diff options
Diffstat (limited to 'src/raymath.h')
| -rw-r--r-- | src/raymath.h | 114 |
1 files changed, 64 insertions, 50 deletions
diff --git a/src/raymath.h b/src/raymath.h index fe0b8947..c29c6b95 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -191,8 +191,8 @@ RMDEF void QuaternionNormalize(Quaternion *q); // Normalize pro 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 QuaternionSlerp(Quaternion q1, Quaternion q2, float amount); // Calculates spherical linear 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 @@ -227,21 +227,31 @@ 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 tmp = {0.0f, 0.0f}; + return tmp; +} // Vector with components value 1.0f -RMDEF Vector2 Vector2One(void) { return (Vector2){ 1.0f, 1.0f }; } +RMDEF Vector2 Vector2One(void) +{ + Vector2 tmp = {1.0f, 1.0f}; + return tmp; +} // Add two vectors (v1 + v2) RMDEF Vector2 Vector2Add(Vector2 v1, Vector2 v2) { - return (Vector2){ v1.x + v2.x, v1.y + v2.y }; + Vector2 tmp = { v1.x + v2.x, v1.y + v2.y }; + return tmp; } // Subtract two vectors (v1 - v2) RMDEF Vector2 Vector2Subtract(Vector2 v1, Vector2 v2) { - return (Vector2){ v1.x - v2.x, v1.y - v2.y }; + Vector2 tmp = { v1.x - v2.x, v1.y - v2.y }; + return tmp; } // Calculate vector length @@ -289,7 +299,8 @@ RMDEF void Vector2Negate(Vector2 *v) // Divide vector by a float value RMDEF void Vector2Divide(Vector2 *v, float div) { - *v = (Vector2){v->x/div, v->y/div}; + Vector2 tmp = {v->x/div, v->y/div}; + *v = tmp; } // Normalize provided vector @@ -303,21 +314,31 @@ 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 tmp = { 0.0f, 0.0f, 0.0f }; + return tmp; +} // Vector with components value 1.0f -RMDEF Vector3 Vector3One(void) { return (Vector3){ 1.0f, 1.0f, 1.0f }; } +RMDEF Vector3 Vector3One(void) +{ + Vector3 tmp = { 1.0f, 1.0f, 1.0f }; + return tmp; +} // 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 tmp = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z }; + return tmp; } // 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 tmp = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z }; + return tmp; } // Multiply vector by scalar @@ -365,12 +386,14 @@ 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); @@ -740,8 +763,6 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle) { Matrix result; - Matrix mat = MatrixIdentity(); - float x = axis.x, y = axis.y, z = axis.z; float length = sqrtf(x*x + y*y + z*z); @@ -758,33 +779,25 @@ 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; } @@ -1011,7 +1024,8 @@ RMDEF float *MatrixToFloat(Matrix mat) // Returns identity quaternion RMDEF Quaternion QuaternionIdentity(void) { - return (Quaternion){ 0.0f, 0.0f, 0.0f, 1.0f }; + Quaternion q = { 0.0f, 0.0f, 0.0f, 1.0f }; + return q; } // Computes the length of a quaternion @@ -1083,6 +1097,15 @@ 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); + QuaternionNormalize(&result); + + return result; +} + // Calculates spherical linear interpolation between two quaternions RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount) { @@ -1119,15 +1142,6 @@ 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) { |