh_point2f_t *b); +float BH_Vec2fDot(const float *a, + const float *b); /** - * Calculates the length of the vector. + * Computes cross product of \a a and \a b vectors and returns the result. * - * \param in Value - * - * \return Returns the length. + * \param a A 2D vector + * \param b B 2D vector */ -float bh_point2f_length(const bh_point2f_t *in); +float BH_Vec2fCross(const float *a, + const float *b); /** - * Normilizes the vector. - * - * result = in / |in| + * Computes length of the \a in vector and returns the result. * - * \param in Value - * \param result Result + * \param in Input 2D vector */ -void bh_point2f_normal(const bh_point2f_t *in, - bh_point2f_t *result); +float BH_Vec2fLength(const float *in); /** - * Calculates vector, containing minimum components of two vectors. + * Computes normal vector from the \a in and stores result into + * \a out. * - * result = min(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param in Input 2D vector + * \param out Output 2D vector */ -void bh_point2f_min(const bh_point2f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Vec2fNormal(const float *in, + float *out); /** - * Calculates vector, containing maximum components of two vectors. - * - * result = max(a, b) + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2f_max(const bh_point2f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Vec2fMin(const float *a, + const float *b, + float *out); /** - * Calculates linear interpolation between two vectors. + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. * - * result = a + (b - a) * t - * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2f_lerp(const bh_point2f_t *a, - const bh_point2f_t *b, - float t, - bh_point2f_t *result); +void BH_Vec2fMax(const float *a, + const float *b, + float *out); /** - * Calculates spherical linear interpolation between two vectors. + * Interpolates between \a a and \a b vector by \a t amount and stores result + * into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param t Amount + * \param out Output 2D vector */ -void bh_point2f_slerp(const bh_point2f_t *a, - const bh_point2f_t *b, - float t, - bh_point2f_t *result); +void BH_Vec2fLerp(const float *a, + const float *b, + float t, + float *out); /** - * Adds components of two vectors. - * - * result = a + b + * Adds \a a and \a b integer vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4i_add(const bh_point4i_t *a, - const bh_point4i_t *b, - bh_point4i_t *result); +void BH_Vec4iAdd(const int *a, + const int *b, + int *out); /** - * Subtracts components of two vectors. + * Subtracts \a a and \a b integer vectors and stores result into \a out. * - * result = a - b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4i_sub(const bh_point4i_t *a, - const bh_point4i_t *b, - bh_point4i_t *result); +void BH_Vec4iSub(const int *a, + const int *b, + int *out); /** - * Multiplies components of two vectors. - * - * result = a * b + * Multiplies \a a and \a b integers vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output vector */ -void bh_point4i_mul(const bh_point4i_t *a, - const bh_point4i_t *b, - bh_point4i_t *result); +void BH_Vec4iMul(const int *a, + const int *b, + int *out); /** - * Scales the vector. + * Scales \a a vector by the value \a b and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 4D vector + * \param b B value + * \param out Output 4D vector */ -void bh_point4i_scale(const bh_point4i_t *a, - int b, - bh_point4i_t *result); +void BH_Vec4iScale(const int *a, + int b, + int *out); /** - * Multiplies and adds three vectors. - * - * result = a * b + c + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * \param a Value - * \param b Value - * \param c Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param c C 4D vector + * \param out Output 4D vector */ -void bh_point4i_madd(const bh_point4i_t *a, - const bh_point4i_t *b, - const bh_point4i_t *c, - bh_point4i_t *result); +void BH_Vec4iMulAdd(const int *a, + const int *b, + const int *c, + int *out); /** - * Negates the vector. + * Negates \a in vector and stores result into \a out. * - * result = -in - * - * \param