From 4ca23499fa9bd59083b1beae6c44b5a5d890fcf2 Mon Sep 17 00:00:00 2001 From: gingerBill Date: Sat, 10 Feb 2024 16:31:03 +0000 Subject: [PATCH] Add raymath procedures (with numerous deprecated attributes to suggest to use array programming) --- vendor/raylib/raymath.odin | 818 +++++++++++++++++++++++++++++++++++++ 1 file changed, 818 insertions(+) create mode 100644 vendor/raylib/raymath.odin diff --git a/vendor/raylib/raymath.odin b/vendor/raylib/raymath.odin new file mode 100644 index 000000000..764532f96 --- /dev/null +++ b/vendor/raylib/raymath.odin @@ -0,0 +1,818 @@ +package raylib + +import c "core:c/libc" +import "core:math" +import "core:math/linalg" + +EPSILON :: 0.000001 + + +//---------------------------------------------------------------------------------- +// Module Functions Definition - Utils math +//---------------------------------------------------------------------------------- + + +// Clamp float value +@(require_results) +Clamp :: proc "c" (value: f32, min, max: f32) -> f32 { + return clamp(value, min, max) +} + +// Calculate linear interpolation between two floats +@(require_results) +Lerp :: proc "c" (start, end: f32, amount: f32) -> f32 { + return start*(1-amount) + end*amount +} + +// Normalize input value within input range +@(require_results) +Normalize :: proc "c" (value: f32, start, end: f32) -> f32 { + return (value - start) / (end - start) +} + +// Remap input value within input range to output range +@(require_results) +Remap :: proc "c" (value: f32, inputStart, inputEnd: f32, outputStart, outputEnd: f32) -> f32 { + return (value - inputStart)/(inputEnd - inputStart)*(outputEnd - outputStart) + outputStart +} + +// Wrap input value from min to max +@(require_results) +Wrap :: proc "c" (value: f32, min, max: f32) -> f32 { + return value - (max - min)*math.floor((value - min)/(max - min)) +} + +// Check whether two given floats are almost equal +@(require_results) +FloatEquals :: proc "c" (x, y: f32) -> bool { + return abs(x - y) <= EPSILON*c.fmaxf(1.0, c.fmaxf(abs(x), abs(y))) +} + + + +//---------------------------------------------------------------------------------- +// Module Functions Definition - Vector2 math +//---------------------------------------------------------------------------------- + + +// Vector with components value 0.0 +@(require_results, deprecated="Prefer Vector2(0)") +Vector2Zero :: proc "c" () -> Vector2 { + return Vector2(0) +} +// Vector with components value 1.0 +@(require_results, deprecated="Prefer Vector2(1)") +Vector2One :: proc "c" () -> Vector2 { + return Vector2(1) +} +// Add two vectors (v1 + v2) +@(require_results, deprecated="Prefer v1 + v2") +Vector2Add :: proc "c" (v1, v2: Vector2) -> Vector2 { + return v1 + v2 +} +// Add vector and float value +@(require_results, deprecated="Prefer v + value") +Vector2AddValue :: proc "c" (v: Vector2, value: f32) -> Vector2 { + return v + value +} +// Subtract two vectors (v1 - v2) +@(require_results, deprecated="Prefer a - b") +Vector2Subtract :: proc "c" (a, b: Vector2) -> Vector2 { + return a - b +} +// Subtract vector by float value +@(require_results, deprecated="Prefer v + value") +Vector2SubtractValue :: proc "c" (v: Vector2, value: f32) -> Vector2 { + return v - value +} +// Calculate vector length +@(require_results, deprecated="Prefer linalg.length(v)") +Vector2Length :: proc "c" (v: Vector2) -> f32 { + return linalg.length(v) +} +// Calculate vector square length +@(require_results, deprecated="Prefer linalg.length2(v)") +Vector2LengthSqr :: proc "c" (v: Vector2) -> f32 { + return linalg.length2(v) +} +// Calculate two vectors dot product +@(require_results, deprecated="Prefer linalg.dot(v1, v2)") +Vector2DotProduct :: proc "c" (v1, v2: Vector2) -> f32 { + return linalg.dot(v1, v2) +} +// Calculate distance between two vectors +@(require_results, deprecated="Prefer linalg.distance(v1, v2)") +Vector2Distance :: proc "c" (v1, v2: Vector2) -> f32 { + return linalg.distance(v1, v2) +} +// Calculate square distance between two vectors +@(require_results, deprecated="Prefer linalg.length2(v2-v1)") +Vector2DistanceSqrt :: proc "c" (v1, v2: Vector2) -> f32 { + return linalg.length2(v2-v1) +} +// Calculate angle between two vectors +// NOTE: Angle is calculated from origin point (0, 0) +@(require_results, deprecated="Prefer linalg.angle_between(v1, v2)") +Vector2Angle :: proc "c" (v1, v2: Vector2) -> f32 { + return linalg.angle_between(v1, v2) +} + +// Calculate angle defined by a two vectors line +// NOTE: Parameters need to be normalized +// Current implementation should be aligned with glm::angle +@(require_results) +Vector2LineAngle :: proc "c" (start, end: Vector2) -> f32 { + // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior + return -math.atan2(end.y - start.y, end.x - start.x) +} + +// Scale vector (multiply by value) +@(require_results, deprecated="Prefer v * scale") +Vector2Scale :: proc "c" (v: Vector2, scale: f32) -> Vector2 { + return v * scale +} +// Multiply vector by vector +@(require_results, deprecated="Prefer v1 * v2") +Vector2Multiply :: proc "c" (v1, v2: Vector2) -> Vector2 { + return v1 * v2 +} +// Negate vector +@(require_results, deprecated="Prefer -v") +Vector2Negate :: proc "c" (v: Vector2) -> Vector2 { + return -v +} +// Divide vector by vector +@(require_results, deprecated="Prefer v1 / v2") +Vector2Divide :: proc "c" (v1, v2: Vector2) -> Vector2 { + return v1 / v2 +} +// Normalize provided vector +@(require_results, deprecated="Prefer linalg.normalize0(v)") +Vector2Normalize :: proc "c" (v: Vector2) -> Vector2 { + return linalg.normalize0(v) +} +// Transforms a Vector2 by a given Matrix +@(require_results) +Vector2Transform :: proc "c" (v: Vector2, m: Matrix) -> Vector2 { + v4 := Vector4{v.x, v.y, 0, 0} + return (m * v4).xy +} +// Calculate linear interpolation between two vectors +@(require_results, deprecated="Prefer = linalg.lerp(v1, v2, amount)") +Vector2Lerp :: proc "c" (v1, v2: Vector2, amount: f32) -> Vector2 { + return linalg.lerp(v1, v2, amount) +} +// Calculate reflected vector to normal +@(require_results, deprecated="Prefer = linalg.reflect(v, normal)") +Vector2Reflect :: proc "c" (v, normal: Vector2) -> Vector2 { + return linalg.reflect(v, normal) +} +// Rotate vector by angle +@(require_results) +Vector2Rotate :: proc "c" (v: Vector2, angle: f32) -> Vector2 { + c, s := math.cos(angle), math.sin(angle) + + return Vector2{ + v.x*c - v.y*s, + v.x*s + v.y*c, + } +} + +// Move Vector towards target +@(require_results) +Vector2MoveTowards :: proc "c" (v, target: Vector2, maxDistance: f32) -> Vector2 { + dv := target - v + value := linalg.dot(dv, dv) + + if value == 0 || (maxDistance >= 0 && value <= maxDistance*maxDistance) { + return target + } + + dist := math.sqrt(value) + return v + dv/dist*maxDistance +} + +// Invert the given vector +@(require_results, deprecated="Prefer 1.0/v") +Vector2Invert :: proc "c" (v: Vector2) -> Vector2 { + return 1.0/v +} + +// Clamp the components of the vector between +// min and max values specified by the given vectors +@(require_results) +Vector2Clamp :: proc "c" (v: Vector2, min, max: Vector2) -> Vector2 { + return Vector2{ + clamp(v.x, min.x, max.x), + clamp(v.y, min.y, max.y), + } +} + +// Clamp the magnitude of the vector between two min and max values +@(require_results) +Vector2ClampValue :: proc "c" (v: Vector2, min, max: f32) -> Vector2 { + result := v + + length := linalg.dot(v, v) + if length > 0 { + length = math.sqrt(length) + scale := f32(1) + if length < min { + scale = min/length + } else if length > max { + scale = max/length + } + result = v*scale + } + return result +} + +@(require_results) +Vector2Equals :: proc "c" (p, q: Vector2) -> bool { + return FloatEquals(p.x, q.x) && + FloatEquals(p.y, q.y) +} + + + +//---------------------------------------------------------------------------------- +// Module Functions Definition - Vector3 math +//---------------------------------------------------------------------------------- + + +// Vector with components value 0.0 +@(require_results, deprecated="Prefer Vector3(0)") +Vector3Zero :: proc "c" () -> Vector3 { + return Vector3(0) +} +// Vector with components value 1.0 +@(require_results, deprecated="Prefer Vector3(1)") +Vector3One :: proc "c" () -> Vector3 { + return Vector3(1) +} +// Add two vectors (v1 + v2) +@(require_results, deprecated="Prefer v1 + v2") +Vector3Add :: proc "c" (v1, v2: Vector3) -> Vector3 { + return v1 + v2 +} +// Add vector and float value +@(require_results, deprecated="Prefer v + value") +Vector3AddValue :: proc "c" (v: Vector3, value: f32) -> Vector3 { + return v + value +} +// Subtract two vectors (v1 - v2) +@(require_results, deprecated="Prefer a - b") +Vector3Subtract :: proc "c" (a, b: Vector3) -> Vector3 { + return a - b +} +// Subtract vector by float value +@(require_results, deprecated="Prefer v + value") +Vector3SubtractValue :: proc "c" (v: Vector3, value: f32) -> Vector3 { + return v - value +} +// Calculate vector length +@(require_results, deprecated="Prefer linalg.length(v)") +Vector3Length :: proc "c" (v: Vector3) -> f32 { + return linalg.length(v) +} +// Calculate vector square length +@(require_results, deprecated="Prefer linalg.length2(v)") +Vector3LengthSqr :: proc "c" (v: Vector3) -> f32 { + return linalg.length2(v) +} +// Calculate two vectors dot product +@(require_results, deprecated="Prefer linalg.dot(v1, v2)") +Vector3DotProduct :: proc "c" (v1, v2: Vector3) -> f32 { + return linalg.dot(v1, v2) +} +// Calculate two vectors dot product +@(require_results, deprecated="Prefer linalg.cross(v1, v2)") +Vector3CrossProduct :: proc "c" (v1, v2: Vector3) -> Vector3 { + return linalg.cross(v1, v2) +} +// Calculate distance between two vectors +@(require_results, deprecated="Prefer linalg.distance(v1, v2)") +Vector3Distance :: proc "c" (v1, v2: Vector3) -> f32 { + return linalg.distance(v1, v2) +} +// Calculate square distance between two vectors +@(require_results, deprecated="Prefer linalg.length2(v2-v1)") +Vector3DistanceSqrt :: proc "c" (v1, v2: Vector3) -> f32 { + return linalg.length2(v2-v1) +} +// Calculate angle between two vectors +// NOTE: Angle is calculated from origin point (0, 0) +@(require_results, deprecated="Prefer linalg.angle_between(v1, v2)") +Vector3Angle :: proc "c" (v1, v2: Vector3) -> f32 { + return linalg.angle_between(v1, v2) +} + +// Calculate angle defined by a two vectors line +// NOTE: Parameters need to be normalized +// Current implementation should be aligned with glm::angle +@(require_results) +Vector3LineAngle :: proc "c" (start, end: Vector3) -> f32 { + // TODO(10/9/2023): Currently angles move clockwise, determine if this is wanted behavior + return -math.atan2(end.y - start.y, end.x - start.x) +} + +// Scale vector (multiply by value) +@(require_results, deprecated="Prefer v * scale") +Vector3Scale :: proc "c" (v: Vector3, scale: f32) -> Vector3 { + return v * scale +} +// Multiply vector by vector +@(require_results, deprecated="Prefer v1 * v2") +Vector3Multiply :: proc "c" (v1, v2: Vector3) -> Vector3 { + return v1 * v2 +} +// Negate vector +@(require_results, deprecated="Prefer -v") +Vector3Negate :: proc "c" (v: Vector3) -> Vector3 { + return -v +} +// Divide vector by