rmath3d 1.0.0

data/ext/rmath3d/RQuat.h

@@ -0,0 +1,92 @@
+/* -*- C -*- */
+#ifndef RMATHQUAT_H_INCLUDED
+#define RMATHQUAT_H_INCLUDED
+
+#include "RType.h"
+
+struct RVec3;
+struct RMtx4;
+
+typedef struct RQuat
+{
+    union
+    {
+        struct
+        {
+            rmReal x, y, z, w;
+        };
+        rmReal e[4];
+    };
+} RQuat;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void    RQuatSetElements( RQuat* out, rmReal x, rmReal y, rmReal z, rmReal w );
+void    RQuatSetElement( RQuat* out, int at, rmReal f );
+void    RQuatSetX( RQuat* out, rmReal x );
+void    RQuatSetY( RQuat* out, rmReal y );
+void    RQuatSetZ( RQuat* out, rmReal z );
+void    RQuatSetW( RQuat* out, rmReal w );
+void    RQuatSetXYZ( RQuat* out, const struct RVec3* v );
+
+rmReal  RQuatGetElement( const RQuat* in, int at );
+rmReal  RQuatGetX( const RQuat* in );
+rmReal  RQuatGetY( const RQuat* in );
+rmReal  RQuatGetZ( const RQuat* in );
+rmReal  RQuatGetW( const RQuat* in );
+void    RQuatGetXYZ( struct RVec3* out, const RQuat* in );
+
+int     RQuatEqual( const RQuat* q1, const RQuat* q2 );
+rmReal  RQuatDot( const RQuat* q1, const RQuat* q2 );
+
+void    RQuatIdentity( RQuat* out );
+void    RQuatCopy( RQuat* out, const RQuat* in );
+void    RQuatNormalize( RQuat* out, const RQuat* in );
+void    RQuatConjugate( RQuat* out, const RQuat* in );
+void    RQuatInverse( RQuat* out, const RQuat* in );
+
+void    RQuatAdd( RQuat* out, const RQuat* q1, const RQuat* q2 );
+void    RQuatSub( RQuat* out, const RQuat* q1, const RQuat* q2 );
+void    RQuatMul( RQuat* out, const RQuat* q1, const RQuat* q2 );
+void    RQuatScale( RQuat* out, const RQuat* in, rmReal f );
+
+rmReal  RQuatLength( const RQuat* in );
+rmReal  RQuatLengthSq( const RQuat* in );
+
+void    RQuatSlerp( RQuat* out, const RQuat* q1, const RQuat* q2, rmReal t );
+
+void    RQuatRotationMatrix( RQuat* out, const struct RMtx4* mtx );
+void    RQuatRotationAxis( RQuat* out, const struct RVec3* axis, rmReal radian );
+void    RQuatToAxisAngle( const RQuat* in, struct RVec3* axis, rmReal* radian );
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+
+/*
+RMath : Ruby math module for 3D Applications
+Copyright (c) 2008- vaiorabbit  <http://twitter.com/vaiorabbit>
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+ */

data/ext/rmath3d/RType.h

@@ -0,0 +1,76 @@
+#ifndef RTYPE_H_INCLUDED
+#define RTYPE_H_INCLUDED
+
+/*
+ * Build Configuration
+ *
+ * * RMATH_SINGLE_PRECISION : float (32-bit single scalar)
+ */
+/*
+#define RMATH_SINGLE_PRECISION
+*/
+
+
+#if defined(RMATH_SINGLE_PRECISION)
+typedef float  rmReal;
+#else
+typedef double rmReal;
+#endif
+
+#if defined(RMATH_SINGLE_PRECISION)
+# define RMATH_TOLERANCE (1e-6)
+#else
+# define RMATH_TOLERANCE (1e-15)
+#endif
+
+#if defined(RMATH_SINGLE_PRECISION)
+
+#define rmAcos  acosf
+#define rmAsin  asinf
+#define rmAtan  atanf
+#define rmAtan2 atan2f
+#define rmCos   cosf
+#define rmSin   sinf
+#define rmTan   tanf
+#define rmSqrt  sqrtf
+#define rmFabs  fabsf
+
+#else
+
+#define rmAcos  acos
+#define rmAsin  asin
+#define rmAtan  atan
+#define rmAtan2 atan2
+#define rmCos   cos
+#define rmSin   sin
+#define rmTan   tan
+#define rmSqrt  sqrt
+#define rmFabs  fabs
+
+#endif
+
+#endif
+
+/*
+RMath : Ruby math module for 3D Applications
+Copyright (c) 2008- vaiorabbit  <http://twitter.com/vaiorabbit>
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+ */