in Value - * \param result Result + * \param in Input 4D vector + * \param out Output 4D vector */ -void bh_point4i_negate(const bh_point4i_t *in, - bh_point4i_t *result); +void BH_Vec4iNegate(const int *in, + int *out); /** - * Calculates vector, containing minimum components of two vectors. - * - * result = min(a, b) + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4i_min(const bh_point4i_t *a, - const bh_point4i_t *b, - bh_point4i_t *result); +void BH_Vec4iMin(const int *a, + const int *b, + int *out); /** - * Calculates vector, containing maximum components of two vectors. + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. * - * result = max(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4D vector + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_point4i_max(const bh_point4i_t *a, - const bh_point4i_t *b, - bh_point4i_t *result); +void BH_Vec4iMax(const int *a, + const int *b, + int *out); /** - * Calculates linear interpolation between two vectors. - * - * result = a + (b - a) * t + * Adds \a a and \a b integer vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point4i_lerp(const bh_point4i_t *a, - const bh_point4i_t *b, - float t, - bh_point4i_t *result); +void BH_Vec3iAdd(const int *a, + const int *b, + int *out); /** - * Adds components of two vectors. + * Subtracts \a a and \a b integer vectors and stores result into \a out. * - * result = a + b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3i_add(const bh_point3i_t *a, - const bh_point3i_t *b, - bh_point3i_t *result); +void BH_Vec3iSub(const int *a, + const int *b, + int *out); /** - * Subtracts components of two vectors. - * - * result = a - b + * Multiplies \a a and \a b integers vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3i_sub(const bh_point3i_t *a, - const bh_point3i_t *b, - bh_point3i_t *result); +void BH_Vec3iMul(const int *a, + const int *b, + int *out); /** - * Multiplies components of two vectors. + * Scales \a a vector by the value \a b and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B value + * \param out Output 3D vector */ -void bh_point3i_mul(const bh_point3i_t *a, - const bh_point3i_t *b, - bh_point3i_t *result); +void BH_Vec3iScale(const int *a, + int b, + int *out); /** - * Scales the vector. - * - * result = a * b + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param c C 3D vector + * \param out Output 3D vector */ -void bh_point3i_scale(const bh_point3i_t *a, - int b, - bh_point3i_t *result); +void BH_Vec3iMulAdd(const int *a, + const int *b, + const int *c, + int *out); /** - * Multiplies and adds three vectors. + * Negates \a in vector and stores result into \a out. * - * result = a * b + c + * \param in Input 3D vector + * \param out Output 3D vector * - * \param a Value - * \param b Value - * \param c Value - * \param result Result */ -void bh_point3i_madd(const bh_point3i_t *a, - const bh_point3i_t *b, - const bh_point3i_t *c, - bh_point3i_t *result); +void BH_Vec3iNegate(const int *in, + int *out); /** - * Negates the vector. + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. * - * result = -in - * - * \param in Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3i_negate(const bh_point3i_t *in, - bh_point3i_t *result); +void BH_Vec3iMin(const int *a, + const int *b, + int *out); /** - * Calculates vector, containing minimum components of two vectors. - * - * result = min(a, b) + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3D vector + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_point3i_min(const bh_point3i_t *a, - const bh_point3i_t *b, - bh_point3i_t *result); +void BH_Vec3iMax(const int *a, + const int *b, + int *out); /** - * Calculates vector, containing maximum components of two vectors. + * Adds \a a and \a b integer vectors and stores result into \a out. * - * result = max(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point3i_max(const bh_point3i_t *a, - const bh_point3i_t *b, - bh_point3i_t *result); +void BH_Vec2iAdd(const int *a, + const int *b, + int *out); /** - * Calculates linear interpolation between two vectors. - * - * result = a + (b - a) * t + * Subtracts \a a and \a b integer vectors and stores result into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point3i_lerp(const bh_point3i_t *a, - const bh_point3i_t *b, - float t, - bh_point3i_t *result); +void BH_Vec2iSub(const int *a, + const int *b, + int *out); /** - * Adds components of two vectors. + * Multiplies \a a and \a b integers vectors and stores result into \a out. * - * result = a + b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2i_add(const bh_point2i_t *a, - const bh_point2i_t *b, - bh_point2i_t *result); +void BH_Vec2iMul(const int *a, + const int *b, + int *out); /** - * Subtracts components of two vectors. - * - * result = a - b + * Scales \a a vector by the value \a b and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D value + * \param out Output 2D vector */ -void bh_point2i_sub(const bh_point2i_t *a, - const bh_point2i_t *b, - bh_point2i_t *result); +void BH_Vec2iScale(const int *a, + int b, + int *out); /** - * Multiplies components of two vectors. + * Multiples \a a and \a b vectors, adds to \a c and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param c C 2D vector + * \param out Output 2D vector */ -void bh_point2i_mul(const bh_point2i_t *a, - const bh_point2i_t *b, - bh_point2i_t *result); +void BH_Vec2iMulAdd(const int *a, + const int *b, + const int *c, + int *out); /** - * Scales the vector. + * Negates \a in vector and stores result into \a out. * - * result = a * b + * \param in Input 2D vector + * \param out Output 2D vector * - * \param a Value - * \param b Factor - * \param result Result */ -void bh_point2i_scale(const bh_point2i_t *a, - int b, - bh_point2i_t *result); +void BH_Vec2iNegate(const int *in, + int *out); /** - * Multiplies and adds three vectors. - * - * result = a * b + c + * Computes minimum vector from the \a a and \a b vectors and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param c Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2i_madd(const bh_point2i_t *a, - const bh_point2i_t *b, - const bh_point2i_t *c, - bh_point2i_t *result); +void BH_Vec2iMin(const int *a, + const int *b, + int *out); /** - * Negates the vector. + * Computes maximum vector from the \a a and \a b vectors and stores result into + * \a out. * - * result = -in - * - * \param in Value - * \param result Result + * \param a A 2D vector + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_point2i_negate(const bh_point2i_t *in, - bh_point2i_t *result); +void BH_Vec2iMax(const int *a, + const int *b, + int *out); /** - * Calculates vector, containing minimum components of two vectors. - * - * result = min(a, b) + * Adds \a a and \a b floating point quaternions and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion */ -void bh_point2i_min(const bh_point2i_t *a, - const bh_point2i_t *b, - bh_point2i_t *result); +#define BH_Quat4fAdd(a, b, out) \ + BH_Vec4fAdd(a, b, out) /** - * Calculates vector, containing maximum components of two vectors. + * Subtracts \a a and \a b floating point quaternions and stores result into + * \a out. * - * result = max(a, b) - * - * \param a Value - * \param b Value - * \param result Result + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion */ -void bh_point2i_max(const bh_point2i_t *a, - const bh_point2i_t *b, - bh_point2i_t *result); +#define BH_Quat4fSub(a, b, out) \ + BH_Vec4fSub(a, b, out) /** - * Calculates linear interpolation between two vectors. - * - * result = a + (b - a) * t + * Scales \a a quaternion by the value \a b and stores result into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A quaternion + * \param b B value + * \param out Output quaternion */ -void bh_point2i_lerp(const bh_point2i_t *a, - const bh_point2i_t *b, - float t, - bh_point2i_t *result); +#define BH_Quat4fScale(a, b, out) \ + BH_Vec4fScale(a, b, out) /** - * Adds components of two quaternions. - * - * result = a + b + * Negates \a in quaternion and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param in Input quaternion + * \param out Output quaternion */ -#define bh_quat_add bh_point4f_add +#define BH_Quat4fNegate(in, out) \ + BH_Vec4fNegate(in, out) /** - * Subtracts