Adapted raymath as single header library
Added support for single header implementation and also inline functions support
This commit is contained in:
raysan5
parent
c8e8c0a002
commit
efa1c96d19
45
src/core.c
45
src/core.c
@ -38,10 +38,13 @@
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#include "raylib.h" // raylib main header
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#include "rlgl.h" // raylib OpenGL abstraction layer to OpenGL 1.1, 3.3+ or ES2
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#include "raymath.h" // Required for data type Matrix and Matrix functions
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#include "utils.h" // TraceLog() function
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// NOTE: Includes Android fopen map, InitAssetManager()
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#define RAYMATH_IMPLEMENTATION // Use raymath as a header-only library (includes implementation)
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#define RAYMATH_EXTERN_INLINE // Compile raymath functions as static inline (remember, it's a compiler hint)
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#include "raymath.h" // Required for Vector3 and Matrix functions
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#include <stdio.h> // Standard input / output lib
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#include <stdlib.h> // Declares malloc() and free() for memory management, rand(), atexit()
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#include <stdint.h> // Required for typedef unsigned long long int uint64_t, used by hi-res timer
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@ -643,6 +646,46 @@ float *ColorToFloat(Color color)
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return buffer;
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}
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// Converts Vector3 to float array
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float *VectorToFloat(Vector3 vec)
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{
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static float buffer[3];
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buffer[0] = vec.x;
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buffer[1] = vec.y;
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buffer[2] = vec.z;
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return buffer;
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}
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// Converts Matrix to float array
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// NOTE: Returned vector is a transposed version of the Matrix struct,
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// it should be this way because, despite raymath use OpenGL column-major convention,
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// Matrix struct memory alignment and variables naming are not coherent
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float *MatrixToFloat(Matrix mat)
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{
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static float buffer[16];
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buffer[0] = mat.m0;
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buffer[1] = mat.m4;
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buffer[2] = mat.m8;
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buffer[3] = mat.m12;
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buffer[4] = mat.m1;
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buffer[5] = mat.m5;
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buffer[6] = mat.m9;
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buffer[7] = mat.m13;
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buffer[8] = mat.m2;
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buffer[9] = mat.m6;
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buffer[10] = mat.m10;
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buffer[11] = mat.m14;
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buffer[12] = mat.m3;
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buffer[13] = mat.m7;
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buffer[14] = mat.m11;
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buffer[15] = mat.m15;
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return buffer;
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}
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// Returns a Color struct from hexadecimal value
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Color GetColor(int hexValue)
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{
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@ -34,8 +34,8 @@
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#include <string.h> // Required for strcmp()
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#include <math.h> // Used for sin, cos, tan
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#include "raymath.h" // Required for data type Matrix and Matrix functions
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#include "rlgl.h" // raylib OpenGL abstraction layer to OpenGL 1.1, 3.3+ or ES2
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#include "raymath.h" // Required for data type Matrix and Matrix functions
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//----------------------------------------------------------------------------------
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// Defines and Macros
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@ -1373,8 +1373,8 @@ bool CheckCollisionRayBox(Ray ray, Vector3 minBBox, Vector3 maxBBox)
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BoundingBox CalculateBoundingBox(Mesh mesh)
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{
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// Get min and max vertex to construct bounds (AABB)
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Vector3 minVertex = mesh.vertices[0];
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Vector3 maxVertex = mesh.vertices[0];
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Vector3 minVertex = (Vector3){ mesh.vertices[0], mesh.vertices[1], mesh.vertices[2] };
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Vector3 maxVertex = (Vector3){ mesh.vertices[0], mesh.vertices[1], mesh.vertices[2] };
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for (int i = 1; i < mesh.vertexCount; i++)
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{
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@ -547,8 +547,8 @@ float GetFrameTime(void); // Returns time in s
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Color GetColor(int hexValue); // Returns a Color struct from hexadecimal value
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int GetHexValue(Color color); // Returns hexadecimal value for a Color
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float *ColorToFloat(Color color); // Converts Color to float array and normalizes
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float *VectorToFloat(Vector3 vec); // Converts Vector3 to float array (defined in raymath module)
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float *MatrixToVector(Matrix mat); // Converts Matrix to float array (defined in raymath module)
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float *VectorToFloat(Vector3 vec); // Converts Vector3 to float array
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float *MatrixToFloat(Matrix mat); // Converts Matrix to float array
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int GetRandomValue(int min, int max); // Returns a random value between min and max (both included)
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Color Fade(Color color, float alpha); // Color fade-in or fade-out, alpha goes from 0.0f to 1.0f
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414
src/raymath.h
414
src/raymath.h
@ -1,9 +1,23 @@
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/**********************************************************************************************
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*
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* raymath
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* raymath (header only file)
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*
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* Some useful functions to work with Vector3, Matrix and Quaternions
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*
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* You must:
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* #define RAYMATH_IMPLEMENTATION
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* before you include this file in *only one* C or C++ file to create the implementation.
