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#ifndef _Q_MATRIX_H
#define _Q_MATRIX_H
/* Linear algebra - vectors and matrices: */
typedef float vec_t;
typedef vec_t vec2_t[2];
typedef vec_t vec3_t[3];
typedef vec_t vec4_t[4];
typedef vec_t vec5_t[5];
typedef struct {
union {
vec_t i[3][3];
vec_t array[9];
};
} mat3_t;
typedef struct {
union {
vec_t i[4][4];
vec_t flat[16];
};
} mat4_t;
#define DotProduct(x,y) ((x)[0]*(y)[0]+(x)[1]*(y)[1]+(x)[2]*(y)[2])
#define CrossProduct(v1,v2,cross) \
((cross)[0]=(v1)[1]*(v2)[2]-(v1)[2]*(v2)[1], \
(cross)[1]=(v1)[2]*(v2)[0]-(v1)[0]*(v2)[2], \
(cross)[2]=(v1)[0]*(v2)[1]-(v1)[1]*(v2)[0])
#define VectorSubtract(a,b,c) \
((c)[0]=(a)[0]-(b)[0], \
(c)[1]=(a)[1]-(b)[1], \
(c)[2]=(a)[2]-(b)[2])
#define VectorAdd(a,b,c) \
((c)[0]=(a)[0]+(b)[0], \
(c)[1]=(a)[1]+(b)[1], \
(c)[2]=(a)[2]+(b)[2])
#define VectorAdd3(a,b,c,d) \
((d)[0]=(a)[0]+(b)[0]+(c)[0], \
(d)[1]=(a)[1]+(b)[1]+(c)[1], \
(d)[2]=(a)[2]+(b)[2]+(c)[2])
#define VectorCopy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2])
#define VectorClear(a) ((a)[0]=(a)[1]=(a)[2]=0)
#define VectorNegate(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2])
#define VectorInverse(a) ((a)[0]=-(a)[0],(a)[1]=-(a)[1],(a)[2]=-(a)[2])
#define VectorSet(v, x, y, z) ((v)[0]=(x),(v)[1]=(y),(v)[2]=(z))
#define VectorAvg(a,b,c) \
((c)[0]=((a)[0]+(b)[0])*0.5f, \
(c)[1]=((a)[1]+(b)[1])*0.5f, \
(c)[2]=((a)[2]+(b)[2])*0.5f)
#define VectorMA(a,b,c,d) \
((d)[0]=(a)[0]+(b)*(c)[0], \
(d)[1]=(a)[1]+(b)*(c)[1], \
(d)[2]=(a)[2]+(b)*(c)[2])
#define VectorVectorMA(a,b,c,d) \
((d)[0]=(a)[0]+(b)[0]*(c)[0], \
(d)[1]=(a)[1]+(b)[1]*(c)[1], \
(d)[2]=(a)[2]+(b)[2]*(c)[2])
#define VectorEmpty(v) ((v)[0]==0&&(v)[1]==0&&(v)[2]==0)
#define VectorCompare(v1,v2) ((v1)[0]==(v2)[0]&&(v1)[1]==(v2)[1]&&(v1)[2]==(v2)[2])
#define VectorLength(v) sqrt(DotProduct((v),(v)))
#define VectorLengthSquared(v) DotProduct((v),(v))
#define VectorScale(in,scale,out) \
((out)[0]=(in)[0]*(scale), \
(out)[1]=(in)[1]*(scale), \
(out)[2]=(in)[2]*(scale))
#define VectorVectorScale(in,scale,out) \
((out)[0]=(in)[0]*(scale)[0], \
(out)[1]=(in)[1]*(scale)[1], \
(out)[2]=(in)[2]*(scale)[2])
#define VectorScaleAcc(in,scale,out) \
((out)[0]+=(in)[0]*(scale), \
(out)[1]+=(in)[1]*(scale), \
(out)[2]+=(in)[2]*(scale))
#define VectorVectorScaleAcc(in,scale,out) \
((out)[0]+=(in)[0]*(scale)[0], \
(out)[1]+=(in)[1]*(scale)[1], \
(out)[2]+=(in)[2]*(scale)[2])
#define DistanceSquared(v1,v2) \
(((v1)[0]-(v2)[0])*((v1)[0]-(v2)[0])+ \
((v1)[1]-(v2)[1])*((v1)[1]-(v2)[1])+ \
((v1)[2]-(v2)[2])*((v1)[2]-(v2)[2]))