components of two quaternions. + * Computes dot product of \a a and \a b quaternions and returns the result. * - * result = a - b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A quaternion + * \param b B quaternion */ -#define bh_quat_sub bh_point4f_sub +#define BH_Quat4fDot(a, b) \ + BH_Vec4fDot(a, b) /** - * Scales the quaternion. - * - * result = a * b + * Computes length of the \a in quaternion and returns the result. * - * \param a Value - * \param b Factor - * \param result Result + * \param in Input quaternion */ -#define bh_quat_scale bh_point4f_scale +#define BH_Quat4fLength(in) \ + BH_Vec4fLength(in) /** - * Negates the quaternion. + * Computes normal quaternion from the \a in and stores result into \a out. * - * result = -in - * - * \param in Value - * \param result Result + * \param in Input quaternion + * \param out Output quaternion */ -#define bh_quat_negate bh_point4f_negate +#define BH_Quat4fNormal(in, out) \ + BH_Vec4fNormal(in, out) /** - * Calculates the dot product of two quaternions. - * - * \param a Value - * \param b Value + * Interpolates between \a a and \a b quaternion by \a t amount and stores + * result into \a out. * - * \return Returns the dot product. + * \param a A quaternion + * \param b B quaternion + * \param t Amount + * \param out Output quaternion */ -#define bh_quat_dot bh_point4f_dot +#define BH_Quat4fLerp(a, b, t, out) \ + BH_Vec4fLerp(a, b, t, out) /** - * Calculates the length of the quaternion. + * Stores identity quaternion into \a out. * - * \param in Value - * - * \return Returns the length. + * \param out Output quaternion. */ -#define bh_quat_length bh_point4f_length +void BH_Quat4fIdentity(float *out); /** - * Normilizes the quaternion. - * - * result = in / |in| + * Conjugates the \a in quaternion and stores result into \a out. * - * \param in Value - * \param result Result + * \param in Input quaternion + * \param out Output quaternion */ -#define bh_quat_normal bh_point4f_normal +void BH_Quat4fConjugate(const float *in, + float *out); /** - * Calculates linear interpolation between two quaternions. + * Computes the inverse of the \a in quaternion and stores result into \a out. * - * result = a + (b - a) * t - * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param in Input quaternion + * \param out Output quaternion */ -#define bh_quat_lerp bh_point4f_lerp +void BH_Quat4fInverse(const float *in, + float *out); /** - * Calculates spherical linear interpolation between two quaternions. + * Multiplies the \a a and \a b quaternions and stores result into \a out. * - * \param a Value - * \param b Value - * \param t Factor - * \param result Result + * \param a A quaternion + * \param b B quaternion + * \param out Output quaternion */ -#define bh_quat_slerp bh_point4f_slerp +void BH_Quat4fMul(const float *a, + const float *b, + float *out); /** - * Sets quaternions to identity. + * Spherically interpolates between \a a and \a b quaternions by \a t amount and + * stores result into \a out. * - * \param result Result + * \param a A quaternion + * \param b B quaternion + * \param t Amount + * \param out Output quaternion */ -void bh_quat_identity(bh_quat_t *result); +void BH_Quat4fSlerp(const float *a, + const float *b, + float t, + float *out); /** - * Conjugates the quaternion. - * - * result = (-in.x, -in.y, -in.z, in.w) + * Computes the quaternion that represents \a roll, \a pitch, \a yaw (euler + * angles) and stores result into \a out. * - * \param in Value - * \param result Result - */ -void bh_quat_conjugate(const bh_quat_t *in, - bh_quat_t *result); - - -/** - * Calculates the inverse of the quaternion. + * Order of the rotation is ZYX (yaw, pitch, roll) * - * \param in Value - * \param result Result - */ -void 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 - */ -void 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 + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param out Output quaternion */ -void bh_quat_set_euler(float roll, - float pitch, - float yaw, - bh_quat_t *result); +void BH_Quat4fFromEuler(float roll, + float pitch, + float yaw, + float *out); /** - * Sets quaternion from axis of rotation and angle. + * Computes quaternion that represents rotation by angle \a angle around + * axis \a axis and stores result into \a out. * - * \param axis Axis - * \param angle Angle - * \param result Result + * \param axis Axis 3D vector + * \param angle Angle + * \param out Output quaternion */ -void bh_quat_set_rotation(const bh_point3f_t *axis, - float angle, - bh_quat_t *result); +void BH_Quat4fFromAxis(const float *axis, + float angle, + float *out); /** - * Calculates euler angles (roll, pitch, yaw) from quaternion. + * 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). + * Order of the rotation is ZYX (yaw, pitch, roll) * - * \param in Value - * \param roll Roll - * \param pitch Pitch - * \param yaw Yaw + * \param in Input quaternion + * \param roll Output roll + * \param pitch Output pitch + * \param yaw Output yaw */ -void bh_quat_euler(const bh_quat_t *in, - float *roll, - float *pitch, - float *yaw); +void BH_Quat4fToEuler(const float *in, + float *roll, + float *pitch, + float *yaw); /** - * Calculates axis of rotation and angle from quaternion. + * Computes rotation around axis from quaternion \a in and stores result into + * \a axis and \a angle. * - * \param in Value - * \param axis Axis - * \param angle Angle + * \param in Input quaternion + * \param axis Output axis 3D vector + * \param angle Output angle */ -void bh_quat_rotation(const bh_quat_t *in, - bh_point3f_t *axis, - float *angle); +void BH_Quat4fToAxis(const float *in, + float *axis, + float *angle); /** - * Calculates rotation matrix from quaternion. + * Computes 4x4 rotation matrix from quaternion \a in and stores result into + * \a out. * - * \param in Value - * \param result Result + * \param in Input quaternion + * \param out Output 4x4 matrix */ -void bh_quat_matrix(const bh_quat_t *in, - bh_matrix4f_t *result); +void BH_Quat4fToMat4f(const float *in, + float *out); /** - * Sets matrix to identity. + * Stores identity matrix into \a out. * - * \param result Result + * \param out Output 4x4 matrix. */ -void bh_matrix4f_identity(bh_matrix4f_t *result); +void BH_Mat4fIdentity(float *out); /** - * Adds two matricies. - * - * result = a + b + * Adds \a a and \a b floating point matricies and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix */ -void bh_matrix4f_add(const bh_matrix4f_t *a, - const bh_matrix4f_t *b, - bh_matrix4f_t *result); +void BH_Mat4fAdd(const float *a, + const float *b, + float *out); /** - * Subtracts two matricies. + * Subtracts \a a and \a b floating point matricies and stores result into + * \a out. * - * result = a - b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix */ -void bh_matrix4f_sub(const bh_matrix4f_t *a, - const bh_matrix4f_t *b, - bh_matrix4f_t *result); +void BH_Mat4fSub(const float *a, + const float *b, + float *out); /** - * Multiplies two matricies. - * - * result = a * b + * Multiplies \a a and \a b floating point matricies and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 4x4 matrix + * \param b B 4x4 matrix + * \param out Output 4x4 matrix */ -void bh_matrix4f_mul(const bh_matrix4f_t *a, - const bh_matrix4f_t *b, - bh_matrix4f_t *result); +void BH_Mat4fMul(const float *a, + const float *b, + float *out); /** - * Scales the matrix. + * Scales \a a matrix by the value \a b and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 4x4 matrix + * \param b B value + * \param out Output 4x4 matrix */ -void bh_matrix4f_scale(const bh_matrix4f_t *a, - float b, - bh_matrix4f_t *result); +void BH_Mat4fScale(const float *a, + float b, + float *out); /** - * Transposes the matrix. - * - * result = a^T + * Transposes matrix \a in and stores result into \a out. * - * \param in Value - * \param result Result + * \param in Input 4x4 matrix + * \param out Output 4x4 matrix */ -void bh_matrix4f_transpose(const bh_matrix4f_t *in, - bh_matrix4f_t *result); +void BH_Mat4fTranspose(const float *in, + float *out); /** - * Calculates the trace of the matrix. + * Computes \a in matrix trace and returns the result. * - * \param in Value - * - * \return Returns trace value. + * \param