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*
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* Example:
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* #define RAYMATH_IMPLEMENTATION
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* #include "raymath.h"
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*
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* You can also use:
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* #define RAYMATH_EXTERN_INLINE // Inlines all functions code, so it runs faster.
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* // This requires lots of memory on system.
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* #define RAYMATH_STANDALONE // Not dependent on raylib.h structs: Vector3, Matrix.
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*
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*
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* Copyright (c) 2015 Ramon Santamaria (@raysan5)
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*
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* This software is provided "as-is", without any express or implied warranty. In no event
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@ -22,37 +36,21 @@
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* 3. This notice may not be removed or altered from any source distribution.
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*
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**********************************************************************************************/
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//============================================================================
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// YOU MUST
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//
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// #define RAYMATH_DEFINE
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//
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// Like:
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//
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// #define RAYMATH_DEFINE
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// #include "raymath.h"
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//
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// YOU CAN:
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// #define RAYMATH_INLINE //inlines all code, so it runs faster. This requires lots of memory on system.
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// AND
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// #define RAYMATH_STANDALONE //not dependent on outside libs
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//
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// This needs to be done for every library/source file.
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//============================================================================
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#ifdef RAYMATH_INLINE
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#define RMDEF static inline
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#else
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#define RMDEF static
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#endif
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#ifndef RAYMATH_H
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#define RAYMATH_H
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//#define RAYMATH_STANDALONE // NOTE: To use raymath as standalone lib, just uncomment this line
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//#define RAYMATH_STANDALONE // NOTE: To use raymath as standalone lib, just uncomment this line
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//#define RAYMATH_EXTERN_INLINE // NOTE: To compile functions as static inline, uncomment this line
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#ifndef RAYMATH_STANDALONE
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#include "raylib.h" // Required for typedef: Vector3
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#include "raylib.h" // Required for structs: Vector3, Matrix
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#endif
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#if defined(RAYMATH_EXTERN_INLINE)
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#define RMDEF extern inline
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#else
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#define RMDEF extern
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#endif
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//----------------------------------------------------------------------------------
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@ -63,18 +61,18 @@
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#endif
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#ifndef DEG2RAD
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#define DEG2RAD (PI / 180.0f)
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#define DEG2RAD (PI/180.0f)
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#endif
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#ifndef RAD2DEG
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#define RAD2DEG (180.0f / PI)
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#define RAD2DEG (180.0f/PI)
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#endif
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//----------------------------------------------------------------------------------
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// Types and Structures Definition
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//----------------------------------------------------------------------------------
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#ifdef RAYMATH_STANDALONE
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#if defined(RAYMATH_STANDALONE)
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// Vector2 type
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typedef struct Vector2 {
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float x;
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@ -105,7 +103,77 @@ typedef struct Quaternion {
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float w;
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} Quaternion;
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#ifdef RAYMATH_DEFINE
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#ifndef RAYMATH_EXTERN_INLINE
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#ifdef __cplusplus
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extern "C" {
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#endif
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//------------------------------------------------------------------------------------
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// Functions Declaration to work with Vector3
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//------------------------------------------------------------------------------------
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RMDEF Vector3 VectorAdd(Vector3 v1, Vector3 v2); // Add two vectors
