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#ifndef _MATH3D_H_
#define _MATH3D_H_
#include <math.h>
#include <string.h>
#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 M3DVector3f[3]; /* vector of 3 floats */
typedef float M3DVector2f[2]; /* vector of 2 floats */
/* this is the targa header, pragmas are needed to do the voodoo magic */
/* http://gcc.gnu.org/onlinedocs/gcc-4.4.0/gcc/ */
#pragma pack(1)
typedef struct
{
GLbyte identsize; /* Size of id field that follows header (0) */
GLbyte imageType; /* 0 = none, 1 = indexed, 2 = rgb, 3 = grey, +8 = rle */
GLbyte colorMapType; /* 0 = none, 1 = paletted */
unsigned short colorMapStart; /* first colour map entry */
unsigned short colorMapLength; /* number of colors */
unsigned char colorMapBits; /* bits per palette entry */
unsigned short xstart; /* image x origin */
unsigned short ystart; /* image y origin */
unsigned short width; /* width in pixels */
unsigned short height; /* height in pixels */
GLbyte bits; /* bits per pixel (8 16, 24, 32) */
GLbyte descriptor; /* image descriptor */
} TGAHEADER;
#pragma pack(1)
/* math function prototypes */
void m3dFindNormal(M3DVector3f, const M3DVector3f, const M3DVector3f,
const M3DVector3f);
void m3dLoadIdentity44(M3DMatrix44f);
void m3dRotationMatrix44(M3DMatrix44f, float, float, float, float);
void gltDrawTorus(GLfloat, GLfloat, GLint, GLint);
void DrawJet(int);
void gltDrawUnitAxes(void);
void m3dMatrixMultiply44(M3DMatrix44f, const M3DMatrix44f, const M3DMatrix44f);
/* other function prototypes */
GLint gltWriteTGA(const char *);
GLbyte *gltLoadTGA(const char *, GLint *, GLint *, GLint *, GLenum *);
static inline void m3dCrossProduct(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 m3dTransformVector3(M3DVector3f vOut, const M3DVector3f v,
const M3DMatrix44f m)
{
vOut[0] = m[0] * v[0] + m[4] * v[1] + m[8] * v[2] + m[12]; /* * v[3]; */
vOut[1] = m[1] * v[0] + m[5] * v[1] + m[9] * v[2] + m[13]; /* * v[3]; */
vOut[2] = m[2] * v[0] + m[6] * v[1] + m[10] * v[2] + m[14]; /* * v[3]; */
/* vOut[3] = m[3] * v[0] + m[7] * v[1] + m[11] * v[2] + m[15] * v[3]; */
}
static inline void m3dScaleVector3(M3DVector3f v, float scale)
{
v[0] *= scale;
v[1] *= scale;
v[2] *= scale;
}
static inline float m3dGetVectorLengthSquared(const M3DVector3f u)
{
return (u[0] * u[0]) + (u[1] * u[1]) + (u[2] * u[2]);
}
static inline float m3dGetVectorLength(const M3DVector3f u)
{
return (float) (sqrt((double) (m3dGetVectorLengthSquared(u))));
}
static inline void m3dNormalizeVector(M3DVector3f u)
{
m3dScaleVector3(u, 1.0f / m3dGetVectorLength(u));
}
static inline void m3dTranslateMatrix44(M3DMatrix44f m, float x, float y,
float z)
{
m[12] += x;
m[13] += y;
m[14] += z;
}
static inline void m3dScaleMatrix44(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 m3dTransposeMatrix44(M3DMatrix44f dst,
const M3DMatrix44f src)
{
TRANSPOSE44(dst, src);
}
#endif
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