data/ext/rmath3d/RVec3.c

@@ -0,0 +1,285 @@
+#include <math.h>
+#include <string.h>
+
+#include "RVec3.h"
+#include "RVec4.h"
+#include "RQuat.h"
+#include "RMtx3.h"
+#include "RMtx4.h"
+
+#define SET_ELEMENT( out, at, f )
+
+void
+RVec3SetElement( RVec3* out, int at, rmReal f )
+{
+    out->e[at] = f;
+}
+
+void
+RVec3SetX( RVec3* out, rmReal x )
+{
+    out->x = x;
+}
+
+void
+RVec3SetY( RVec3* out, rmReal y )
+{
+    out->y = y;
+}
+
+void
+RVec3SetZ( RVec3* out, rmReal z )
+{
+    out->z = z;
+}
+
+void
+RVec3SetElements( RVec3* out, rmReal x, rmReal y, rmReal z )
+{
+    RVec3SetX( out, x );
+    RVec3SetY( out, y );
+    RVec3SetZ( out, z );
+}
+
+rmReal
+RVec3GetElement( const RVec3* in, int at )
+{
+    return in->e[at];
+}
+
+rmReal
+RVec3GetX( const RVec3* in )
+{
+    return in->x;
+}
+
+rmReal
+RVec3GetY( const RVec3* in )
+{
+    return in->y;
+}
+
+rmReal
+RVec3GetZ( const RVec3* in )
+{
+    return in->z;
+}
+
+int
+RVec3Equal( const RVec3* v1, const RVec3* v2 )
+{
+    if ( 0 == memcmp( v1, v2, sizeof(RVec3) ) )
+        return !0;
+    else
+        return 0;
+}
+
+void
+RVec3Add( RVec3* out, const RVec3* v1, const RVec3* v2 )
+{
+    out->x = v1->x + v2->x;
+    out->y = v1->y + v2->y;
+    out->z = v1->z + v2->z;
+}
+
+void
+RVec3Sub( RVec3* out, const RVec3* v1, const RVec3* v2 )
+{
+    out->x = v1->x - v2->x;
+    out->y = v1->y - v2->y;
+    out->z = v1->z - v2->z;
+}
+
+void
+RVec3Scale( RVec3* out, const RVec3* in, rmReal f )
+{
+    out->x = in->x * f;
+    out->y = in->y * f;
+    out->z = in->z * f;
+}
+
+void
+RVec3Cross( RVec3* out, const RVec3* v1, const RVec3* v2 )
+{
+    RVec3 tmp;
+    rmReal v1x, v1y, v1z, v2x, v2y, v2z;
+
+    v1x = v1->x;
+    v1y = v1->y;
+    v1z = v1->z;
+    v2x = v2->x;
+    v2y = v2->y;
+    v2z = v2->z;
+
+    tmp.x = v1y*v2z - v1z*v2y;
+    tmp.y = v1z*v2x - v1x*v2z;
+    tmp.z = v1x*v2y - v1y*v2x;
+
+    RVec3Copy( out, &tmp );
+}
+
+rmReal
+RVec3LengthSq( const RVec3* in )
+{
+    return in->x*in->x + in->y*in->y + in->z*in->z;
+}
+
+rmReal
+RVec3Length( const RVec3* in )
+{
+    return rmSqrt( in->x*in->x + in->y*in->y + in->z*in->z );
+}
+
+rmReal
+RVec3Dot( const RVec3* v1, const RVec3* v2 )
+{
+    return v1->x*v2->x + v1->y*v2->y + v1->z*v2->z;
+}
+
+void
+RVec3Copy( RVec3* out, const RVec3* in )
+{
+    out->x = in->x;
+    out->y = in->y;
+    out->z = in->z;
+}
+
+void
+RVec3Normalize( RVec3* out, const RVec3* in )
+{
+    rmReal length = RVec3Length( in );
+    RVec3Scale( out, in, 1.0f/length );
+}
+
+void
+RVec3Transform( RVec4* out, const RMtx4* m, const RVec3* in )
+{
+    RVec4 result, in_vec4;
+    int row;
+
+    RVec4SetXYZ( &in_vec4, in );
+    RVec4SetW( &in_vec4, 1.0f );
+    for ( row = 0; row < 4; ++row )
+    {
+        RVec4 row_vector;
+        RMtx4GetRow( &row_vector, m, row );
+        RVec4SetElement( &result, row, RVec4Dot( &row_vector, &in_vec4 ) );
+    }
+    RVec4Copy( out, &result );
+}
+
+void
+RVec3TransformCoord( RVec3* out, const RMtx4* m, const RVec3* in )
+{
+    RVec4 tmp;
+    rmReal w;
+