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RMDEF Vector3 VectorSubtract(Vector3 v1, Vector3 v2); // Substract two vectors
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RMDEF Vector3 VectorCrossProduct(Vector3 v1, Vector3 v2); // Calculate two vectors cross product
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RMDEF Vector3 VectorPerpendicular(Vector3 v); // Calculate one vector perpendicular vector
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RMDEF float VectorDotProduct(Vector3 v1, Vector3 v2); // Calculate two vectors dot product
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RMDEF float VectorLength(const Vector3 v); // Calculate vector lenght
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RMDEF void VectorScale(Vector3 *v, float scale); // Scale provided vector
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RMDEF void VectorNegate(Vector3 *v); // Negate provided vector (invert direction)
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RMDEF void VectorNormalize(Vector3 *v); // Normalize provided vector
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RMDEF float VectorDistance(Vector3 v1, Vector3 v2); // Calculate distance between two points
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RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount); // Calculate linear interpolation between two vectors
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RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal); // Calculate reflected vector to normal
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RMDEF void VectorTransform(Vector3 *v, Matrix mat); // Transforms a Vector3 by a given Matrix
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RMDEF Vector3 VectorZero(void); // Return a Vector3 init to zero
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//------------------------------------------------------------------------------------
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// Functions Declaration to work with Matrix
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//------------------------------------------------------------------------------------
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RMDEF float MatrixDeterminant(Matrix mat); // Compute matrix determinant
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RMDEF float MatrixTrace(Matrix mat); // Returns the trace of the matrix (sum of the values along the diagonal)
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RMDEF void MatrixTranspose(Matrix *mat); // Transposes provided matrix
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RMDEF void MatrixInvert(Matrix *mat); // Invert provided matrix
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RMDEF void MatrixNormalize(Matrix *mat); // Normalize provided matrix
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RMDEF Matrix MatrixIdentity(void); // Returns identity matrix
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RMDEF Matrix MatrixAdd(Matrix left, Matrix right); // Add two matrices
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RMDEF Matrix MatrixSubstract(Matrix left, Matrix right); // Substract two matrices (left - right)
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RMDEF Matrix MatrixTranslate(float x, float y, float z); // Returns translation matrix
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RMDEF Matrix MatrixRotate(float angle, Vector3 axis); // Returns rotation matrix for an angle around an specified axis (angle in radians)
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RMDEF Matrix MatrixRotateX(float angle); // Returns x-rotation matrix (angle in radians)
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RMDEF Matrix MatrixRotateY(float angle); // Returns y-rotation matrix (angle in radians)
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RMDEF Matrix MatrixRotateZ(float angle); // Returns z-rotation matrix (angle in radians)
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RMDEF Matrix MatrixScale(float x, float y, float z); // Returns scaling matrix
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RMDEF Matrix MatrixMultiply(Matrix left, Matrix right); // Returns two matrix multiplication
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RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far); // Returns perspective projection matrix
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RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far); // Returns perspective projection matrix
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RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far); // Returns orthographic projection matrix
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RMDEF Matrix MatrixLookAt(Vector3 position, Vector3 target, Vector3 up); // Returns camera look-at matrix (view matrix)
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RMDEF void PrintMatrix(Matrix m); // Print matrix utility
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//------------------------------------------------------------------------------------
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// Functions Declaration to work with Quaternions
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//------------------------------------------------------------------------------------
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RMDEF float QuaternionLength(Quaternion quat); // Compute the length of a quaternion
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RMDEF void QuaternionNormalize(Quaternion *q); // Normalize provided quaternion
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RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calculate two quaternion multiplication
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RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
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RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix
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RMDEF Matrix QuaternionToMatrix(Quaternion q); // Returns a matrix for a given quaternion
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RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis); // Returns rotation quaternion for an angle and axis
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RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis); // Returns the rotation angle and axis for a given quaternion
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RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix
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#ifdef __cplusplus
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}
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#endif
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#endif // notdef RAYMATH_EXTERN_INLINE
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//////////////////////////////////////////////////////////////////// end of header file
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#if defined(RAYMATH_IMPLEMENTATION) || defined(RAYMATH_EXTERN_INLINE)
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#include <stdio.h> // Used only on PrintMatrix()
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#include <math.h> // Standard math libary: sin(), cos(), tan()...