in Input 4x4 matrix */ -float bh_matrix4f_trace(const bh_matrix4f_t *in); +float BH_Mat4fTrace(const float *in); /** - * Calculates the determinant of the matrix. - * - * \param in Value + * Computes \a in matrix determinant and returns the result. * - * \return Returns determinant value. + * \param in Input 4x4 matrix */ -float bh_matrix4f_determinant(const bh_matrix4f_t *in); +float BH_Mat4fDet(const float *in); /** - * Calculates the inverse of the matrix. - * - * If matrix has no inverse - identity matrix will be returned. - * - * result = in^-1 + * Computes inverse of \a in matrix and stores result into \a out. * - * \param in Value - * \param result Result + * \param in Input 4x4 matrix + * \param out OUtput 4x4 matrix * - * \return On success, returns inverse of the matrix. - * \return On failure, returns identity matrix. + * \return On success, returns zero. + * \return On failure, returns error code. */ -int bh_matrix4f_inverse(const bh_matrix4f_t *in, - bh_matrix4f_t *result); +int BH_Mat4fInverse(const float *in, + float *out); /** - * Calculates scaling matrix. + * 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 result Result + * \param x X scale + * \param y Y scale + * \param z Z scale + * \param out Output 4x4 matrix */ -void bh_matrix4f_scaling(float x, - float y, - float z, - bh_matrix4f_t *result); +void BH_Mat4fFromScale(float x, + float y, + float z, + float *out); /** - * Calculates translation matrix. + * Computes translation 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 result Result + * \param x X translation + * \param y Y translation + * \param z Z translation + * \param out Output 4x4 matrix */ -void bh_matrix4f_translation(float x, +void BH_Mat4fFromTranslation(float x, float y, float z, - bh_matrix4f_t *result); + float *out); /** - * Calculates x-rotation matrix (or rotation around x axis). + * Computes rotation matrix around x axis with angle \a angle and stores + * result \a out. * - * \param angle Angle - * \param result Result + * \param angle Angle + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation_x(float angle, - bh_matrix4f_t *result); +void BH_Mat4fFromRotationX(float angle, + float *out); /** - * Calculates y-rotation matrix (or rotation around y axis). + * Computes rotation matrix around y axis with angle \a angle and stores + * result \a out. * - * \param angle Angle - * \param result Result + * \param angle Angle + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation_y(float angle, - bh_matrix4f_t *result); +void BH_Mat4fFromRotationY(float angle, + float *out); /** - * Calculates z-rotation matrix (or rotation around z axis). + * Computes rotation matrix around z axis with angle \a angle and stores + * result \a out. * - * \param angle Angle - * \param result Result + * \param angle Angle + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation_z(float angle, - bh_matrix4f_t *result); +void BH_Mat4fFromRotationZ(float angle, + float *out); /** - * Calculates rotation matrix around axis. + * Computes rotation matrix around axis \a axis with angle \a angle and stores + * result \a out. * - * \param axis Axis - * \param angle Angle - * \param result Result + * \param axis Axis 3D vector + * \param angle Angle + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation(const bh_point3f_t *axis, - float angle, - bh_matrix4f_t *result); +void BH_Mat4fFromAxis(const float *axis, + float angle, + float *out); /** - * Calculates rotation matrix from euler angles (roll, pitch, yaw). + * 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). + * Order of the rotation is ZYX (yaw, pitch, roll) * - * \param roll Roll - * \param pitch Pitch - * \param yaw Yaw - * \param result Result + * \param roll Roll + * \param pitch Pitch + * \param yaw Yaw + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation_euler(float roll, - float pitch, - float yaw, - bh_matrix4f_t *result); +void BH_Mat4fFromEuler(float roll, + float pitch, + float yaw, + float *out); /** - * Calculates rotation matrix from quaternion. + * Computes 4x4 rotation matrix from quaternion \a in and stores result