diff options
Diffstat (limited to 'src/raymath.h')
| -rw-r--r-- | src/raymath.h | 750 |
1 files changed, 347 insertions, 403 deletions
diff --git a/src/raymath.h b/src/raymath.h index fe0b8947..d49f3622 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -1,6 +1,6 @@ /********************************************************************************************** * -* raymath v1.1 - Math functions to work with Vector3, Matrix and Quaternions +* raymath v1.2 - Math functions to work with Vector3, Matrix and Quaternions * * CONFIGURATION: * @@ -9,8 +9,9 @@ * If not defined, the library is in header only mode and can be included in other headers * or source files without problems. But only ONE file should hold the implementation. * -* #define RAYMATH_EXTERN_INLINE -* Inlines all functions code, so it runs faster. This requires lots of memory on system. +* #define RAYMATH_HEADER_ONLY +* Define static inline functions code, so #include header suffices for use. +* This may use up lots of memory. * * #define RAYMATH_STANDALONE * Avoid raylib.h header inclusion in this file. @@ -41,8 +42,8 @@ #ifndef RAYMATH_H #define RAYMATH_H -//#define RAYMATH_STANDALONE // NOTE: To use raymath as standalone lib, just uncomment this line -//#define RAYMATH_EXTERN_INLINE // NOTE: To compile functions as static inline, uncomment this line +//#define RAYMATH_STANDALONE // NOTE: To use raymath as standalone lib, just uncomment this line +//#define RAYMATH_HEADER_ONLY // NOTE: To compile functions as static inline, uncomment this line #ifndef RAYMATH_STANDALONE #include "raylib.h" // Required for structs: Vector3, Matrix @@ -51,15 +52,26 @@ #ifdef __cplusplus #define RMEXTERN extern "C" // Functions visible from other files (no name mangling of functions in C++) #else - #define RMEXTERN extern // Functions visible from other files + #define RMEXTERN // Functions visible from other files #endif -#if defined(RAYMATH_EXTERN_INLINE) - #define RMDEF RMEXTERN inline // Functions are embeded inline (compiler generated code) +#if defined RAYMATH_IMPLEMENTATION && defined RAYMATH_HEADER_ONLY + #error "Specifying both RAYMATH_IMPLEMENTATION and RAYMATH_HEADER_ONLY is contradictory" +#endif + +#ifdef RAYMATH_IMPLEMENTATION + #define RMDEF extern inline // Provide external definition +#elif defined RAYMATH_HEADER_ONLY + #define RMDEF static inline // Functions may be inlined, no external out-of-line definition #else - #define RMDEF RMEXTERN + #ifdef __TINYC__ + #define RMDEF static inline // plain inline not supported by tinycc (See issue #435) + #else + #define RMDEF inline // Functions may be inlined or external definition used + #endif #endif + //---------------------------------------------------------------------------------- // Defines and Macros //---------------------------------------------------------------------------------- @@ -75,6 +87,16 @@ #define RAD2DEG (180.0f/PI) #endif +// Return float vector for Matrix +#ifndef MatrixToFloat + #define MatrixToFloat(mat) (MatrixToFloatV(mat).v) +#endif + +// Return float vector for Vector3 +#ifndef Vector3ToFloat + #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v) +#endif + //---------------------------------------------------------------------------------- // Types and Structures Definition //---------------------------------------------------------------------------------- @@ -102,6 +124,10 @@ } Matrix; #endif +// NOTE: Helper types to be used instead of array return types for *ToFloat functions +typedef struct float3 { float v[3]; } float3; +typedef struct float16 { float v[16]; } float16; + // Quaternion type typedef struct Quaternion { float x; @@ -110,105 +136,6 @@ typedef struct Quaternion { float w; } Quaternion; -#ifndef RAYMATH_EXTERN_INLINE - -//------------------------------------------------------------------------------------ -// Functions Declaration - math utils -//------------------------------------------------------------------------------------ -RMDEF float Clamp(float value, float min, float max); // Clamp float value - -//------------------------------------------------------------------------------------ -// Functions Declaration to work with Vector2 -//------------------------------------------------------------------------------------ -RMDEF Vector2 Vector2Zero(void); // Vector with components value 0.0f -RMDEF Vector2 Vector2One(void); // Vector with components value 1.0f -RMDEF Vector2 Vector2Add(Vector2 v1, Vector2 v2); // Add two vectors (v1 + v2) -RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2); // Subtract two vectors (v1 - v2) -RMDEF float Vector2Length(Vector2 v); // Calculate vector length -RMDEF float Vector2DotProduct(Vector2 v1, Vector2 v2); // Calculate two vectors dot product -RMDEF float Vector2Distance(Vector2 v1, Vector2 v2); // Calculate distance between two vectors -RMDEF float Vector2Angle(Vector2 v1, Vector2 v2); // Calculate angle between two vectors in X-axis -RMDEF void Vector2Scale(Vector2 *v, float scale); // Scale vector (multiply by value) -RMDEF void