142 lines
7.9 KiB
C
142 lines
7.9 KiB
C
/**********************************************************************************************
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*
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* raymath
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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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* Copyright (c) 2014 Ramon Santamaria (Ray San - raysan@raysanweb.com)
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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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* will the authors be held liable for any damages arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose, including commercial
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* applications, and to alter it and redistribute it freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not claim that you
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* wrote the original software. If you use this software in a product, an acknowledgment
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* in the product documentation would be appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be misrepresented
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* as being the original software.
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*
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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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#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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#ifndef RAYMATH_STANDALONE
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#include "raylib.h" // Required for typedef: Vector3
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#endif
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//----------------------------------------------------------------------------------
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// Defines and Macros
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//----------------------------------------------------------------------------------
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#ifndef PI
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#define PI 3.14159265358979323846
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#endif
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#define DEG2RAD (PI / 180.0f)
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#define RAD2DEG (180.0f / PI)
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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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// Vector3 type
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typedef struct Vector3 {
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float x;
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float y;
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float z;
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} Vector3;
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#endif
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// Matrix type (OpenGL style 4x4 - right handed, column major)
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typedef struct Matrix {
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float m0, m4, m8, m12;
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float m1, m5, m9, m13;
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float m2, m6, m10, m14;
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float m3, m7, m11, m15;
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} Matrix;
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// Quaternion type
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typedef struct Quaternion {
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float x;
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float y;
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float z;
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float w;
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} Quaternion;
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#ifdef __cplusplus
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extern "C" { // Prevents name mangling of functions
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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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Vector3 VectorAdd(Vector3 v1, Vector3 v2); // Add two vectors
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Vector3 VectorSubtract(Vector3 v1, Vector3 v2); // Substract two vectors
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Vector3 VectorCrossProduct(Vector3 v1, Vector3 v2); // Calculate two vectors cross product
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Vector3 VectorPerpendicular(Vector3 v); // Calculate one vector perpendicular vector
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float VectorDotProduct(Vector3 v1, Vector3 v2); // Calculate two vectors dot product
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float VectorLength(const Vector3 v); // Calculate vector lenght
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void VectorScale(Vector3 *v, float scale); // Scale provided vector
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void VectorNegate(Vector3 *v); // Negate provided vector (invert direction)
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void VectorNormalize(Vector3 *v); // Normalize provided vector
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float VectorDistance(Vector3 v1, Vector3 v2); // Calculate distance between two points
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Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount); // Calculate linear interpolation between two vectors
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Vector3 VectorReflect(Vector3 vector, Vector3 normal); // Calculate reflected vector to normal
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void VectorTransform(Vector3 *v, Matrix mat); // Transforms a Vector3 with a given Matrix
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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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float *GetMatrixVector(Matrix mat); // Returns an OpenGL-ready vector (glMultMatrixf)
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float MatrixDeterminant(Matrix mat); // Compute matrix determinant
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float MatrixTrace(Matrix mat); // Returns the trace of the matrix (sum of the values along the diagonal)
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void MatrixTranspose(Matrix *mat); // Transposes provided matrix
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void MatrixInvert(Matrix *mat); // Invert provided matrix
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void MatrixNormalize(Matrix *mat); // Normalize provided matrix
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Matrix MatrixIdentity(void); // Returns identity matrix
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Matrix MatrixAdd(Matrix left, Matrix right); // Add two matrices
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Matrix MatrixSubstract(Matrix left, Matrix right); // Substract two matrices (left - right)
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Matrix MatrixTranslate(float x, float y, float z); // Returns translation matrix
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Matrix MatrixRotate(float axisX, float axisY, float axisZ); // Returns rotation matrix
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Matrix MatrixFromAxisAngle(Vector3 axis, float angle); // Returns rotation matrix for an angle around an specified axis
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Matrix MatrixFromAxisAngle2(Vector3 axis, float angle); // Returns rotation matrix for an angle around an specified axis (test another implemntation)
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Matrix MatrixFromQuaternion(Quaternion q); // Returns rotation matrix for a given quaternion
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Matrix MatrixRotateX(float angle); // Returns x-rotation matrix (angle in radians)
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Matrix MatrixRotateY(float angle); // Returns y-rotation matrix (angle in radians)
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Matrix MatrixRotateZ(float angle); // Returns z-rotation matrix (angle in radians)
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Matrix MatrixScale(float x, float y, float z); // Returns scaling matrix
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Matrix MatrixTransform(Vector3 translation, Vector3 rotation, Vector3 scale); // Returns transformation matrix for a given translation, rotation and scale
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Matrix MatrixMultiply(Matrix left, Matrix right); // Returns two matrix multiplication
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Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far); // Returns perspective projection matrix
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Matrix MatrixPerspective(double fovy, double aspect, double near, double far); // Returns perspective projection matrix
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Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far); // Returns orthographic projection matrix
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Matrix MatrixLookAt(Vector3 position, Vector3 target, Vector3 up); // Returns camera look-at matrix (view matrix)
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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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float QuaternionLength(Quaternion quat); // Calculates the length of a quaternion
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void QuaternionNormalize(Quaternion *q); // Normalize provided quaternion
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Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calculate two quaternion multiplication
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Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
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Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion from a given rotation matrix
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Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle); // Returns rotation quaternion for an angle around an axis
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Matrix QuaternionToMatrix(Quaternion q); // Calculates the matrix from the given quaternion
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void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the axis and the angle for a given quaternion
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#ifdef __cplusplus
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}
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#endif
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#endif // RAYMATH_H
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