vector +@(require_results, deprecated="Prefer v1 / v2") +Vector3Divide :: proc "c" (v1, v2: Vector3) -> Vector3 { + return v1 / v2 +} +// Normalize provided vector +@(require_results, deprecated="Prefer linalg.normalize0(v)") +Vector3Normalize :: proc "c" (v: Vector3) -> Vector3 { + return linalg.normalize0(v) +} + +// Calculate the projection of the vector v1 on to v2 +@(require_results) +Vector3Project :: proc "c" (v1, v2: Vector3) -> Vector3 { + return linalg.projection(v1, v2) +} + +// Calculate the rejection of the vector v1 on to v2 +@(require_results) +Vector3Reject :: proc "c" (v1, v2: Vector3) -> Vector3 { + mag := linalg.dot(v1, v2)/linalg.dot(v2, v2) + return v1 - v2*mag +} + +// Orthonormalize provided vectors +// Makes vectors normalized and orthogonal to each other +// Gram-Schmidt function implementation +Vector3OrthoNormalize :: proc "c" (v1, v2: ^Vector3) { + v1^ = linalg.normalize0(v1^) + v3 := linalg.normalize0(linalg.cross(v1^, v2^)) + v2^ = linalg.cross(v3, v1^) +} + +// Transform a vector by quaternion rotation +@(require_results, deprecated="Prefer linalg.mul(q, v") +Vector3RotateByQuaternion :: proc "c" (v: Vector3, q: Quaternion) -> Vector3 { + return linalg.mul(q, v) +} + +// Rotates a vector around an axis +@(require_results) +Vector3RotateByAxisAngle :: proc "c" (v: Vector3, axis: Vector3, angle: f32) -> Vector3 { + axis, angle := axis, angle + + axis = linalg.normalize0(axis) + + angle *= 0.5 + a := math.sin(angle) + b := axis.x*a + c := axis.y*a + d := axis.z*a + a = math.cos(angle) + w := Vector3{b, c, d} + + wv := linalg.cross(w, v) + wwv := linalg.cross(w, wv) + + a *= 2 + wv *= a + + wwv *= 2 + + return v + wv + wwv + +} + +// Transforms a Vector3 by a given Matrix +@(require_results) +Vector3Transform :: proc "c" (v: Vector3, m: Matrix) -> Vector3 { + v4 := Vector4{v.x, v.y, v.z, 0} + return (m * v4).xyz +} +// Calculate linear interpolation between two vectors +@(require_results, deprecated="Prefer = linalg.lerp(v1, v2, amount)") +Vector3Lerp :: proc "c" (v1, v2: Vector3, amount: f32) -> Vector3 { + return linalg.lerp(v1, v2, amount) +} +// Calculate reflected vector to normal +@(require_results, deprecated="Prefer = linalg.reflect(v, normal)") +Vector3Reflect :: proc "c" (v, normal: Vector3) -> Vector3 { + return linalg.reflect(v, normal) +} +// Compute the direction of a refracted ray +// v: normalized direction of the incoming ray +// n: normalized normal vector of the interface of two optical media +// r: ratio of the refractive index of the medium from where the ray comes +// to the refractive index of the medium on the other side of the surface +@(require_results, deprecated="Prefer = linalg.refract(v, n, r)") +Vector3Refract :: proc "c" (v, n: Vector3, r: f32) -> Vector3 { + return linalg.refract(v, n, r) +} + +// Move Vector towards target +@(require_results) +Vector3MoveTowards :: proc "c" (v, target: Vector3, maxDistance: f32) -> Vector3 { + dv := target - v + value := linalg.dot(dv, dv) + + if value == 0 || (maxDistance >= 0 && value <= maxDistance*maxDistance) { + return target + } + + dist := math.sqrt(value) + return v + dv/dist*maxDistance +} + +// Invert the given vector +@(require_results, deprecated="Prefer 1.0/v") +Vector3Invert :: proc "c" (v: Vector3) -> Vector3 { + return 1.0/v +} + +// Clamp the components of the vector between +// min and max values specified by the given vectors +@(require_results) +Vector3Clamp :: proc "c" (v: Vector3, min, max: Vector3) -> Vector3 { + return Vector3{ + clamp(v.x, min.x, max.x), + clamp(v.y, min.y, max.y), + clamp(v.z, min.z, max.z), + } +} + +// Clamp the magnitude of the vector between two min and max values +@(require_results) +Vector3ClampValue :: proc "c" (v: Vector3, min, max: f32) -> Vector3 { + result := v + + length := linalg.dot(v, v) + if length > 0 { + length = math.sqrt(length) + scale := f32(1) + if length < min { + scale = min/length + } else if length > max { + scale = max/length + } + result = v*scale + } + return result +} + +@(require_results) +Vector3Equals :: proc "c" (p, q: Vector3) -> bool { + return FloatEquals(p.x, q.x) && + FloatEquals(p.y, q.y) && + FloatEquals(p.z, q.z) +} + + +@(require_results, deprecated="Prefer linalg.min(v1, v2)") +Vector3Min :: proc "c" (v1, v2: Vector3) -> Vector3 { + return linalg.min(v1, v2) +} + +@(require_results, deprecated="Prefer linalg.max(v1, v2)") +Vector3Max :: proc "c" (v1, v2: Vector3) -> Vector3 { + return linalg.max(v1, v2) +} + + +// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c) +// NOTE: Assumes P is on the plane of the triangle +@(require_results) +Vector3Barycenter :: proc "c" (p: Vector3, a, b, c: Vector3) -> (result: Vector3) { + v0 := b - a + v1 := c - a + v2 := p - a + d00 := linalg.dot(v0, v0) + d01 := linalg.dot(v0, v1) + d11 := linalg.dot(v1, v1) + d20 := linalg.dot(v2, v0) + d21 := linalg.dot(v2, v1) + + denom := d00*d11 - d01*d01 + + result.y = (d11*d20 - d01*d21)/denom + result.z = (d00*d21 - d01*d20)/denom + result.x = 1 - (result.z + result.y) + + return result +} + + +// Projects a Vector3 from screen space into object space +@(require_results) +Vector3Unproject :: proc "c" (source: Vector3, projection: Matrix, view: Matrix) -> Vector3 { + matViewProj := view * projection + + matViewProjInv := linalg.inverse(matViewProj) + + quat: Quaternion + quat.x = source.x + quat.y = source.z + quat.z = source.z + quat.w = 1 + + qtransformed := QuaternionTransform(quat, matViewProjInv) + + return Vector3{qtransformed.x/qtransformed.w, qtransformed.y/qtransformed.w, qtransformed.z/qtransformed.w} +} + + + +//---------------------------------------------------------------------------------- +// Module Functions Definition - Matrix math +//---------------------------------------------------------------------------------- + +// Compute matrix determinant +@(require_results, deprecated="Prefer linalg.determinant(mat)") +MatrixDeterminant :: proc "c" (mat: Matrix) -> f32 { + return linalg.determinant(mat) +} + +// Get the trace of the matrix (sum of the values along the diagonal) +@(require_results, deprecated="Prefer linalg.trace(mat)") +MatrixTrace :: proc "c" (mat: Matrix) -> f32 { + return linalg.trace(mat) +} + +// Transposes provided matrix +@(require_results, deprecated="Prefer linalg.transpose(mat)") +MatrixTranspose :: proc "c" (mat: Matrix) -> Matrix { + return linalg.transpose(mat) +} + +// Invert provided matrix +@(require_results, deprecated="Prefer linalg.inverse(mat)") +MatrixInvert :: proc "c" (mat: Matrix) -> Matrix { + return linalg.inverse(mat) +} + +// Get identity matrix +@(require_results, deprecated="Prefer Matrix(1)") +MatrixIdentity :: proc "c" () -> Matrix { + return Matrix(1) +} + +// Add two matrices +@(require_results, deprecated="Prefer left + right") +MatrixAdd :: proc "c" (left, right: Matrix) -> Matrix { + return left + right +} + +// Subtract two matrices (left - right) +@(require_results, deprecated="Prefer left - right") +MatrixSubtract :: proc "c" (left, right: Matrix) -> Matrix { + return left - right +} + +// Get two matrix multiplication +// NOTE: When multiplying matrices... the order matters! +@(require_results, deprecated="Prefer left * right") +MatrixMultiply :: proc "c" (left, right: Matrix) -> Matrix { + return left * right +} + +// Get translation matrix +@(require_results) +MatrixTranslate :: proc "c" (x, y, z: f32) -> Matrix { + return linalg.matrix4_translate(Vector3{x, y, z}) +} + +// Create rotation matrix from axis and