Vector2Negate(Vector2 *v); // Negate vector -RMDEF void Vector2Divide(Vector2 *v, float div); // Divide vector by a float value -RMDEF void Vector2Normalize(Vector2 *v); // Normalize provided vector - -//------------------------------------------------------------------------------------ -// Functions Declaration to work with Vector3 -//------------------------------------------------------------------------------------ -RMDEF Vector3 Vector3Zero(void); // Vector with components value 0.0f -RMDEF Vector3 Vector3One(void); // Vector with components value 1.0f -RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2); // Add two vectors -RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar); // Multiply vector by scalar -RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2); // Multiply vector by vector -RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2); // Substract two vectors -RMDEF Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2); // Calculate two vectors cross product -RMDEF Vector3 Vector3Perpendicular(Vector3 v); // Calculate one vector perpendicular vector -RMDEF float Vector3Length(const Vector3 v); // Calculate vector length -RMDEF float Vector3DotProduct(Vector3 v1, Vector3 v2); // Calculate two vectors dot product -RMDEF float Vector3Distance(Vector3 v1, Vector3 v2); // Calculate distance between two points -RMDEF void Vector3Scale(Vector3 *v, float scale); // Scale provided vector -RMDEF void Vector3Negate(Vector3 *v); // Negate provided vector (invert direction) -RMDEF void Vector3Normalize(Vector3 *v); // Normalize provided vector -RMDEF void Vector3Transform(Vector3 *v, Matrix mat); // Transforms a Vector3 by a given Matrix -RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount); // Calculate linear interpolation between two vectors -RMDEF Vector3 Vector3Reflect(Vector3 vector, Vector3 normal); // Calculate reflected vector to normal -RMDEF Vector3 Vector3Min(Vector3 vec1, Vector3 vec2); // Return min value for each pair of components -RMDEF Vector3 Vector3Max(Vector3 vec1, Vector3 vec2); // Return max value for each pair of components -RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c); // Barycenter coords for p in triangle abc -RMDEF float *Vector3ToFloat(Vector3 vec); // Returns Vector3 as float array - -//------------------------------------------------------------------------------------ -// Functions Declaration to work with Matrix -//------------------------------------------------------------------------------------ -RMDEF float MatrixDeterminant(Matrix mat); // Compute matrix determinant -RMDEF float MatrixTrace(Matrix mat); // Returns the trace of the matrix (sum of the values along the diagonal) -RMDEF void MatrixTranspose(Matrix *mat); // Transposes provided matrix -RMDEF void MatrixInvert(Matrix *mat); // Invert provided matrix -RMDEF void MatrixNormalize(Matrix *mat); // Normalize provided matrix -RMDEF Matrix MatrixIdentity(void); // Returns identity matrix -RMDEF Matrix MatrixAdd(Matrix left, Matrix right); // Add two matrices -RMDEF Matrix MatrixSubstract(Matrix left, Matrix right); // Substract two matrices (left - right) -RMDEF Matrix MatrixTranslate(float x, float y, float z); // Returns translation matrix -RMDEF Matrix MatrixRotate(Vector3 axis, float angle); // Returns rotation matrix for an angle around an specified axis (angle in radians) -RMDEF Matrix MatrixRotateX(float angle); // Returns x-rotation matrix (angle in radians) -RMDEF Matrix MatrixRotateY(float angle); // Returns y-rotation matrix (angle in radians) -RMDEF Matrix MatrixRotateZ(float angle); // Returns z-rotation matrix (angle in radians) -RMDEF Matrix MatrixScale(float x, float y, float z); // Returns scaling matrix -RMDEF Matrix MatrixMultiply(Matrix left, Matrix right); // Returns two matrix multiplication -RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far); // Returns perspective projection matrix -RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far); // Returns perspective projection matrix -RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far); // Returns orthographic projection matrix -RMDEF Matrix MatrixLookAt(Vector3 position, Vector3 target, Vector3 up); // Returns camera look-at matrix (view matrix) -RMDEF float *MatrixToFloat(Matrix mat); // Returns float array of Matrix data - -//------------------------------------------------------------------------------------ -// Functions Declaration to work with Quaternions -//------------------------------------------------------------------------------------ -RMDEF Quaternion QuaternionIdentity(void); // Returns identity quaternion -RMDEF float QuaternionLength(Quaternion quat); // Compute the length of a quaternion -RMDEF void QuaternionNormalize(Quaternion *q); // Normalize provided quaternion -RMDEF void QuaternionInvert(Quaternion *quat); // Invert provided quaternion -RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calculate two quaternion multiplication -RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount); // Calculate