diff options
Diffstat (limited to 'src/raymath.h')
| -rw-r--r-- | src/raymath.h | 43 |
1 files changed, 23 insertions, 20 deletions
diff --git a/src/raymath.h b/src/raymath.h index 35cee39f..4075a1a9 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -73,7 +73,7 @@ //---------------------------------------------------------------------------------- #if defined(RAYMATH_STANDALONE) - // Vector2 type + // Vector2 type typedef struct Vector2 { float x; float y; @@ -151,13 +151,13 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, 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 void PrintMatrix(Matrix m); // Print matrix utility //------------------------------------------------------------------------------------ // Functions Declaration to work with Quaternions //------------------------------------------------------------------------------------ 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 QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix @@ -177,9 +177,7 @@ RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transfo #if defined(RAYMATH_IMPLEMENTATION) || defined(RAYMATH_EXTERN_INLINE) -#include <stdio.h> // Used only on PrintMatrix() -#include <math.h> // Standard math libary: sin(), cos(), tan()... -#include <stdlib.h> // Used for abs() +#include <math.h> // Required for: sinf(), cosf(), tan(), fabs() //---------------------------------------------------------------------------------- // Module Functions Definition - Vector3 math @@ -341,15 +339,14 @@ RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal) return result; } -// Transforms a Vector3 with a given Matrix +// Transforms a Vector3 by a given Matrix +// TODO: Review math (matrix transpose required?) RMDEF void VectorTransform(Vector3 *v, Matrix mat) { float x = v->x; float y = v->y; float z = v->z; - //MatrixTranspose(&mat); - 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; @@ -803,7 +800,7 @@ 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*tan(fovy*PI/360.0); double right = top*aspect; return MatrixFrustum(-right, right, -top, top, near, far); @@ -870,17 +867,6 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up) return result; } -// Print matrix utility (for debug) -RMDEF void PrintMatrix(Matrix m) -{ - printf("----------------------\n"); - printf("%2.2f %2.2f %2.2f %2.2f\n", m.m0, m.m4, m.m8, m.m12); - printf("%2.2f %2.2f %2.2f %2.2f\n", m.m1, m.m5, m.m9, m.m13); - printf("%2.2f %2.2f %2.2f %2.2f\n", m.m2, m.m6, m.m10, m.m14); - printf("%2.2f %2.2f %2.2f %2.2f\n", m.m3, m.m7, m.m11, m.m15); - printf("----------------------\n"); -} - //---------------------------------------------------------------------------------- // Module Functions Definition - Quaternion math //---------------------------------------------------------------------------------- @@ -908,6 +894,23 @@ RMDEF void QuaternionNormalize(Quaternion *q) q->w *= ilength; } +// Invert provided quaternion +RMDEF void QuaternionInvert(Quaternion *quat) +{ + float length = QuaternionLength(*quat); + 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; + } +} + // Calculate two quaternion multiplication RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2) { |