diff options
Diffstat (limited to 'src/raymath.h')
| -rw-r--r-- | src/raymath.h | 73 |
1 files changed, 51 insertions, 22 deletions
diff --git a/src/raymath.h b/src/raymath.h index f5448504..35cee39f 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -126,6 +126,8 @@ RMDEF Vector3 VectorLerp(Vector3 v1, Vector3 v2, float amount); // Calculate lin RMDEF Vector3 VectorReflect(Vector3 vector, Vector3 normal); // Calculate reflected vector to normal RMDEF void VectorTransform(Vector3 *v, Matrix mat); // Transforms a Vector3 by a given Matrix RMDEF Vector3 VectorZero(void); // Return a Vector3 init to zero +RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2); // Return min value for each pair of components +RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2); // Return max value for each pair of components //------------------------------------------------------------------------------------ // Functions Declaration to work with Matrix @@ -139,7 +141,7 @@ RMDEF Matrix MatrixIdentity(void); // Returns identit 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(float angle, Vector3 axis); // Returns rotation matrix for an angle around an specified axis (angle in radians) +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) @@ -160,8 +162,8 @@ RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calcula 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 RMDEF Matrix QuaternionToMatrix(Quaternion q); // Returns a matrix for a given quaternion -RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis); // Returns rotation quaternion for an angle and axis -RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis); // Returns the rotation angle and axis 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 void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix #ifdef __cplusplus @@ -361,6 +363,30 @@ RMDEF Vector3 VectorZero(void) return zero; } +// Return min value for each pair of components +RMDEF Vector3 VectorMin(Vector3 vec1, Vector3 vec2) +{ + Vector3 result; + + result.x = fminf(vec1.x, vec2.x); + result.y = fminf(vec1.y, vec2.y); + result.z = fminf(vec1.z, vec2.z); + + return result; +} + +// Return max value for each pair of components +RMDEF Vector3 VectorMax(Vector3 vec1, Vector3 vec2) +{ + Vector3 result; + + result.x = fmaxf(vec1.x, vec2.x); + result.y = fmaxf(vec1.y, vec2.y); + result.z = fmaxf(vec1.z, vec2.z); + + return result; +} + //---------------------------------------------------------------------------------- // Module Functions Definition - Matrix math //---------------------------------------------------------------------------------- @@ -561,7 +587,7 @@ RMDEF Matrix MatrixTranslate(float x, float y, float z) // Create rotation matrix from axis and angle // NOTE: Angle should be provided in radians -RMDEF Matrix MatrixRotate(float angle, Vector3 axis) +RMDEF Matrix MatrixRotate(Vector3 axis, float angle) { Matrix result; @@ -579,9 +605,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis) z *= length; } - float s = sinf(angle); - float c = cosf(angle); - float t = 1.0f - c; + float sinres = sinf(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; @@ -589,9 +615,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis) float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11; // Construct the elements of the rotation matrix - float b00 = x*x*t + c, b01 = y*x*t + z*s, b02 = z*x*t - y*s; - float b10 = x*y*t - z*s, b11 = y*y*t + c, b12 = z*y*t + x*s; - float b20 = x*z*t + y*s, b21 = y*z*t - x*s, b22 = z*z*t + c; + 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; @@ -662,8 +688,8 @@ RMDEF Matrix MatrixRotateX(float angle) { Matrix result = MatrixIdentity(); - float cosres = (float)cos(angle); - float sinres = (float)sin(angle); + float cosres = cosf(angle); + float sinres = sinf(angle); result.m5 = cosres; result.m6 = -sinres; @@ -694,8 +720,8 @@ RMDEF Matrix MatrixRotateZ(float angle) { Matrix result = MatrixIdentity(); - float cosres = (float)cos(angle); - float sinres = (float)sin(angle); + float cosres = cosf(angle); + float sinres = sinf(angle); result.m0 = cosres; result.m1 = -sinres; @@ -920,8 +946,8 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount) } else { - float ratioA = sin((1 - amount)*halfTheta)/sinHalfTheta; - float ratioB = sin(amount*halfTheta)/sinHalfTheta; + float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta; + float ratioB = sinf(amount*halfTheta)/sinHalfTheta; result.x = (q1.x*ratioA + q2.x*ratioB); result.y = (q1.y*ratioA + q2.y*ratioB); @@ -1034,7 +1060,7 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q) // Returns rotation quaternion for an angle and axis // NOTE: angle must be provided in radians -RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis) +RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) { Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f }; @@ -1043,11 +1069,14 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis) angle *= 0.5f; VectorNormalize(&axis); + + float sinres = sinf(angle); + float cosres = cosf(angle); - result.x = axis.x*(float)sin(angle); - result.y = axis.y*(float)sin(angle); - result.z = axis.z*(float)sin(angle); - result.w = (float)cos(angle); + result.x = axis.x*sinres; + result.y = axis.y*sinres; + result.z = axis.z*sinres; + result.w = cosres; QuaternionNormalize(&result); @@ -1055,7 +1084,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis) } // Returns the rotation angle and axis for a given quaternion -RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis) +RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle) { if (fabs(q.w) > 1.0f) QuaternionNormalize(&q); |