linear interpolation between two quaternions -RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount); // Calculates spherical linear interpolation between two quaternions -RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount); // Calculate slerp-optimized interpolation between two quaternions -RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to); // Calculate quaternion based on the rotation from one vector to another -RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix -RMDEF Matrix QuaternionToMatrix(Quaternion q); // Returns a matrix for a given quaternion -RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle); // Returns rotation quaternion for an angle and axis -RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the rotation angle and axis for a given quaternion -RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw); // Returns he quaternion equivalent to Euler angles -RMDEF Vector3 QuaternionToEuler(Quaternion q); // Return the Euler angles equivalent to quaternion (roll, pitch, yaw) -RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix - -#endif // notdef RAYMATH_EXTERN_INLINE - -#endif // RAYMATH_H -//////////////////////////////////////////////////////////////////// end of header file - -#if defined(RAYMATH_IMPLEMENTATION) || defined(RAYMATH_EXTERN_INLINE) - #include <math.h> // Required for: sinf(), cosf(), tan(), fabs() //---------------------------------------------------------------------------------- @@ -227,75 +154,88 @@ RMDEF float Clamp(float value, float min, float max) //---------------------------------------------------------------------------------- // Vector with components value 0.0f -RMDEF Vector2 Vector2Zero(void) { return (Vector2){ 0.0f, 0.0f }; } +RMDEF Vector2 Vector2Zero(void) +{ + Vector2 result = { 0.0f, 0.0f }; + return result; +} // Vector with components value 1.0f -RMDEF Vector2 Vector2One(void) { return (Vector2){ 1.0f, 1.0f }; } +RMDEF Vector2 Vector2One(void) +{ + Vector2 result = { 1.0f, 1.0f }; + return result; +} // Add two vectors (v1 + v2) RMDEF Vector2 Vector2Add(Vector2 v1, Vector2 v2) { - return (Vector2){ v1.x + v2.x, v1.y + v2.y }; + Vector2 result = { v1.x + v2.x, v1.y + v2.y }; + return result; } // Subtract two vectors (v1 - v2) RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2) { - return (Vector2){ v1.x - v2.x, v1.y - v2.y }; + Vector2 result = { v1.x - v2.x, v1.y - v2.y }; + return result; } // Calculate vector length RMDEF float Vector2Length(Vector2 v) { - return sqrtf((v.x*v.x) + (v.y*v.y)); + float result = sqrtf((v.x*v.x) + (v.y*v.y)); + return result; } // Calculate two vectors dot product RMDEF float Vector2DotProduct(Vector2 v1, Vector2 v2) { - return (v1.x*v2.x + v1.y*v2.y); + float result = (v1.x*v2.x + v1.y*v2.y); + return result; } // Calculate distance between two vectors RMDEF float Vector2Distance(Vector2 v1, Vector2 v2) { - return sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y)); + float result = sqrtf((v1.x - v2.x)*(v1.x - v2.x) + (v1.y - v2.y)*(v1.y - v2.y)); + return result; } // Calculate angle from two vectors in X-axis RMDEF float Vector2Angle(Vector2 v1, Vector2 v2) { - float angle = atan2f(v2.y - v1.y, v2.x - v1.x)*(180.0f/PI); - - if (angle < 0) angle += 360.0f; - - return angle; + float result = atan2f(v2.y - v1.y, v2.x - v1.x)*(180.0f/PI); + if (result < 0) result += 360.0f; + return result; } // Scale vector (multiply by value) -RMDEF void Vector2Scale(Vector2 *v, float scale) +RMDEF Vector2 Vector2Scale(Vector2 v, float scale) { - v->x *= scale; - v->y *= scale; + Vector2 result = { v.x*scale, v.y*scale }; + return result; } // Negate vector -RMDEF void Vector2Negate(Vector2 *v) +RMDEF Vector2 Vector2Negate(Vector2 v) { - v->x = -v->x; - v->y = -v->y; + Vector2 result = { -v.x, -v.y }; + return result; } // Divide vector by a float value -RMDEF void Vector2Divide(Vector2 *v, float div) +RMDEF Vector2 Vector2Divide(Vector2 v, float div) { - *v = (Vector2){v->x/div, v->y/div}; + Vector2 result = { v.x/div, v.y/div }; + return result; } // Normalize provided vector -RMDEF void Vector2Normalize(Vector2 *v) +RMDEF Vector2 Vector2Normalize(Vector2 v) { - Vector2Divide(v, Vector2Length(*v)); + Vector2 result = Vector2Divide(v, Vector2Length(v)); + return result; } //---------------------------------------------------------------------------------- @@ -303,61 +243,58 @@ RMDEF void Vector2Normalize(Vector2 *v) //---------------------------------------------------------------------------------- // Vector with components value 0.0f -RMDEF Vector3 Vector3Zero(void) { return (Vector3){ 0.0f, 0.0f, 0.0f }; } +RMDEF Vector3 Vector3Zero(void) +{ + Vector3 result = { 0.0f, 0.0f, 0.0f }; + return result; +} // Vector with components value 1.0f -RMDEF Vector3 Vector3One(void) { return (Vector3){ 1.0f, 1.0f, 1.0f }; } +RMDEF Vector3 Vector3One(void) +{ + Vector3 result = { 1.0f, 1.0f, 1.0f }; + return result; +} // Add two vectors RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2) { - return (Vector3){ v1.x + v2.x, v1.y + v2.y, v1.z + v2.z }; + Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z }; + return result; } // Substract two vectors RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2) { - return (Vector3){ v1.x - v2.x, v1.y - v2.y, v1.z - v2.z }; + Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z }; + return result; } // Multiply vector by scalar RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar) -{ - v.x *= scalar; - v.y *= scalar; - v.z *= scalar; - - return v; +{ + Vector3 result = { v.x*scalar, v.y*scalar, v.z*scalar }; + return result; } // Multiply vector by vector RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2) { - Vector3 result; - - result.x = v1.x * v2.x; - result.y = v1.y * v2.y; - result.z = v1.z * v2.z; - + Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z }; return result; } // Calculate two vectors cross product RMDEF Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2) { - Vector3 result; - - result.x = v1.y*v2.z - v1.z*v2.y; - result.y = v1.z*v2.x - v1.x*v2.z; - result.z = v1.x*v2.y - v1.y*v2.x; - + Vector3 result = { v1.y*v2.z - v1.z*v2.y, v1.z*v2.x - v1.x*v2.z, v1.x*v2.y - v1.y*v2.x }; return result; } // Calculate one vector perpendicular vector RMDEF Vector3 Vector3Perpendicular(Vector3 v) { - Vector3 result; + Vector3 result = { 0 }; float min = fabsf(v.x); Vector3 cardinalAxis = {1.0f, 0.0f, 0.0f}; @@ -365,12 +302,14 @@ RMDEF Vector3 Vector3Perpendicular(Vector3 v) if (fabsf(v.y) < min) { min = fabsf(v.y); - cardinalAxis = (Vector3){0.0f, 1.0f, 0.0f}; + Vector3 tmp = {0.0f, 1.0f, 0.0f}; + cardinalAxis = tmp; } if (fabsf(v.z) < min) { - cardinalAxis = (Vector3){0.0f, 0.0f, 1.0f}; + Vector3 tmp = {0.0f, 0.0f, 1.0f}; + cardinalAxis = tmp; } result = Vector3CrossProduct(v, cardinalAxis); @@ -381,13 +320,15 @@ RMDEF Vector3 Vector3Perpendicular(Vector3 v) // Calculate vector length RMDEF float Vector3Length(const Vector3 v) { - return sqrtf(v.x*v.x + v.y*v.y + v.z*v.z); + float result = sqrtf(v.x*v.x + v.y*v.y + v.z*v.z); + return result; } // Calculate two vectors dot product RMDEF float Vector3DotProduct(Vector3 v1, Vector3 v2) { - return (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z); + float result = (v1.x*v2.x + v1.y*v2.y + v1.z*v2.z); + return result; } // Calculate distance between two vectors @@ -396,58 +337,60 @@ RMDEF float Vector3Distance(Vector3 v1, Vector3 v2) float dx = v2.x - v1.x; float dy = v2.y - v1.y; float dz = v2.z - v1.z; - - return sqrtf(dx*dx + dy*dy + dz*dz); + float result = sqrtf(dx*dx + dy*dy + dz*dz); + return result; } // Scale provided vector -RMDEF void Vector3Scale(Vector3 *v, float scale) +RMDEF Vector3 Vector3Scale(Vector3 v, float scale) { - v->x *= scale; - v->y *= scale; - v->z *= scale; + Vector3 result = { v.x*scale, v.y*scale, v.z*scale }; + return result; } // Negate provided vector (invert direction) -RMDEF void Vector3Negate(Vector3 *v) +RMDEF Vector3 Vector3Negate(Vector3 v) { - v->x = -v->x; - v->y = -v->y; - v->z = -v->z; + Vector3 result = { -v.x, -v.y, -v.z }; + return result; } // Normalize provided vector -RMDEF void Vector3Normalize(Vector3 *v) +RMDEF Vector3 Vector3Normalize(Vector3 v) { + Vector3 result = v; + float length, ilength; - - length = Vector3Length(*v); - + length = Vector3Length(v); if (length == 0.0f) length = 1.0f; - ilength = 1.0f/length; - v->x *= ilength; - v->y *= ilength; - v->z *= ilength; + result.x *= ilength; + result.y *= ilength; + result.z *= ilength; + + return result; } // Transforms a Vector3 by a given Matrix -RMDEF void Vector3Transform(Vector3 *v, Matrix mat) +RMDEF Vector3 Vector3Transform(Vector3 v, Matrix mat) { - float x = v->x; - float y = v->y; - float z = v->z; + Vector3 result = { 0 }; + float x = v.x; + float y = v.y; + float z = v.z; - v->x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12; - v->y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13; - v->z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14; + result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12; + result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13; + result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14; + + return result; }; // Calculate linear interpolation between two vectors RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount) { - Vector3 result; + Vector3 result = { 0 }; result.x = v1.x + amount*(v2.x - v1.x); result.y = v1.y + amount*(v2.y - v1.y); @@ -457,43 +400,43 @@ RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount) } // Calculate reflected vector to normal -RMDEF Vector3 Vector3Reflect(Vector3 vector, Vector3 normal) +RMDEF Vector3 Vector3Reflect(Vector3 v, Vector3 normal) { // I is the original vector // N is the normal of the incident plane // R = I - (2*N*( DotProduct[ I,N] )) - Vector3 result; + Vector3 result = { 0 }; - float dotProduct = Vector3DotProduct(vector, normal); + float dotProduct = Vector3DotProduct(v, normal); - result.x = vector.x - (2.0f*normal.x)*dotProduct; - result.y = vector.y - (2.0f*normal.y)*dotProduct; - result.z = vector.z - (2.0f*normal.z)*dotProduct; + result.x = v.x - (2.0f*normal.x)*dotProduct; + result.y = v.y - (2.0f*normal.y)*dotProduct; + result.z = v.z - (2.0f*normal.z)*dotProduct; return result; } // Return min value for each pair of components -RMDEF Vector3 Vector3Min(Vector3 vec1, Vector3 vec2) +RMDEF Vector3 Vector3Min(Vector3 v1, Vector3 v2) { - Vector3 result; + Vector3 result = { 0 }; - result.x = fminf(vec1.x, vec2.x); - result.y = fminf(vec1.y, vec2.y); - result.z = fminf(vec1.z, vec2.z); + result.x = fminf(v1.x, v2.x); + result.y = fminf(v1.y, v2.y); + result.z = fminf(v1.z, v2.z); return result; } // Return max value for each pair of components -RMDEF Vector3 Vector3Max(Vector3 vec1, Vector3 vec2) +RMDEF Vector3 Vector3Max(Vector3 v1, Vector3 v2) { - Vector3 result; + Vector3 result = { 0 }; - result.x = fmaxf(vec1.x, vec2.x); - result.y = fmaxf(vec1.y, vec2.y); - result.z = fmaxf(vec1.z, vec2.z); + result.x = fmaxf(v1.x, v2.x); + result.y = fmaxf(v1.y, v2.y); + result.z = fmaxf(v1.z, v2.z); return result; } @@ -515,7 +458,7 @@ RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) float denom = d00*d11 - d01*d01; - Vector3 result; + Vector3 result = { 0 }; result.y = (d11*d20 - d01*d21)/denom; result.z = (d00*d21 - d01*d20)/denom; @@ -525,13 +468,13 @@ RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) } // Returns Vector3 as float array -RMDEF float *Vector3ToFloat(Vector3 vec) +RMDEF float3 Vector3ToFloatV(Vector3 v) { - static float buffer[3]; + float3 buffer = { 0 }; - buffer[0] = vec.x; - buffer[1] = vec.y; - buffer[2] = vec.z; + buffer.v[0] = v.x; + buffer.v[1] = v.y; + buffer.v[2] = v.z; return buffer; } @@ -543,7 +486,7 @@ RMDEF float *Vector3ToFloat(Vector3 vec) // Compute matrix determinant RMDEF float MatrixDeterminant(Matrix mat) { - float result; + float result = { 0 }; // Cache the matrix values (speed optimization) float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3; @@ -564,44 +507,45 @@ RMDEF float MatrixDeterminant(Matrix mat) // Returns the trace of the matrix (sum of the values along the diagonal) RMDEF float MatrixTrace(Matrix mat) { - return (mat.m0 + mat.m5 + mat.m10 + mat.m15); + float result = (mat.m0 + mat.m5 + mat.m10 + mat.m15); + return result; } // Transposes provided matrix -RMDEF void MatrixTranspose(Matrix *mat) -{ - Matrix temp; - - temp.m0 = mat->m0; - temp.m1 = mat->m4; - temp.m2 = mat->m8; - temp.m3 = mat->m12; - temp.m4 = mat->m1; - temp.m5 = mat->m5; - temp.m6 = mat->m9; - temp.m7 = mat->m13; - temp.m8 = mat->m2; - temp.m9 = mat->m6; - temp.m10 = mat->m10; - temp.m11 = mat->m14; - temp.m12 = mat->m3; - temp.m13 = mat->m7; - temp.m14 = mat->m11; - temp.m15 = mat->m15; - - *mat = temp; +RMDEF Matrix MatrixTranspose(Matrix mat) +{ + Matrix result = { 0 }; + + result.m0 = mat.m0; + result.m1 = mat.m4; + result.m2 = mat.m8; + result.m3 = mat.m12; + result.m4 = mat.m1; + result.m5 = mat.m5; + result.m6 = mat.m9; + result.m7 = mat.m13; + result.m8 = mat.m2; + result.m9 = mat.m6; + result.m10 = mat.m10; + result.m11 = mat.m14; + result.m12 = mat.m3; + result.m13 = mat.m7; + result.m14 = mat.m11; + result.m15 = mat.m15; + + return result; } // Invert provided matrix -RMDEF void MatrixInvert(Matrix *mat) +RMDEF Matrix MatrixInvert(Matrix mat) { - Matrix temp; + Matrix result = { 0 }; // Cache the matrix values (speed optimization) - float a00 = mat->m0, a01 = mat->m1, a02 = mat->m2, a03 = mat->m3; - float a10 = mat->m4, a11 = mat->m5, a12 = mat->m6, a13 = mat->m7; - float a20 = mat->m8, a21 = mat->m9, a22 = mat->m10, a23 = mat->m11; - float a30 = mat->m12, a31 = mat->m13, a32 = mat->m14, a33 = mat->m15; + float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3; + float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7; + float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11; + float a30 = mat.m12, a31 = mat.m13, a32 = mat.m14, a33 = mat.m15; float b00 = a00*a11 - a01*a10; float b01 = a00*a12 - a02*a10; @@ -619,47 +563,51 @@ RMDEF void MatrixInvert(Matrix *mat) // Calculate the invert determinant (inlined to avoid double-caching) float invDet = 1.0f/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06); - temp.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet; - temp.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet; - temp.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet; - temp.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet; - temp.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet; - temp.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet; - temp.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet; - temp.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet; - temp.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet; - temp.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet; - temp.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet; - temp.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet; - temp.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet; - temp.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet; - temp.