angle +// NOTE: Angle should be provided in radians +@(require_results) +MatrixRotate :: proc "c" (axis: Vector3, angle: f32) -> Matrix { + return linalg.matrix4_rotate(angle, axis) +} + +// Get x-rotation matrix +// NOTE: Angle must be provided in radians +@(require_results) +MatrixRotateX :: proc "c" (angle: f32) -> Matrix { + return linalg.matrix4_rotate(angle, Vector3{1, 0, 0}) +} + +// Get y-rotation matrix +// NOTE: Angle must be provided in radians +@(require_results) +MatrixRotateY :: proc "c" (angle: f32) -> Matrix { + return linalg.matrix4_rotate(angle, Vector3{0, 1, 0}) +} + +// Get z-rotation matrix +// NOTE: Angle must be provided in radians +@(require_results) +MatrixRotateZ :: proc "c" (angle: f32) -> Matrix { + return linalg.matrix4_rotate(angle, Vector3{0, 0, 1}) +} + +// Get xyz-rotation matrix +// NOTE: Angle must be provided in radians +@(require_results) +MatrixRotateXYZ :: proc "c" (angle: Vector3) -> Matrix { + return linalg.matrix4_from_euler_angles_xyz(angle.x, angle.y, angle.z) +} + +// Get zyx-rotation matrix +// NOTE: Angle must be provided in radians +@(require_results) +MatrixRotateZYX :: proc "c" (angle: Vector3) -> Matrix { + return linalg.matrix4_from_euler_angles_zyx(angle.x, angle.y, angle.z) +} + + +// Get scaling matrix +@(require_results) +MatrixScale :: proc "c" (x, y, z: f32) -> Matrix { + return linalg.matrix4_scale(Vector3{x, y, z}) +} + +// Get orthographic projection matrix +@(require_results) +MatrixOrtho :: proc "c" (left, right, bottom, top, near, far: f32) -> Matrix { + return linalg.matrix_ortho3d(left, right, bottom, top, near, far) +} + +// Get perspective projection matrix +// NOTE: Fovy angle must be provided in radians +@(require_results) +MatrixPerspective :: proc "c" (fovY, aspect, nearPlane, farPlane: f32) -> Matrix { + return linalg.matrix4_perspective(fovY, aspect, nearPlane, farPlane) +} +// Get camera look-at matrix (view matrix) +@(require_results) +MatrixLookAt :: proc "c" (eye, target, up: Vector3) -> Matrix { + return linalg.matrix4_look_at(eye, target, up) +} + +// Get float array of matrix data +@(require_results) +MatrixToFloatV :: proc "c" (mat: Matrix) -> [16]f32 { + return transmute([16]f32)mat +} + + +//---------------------------------------------------------------------------------- +// Module Functions Definition - Quaternion math +//---------------------------------------------------------------------------------- + + + +// Add two quaternions +@(require_results, deprecated="Prefer q1 + q2") +QuaternionAdd :: proc "c" (q1, q2: Quaternion) -> Quaternion { + return q1 + q2 +} +// Add quaternion and float value +@(require_results) +QuaternionAddValue :: proc "c" (q: Quaternion, add: f32) -> Quaternion { + return q + Quaternion(add) +} +// Subtract two quaternions +@(require_results, deprecated="Prefer q1 - q2") +QuaternionSubtract :: proc "c" (q1, q2: Quaternion) -> Quaternion { + return q1 - q2 +} +// Subtract quaternion and float value +@(require_results) +QuaternionSubtractValue :: proc "c" (q: Quaternion, sub: f32) -> Quaternion { + return q - Quaternion(sub) +} +// Get identity quaternion +@(require_results, deprecated="Prefer Quaternion(1)") +QuaternionIdentity :: proc "c" () -> Quaternion { + return 1 +} +// Computes the length of a quaternion +@(require_results, deprecated="Prefer abs(q)") +QuaternionLength :: proc "c" (q: Quaternion) -> f32 { + return abs(q) +} +// Normalize provided quaternion +@(require_results, deprecated="Prefer linalg.normalize0(q)") +QuaternionNormalize :: proc "c" (q: Quaternion) -> Quaternion { + return linalg.normalize0(q) +} +// Invert provided quaternion +@(require_results, deprecated="Prefer 1/q") +QuaternionInvert :: proc "c" (q: Quaternion) -> Quaternion { + return 