mirror of
https://github.com/HandmadeMath/HandmadeMath.git
synced 2025-09-07 10:48:17 +00:00
Initial quaternion implementation (#49)
* Various changes, and started work on Quaternions
* Worked on Quaternions (#46)
* Working on quaternions
* Finished operations, onto slerp
* Working on slerp
* Finished slerp implementation, next is NLerp
* Cleaned HandmadeMath.cpp
* Removed gbmath includes
* fixed minor issue.
* Fixed function names
* Fixed DotQuat call
* Did a style check
* Double Style Check
* Triple Style Check
* Fixed all the bullshit I did wrong
* Fixed more bs
* Added new functions
* Finished function implements
* Fixed some compile errors
* Fixed UTF-8 Error
* Added in most operator overrides
* Changed instances of HMM_PI to HMM_Pi32
* Fixed a warning
* Fixed a major issue with quaternion to matrix function where rotations about the y axis caused strange warping.
* Revert "Fixed a warning"
This reverts commit 043decab0d.
* Revert repo
* Fixed Quaternion to Matrix function.
* Fixed some prevalent issues, and now pulls triganometric funcitions from the std instead of implementing them.
* Fixed tab formatting, added in reverse multiplication function with Quaternions
* Removed error suppression cleanup, as it was causing more warnings. . .
* Added documentation
* Changed ATanf2 to ATan2f
* Fixed some typos and added additional documentation (#48)
* Add tests for quaternions
* Remove (very wrong) quaternion division in favor of multiplying by inverse
* Put back newlines at ends of files
* Make tweaks for PR
* Add assigning arithmetic operators for quaternions
* Add NLerp
Just to make Jonathan Blow happy: http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/
* Rearrange parameters of HMM_Slerp
It now matches HMM_Lerp and HMM_NLerp.
* Update README.md
This commit is contained in:
Ben Visness
543
HandmadeMath.h
543
HandmadeMath.h
@@ -1,5 +1,5 @@
|
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/*
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HandmadeMath.h v1.0
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HandmadeMath.h v1.1
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This is a single header file with a bunch of useful functions for
|
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basic game math operations.
|
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@@ -79,8 +79,11 @@
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#define HMM_TANF MyTanF
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#define HMM_EXPF MyExpF
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#define HMM_LOGF MyLogF
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#define HMM_ACOSF MyACosF
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#define HMM_ATANF MyATanF
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#define HMM_ATAN2F MYATan2F
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Provide your own implementations of SinF, CosF, TanF, ExpF and LogF
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Provide your own implementations of SinF, CosF, TanF, ACosF, ATanF, ATan2F, ExpF and LogF
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in EXACTLY one C or C++ file that includes this header, BEFORE the
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include, like this:
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|
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@@ -89,6 +92,9 @@
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#define HMM_TANF MyTanF
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#define HMM_EXPF MyExpF
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#define HMM_LOGF MyLogF
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#define HMM_ACOSF MyACosF
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#define HMM_ATANF MyATanF
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#define HMM_ATAN2F MyATan2F
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#define HANDMADE_MATH_IMPLEMENTATION
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#define HANDMADE_MATH_CPP_MODE
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#include "HandmadeMath.h"
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@@ -147,6 +153,23 @@
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(*) Added HMM_NormalizeVec4
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1.0
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(*) Lots of testing!