+    RVec3Transform( &tmp, m, in );
+    w = RVec4GetW( &tmp );
+    w = 1.0f / w;
+
+    out->x = w * RVec4GetX( &tmp );
+    out->y = w * RVec4GetY( &tmp );
+    out->z = w * RVec4GetZ( &tmp );
+}
+
+void
+RVec3TransformNormal( RVec3* out, const RMtx4* m, const RVec3* in )
+{
+    RVec4 result, in_vec4;
+    int row;
+
+    RVec4SetXYZ( &in_vec4, in );
+    RVec4SetW( &in_vec4, 0.0f );
+    for ( row = 0; row < 4; ++row )
+    {
+        RVec4 row_vector;
+        RMtx4GetRow( &row_vector, m, row );
+        RVec4SetElement( &result, row, RVec4Dot( &row_vector, &in_vec4 ) );
+    }
+
+    out->x = RVec4GetX( &result );
+    out->y = RVec4GetY( &result );
+    out->z = RVec4GetZ( &result );
+}
+
+void
+RVec3TransformRS( RVec3* out, const RMtx3* m, const RVec3* in )
+{
+    RVec3 result;
+    int row;
+
+    for ( row = 0; row < 3; ++row )
+    {
+        RVec3 row_vector;
+        RMtx3GetRow( &row_vector, m, row );
+        RVec3SetElement( &result, row, RVec3Dot( &row_vector, in ) );
+    }
+
+    out->x = RVec3GetX( &result );
+    out->y = RVec3GetY( &result );
+    out->z = RVec3GetZ( &result );
+}
+
+void
+RVec3TransformRSTransposed( RVec3* out, const struct RMtx3* m, const RVec3* in )
+{
+    RVec3 result;
+    int column;
+
+    for ( column = 0; column < 3; ++column )
+    {
+        RVec3 column_vector;
+        RMtx3GetColumn( &column_vector, m, column );
+        RVec3SetElement( &result, column, RVec3Dot( &column_vector, in ) );
+    }
+
+    out->x = RVec3GetX( &result );
+    out->y = RVec3GetY( &result );
+    out->z = RVec3GetZ( &result );
+}
+
+void
+RVec3TransformByQuaternion( RVec3* out, const struct RQuat* q, const RVec3* in )
+{
+    rmReal qcx = -q->x;
+    rmReal qcy = -q->y;
+    rmReal qcz = -q->z;
+    rmReal qcw =  q->w;
+    rmReal v_x = in->x;
+    rmReal v_y = in->y;
+    rmReal v_z = in->z;
+
+    rmReal t_x = q->w*v_x            + q->y*v_z - q->z*v_y;
+    rmReal t_y = q->w*v_y - q->x*v_z            + q->z*v_x;
+    rmReal t_z = q->w*v_z + q->x*v_y - q->y*v_x           ;
+    rmReal t_w =          - q->x*v_x - q->y*v_y - q->z*v_z;
+
+    out->x = t_w*qcx + t_x*qcw + t_y*qcz - t_z*qcy;
+    out->y = t_w*qcy - t_x*qcz + t_y*qcw + t_z*qcx;
+    out->z = t_w*qcz + t_x*qcy - t_y*qcx + t_z*qcw;
+}
+
+/*
+RMath : Ruby math module for 3D Applications
+Copyright (c) 2008- vaiorabbit  <http://twitter.com/vaiorabbit>.
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any damages
+arising from the use of this software.
+
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it
+freely, subject to the following restrictions:
+
+    1. The origin of this software must not be misrepresented; you must not
+    claim that you wrote the original software. If you use this software
+    in a product, an acknowledgment in the product documentation would be
+    appreciated but is not required.
+
+    2. Altered source versions must be plainly marked as such, and must not be
+    misrepresented as being the original software.
+
+    3. This notice may not be removed or altered from any source
+    distribution.
+ */