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#include <stdlib.h> // Used for abs()
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@ -114,18 +182,6 @@ typedef struct Quaternion {
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// Module Functions Definition - Vector3 math
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//----------------------------------------------------------------------------------
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// Converts Vector3 to float array
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RMDEF float *VectorToFloat(Vector3 vec)
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{
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static float buffer[3];
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buffer[0] = vec.x;
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buffer[1] = vec.y;
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buffer[2] = vec.z;
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return buffer;
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}
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// Add two vectors
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RMDEF Vector3 VectorAdd(Vector3 v1, Vector3 v2)
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{
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@ -229,9 +285,9 @@ RMDEF void VectorNormalize(Vector3 *v)
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length = VectorLength(*v);
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if (length == 0) length = 1;
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if (length == 0) length = 1.0f;
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ilength = 1.0/length;
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ilength = 1.0f/length;
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v->x *= ilength;
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v->y *= ilength;
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@ -257,9 +313,9 @@ RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount)
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{
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Vector3 result;
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result.x = v1.x + amount * (v2.x - v1.x);
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result.y = v1.y + amount * (v2.y - v1.y);
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result.z = v1.z + amount * (v2.z - v1.z);
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result.x = v1.x + amount*(v2.x - v1.x);
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result.y = v1.y + amount*(v2.y - v1.y);
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result.z = v1.z + amount*(v2.z - v1.z);
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return result;
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}
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@ -269,15 +325,15 @@ RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal)
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{
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// I is the original vector
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// N is the normal of the incident plane
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// R = I - (2 * N * ( DotProduct[ I,N] ))
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// R = I - (2*N*( DotProduct[ I,N] ))
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Vector3 result;
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float dotProduct = VectorDotProduct(vector, normal);
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result.x = vector.x - (2.0 * normal.x) * dotProduct;
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result.y = vector.y - (2.0 * normal.y) * dotProduct;
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result.z = vector.z - (2.0 * normal.z) * dotProduct;
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result.x = vector.x - (2.0f*normal.x)*dotProduct;
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result.y = vector.y - (2.0f*normal.y)*dotProduct;
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result.z = vector.z - (2.0f*normal.z)*dotProduct;
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return result;
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}
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@ -308,34 +364,6 @@ RMDEF Vector3 VectorZero(void)
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// Module Functions Definition - Matrix math