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1.1
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(*) Quaternion support
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(*) Added type hmm_quaternion
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(*) Added HMM_Quaternion
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(*) Added HMM_QuaternionV4
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(*) Added HMM_AddQuaternion
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(*) Added HMM_SubtractQuaternion
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(*) Added HMM_MultiplyQuaternion
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(*) Added HMM_MultiplyQuaternionF
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(*) Added HMM_DivideQuaternionF
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(*) Added HMM_InverseQuaternion
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(*) Added HMM_DotQuaternion
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(*) Added HMM_NormalizeQuaternion
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(*) Added HMM_Slerp
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(*) Added HMM_QuaternionToMat4
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(*) Added HMM_QuaternionFromAxisAngle
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LICENSE
|
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@@ -164,6 +187,7 @@
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FieryDrake (@fierydrake)
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Gingerbill (@TheGingerBill)
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Ben Visness (@bvisness)
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Trinton Bullard (@Peliex_Dev)
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Fixes:
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Jeroen van Rijn (@J_vanRijn)
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@@ -171,7 +195,9 @@
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Insofaras (@insofaras)
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*/
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#ifndef HANDMADE_NO_SSE
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#include <xmmintrin.h>
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#endif
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#ifndef HANDMADE_MATH_H
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#define HANDMADE_MATH_H
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@@ -189,7 +215,7 @@ extern "C"
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{
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#endif
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#ifdef HANDMADEMATH_STATIC
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#ifdef HANDMADE_MATH_STATIC
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#define HMMDEF static
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#else
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#define HMMDEF extern
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@@ -204,7 +230,8 @@ extern "C"
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#endif
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#if !defined(HMM_SINF) || !defined(HMM_COSF) || !defined(HMM_TANF) || \
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!defined(HMM_EXPF) || !defined(HMM_LOGF)
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!defined(HMM_EXPF) || !defined(HMM_LOGF) || !defined(HMM_ACOSF) || \
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!defined(HMM_ATANF)|| !defined(HMM_ATAN2F)
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#include <math.h>
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#endif
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@@ -228,12 +255,24 @@ extern "C"
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#define HMM_LOGF logf
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#endif
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#ifndef HMM_ACOSF
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#define HMM_ACOSF acosf
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#endif
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#ifndef HMM_ATANF
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#define HMM_ATANF atanf
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#endif
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#ifndef HMM_ATAN2F
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#define HMM_ATAN2F atan2f
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#endif
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#define HMM_PI32 3.14159265359f
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#define HMM_PI 3.14159265358979323846
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#define HMM_MIN(a, b) (a) > (b) ? (b) : (a)
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#define HMM_MAX(a, b) (a) < (b) ? (b) : (a)
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#define HMN_ABS(a) (a) < 0 ? -(a) : (a)
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#define HMM_ABS(a) ((a) > 0 ? (a) : -(a))
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#define HMM_MOD(a, m) ((a) % (m)) >= 0 ? ((a) % (m)) : (((a) % (m)) + (m))
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#define HMM_SQUARE(x) ((x) * (x))
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@@ -359,6 +398,25 @@ typedef union hmm_mat4
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float Elements[4][4];
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} hmm_mat4;
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typedef union hmm_quaternion
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{
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struct
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{
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union
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{
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hmm_vec3 XYZ;
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struct
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{
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float X, Y, Z;
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};
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};
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float W;
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};
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float Elements[4];
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} hmm_quaternion;
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typedef hmm_vec2 hmm_v2;
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typedef hmm_vec3 hmm_v3;
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typedef hmm_vec4 hmm_v4;
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@@ -366,7 +424,10 @@ typedef hmm_mat4 hmm_m4;
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HMMDEF float HMM_SinF(float Angle);
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HMMDEF float HMM_TanF(float Angle);
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HMMDEF float HMM_ATanF(float Theta);
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HMMDEF float HMM_ATan2F(float Theta, float Theta2);
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HMMDEF float HMM_CosF(float Angle);
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HMMDEF float HMM_ACosF(float Theta);
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HMMDEF float HMM_ExpF(float Float);
