#ifndef _MATH3D_H_ #define _MATH3D_H_ #include #include #include #include #include #include #define M3D_PI (3.14159265358979323846) #define M3D_PI_DIV_180 (0.017453292519943296) #define M3D_INV_PI_DIV_180 (57.2957795130823229) #define m3dDegToRad(x) ((x)*M3D_PI_DIV_180) #define m3dRadToDeg(x) ((x)*M3D_INV_PI_DIV_180) typedef float M3DMatrix44f[16]; /* 4x4 matrix */ typedef float M3DMatrix33f[9]; /* 3x3 matrix */ typedef float M3DVector4f[4]; /* vector of 4 floats */ typedef float M3DVector3f[3]; /* vector of 3 floats */ typedef float M3DVector2f[2]; /* vector of 2 floats */ /* math function prototypes */ void m3dFindNormalf(M3DVector3f, const M3DVector3f, const M3DVector3f, const M3DVector3f); void m3dLoadIdentity33f(M3DMatrix33f); void m3dLoadIdentity44f(M3DMatrix44f); void m3dGetPlaneEquationf(M3DVector4f, const M3DVector3f, const M3DVector3f, const M3DVector3f); void m3dRotationMatrix44f(M3DMatrix44f, float, float, float, float); void m3dMakePlanarShadowMatrixf(M3DMatrix44f, const M3DVector4f, const M3DVector3f); void m3dMatrixMultiply44f(M3DMatrix44f, const M3DMatrix44f, const M3DMatrix44f); static inline void m3dCrossProductf(M3DVector3f result, const M3DVector3f u, const M3DVector3f v) { result[0] = u[1] * v[2] - v[1] * u[2]; result[1] = -u[0] * v[2] + v[0] * u[2]; result[2] = u[0] * v[1] - v[0] * u[1]; } static inline void m3dTransformVector3f(M3DVector3f vOut, const M3DVector3f v, const M3DMatrix44f m) { vOut[0] = m[0] * v[0] + m[4] * v[1] + m[8] * v[2] + m[12]; vOut[1] = m[1] * v[0] + m[5] * v[1] + m[9] * v[2] + m[13]; vOut[2] = m[2] * v[0] + m[6] * v[1] + m[10] * v[2] + m[14]; } static inline void m3dScaleVector3f(M3DVector3f v, float scale) { v[0] *= scale; v[1] *= scale; v[2] *= scale; } static inline float m3dGetVectorLengthSquaredf(const M3DVector3f u) { return (u[0] * u[0]) + (u[1] * u[1]) + (u[2] * u[2]); } static inline float m3dGetVectorLengthf(const M3DVector3f u) { return (float) (sqrt((double) (m3dGetVectorLengthSquaredf(u)))); } static inline void m3dNormalizeVectorf(M3DVector3f u) { m3dScaleVector3f(u, 1.0f / m3dGetVectorLengthf(u)); } static inline void m3dTranslateMatrix44f(M3DMatrix44f m, float x, float y, float z) { m[12] += x; m[13] += y; m[14] += z; } static inline void m3dScaleMatrix44f(M3DMatrix44f m, float x, float y, float z) { m[0] *= x; m[5] *= y; m[10] *= z; } /* transpose / invert, only 4x4 matricies supported */ #define TRANSPOSE44(dst, src) \ { \ int i, j; \ for (j = 0; j < 4; j++) \ { \ for (i = 0; i < 4; i++) \ { \ dst[(j*4)+i] = src[(i*4)+j]; \ } \ } \ } static inline void m3dTransposeMatrix44f(M3DMatrix44f dst, const M3DMatrix44f src) { TRANSPOSE44(dst, src); } static inline void m3dCopyVector3f(M3DVector3f dst, const M3DVector3f src) { memcpy(dst, src, sizeof(M3DVector3f)); } #endif