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//----------------------------------------------------------------------------------
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// Converts Matrix to float array
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// NOTE: Returned vector is a transposed version of the Matrix struct,
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// it should be this way because, despite raymath use OpenGL column-major convention,
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// Matrix struct memory alignment and variables naming are not coherent
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RMDEF float *MatrixToFloat(Matrix mat)
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{
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static float buffer[16];
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buffer[0] = mat.m0;
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buffer[1] = mat.m4;
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buffer[2] = mat.m8;
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buffer[3] = mat.m12;
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buffer[4] = mat.m1;
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buffer[5] = mat.m5;
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buffer[6] = mat.m9;
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buffer[7] = mat.m13;
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buffer[8] = mat.m2;
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buffer[9] = mat.m6;
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buffer[10] = mat.m10;
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buffer[11] = mat.m14;
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buffer[12] = mat.m3;
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buffer[13] = mat.m7;
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buffer[14] = mat.m11;
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buffer[15] = mat.m15;
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return buffer;
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}
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// Compute matrix determinant
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RMDEF float MatrixDeterminant(Matrix mat)
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{
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@ -413,7 +441,7 @@ RMDEF void MatrixInvert(Matrix *mat)
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float b11 = a22*a33 - a23*a32;
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// Calculate the invert determinant (inlined to avoid double-caching)
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float invDet = 1/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
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float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06);
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temp.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet;
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temp.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet;
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@ -461,7 +489,10 @@ RMDEF void MatrixNormalize(Matrix *mat)
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// Returns identity matrix
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RMDEF Matrix MatrixIdentity(void)
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{
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Matrix result = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1 };
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Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f };
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return result;
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}
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@ -519,7 +550,10 @@ RMDEF Matrix MatrixSubstract(Matrix left, Matrix right)
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// Returns translation matrix
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RMDEF Matrix MatrixTranslate(float x, float y, float z)
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{
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Matrix result = { 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, x, y, z, 1 };
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Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f,
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x, y, z, 1.0f };
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return result;
