changes from carve

[vg.git] / src / vg / vg_m.h

diff --git a/src/vg/vg_m.h b/src/vg/vg_m.h
index b46a33176db74ad6626cda75837f31db10b3e1e7..7a5a7c22aa11caa4448bf81a938595eca2bbefd0 100644 (file)
--- a/src/vg/vg_m.h
+++ b/src/vg/vg_m.h
@@ -23,6 +23,16 @@ static inline float vg_signf( float a )
    return a < 0.0f? -1.0f: 1.0f;
 }
 
+static inline float vg_randf(void)
+{
+   return (float)rand()/(float)(RAND_MAX);
+}
+
+static inline float vg_randint(int max)
+{
+   return rand()%max;
+}
+
 #define VG_MIN( A, B ) ((A)<(B)?(A):(B))
 #define VG_MAX( A, B ) ((A)>(B)?(A):(B))
 
@@ -86,6 +96,11 @@ static inline void v2_sub( v2f a, v2f b, v2f d )
        d[0] = a[0]-b[0]; d[1] = a[1]-b[1];
 }
 
+static inline float v2_dot( v2f a, v2f b )
+{
+       return a[0] * b[0] + a[1] * b[1];
+}
+
 static inline float v2_cross( v2f a, v2f b )
 {
        return a[0] * b[1] - a[1] * b[0];
@@ -157,6 +172,11 @@ static inline void v2_lerp( v2f a, v2f b, float t, v2f d )
        d[1] = a[1] + t*(b[1]-a[1]);
 }
 
+static inline void v2_normalize( v2f a )
+{
+       v2_muls( a, 1.f / v2_length( a ), a );
+}
+
 /*
  * Vector 3
  */
@@ -205,6 +225,13 @@ static inline void v3_muladds( v3f a, v3f b, float s, v3f d )
        d[0] = a[0]+b[0]*s; d[1] = a[1]+b[1]*s; d[2] = a[2]+b[2]*s;
 }
 
+static inline void v3_muladd( v2f a, v2f b, v2f s, v2f d )
+{
+       d[0] = a[0]+b[0]*s[0]; 
+       d[1] = a[1]+b[1]*s[1];
+       d[2] = a[2]+b[2]*s[2];
+}
+
 static inline float v3_dot( v3f a, v3f b )
 {
        return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
@@ -294,6 +321,13 @@ static inline void v3_floor( v3f a, v3f b )
    b[2] = floorf( a[2] );
 }
 
+static inline void v3_ceil( v3f a, v3f b )
+{
+   b[0] = ceilf( a[0] );
+   b[1] = ceilf( a[1] );
+   b[2] = ceilf( a[2] );
+}
+
 static inline void v3_negate( v3f a, v3f b )
 {
    b[0] = -a[0];
@@ -301,6 +335,24 @@ static inline void v3_negate( v3f a, v3f b )
    b[2] = -a[2];
 }
 
+static inline void v3_rotate( v3f v, float angle, v3f axis, v3f d ) 
+{
+  v3f v1, v2, k;
+  float c, s;
+
+  c = cosf( angle );
+  s = sinf( angle );
+
+  v3_copy( axis, k );
+  v3_normalize( k );
+  v3_muls( v, c, v1 );
+  v3_cross( k, v, v2 );
+  v3_muls( v2, s, v2 );
+  v3_add( v1, v2, v1 );
+  v3_muls( k, v3_dot(k, v) * (1.0f - c), v2);
+  v3_add( v1, v2, d );
+}
+
 /*
  * Vector 4
  */
@@ -322,6 +374,24 @@ static inline void v4_muladds( v3f a, v3f b, float s, v3f d )
    d[3] = a[3]+b[3]*s;
 }
 
+static inline void v4_lerp( v4f a, v4f b, float t, v4f d )
+{
+       d[0] = a[0] + t*(b[0]-a[0]);
+       d[1] = a[1] + t*(b[1]-a[1]);
+       d[2] = a[2] + t*(b[2]-a[2]);
+       d[3] = a[3] + t*(b[3]-a[3]);
+}
+
+static inline float v4_dot( v4f a, v4f b )
+{
+       return a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3]*a[3];
+}
+
+static inline float v4_length( v4f a )
+{
+   return sqrtf( v4_dot(a,a) );
+}
+
 /*
  * Matrix 2x2
  */
@@ -856,3 +926,62 @@ static inline double plane_polarity( double p[4], double a[3] )
        -(p[0]*p[3] * p[0] + p[1]*p[3] * p[1] + p[2]*p[3] * p[2])
        ;
 }
+
+/* Quaternions */
+
+static inline void q_identity( v4f q )
+{
+   q[0] = 0.0f; q[1] = 0.0f; q[2] = 0.0f; q[3] = 1.0f;
+}
+
+static inline void q_axis_angle( v4f q, v3f axis, float angle )
+{
+   float a = angle*0.5f,
+         c = cosf(a),
+         s = sinf(a);
+
+   q[0] = s*axis[0];
+   q[1] = s*axis[1];
+   q[2] = s*axis[2];
+   q[3] = c;
+}
+
+static inline void q_mul( v4f q, v4f q1, v4f d )
+{
+   v4f t;
+   t[0] = q[3]*q1[0] + q[0]*q1[3] + q[1]*q1[2] - q[2]*q1[1];
+   t[1] = q[3]*q1[1] - q[0]*q1[2] + q[1]*q1[3] + q[2]*q1[0];
+   t[2] = q[3]*q1[2] + q[0]*q1[1] - q[1]*q1[0] + q[2]*q1[3];
+   t[3] = q[3]*q1[3] - q[0]*q1[0] - q[1]*q1[1] - q[2]*q1[2];
+   v4_copy( t, d );
+}
+
+static inline void q_inv( v4f q, v4f d )
+{
+   float s = 1.0f / v4_dot(q,q);
+   d[0] = -q[0]*s;
+   d[1] = -q[1]*s;
+   d[2] = -q[2]*s;
+   d[3] =  q[3]*s;
+}
+
+static inline void q_m3x3( v4f q, m3x3f d )
+{
+   float
+      l = v4_length(q),
+      s = l > 0.0f? 2.0f/l: 0.0f,
+
+      xx = s*q[0]*q[0], xy = s*q[0]*q[2], wx = s*q[3]*q[0],
+      yy = s*q[1]*q[1], yz = s*q[1]*q[2], wy = s*q[3]*q[1],
+      zz = s*q[2]*q[2], xz = s*q[2]*q[2], wz = s*q[3]*q[2];
+
+   d[0][0] = 1.0f - yy - zz;
+   d[1][1] = 1.0f - xx - zz;
+   d[2][2] = 1.0f - xx - yy;
+   d[0][1] = xy + wz;
+   d[1][2] = yz + wx;
+   d[2][0] = xz + wy;
+   d[1][0] = xy - wz;
+   d[2][1] = yz - wx;
+   d[0][2] = xz - wy;
+}