1/q +} +// Calculate two quaternion multiplication +@(require_results, deprecated="Prefer q1 * q2") +QuaternionMultiply :: proc "c" (q1, q2: Quaternion) -> Quaternion { + return q1 * q2 +} +// Scale quaternion by float value +@(require_results) +QuaternionScale :: proc "c" (q: Quaternion, mul: f32) -> Quaternion { + return q * Quaternion(mul) +} +// Divide two quaternions +@(require_results, deprecated="Prefer q1 / q2") +QuaternionDivide :: proc "c" (q1, q2: Quaternion) -> Quaternion { + return q1 / q2 +} +// Calculate linear interpolation between two quaternions +@(require_results) +QuaternionLerp :: proc "c" (q1, q2: Quaternion, amount: f32) -> (q3: Quaternion) { + q3.x = q1.x + (q2.x-q1.x)*amount + q3.y = q1.y + (q2.y-q1.y)*amount + q3.z = q1.z + (q2.z-q1.z)*amount + q3.w = q1.w + (q2.w-q1.w)*amount + return +} +// Calculate slerp-optimized interpolation between two quaternions +@(require_results) +QuaternionNlerp :: proc "c" (q1, q2: Quaternion, amount: f32) -> Quaternion { + return linalg.quaternion_nlerp(q1, q2, amount) +} +// Calculates spherical linear interpolation between two quaternions +@(require_results) +QuaternionSlerp :: proc "c" (q1, q2: Quaternion, amount: f32) -> Quaternion { + return linalg.quaternion_slerp(q1, q2, amount) +} +// Calculate quaternion based on the rotation from one vector to another +@(require_results) +QuaternionFromVector3ToVector3 :: proc "c" (from, to: Vector3) -> Quaternion { + return linalg.quaternion_between_two_vector3(from, to) +} +// Get a quaternion for a given rotation matrix +@(require_results) +QuaternionFromMatrix :: proc "c" (mat: Matrix) -> Quaternion { + return linalg.quaternion_from_matrix4(mat) +} +// Get a matrix for a given quaternion +@(require_results) +QuaternionToMatrix :: proc "c" (q: Quaternion) -> Matrix { + return linalg.matrix4_from_quaternion(q) +} +// Get rotation quaternion for an angle and axis NOTE: Angle must be provided in radians +@(require_results) +QuaternionFromAxisAngle :: proc "c" (axis: Vector3, angle: f32) -> Quaternion { + return linalg.quaternion_angle_axis(angle, axis) +} +// Get the rotation angle and axis for a given quaternion +@(require_results) +QuaternionToAxisAngle :: proc "c" (q: Quaternion) -> (outAxis: Vector3, outAngle: f32) { + outAngle, outAxis = linalg.angle_axis_from_quaternion(q) + return +} +// Get the quaternion equivalent to Euler angles NOTE: Rotation order is ZYX +@(require_results) +QuaternionFromEuler :: proc "c" (pitch, yaw, roll: f32) -> Quaternion { + return linalg.quaternion_from_pitch_yaw_roll(pitch, yaw, roll) +} +// Get the Euler angles equivalent to quaternion (roll, pitch, yaw) NOTE: Angles are returned in a Vector3 struct in radians +@(require_results) +QuaternionToEuler :: proc "c" (q: Quaternion) -> Vector3 { + result: Vector3 + + // Roll (x-axis rotation) + x0 := 2.0*(q.w*q.x + q.y*q.z) + x1 := 1.0 - 2.0*(q.x*q.x + q.y*q.y) + result.x = math.atan2(x0, x1) + + // Pitch (y-axis rotation) + y0 := 2.0*(q.w*q.y - q.z*q.x) + y0 = 1.0 if y0 > 1.0 else y0 + y0 = -1.0 if y0 < -1.0 else y0 + result.y = math.asin(y0) + + // Yaw (z-axis rotation) + z0 := 2.0*(q.w*q.z + q.x*q.y) + z1 := 1.0 - 2.0*(q.y*q.y + q.z*q.z) + result.z = math.atan2(z0, z1) + + return result +} +// Transform a quaternion given a transformation matrix +@(require_results) +QuaternionTransform :: proc "c" (q: Quaternion, mat: Matrix) -> Quaternion { + v := mat * transmute(Vector4)q + return transmute(Quaternion)v +} +// Check whether two given quaternions are almost equal +@(require_results) +QuaternionEquals :: proc "c" (p, q: Quaternion) -> bool { + return FloatEquals(p.x, q.x) && + FloatEquals(p.y, q.y) && + FloatEquals(p.z, q.z) && + FloatEquals(p.w, q.w) +} \ No newline at end of file