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet; - temp.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet; - - *mat = temp; + result.m0 = (a11*b11 - a12*b10 + a13*b09)*invDet; + result.m1 = (-a01*b11 + a02*b10 - a03*b09)*invDet; + result.m2 = (a31*b05 - a32*b04 + a33*b03)*invDet; + result.m3 = (-a21*b05 + a22*b04 - a23*b03)*invDet; + result.m4 = (-a10*b11 + a12*b08 - a13*b07)*invDet; + result.m5 = (a00*b11 - a02*b08 + a03*b07)*invDet; + result.m6 = (-a30*b05 + a32*b02 - a33*b01)*invDet; + result.m7 = (a20*b05 - a22*b02 + a23*b01)*invDet; + result.m8 = (a10*b10 - a11*b08 + a13*b06)*invDet; + result.m9 = (-a00*b10 + a01*b08 - a03*b06)*invDet; + result.m10 = (a30*b04 - a31*b02 + a33*b00)*invDet; + result.m11 = (-a20*b04 + a21*b02 - a23*b00)*invDet; + result.m12 = (-a10*b09 + a11*b07 - a12*b06)*invDet; + result.m13 = (a00*b09 - a01*b07 + a02*b06)*invDet; + result.m14 = (-a30*b03 + a31*b01 - a32*b00)*invDet; + result.m15 = (a20*b03 - a21*b01 + a22*b00)*invDet; + + return result; } // Normalize provided matrix -RMDEF void MatrixNormalize(Matrix *mat) -{ - float det = MatrixDeterminant(*mat); - - mat->m0 /= det; - mat->m1 /= det; - mat->m2 /= det; - mat->m3 /= det; - mat->m4 /= det; - mat->m5 /= det; - mat->m6 /= det; - mat->m7 /= det; - mat->m8 /= det; - mat->m9 /= det; - mat->m10 /= det; - mat->m11 /= det; - mat->m12 /= det; - mat->m13 /= det; - mat->m14 /= det; - mat->m15 /= det; +RMDEF Matrix MatrixNormalize(Matrix mat) +{ + Matrix result = { 0 }; + + float det = MatrixDeterminant(mat); + + result.m0 = mat.m0/det; + result.m1 = mat.m1/det; + result.m2 = mat.m2/det; + result.m3 = mat.m3/det; + result.m4 = mat.m4/det; + result.m5 = mat.m5/det; + result.m6 = mat.m6/det; + result.m7 = mat.m7/det; + result.m8 = mat.m8/det; + result.m9 = mat.m9/det; + result.m10 = mat.m10/det; + result.m11 = mat.m11/det; + result.m12 = mat.m12/det; + result.m13 = mat.m13/det; + result.m14 = mat.m14/det; + result.m15 = mat.m15/det; + + return result; } // Returns identity matrix @@ -738,9 +686,7 @@ RMDEF Matrix MatrixTranslate(float x, float y, float z) // NOTE: Angle should be provided in radians RMDEF Matrix MatrixRotate(Vector3 axis, float angle) { - Matrix result; - - Matrix mat = MatrixIdentity(); + Matrix result = { 0 }; float x = axis.x, y = axis.y, z = axis.z; @@ -758,33 +704,25 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle) float cosres = cosf(angle); float t = 1.0f - cosres; - // Cache some matrix values (speed optimization) - float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3; - float a10 = mat.m4, a11 = mat.m5, a12 = mat.m6, a13 = mat.m7; - float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11; + result.m0 = x*x*t + cosres; + result.m1 = y*x*t + z*sinres; + result.m2 = z*x*t - y*sinres; + result.m3 = 0.0f; - // Construct the elements of the rotation matrix - float b00 = x*x*t + cosres, b01 = y*x*t + z*sinres, b02 = z*x*t - y*sinres; - float b10 = x*y*t - z*sinres, b11 = y*y*t + cosres, b12 = z*y*t + x*sinres; - float b20 = x*z*t + y*sinres, b21 = y*z*t - x*sinres, b22 = z*z*t + cosres; - - // Perform rotation-specific matrix multiplication - result.m0 = a00*b00 + a10*b01 + a20*b02; - result.m1 = a01*b00 + a11*b01 + a21*b02; - result.m2 = a02*b00 + a12*b01 + a22*b02; - result.m3 = a03*b00 + a13*b01 + a23*b02; - result.m4 = a00*b10 + a10*b11 + a20*b12; - result.m5 = a01*b10 + a11*b11 + a21*b12; - result.m6 = a02*b10 + a12*b11 + a22*b12; - result.m7 = a03*b10 + a13*b11 + a23*b12; - result.m8 = a00*b20 + a10*b21 + a20*b22; - result.m9 = a01*b20 + a11*b21 + a21*b22; - result.m10 = a02*b20 + a12*b21 + a22*b22; - result.m11 = a03*b20 + a13*b21 + a23*b22; - result.m12 = mat.m12; - result.m13 = mat.m13; - result.m14 = mat.m14; - result.m15 = mat.m15; + result.m4 = x*y*t - z*sinres; + result.m5 = y*y*t + cosres; + result.m6 = z*y*t + x*sinres; + result.m7 = 0.0f; + + result.m8 = x*z*t + y*sinres; + result.m9 = y*z*t - x*sinres; + result.m10 = z*z*t + cosres; + result.m11 = 0.0f; + + result.m12 = 0.0f; + result.m13 = 0.0f; + result.m14 = 0.0f; + result.m15 = 1.0f; return result; } @@ -852,7 +790,7 @@ RMDEF Matrix MatrixScale(float x, float y, float z) // NOTE: When multiplying matrices... the order matters! RMDEF Matrix MatrixMultiply(Matrix left, Matrix right) { - Matrix result; + Matrix result = { 0 }; result.m0 = left.m0*right.m0 + left.m1*right.m4 + left.m2*right.m8 + left.m3*right.m12; result.m1 = left.m0*right.m1 + left.m1*right.m5 + left.m2*right.m9 + left.m3*right.m13; @@ -877,7 +815,7 @@ RMDEF Matrix MatrixMultiply(Matrix left, Matrix right) // Returns perspective projection matrix RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far) { - Matrix result; + Matrix result = { 0 }; float rl = (right - left); float tb = (top - bottom); @@ -912,14 +850,15 @@ RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double f { double top = near*tan(fovy*0.5); double right = top*aspect; + Matrix result = MatrixFrustum(-right, right, -top, top, near, far); - return