#define Distance(v1,v2) (sqrt(DistanceSquared(v1,v2)))
#define LerpAngles(a,b,c,d) \
((d)[0]=LerpAngle((a)[0],(b)[0],c), \
(d)[1]=LerpAngle((a)[1],(b)[1],c), \
(d)[2]=LerpAngle((a)[2],(b)[2],c))
#define LerpVector(a,b,c,d) \
((d)[0]=(a)[0]+(c)*((b)[0]-(a)[0]), \
(d)[1]=(a)[1]+(c)*((b)[1]-(a)[1]), \
(d)[2]=(a)[2]+(c)*((b)[2]-(a)[2]))
#define LerpVector2(a,b,c,d,e) \
(VectorClear(e), \
VectorScaleAcc(a, c, e), \
VectorScaleAcc(b, d, e))
#define PlaneDiff(v,p) (DotProduct(v,(p)->normal)-(p)->dist)
#define Vector4Subtract(a,b,c) ((c)[0]=(a)[0]-(b)[0],(c)[1]=(a)[1]-(b)[1],(c)[2]=(a)[2]-(b)[2],(c)[3]=(a)[3]-(b)[3])
#define Vector4Add(a,b,c) ((c)[0]=(a)[0]+(b)[0],(c)[1]=(a)[1]+(b)[1],(c)[2]=(a)[2]+(b)[2],(c)[3]=(a)[3]+(b)[3])
#define Vector4Copy(a,b) ((b)[0]=(a)[0],(b)[1]=(a)[1],(b)[2]=(a)[2],(b)[3]=(a)[3])
#define Vector4Clear(a) ((a)[0]=(a)[1]=(a)[2]=(a)[3]=0)
#define Vector4Negate(a,b) ((b)[0]=-(a)[0],(b)[1]=-(a)[1],(b)[2]=-(a)[2],(b)[3]=-(a)[3])
#define Vector4Set(v, a, b, c, d) ((v)[0]=(a),(v)[1]=(b),(v)[2]=(c),(v)[3]=(d))
void AngleVectors(vec3_t angles, vec3_t forward, vec3_t right, vec3_t up);
vec_t VectorNormalize(vec3_t v); // returns vector length
vec_t VectorNormalize2(vec3_t v, vec3_t out);
mat4_t mul_mat4(const mat4_t *restrict a, const mat4_t *restrict b);
static inline void AnglesToAxis(vec3_t angles, vec3_t axis[3])
{
AngleVectors(angles, axis[0], axis[1], axis[2]);
VectorInverse(axis[1]);
}
static inline void TransposeAxis(vec3_t axis[3])
{
vec_t temp;
temp = axis[0][1];
axis[0][1] = axis[1][0];
axis[1][0] = temp;
temp = axis[0][2];
axis[0][2] = axis[2][0];
axis[2][0] = temp;
temp = axis[1][2];
axis[1][2] = axis[2][1];
axis[2][1] = temp;
}
static inline void RotatePoint(vec3_t point, vec3_t axis[3])
{
vec3_t temp;
VectorCopy(point, temp);
point[0] = DotProduct(temp, axis[0]);
point[1] = DotProduct(temp, axis[1]);
point[2] = DotProduct(temp, axis[2]);
}
static inline mat3_t vec3_to_mat3(vec3_t v0, vec3_t v1, vec3_t v2)
{
return (mat3_t) {
.i = {
[0][0] = v0[0],
[0][1] = v0[1],
[0][2] = v0[2],
[1][0] = v1[0],
[1][1] = v1[1],
[1][2] = v1[2],
[2][0] = v2[0],
[2][1] = v2[1],
[2][2] = v2[2],
},
};
}
static inline mat4_t AffineMatrix(mat3_t m, vec3_t v)
{
mat4_t a;
for (unsigned i = 0; i < 3; i++) {
for (unsigned j = 0; j < 3; j++)
a.i[i][j] = m.i[i][j];
a.i[3][i] = v[i];
}
a.i[0][3] = 0;
a.i[1][3] = 0;
a.i[2][3] = 0;
a.i[3][3] = 1;
return a;
}
static const mat3_t mat3_identity = {
.i = {
[0][0] = 1,
[1][1] = 1,
[2][2] = 1,
}
};
#endif /* _Q_MATRIX_H */
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