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}
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@ -536,9 +570,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
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float length = sqrt(x*x + y*y + z*z);
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if ((length != 1) && (length != 0))
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if ((length != 1.0f) && (length != 0.0f))
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{
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length = 1/length;
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length = 1.0f/length;
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x *= length;
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y *= length;
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z *= length;
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@ -594,15 +628,15 @@ RMDEF Matrix MatrixRotate(float angle, float x, float y, float z)
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m2 = result.m2, m6 = result.m6, m10 = result.m10, m14 = result.m14;
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// build rotation matrix
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float r0 = x * x * c1 + c;
|
||||
float r1 = x * y * c1 + z * s;
|
||||
float r2 = x * z * c1 - y * s;
|
||||
float r4 = x * y * c1 - z * s;
|
||||
float r5 = y * y * c1 + c;
|
||||
float r6 = y * z * c1 + x * s;
|
||||
float r8 = x * z * c1 + y * s;
|
||||
float r9 = y * z * c1 - x * s;
|
||||
float r10= z * z * c1 + c;
|
||||
float r0 = x*x*c1 + c;
|
||||
float r1 = x*y*c1 + z*s;
|
||||
float r2 = x*z*c1 - y*s;
|
||||
float r4 = x*y*c1 - z*s;
|
||||
float r5 = y*y*c1 + c;
|
||||
float r6 = y*z*c1 + x*s;
|
||||
float r8 = x*z*c1 + y*s;
|
||||
float r9 = y*z*c1 - x*s;
|
||||
float r10= z*z*c1 + c;
|
||||
|
||||
// multiply rotation matrix
|
||||
result.m0 = r0*m0 + r4*m1 + r8*m2;
|
||||
@ -673,7 +707,10 @@ RMDEF Matrix MatrixRotateZ(float angle)
|
||||
// Returns scaling matrix
|
||||
RMDEF Matrix MatrixScale(float x, float y, float z)
|
||||
{
|
||||
Matrix result = { x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1 };
|
||||
Matrix result = { x, 0.0f, 0.0f, 0.0f,
|
||||
0.0f, y, 0.0f, 0.0f,
|
||||
0.0f, 0.0f, z, 0.0f,
|
||||
0.0f, 0.0f, 0.0f, 1.0f };
|
||||
|
||||
return result;
|
||||
}
|
||||
@ -713,25 +750,25 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top,
|
||||
float tb = (top - bottom);
|
||||
float fn = (far - near);
|
||||
|
||||
result.m0 = (near*2.0f) / rl;
|
||||
result.m1 = 0;
|
||||
result.m2 = 0;
|
||||
result.m3 = 0;
|
||||
result.m0 = (near*2.0f)/rl;
|
||||
result.m1 = 0.0f;
|
||||
result.m2 = 0.0f;
|
||||
result.m3 = 0.0f;
|
||||
|
||||
result.m4 = 0;
|
||||
result.m5 = (near*2.0f) / tb;
|
||||
result.m6 = 0;
|
||||
result.m7 = 0;
|
||||
result.m4 = 0.0f;
|
||||
result.m5 = (near*2.0f)/tb;
|
||||
result.m6 = 0.0f;
|
||||
result.m7 = 0.0f;
|
||||
|
||||
result.m8 = (right + left) / rl;
|
||||
result.m9 = (top + bottom) / tb;
|
||||
result.m10 = -(far + near) / fn;
|
||||
result.m8 = (right + left)/rl;
|
||||
result.m9 = (top + bottom)/tb;
|
||||
result.m10 = -(far + near)/fn;
|
||||
result.m11 = -1.0f;
|
||||
|
||||
result.m12 = 0;
|
||||
result.m13 = 0;
|
||||
result.m14 = -(far*near*2.0f) / fn;
|
||||
result.m15 = 0;
|
||||
result.m12 = 0.0f;
|
||||
result.m13 = 0.0f;
|
||||
result.m14 = -(far*near*2.0f)/fn;
|
||||
result.m15 = 0.0f;
|
||||
|
||||
return result;
|
||||
}
|
||||
@ -739,7 +776,7 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top,
|
||||
// Returns perspective projection matrix
|
||||
RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far)
|
||||
{
|
||||
double top = near*tanf(fovy*PI / 360.0f);
|
||||
double top = near*tanf(fovy*PI/360.0f);
|
||||
double right = top*aspect;
|
||||
|
||||
return MatrixFrustum(-right, right, -top, top, near, far);
|
||||
@ -754,22 +791,22 @@ RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, d
|
||||
float tb = (top - bottom);
|
||||
float fn = (far - near);
|
||||
|
||||
result.m0 = 2 / rl;
|
||||
result.m1 = 0;
|
||||
result.m2 = 0;
|
||||
result.m3 = 0;
|
||||
result.m4 = 0;
|
||||
result.m5 = 2 / tb;
|
||||
result.m6 = 0;
|
||||
result.m7 = 0;
|
||||
result.m8 = 0;
|
||||
result.m9 = 0;
|
||||
result.m10 = -2 / fn;
|
||||
result.m11 = 0;
|
||||
result.m12 = -(left + right) / rl;
|
||||
result.m13 = -(top + bottom) / tb;
|
||||
result.m14 = -(far + near) / fn;
|
||||
result.m15 = 1;
|
||||
result.m0 = 2.0f/rl;
|
||||
result.m1 = 0.0f;
|
||||
result.m2 = 0.0f;
|
||||
result.m3 = 0.0f;
|
||||