MatrixFrustum(-right, right, -top, top, near, far); + return result; } // Returns orthographic projection matrix RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, double near, double far) { - Matrix result; + Matrix result = { 0 }; float rl = (right - left); float tb = (top - bottom); @@ -948,14 +887,14 @@ RMDEF Matrix MatrixOrtho(double left, double right, double bottom, double top, d // Returns camera look-at matrix (view matrix) RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up) { - Matrix result; + Matrix result = { 0 }; Vector3 z = Vector3Subtract(eye, target); - Vector3Normalize(&z); + z = Vector3Normalize(z); Vector3 x = Vector3CrossProduct(up, z); - Vector3Normalize(&x); + x = Vector3Normalize(x); Vector3 y = Vector3CrossProduct(z, x); - Vector3Normalize(&y); + y = Vector3Normalize(y); result.m0 = x.x; result.m1 = x.y; @@ -974,32 +913,32 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up) result.m14 = eye.z; result.m15 = 1.0f; - MatrixInvert(&result); + result = MatrixInvert(result); return result; } // Returns float array of matrix data -RMDEF float *MatrixToFloat(Matrix mat) -{ - static float buffer[16]; - - buffer[0] = mat.m0; - buffer[1] = mat.m1; - buffer[2] = mat.m2; - buffer[3] = mat.m3; - buffer[4] = mat.m4; - buffer[5] = mat.m5; - buffer[6] = mat.m6; - buffer[7] = mat.m7; - buffer[8] = mat.m8; - buffer[9] = mat.m9; - buffer[10] = mat.m10; - buffer[11] = mat.m11; - buffer[12] = mat.m12; - buffer[13] = mat.m13; - buffer[14] = mat.m14; - buffer[15] = mat.m15; +RMDEF float16 MatrixToFloatV(Matrix mat) +{ + float16 buffer = { 0 }; + + buffer.v[0] = mat.m0; + buffer.v[1] = mat.m1; + buffer.v[2] = mat.m2; + buffer.v[3] = mat.m3; + buffer.v[4] = mat.m4; + buffer.v[5] = mat.m5; + buffer.v[6] = mat.m6; + buffer.v[7] = mat.m7; + buffer.v[8] = mat.m8; + buffer.v[9] = mat.m9; + buffer.v[10] = mat.m10; + buffer.v[11] = mat.m11; + buffer.v[12] = mat.m12; + buffer.v[13] = mat.m13; + buffer.v[14] = mat.m14; + buffer.v[15] = mat.m15; return buffer; } @@ -1011,53 +950,59 @@ RMDEF float *MatrixToFloat(Matrix mat) // Returns identity quaternion RMDEF Quaternion QuaternionIdentity(void) { - return (Quaternion){ 0.0f, 0.0f, 0.0f, 1.0f }; + Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f }; + return result; } // Computes the length of a quaternion -RMDEF float QuaternionLength(Quaternion quat) +RMDEF float QuaternionLength(Quaternion q) { - return sqrt(quat.x*quat.x + quat.y*quat.y + quat.z*quat.z + quat.w*quat.w); + float result = sqrt(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w); + return result; } // Normalize provided quaternion -RMDEF void QuaternionNormalize(Quaternion *q) +RMDEF Quaternion QuaternionNormalize(Quaternion q) { + Quaternion result = { 0 }; + float length, ilength; - - length = QuaternionLength(*q); - + length = QuaternionLength(q); if (length == 0.0f) length = 1.0f; - ilength = 1.0f/length; - q->x *= ilength; - q->y *= ilength; - q->z *= ilength; - q->w *= ilength; + result.x = q.x*ilength; + result.y = q.y*ilength; + result.z = q.z*ilength; + result.w = q.w*ilength; + + return result; } // Invert provided quaternion -RMDEF void QuaternionInvert(Quaternion *quat) +RMDEF Quaternion QuaternionInvert(Quaternion q) { - float length = QuaternionLength(*quat); + Quaternion result = q; + float length = QuaternionLength(q); float lengthSq = length*length; if (lengthSq != 0.0) { float i = 1.0f/lengthSq; - quat->x *= -i; - quat->y *= -i; - quat->z *= -i; - quat->w *= i; + result.x *= -i; + result.y *= -i; + result.z *= -i; + result.w *= i; } + + return result; } // Calculate two quaternion multiplication RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2) { - Quaternion result; + Quaternion result = { 0 }; float qax = q1.x, qay = q1.y, qaz = q1.z, qaw = q1.w; float qbx = q2.x, qby = q2.y, qbz = q2.z, qbw = q2.w; @@ -1073,7 +1018,7 @@ RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2) // Calculate linear interpolation between two quaternions RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount) { - Quaternion result; + Quaternion result = { 0 }; result.x = q1.x + amount*(q2.x - q1.x); result.y = q1.y + amount*(q2.y - q1.y); @@ -1083,10 +1028,19 @@ RMDEF Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount) return result; } +// Calculate slerp-optimized interpolation between two quaternions +RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount) +{ + Quaternion result = QuaternionLerp(q1, q2, amount); + result = QuaternionNormalize(result); + + return result; +} + // Calculates spherical linear interpolation between two quaternions RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount) { - Quaternion result; + Quaternion result = { 0 }; float cosHalfTheta = q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w; @@ -1119,43 +1073,34 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount) return result; } -// Calculate slerp-optimized interpolation between two quaternions -RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount) -{ - Quaternion result = QuaternionLerp(q1, q2, amount); - QuaternionNormalize(&result); - - return result; -} - // Calculate quaternion based on the rotation from one vector to another RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to) { - Quaternion q = { 0 }; + Quaternion result = { 0 }; float cos2Theta = Vector3DotProduct(from, to); Vector3 cross = Vector3CrossProduct(from, to); - q.x = cross.x; - q.y = cross.y; - q.z = cross.y; - q.w = 1.0f + cos2Theta; // NOTE: Added QuaternioIdentity() + result.x = cross.x; + result.y = cross.y; + result.z = cross.y; + result.w = 1.0f + cos2Theta; // NOTE: Added QuaternioIdentity() // Normalize to essentially nlerp the original and identity to 0.5 - QuaternionNormalize(&q); + result = QuaternionNormalize(result); // Above lines are equivalent to: //Quaternion result = QuaternionNlerp(q, QuaternionIdentity(), 0.5f); - return q; + return result; } // Returns a quaternion for a given rotation matrix -RMDEF Quaternion QuaternionFromMatrix(Matrix matrix) +RMDEF Quaternion QuaternionFromMatrix(Matrix mat) { - Quaternion result; + Quaternion result = { 0 }; - float trace = MatrixTrace(matrix); + float trace = MatrixTrace(mat); if (trace > 0.0f) { @@ -1163,42 +1108,42 @@ RMDEF Quaternion QuaternionFromMatrix(Matrix matrix) float invS = 1.0f/s; 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; + result.x = (mat.m6 - mat.m9)*invS; + result.y = (mat.m8 - mat.m2)*invS; + result.z = (mat.m1 - mat.m4)*invS; } else { - float m00 = matrix.m0, m11 = matrix.m5, m22 = matrix.m10; + float m00 = mat.m0, m11 = mat.m5, m22 = mat.m10; if (m00 > m11 && m00 > m22) { float s = (float)sqrt(1.0f + m00 - m11 - m22)*2.0f; float invS = 1.0f/s; - result.w = (matrix.m6 - matrix.m9)*invS; + result.w = (mat.m6 - mat.m9)*invS; result.x = s*0.25f; - result.y = (matrix.m4 + matrix.m1)*invS; - result.z = (matrix.m8 + matrix.m2)*invS; + result.y = (mat.m4 + mat.m1)*invS; + result.z = (mat.m8 + mat.m2)*invS; } else if (m11 > m22) { 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.w = (mat.m8 - mat.m2)*invS; + result.x = (mat.m4 + mat.m1)*invS; result.y = s*0.25f; - result.z = (matrix.m9 + matrix.m6)*invS; + result.z = (mat.m9 + mat.m6)*invS; } else { 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.w = (mat.m1 - mat.m4)*invS; + result.x = (mat.m8 + mat.m2)*invS; + result.y = (mat.m9 + mat.m6)*invS; result.z = s*0.25f; } } @@ -1209,7 +1154,7 @@ RMDEF Quaternion QuaternionFromMatrix(Matrix matrix) // Returns a matrix for a given quaternion RMDEF Matrix QuaternionToMatrix(Quaternion q) { - Matrix result; + Matrix result = { 0 }; float x = q.x, y = q.y, z = q.z, w = q.w; @@ -1262,7 +1207,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) angle *= 0.5f; - Vector3Normalize(&axis); + axis = Vector3Normalize(axis); float sinres = sinf(angle); float cosres = cosf(angle); @@ -1272,7 +1217,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) result.z = axis.z*sinres; result.w = cosres; - QuaternionNormalize(&result); + result = QuaternionNormalize(result); return result; } @@ -1280,7 +1225,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) // Returns the rotation angle and axis for a given quaternion RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle) { - if (fabs(q.w) > 1.0f) QuaternionNormalize(&q); + if (fabs(q.w) > 1.0f) q = QuaternionNormalize(q); Vector3 resAxis = { 0.0f, 0.0f, 0.0f }; float resAngle = 0.0f; @@ -1329,39 +1274,38 @@ RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw) // NOTE: Angles are returned in a Vector3 struct in degrees RMDEF Vector3 QuaternionToEuler(Quaternion q) { - Vector3 v = { 0 }; + Vector3 result = { 0 }; // roll (x-axis rotation) float x0 = 2.0f*(q.w*q.x + q.y*q.z); float x1 = 1.0f - 2.0f*(q.x*q.x + q.y*q.y); - v.x = atan2f(x0, x1)*RAD2DEG; + result.x = atan2f(x0, x1)*RAD2DEG; // pitch (y-axis rotation) float y0 = 2.0f*(q.w*q.y - q.z*q.x); y0 = y0 > 1.0f ? 1.0f : y0; y0 = y0 < -1.0f ? -1.0f : y0; - v.y = asinf(y0)*RAD2DEG; + result.y = asinf(y0)*RAD2DEG; // yaw (z-axis rotation) float z0 = 2.0f*(q.w*q.z + q.x*q.y); float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z); - v.z = atan2f(z0, z1)*RAD2DEG; + result.z = atan2f(z0, z1)*RAD2DEG; - return v; + return result; } // Transform a quaternion given a transformation matrix -RMDEF void QuaternionTransform(Quaternion *q, Matrix mat) +RMDEF Quaternion QuaternionTransform(Quaternion q, Matrix mat) { - float x = q->x; - float y = q->y; - float z = q->z; - float w = q->w; + Quaternion result = { 0 }; - q->x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12*w; - q->y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13*w; - q->z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14*w; - q->w = mat.m3*x + mat.m7*y + mat.m11*z + mat.m15*w; + result.x = mat.m0*q.x + mat.m4*q.y + mat.m8*q.z + mat.m12*q.w; + result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w; + result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w; + result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w; + + return result; } -#endif // RAYMATH_IMPLEMENTATION +#endif // RAYMATH_H |