into + * \a out. * - * \param rotation Quaternion - * \param result Result + * \param in Input quaternion + * \param out Output 4x4 matrix */ -void bh_matrix4f_rotation_quat(bh_quat_t *rotation, - bh_matrix4f_t *result); +void BH_Mat4fFromQuat4f(const float *in, + float *out); /** - * Calculates orthographic projection matrix. + * Computes orthographic projection matrix and stores result into \a out. * - * \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 + * \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_matrix4f_ortho(float x_min, - float x_max, - float y_min, - float y_max, - float z_min, - float z_max, - bh_matrix4f_t *result); +void BH_Mat4fFromOrtho(float xMin, + float xMax, + float yMin, + float yMax, + float zMin, + float zMax, + float *out); /** - * Calculates perspective projection matrix. + * Computes perspective projection matrix and stores result into \a out. * * \param fov Field of view * \param aspect Aspect ratio - * \param z_min Min z - * \param z_max Max z - * \param result Result + * \param z_min Min z value + * \param z_max Max z value + * \param out Output 4x4 matrix */ -void bh_matrix4f_perspective(float fov, - float aspect, - float z_min, - float z_max, - bh_matrix4f_t *result); +void BH_Mat4fFromFrustum(float fov, + float aspect, + float zMin, + float zMax, + float *out); /** - * Calculates camera view matrix. + * Computes camera view matrix and stores result into \a out. * - * \param camera Position - * \param at Target - * \param up Up - * \param result Result + * \param pos Position vector + * \param at Target vector + * \param up Up vector + * \param out Output 4x4 matrix */ -void bh_matrix4f_lookat(const bh_point3f_t *camera, - const bh_point3f_t *at, - const bh_point3f_t *up, - bh_matrix4f_t *result); +void BH_Mat4fFromLookAt(const float *pos, + const float *at, + const float *up, + float *out); /** - * Applies matrix to vector. + * Multiplies matrix \a a by vector \a b and stores result into \a out. * - * \param a Matrix - * \param b Vector - * \param result Result + * \param a A 4x4 matrix + * \param b B 4D vector + * \param out Output 4D vector */ -void bh_matrix4f_transform_point3f(const bh_matrix4f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Mat4fApplyVec4f(const float *a, + const float *b, + float *out); /** - * Applies matrix to vector. + * Multiplies matrix \a a by vector \a b and stores result into \a out. * - * \param a Matrix - * \param b Vector - * \param result Result + * \param a A 4x4 matrix + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_matrix4f_transform_point4f(const bh_matrix4f_t *a, - const bh_point4f_t *b, - bh_point4f_t *result); +void BH_Mat4fApplyVec4f(const float *a, + const float *b, + float *out); /** - * Sets matrix to identity. + * Stores identity matrix into \a out. * - * \param result Result + * \param out Output 3x3 matrix. */ -void bh_matrix3f_identity(bh_matrix3f_t *result); +void BH_Mat3fIdentity(float *out); /** - * Adds two matricies. - * - * result = a + b + * Adds \a a and \a b floating point matricies and stores result into \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix */ -void bh_matrix3f_add(const bh_matrix3f_t *a, - const bh_matrix3f_t *b, - bh_matrix3f_t *result); +void BH_Mat3fAdd(const float *a, + const float *b, + float *out); /** - * Subtracts two matricies. + * Subtracts \a a and \a b floating point matricies and stores result into + * \a out. * - * result = a - b - * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix */ -void bh_matrix3f_sub(const bh_matrix3f_t *a, - const bh_matrix3f_t *b, - bh_matrix3f_t *result); +void BH_Mat3fSub(const float *a, + const float *b, + float *out); /** - * Multiplies two matricies. - * - * result = a * b + * Multiplies \a a and \a b floating point matricies and stores result into + * \a out. * - * \param a Value - * \param b Value - * \param result Result + * \param a A 3x3 matrix + * \param b B 3x3 matrix + * \param out Output 3x3 matrix */ -void bh_matrix3f_mul(const bh_matrix3f_t *a, - const bh_matrix3f_t *b, - bh_matrix3f_t *result); +void BH_Mat3fMul(const float *a, + const float *b, + float *out); /** - * Scales the matrix. + * Scales \a a matrix by the value \a b and stores result into \a out. * - * result = a * b - * - * \param a Value - * \param b Factor - * \param result Result + * \param a A 3x3 matrix + * \param b B value + * \param out Output 3x3 matrix */ -void bh_matrix3f_scale(const bh_matrix3f_t *a, - float b, - bh_matrix3f_t *result); +void BH_Mat3fScale(const float *a, + float b, + float *out); /** - * Transposes the matrix. - * - * result = a^T + * Transposes matrix \a in and stores result into \a out. * - * \param in Value - * \param result Result + * \param in Input 3x3 matrix + * \param out Output 3x3 matrix */ -void bh_matrix3f_transpose(const bh_matrix3f_t *in, - bh_matrix3f_t *result); +void BH_Mat3fTranspose(const float *in, + float *out); /** - * Calculates the trace of the matrix. + * Computes \a in matrix trace and returns the result. * - * \param in Value - * - * \return Returns trace value. + * \param in Input 3x3 matrix */ -float bh_matrix3f_trace(const bh_matrix3f_t *in); +float BH_Mat3fTrace(const float *in); /** - * Calculates the determinant of the matrix. - * - * \param in Value + * Computes \a in matrix determinant and returns the result. * - * \return Returns determinant value. + * \param in Input 3x3 matrix */ -float bh_matrix3f_determinant(const bh_matrix3f_t *in); +float BH_Mat3fDet(const float *in); /** - * Calculates the inverse of the matrix. + * Computes inverse of \a in matrix and stores result into \a out. * - * If matrix has no inverse - identity matrix will be returned. + * \param in Input 3x3 matrix + * \param out OUtput 3x3 matrix * - * result = in^-1 - * - * \param in Value - * \param result Result - * - * \return On success, returns inverse of the matrix. - * \return On failure, returns identity matrix. + * \return On success, returns zero. + * \return On failure, returns error code. */ -int bh_matrix3f_inverse(const bh_matrix3f_t *in, - bh_matrix3f_t *result); +int BH_Mat3fInverse(const float *in, + float *out); /** - * Calculates scaling matrix. + * Computes scaling matrix from values \a x, \a y and stores result into + * \a out. * - * \param x X scale - * \param y Y scale - * \param z Z scale - * \param result Result + * \param x X scale + * \param y Y scale + * \param out Output 3x3 matrix */ -void bh_matrix3f_scaling(float x, - float y, - bh_matrix3f_t *result); +void BH_Mat3fFromScale(float x, + float y, + float *out); /** - * Calculates translation matrix. + * Computes translation matrix from values \a x, \a y and stores result + * into \a out. * - * \param x X scale - * \param y Y scale - * \param z Z scale - * \param result Result + * \param x X translation + * \param y Y translation + * \param out Output 3x3 matrix */ -void bh_matrix3f_translation(float x, +void BH_Mat3fFromTranslation(float x, float y, - bh_matrix3f_t *result); + float *out); /** - * Calculates rotation matrix. + * Computes rotation matrix around with angle \a angle and stores result \a out. * - * \param angle Angle - * \param result Result + * \param angle Angle + * \param out Output 3x3 matrix */ -void bh_matrix3f_rotation(float angle, - bh_matrix3f_t *result); +void BH_Mat3fFromRotation(float angle, + float *out); /** - * Applies matrix to vector. + * Multiplies matrix \a a by vector \a b and stores result into \a out. * - * \param a Matrix - * \param b Vector - * \param result Result + * \param a A 3x3 matrix + * \param b B 3D vector + * \param out Output 3D vector */ -void bh_matrix3f_transform_point2f(const bh_matrix3f_t *a, - const bh_point2f_t *b, - bh_point2f_t *result); +void BH_Mat3fApplyVec3f(float *a, + float *b, + float *out); /** - * Applies matrix to vector. + * Multiplies matrix \a a by vector \a b and stores result into \a out. * - * \param a Matrix - * \param b Vector - * \param result Result + * \param a A 3x3 matrix + * \param b B 2D vector + * \param out Output 2D vector */ -void bh_matrix3f_transform_point3f(const bh_matrix3f_t *a, - const bh_point3f_t *b, - bh_point3f_t *result); +void BH_Mat3fApplyVec2f(float *a, + float *b, + float *out); #endif /* BH_MATH_H */ |