result.m4 = 0.0f;
|
||||
result.m5 = 2.0f/tb;
|
||||
result.m6 = 0.0f;
|
||||
result.m7 = 0.0f;
|
||||
result.m8 = 0.0f;
|
||||
result.m9 = 0.0f;
|
||||
result.m10 = -2.0f/fn;
|
||||
result.m11 = 0.0f;
|
||||
result.m12 = -(left + right)/rl;
|
||||
result.m13 = -(top + bottom)/tb;
|
||||
result.m14 = -(far + near)/fn;
|
||||
result.m15 = 1.0f;
|
||||
|
||||
return result;
|
||||
}
|
||||
@ -789,19 +826,19 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up)
|
||||
result.m0 = x.x;
|
||||
result.m1 = x.y;
|
||||
result.m2 = x.z;
|
||||
result.m3 = -((x.x * eye.x) + (x.y * eye.y) + (x.z * eye.z));
|
||||
result.m3 = -((x.x*eye.x) + (x.y*eye.y) + (x.z*eye.z));
|
||||
result.m4 = y.x;
|
||||
result.m5 = y.y;
|
||||
result.m6 = y.z;
|
||||
result.m7 = -((y.x * eye.x) + (y.y * eye.y) + (y.z * eye.z));
|
||||
result.m7 = -((y.x*eye.x) + (y.y*eye.y) + (y.z*eye.z));
|
||||
result.m8 = z.x;
|
||||
result.m9 = z.y;
|
||||
result.m10 = z.z;
|
||||
result.m11 = -((z.x * eye.x) + (z.y * eye.y) + (z.z * eye.z));
|
||||
result.m12 = 0;
|
||||
result.m13 = 0;
|
||||
result.m14 = 0;
|
||||
result.m15 = 1;
|
||||
result.m11 = -((z.x*eye.x) + (z.y*eye.y) + (z.z*eye.z));
|
||||
result.m12 = 0.0f;
|
||||
result.m13 = 0.0f;
|
||||
result.m14 = 0.0f;
|
||||
result.m15 = 1.0f;
|
||||
|
||||
return result;
|
||||
}
|
||||
@ -834,9 +871,9 @@ RMDEF void QuaternionNormalize(Quaternion *q)
|
||||
|
||||
length = QuaternionLength(*q);
|
||||
|
||||
if (length == 0) length = 1;
|
||||
if (length == 0.0f) length = 1.0f;
|
||||
|
||||
ilength = 1.0/length;
|
||||
ilength = 1.0f/length;
|
||||
|
||||
q->x *= ilength;
|
||||
q->y *= ilength;
|
||||
@ -882,8 +919,8 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
|
||||
}
|
||||
else
|
||||
{
|
||||
float ratioA = sin((1 - amount)*halfTheta) / sinHalfTheta;
|
||||
float ratioB = sin(amount*halfTheta) / sinHalfTheta;
|
||||
float ratioA = sin((1 - amount)*halfTheta)/sinHalfTheta;
|
||||
float ratioB = sin(amount*halfTheta)/sinHalfTheta;
|
||||
|
||||
result.x = (q1.x*ratioA + q2.x*ratioB);
|
||||
result.y = (q1.y*ratioA + q2.y*ratioB);
|
||||
@ -902,15 +939,15 @@ RMDEF Quaternion QuaternionFromMatrix(Matrix matrix)
|
||||
|
||||
float trace = MatrixTrace(matrix);
|
||||
|
||||
if (trace > 0)
|
||||
if (trace > 0.0f)
|
||||
{
|
||||
float s = (float)sqrt(trace + 1) * 2;
|
||||
float invS = 1 / s;
|
||||
float s = (float)sqrt(trace + 1)*2.0f;
|
||||
float invS = 1.0f/s;
|
||||
|
||||
result.w = s * 0.25;
|
||||
result.x = (matrix.m6 - matrix.m9) * invS;
|
||||
result.y = (matrix.m8 - matrix.m2) * invS;
|
||||
result.z = (matrix.m1 - matrix.m4) * invS;
|
||||
result.w = s*0.25f;
|
||||
result.x = (matrix.m6 - matrix.m9)*invS;
|
||||
result.y = (matrix.m8 - matrix.m2)*invS;
|
||||
result.z = (matrix.m1 - matrix.m4)*invS;
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -918,33 +955,33 @@ RMDEF Quaternion QuaternionFromMatrix(Matrix matrix)
|
||||
|
||||
if (m00 > m11 && m00 > m22)
|
||||
{
|
||||
float s = (float)sqrt(1 + m00 - m11 - m22) * 2;
|
||||
float invS = 1 / s;
|
||||
float s = (float)sqrt(1.0f + m00 - m11 - m22)*2.0f;
|
||||
float invS = 1.0f/s;
|
||||
|
||||
result.w = (matrix.m6 - matrix.m9) * invS;
|
||||
result.x = s * 0.25;
|
||||
result.y = (matrix.m4 + matrix.m1) * invS;
|
||||
result.z = (matrix.m8 + matrix.m2) * invS;
|
||||
result.w = (matrix.m6 - matrix.m9)*invS;
|
||||
result.x = s*0.25f;
|
||||
result.y = (matrix.m4 + matrix.m1)*invS;
|
||||
result.z = (matrix.m8 + matrix.m2)*invS;
|
||||
}
|
||||
else if (m11 > m22)
|
||||
{
|
||||
float s = (float)sqrt(1 + m11 - m00 - m22) * 2;
|
||||
float invS = 1 / s;
|
||||
float s = (float)sqrt(1.0f + m11 - m00 - m22)*2.0f;
|
||||
float invS = 1.0f/s;
|
||||
|
||||
result.w = (matrix.m8 - matrix.m2) * invS;
|
||||
result.x = (matrix.m4 + matrix.m1) * invS;
|
||||
result.y = s * 0.25;
|
||||
result.z = (matrix.m9 + matrix.m6) * invS;
|
||||
result.w = (matrix.m8 - matrix.m2)*invS;
|
||||
result.x = (matrix.m4 + matrix.m1)*invS;
|
||||
result.y = s*0.25f;
|
||||
result.z = (matrix.m9 + matrix.m6)*invS;
|
||||
}
|
||||
else
|
||||
{
|
||||
float s = (float)sqrt(1 + m22 - m00 - m11) * 2;
|
||||
float invS = 1 / s;
|
||||
float s = (float)sqrt(1.0f + m22 - m00 - m11)*2.0f;
|
||||
float invS = 1.0f/s;
|
||||
|
||||
result.w = (matrix.m1 - matrix.m4) * invS;
|
||||
result.x = (matrix.m8 + matrix.m2) * invS;
|
||||
result.y = (matrix.m9 + matrix.m6) * invS;
|
||||
result.z = s * 0.25;
|
||||
result.w = (matrix.m1 - matrix.m4)*invS;
|
||||
result.x = (matrix.m8 + matrix.m2)*invS;
|
||||
result.y = (matrix.m9 + matrix.m6)*invS;
|
||||
