1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
|
#define DEG 0.01745329251994330
typedef struct Point2 Point2;
typedef struct Point3 Point3;
typedef double Matrix[3][3];
typedef double Matrix3[4][4];
typedef struct Quaternion Quaternion;
typedef struct RFrame RFrame;
typedef struct RFrame3 RFrame3;
typedef struct Triangle3 Triangle3;
struct Point2 {
double x, y, w;
};
struct Point3 {
double x, y, z, w;
};
struct Quaternion {
double r, i, j, k;
};
struct RFrame {
Point2 p;
Point2 bx, by;
};
struct RFrame3 {
Point3 p;
Point3 bx, by, bz;
};
struct Triangle3 {
Point3 p0, p1, p2;
};
/* Point2 */
Point2 Pt2(double, double, double);
Point2 Vec2(double, double);
Point2 addpt2(Point2, Point2);
Point2 subpt2(Point2, Point2);
Point2 mulpt2(Point2, double);
Point2 divpt2(Point2, double);
Point2 lerp2(Point2, Point2, double);
double dotvec2(Point2, Point2);
double vec2len(Point2);
Point2 normvec2(Point2);
/* Point3 */
Point3 Pt3(double, double, double, double);
Point3 Vec3(double, double, double);
Point3 addpt3(Point3, Point3);
Point3 subpt3(Point3, Point3);
Point3 mulpt3(Point3, double);
Point3 divpt3(Point3, double);
Point3 lerp3(Point3, Point3, double);
double dotvec3(Point3, Point3);
Point3 crossvec3(Point3, Point3);
double vec3len(Point3);
Point3 normvec3(Point3);
/* Matrix */
void identity(Matrix);
void addm(Matrix, Matrix);
void subm(Matrix, Matrix);
void mulm(Matrix, Matrix);
void smulm(Matrix, double);
void transposem(Matrix);
double detm(Matrix);
double tracem(Matrix);
void adjm(Matrix);
void invm(Matrix);
Point2 xform(Point2, Matrix);
/* Matrix3 */
void identity3(Matrix3);
void addm3(Matrix3, Matrix3);
void subm3(Matrix3, Matrix3);
void mulm3(Matrix3, Matrix3);
void smulm3(Matrix3, double);
void transposem3(Matrix3);
double detm3(Matrix3);
double tracem3(Matrix3);
void adjm3(Matrix3);
void invm3(Matrix3);
Point3 xform3(Point3, Matrix3);
/* Quaternion */
Quaternion Quat(double, double, double, double);
Quaternion Quatvec(double, Point3);
Quaternion addq(Quaternion, Quaternion);
Quaternion subq(Quaternion, Quaternion);
Quaternion mulq(Quaternion, Quaternion);
Quaternion smulq(Quaternion, double);
Quaternion sdivq(Quaternion, double);
double dotq(Quaternion, Quaternion);
Quaternion invq(Quaternion);
double qlen(Quaternion);
Quaternion normq(Quaternion);
Point3 qrotate(Point3, Point3, double);
/* RFrame */
Point2 rframexform(Point2, RFrame);
Point3 rframexform3(Point3, RFrame3);
Point2 invrframexform(Point2, RFrame);
Point3 invrframexform3(Point3, RFrame3);
/* Triangle3 */
Point3 centroid(Triangle3);
|