result.z = s*0.25f;
|
||||
}
|
||||
}
|
||||
|
||||
@ -974,22 +1011,22 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q)
|
||||
float wy = w*y2;
|
||||
float wz = w*z2;
|
||||
|
||||
result.m0 = 1 - (yy + zz);
|
||||
result.m0 = 1.0f - (yy + zz);
|
||||
result.m1 = xy - wz;
|
||||
result.m2 = xz + wy;
|
||||
result.m3 = 0;
|
||||
result.m3 = 0.0f;
|
||||
result.m4 = xy + wz;
|
||||
result.m5 = 1 - (xx + zz);
|
||||
result.m5 = 1.0f - (xx + zz);
|
||||
result.m6 = yz - wx;
|
||||
result.m7 = 0;
|
||||
result.m7 = 0.0f;
|
||||
result.m8 = xz - wy;
|
||||
result.m9 = yz + wx;
|
||||
result.m10 = 1 - (xx + yy);
|
||||
result.m11 = 0;
|
||||
result.m12 = 0;
|
||||
result.m13 = 0;
|
||||
result.m14 = 0;
|
||||
result.m15 = 1;
|
||||
result.m10 = 1.0f - (xx + yy);
|
||||
result.m11 = 0.0f;
|
||||
result.m12 = 0.0f;
|
||||
result.m13 = 0.0f;
|
||||
result.m14 = 0.0f;
|
||||
result.m15 = 1.0f;
|
||||
|
||||
return result;
|
||||
}
|
||||
@ -998,17 +1035,17 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q)
|
||||
// NOTE: angle must be provided in radians
|
||||
RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
|
||||
{
|
||||
Quaternion result = { 0, 0, 0, 1 };
|
||||
Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
|
||||
|
||||
if (VectorLength(axis) != 0.0)
|
||||
if (VectorLength(axis) != 0.0f)
|
||||
|
||||
angle *= 0.5;
|
||||
angle *= 0.5f;
|
||||
|
||||
VectorNormalize(&axis);
|
||||
|
||||
result.x = axis.x * (float)sin(angle);
|
||||
result.y = axis.y * (float)sin(angle);
|
||||
result.z = axis.z * (float)sin(angle);
|
||||
result.x = axis.x*(float)sin(angle);
|
||||
result.y = axis.y*(float)sin(angle);
|
||||
result.z = axis.z*(float)sin(angle);
|
||||
result.w = (float)cos(angle);
|
||||
|
||||
QuaternionNormalize(&result);
|
||||
@ -1021,23 +1058,23 @@ RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis
|
||||
{
|
||||
if (fabs(q.w) > 1.0f) QuaternionNormalize(&q);
|
||||
|
||||
Vector3 resAxis = { 0, 0, 0 };
|
||||
float resAngle = 0;
|
||||
Vector3 resAxis = { 0.0f, 0.0f, 0.0f };
|
||||
float resAngle = 0.0f;
|
||||
|
||||
resAngle = 2.0f * (float)acos(q.w);
|
||||
float den = (float)sqrt(1.0 - q.w * q.w);
|
||||
resAngle = 2.0f*(float)acos(q.w);
|
||||
float den = (float)sqrt(1.0f - q.w*q.w);
|
||||
|
||||
if (den > 0.0001f)
|
||||
{
|
||||
resAxis.x = q.x / den;
|
||||
resAxis.y = q.y / den;
|
||||
resAxis.z = q.z / den;
|
||||
resAxis.x = q.x/den;
|
||||
resAxis.y = q.y/den;
|
||||
resAxis.z = q.z/den;
|
||||
}
|
||||
else
|
||||
{
|
||||
// This occurs when the angle is zero.
|
||||
// Not a problem: just set an arbitrary normalized axis.
|
||||
resAxis.x = 1.0;
|
||||
resAxis.x = 1.0f;
|
||||
}
|
||||
|
||||
*outAxis = resAxis;
|
||||
@ -1058,5 +1095,6 @@ RMDEF void QuaternionTransform(Quaternion *q, Matrix mat)
|
||||
q->w = mat.m3*x + mat.m7*y + mat.m11*z + mat.m15*w;
|
||||
}
|
||||
|
||||
#endif // RAYMATH_DEFINE
|
||||
#endif // RAYMATH_H
|
||||
#endif // RAYMATH_IMPLEMENTATION
|
||||
|
||||
#endif // RAYMATH_H
|
||||
@ -32,6 +32,8 @@
|
||||
#include <stdlib.h> // Declares malloc() and free() for memory management, rand()
|
||||
#include <string.h> // Declares strcmp(), strlen(), strtok()
|
||||
|
||||
#include "raymath.h" // Required for Vector3 and Matrix functions
|
||||
|
||||
#if defined(GRAPHICS_API_OPENGL_11)
|
||||
#ifdef __APPLE__ // OpenGL include for OSX
|
||||
#include <OpenGL/gl.h>
|
||||
|
||||
@ -37,11 +37,12 @@
|
||||
#endif
|
||||
|
||||
#if defined(RLGL_STANDALONE)
|
||||
#define RAYMATH_STANDALONE
|
||||
#define RAYMATH_IMPLEMENTATION // Use raymath as a header-only library (includes implementation)
|
||||
#define RAYMATH_EXTERN_INLINE // Compile raymath functions as static inline (remember, it's a compiler hint)
|
||||
#define RAYMATH_STANDALONE // Not dependent on raylib.h structs: Vector3, Matrix
|
||||
#include "raymath.h" // Required for Vector3 and Matrix functions
|
||||
#endif
|
||||
|
||||
#include "raymath.h" // Required for data type Matrix and Matrix functions
|
||||
|
||||
// Select desired OpenGL version
|
||||
// NOTE: Those preprocessor defines are only used on rlgl module,
|
||||
// if OpenGL version is required by any other module, it uses rlGetVersion()
|
||||
@ -92,7 +93,7 @@ typedef enum { RL_LINES, RL_TRIANGLES, RL_QUADS } DrawMode;
|
||||
|
||||
typedef enum { OPENGL_11 = 1, OPENGL_33, OPENGL_ES_20 } GlVersion;
|
||||
|
||||
#ifdef RLGL_STANDALONE
|
||||
#if defined(RLGL_STANDALONE)
|
||||
#ifndef __cplusplus
|
||||
// Boolean type
|
||||
typedef enum { false, true } bool;
|
||||
|
||||
Loading…
Reference in New Issue
Block a user