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HMMDEF float HMM_LogF(float Float);
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@@ -397,8 +458,8 @@ HMMDEF float HMM_DotVec4(hmm_vec4 VecOne, hmm_vec4 VecTwo);
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HMMDEF hmm_vec3 HMM_Cross(hmm_vec3 VecOne, hmm_vec3 VecTwo);
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HMMDEF hmm_vec2 HMM_Vec2i(int X, int Y);
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HMMDEF hmm_vec2 HMM_Vec2(float X, float Y);
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HMMDEF hmm_vec2 HMM_Vec2i(int X, int Y);
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HMMDEF hmm_vec3 HMM_Vec3(float X, float Y, float Z);
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HMMDEF hmm_vec3 HMM_Vec3i(int X, int Y, int Z);
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HMMDEF hmm_vec4 HMM_Vec4(float X, float Y, float Z, float W);
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@@ -447,6 +508,21 @@ HMMDEF hmm_mat4 HMM_Scale(hmm_vec3 Scale);
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HMMDEF hmm_mat4 HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up);
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HMMDEF hmm_quaternion HMM_Quaternion(float X, float Y, float Z, float W);
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HMMDEF hmm_quaternion HMM_QuaternionV4(hmm_vec4 Vector);
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HMMDEF hmm_quaternion HMM_AddQuaternion(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_SubtractQuaternion(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_MultiplyQuaternion(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_MultiplyQuaternionF(hmm_quaternion Left, float Multiplicative);
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HMMDEF hmm_quaternion HMM_DivideQuaternionF(hmm_quaternion Left, float Dividend);
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HMMDEF hmm_quaternion HMM_InverseQuaternion(hmm_quaternion Left);
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HMMDEF float HMM_DotQuaternion(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_NormalizeQuaternion(hmm_quaternion Left);
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HMMDEF hmm_quaternion HMM_NLerp(hmm_quaternion Left, float Time, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_Slerp(hmm_quaternion Left, float Time, hmm_quaternion Right);
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HMMDEF hmm_mat4 HMM_QuaternionToMat4(hmm_quaternion Left);
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HMMDEF hmm_quaternion HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation);
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#ifdef __cplusplus
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}
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#endif
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@@ -464,20 +540,24 @@ HMMDEF float HMM_LengthSquared(hmm_vec4 A);
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HMMDEF hmm_vec2 HMM_Normalize(hmm_vec2 A);
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HMMDEF hmm_vec3 HMM_Normalize(hmm_vec3 A);
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HMMDEF hmm_vec4 HMM_Normalize(hmm_vec4 A);
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HMMDEF hmm_quaternion HMM_Normalize(hmm_quaternion A);
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HMMDEF float HMM_Dot(hmm_vec2 VecOne, hmm_vec2 VecTwo);
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HMMDEF float HMM_Dot(hmm_vec3 VecOne, hmm_vec3 VecTwo);
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HMMDEF float HMM_Dot(hmm_vec4 VecOne, hmm_vec4 VecTwo);
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HMMDEF float HMM_Dot(hmm_quaternion QuatOne, hmm_quaternion QuatTwo);
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HMMDEF hmm_vec2 HMM_Add(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec3 HMM_Add(hmm_vec3 Left, hmm_vec3 Right);
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HMMDEF hmm_vec4 HMM_Add(hmm_vec4 Left, hmm_vec4 Right);
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HMMDEF hmm_mat4 HMM_Add(hmm_mat4 Left, hmm_mat4 Right);
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HMMDEF hmm_quaternion HMM_Add(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_vec2 HMM_Subtract(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec3 HMM_Subtract(hmm_vec3 Left, hmm_vec3 Right);
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HMMDEF hmm_vec4 HMM_Subtract(hmm_vec4 Left, hmm_vec4 Right);
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HMMDEF hmm_mat4 HMM_Subtract(hmm_mat4 Left, hmm_mat4 Right);
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HMMDEF hmm_quaternion HMM_Subtract(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_vec2 HMM_Multiply(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec2 HMM_Multiply(hmm_vec2 Left, float Right);
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@@ -488,6 +568,8 @@ HMMDEF hmm_vec4 HMM_Multiply(hmm_vec4 Left, float Right);
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HMMDEF hmm_mat4 HMM_Multiply(hmm_mat4 Left, hmm_mat4 Right);
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HMMDEF hmm_mat4 HMM_Multiply(hmm_mat4 Left, float Right);
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HMMDEF hmm_vec4 HMM_Multiply(hmm_mat4 Matrix, hmm_vec4 Vector);
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HMMDEF hmm_quaternion HMM_Multiply(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_Multiply(hmm_quaternion Left, float Right);
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HMMDEF hmm_vec2 HMM_Divide(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec2 HMM_Divide(hmm_vec2 Left, float Right);
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@@ -496,31 +578,38 @@ HMMDEF hmm_vec3 HMM_Divide(hmm_vec3 Left, float Right);
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HMMDEF hmm_vec4 HMM_Divide(hmm_vec4 Left, hmm_vec4 Right);
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HMMDEF hmm_vec4 HMM_Divide(hmm_vec4 Left, float Right);
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HMMDEF hmm_mat4 HMM_Divide(hmm_mat4 Left, float Right);
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HMMDEF hmm_quaternion HMM_Divide(hmm_quaternion Left, hmm_quaternion Right);
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HMMDEF hmm_quaternion HMM_Divide(hmm_quaternion Left, float Right);
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HMMDEF hmm_vec2 operator+(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec3 operator+(hmm_vec3 Left, hmm_vec3 Right);
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HMMDEF hmm_vec4 operator+(hmm_vec4 Left, hmm_vec4 Right);
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HMMDEF hmm_mat4 operator+(hmm_mat4 Left, hmm_mat4 Right);
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HMMDEF hmm_quaternion operator+(hmm_quaternion Left, hmm_quaternion Right);
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|
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HMMDEF hmm_vec2 operator-(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec3 operator-(hmm_vec3 Left, hmm_vec3 Right);
|
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HMMDEF hmm_vec4 operator-(hmm_vec4 Left, hmm_vec4 Right);
|
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HMMDEF hmm_mat4 operator-(hmm_mat4 Left, hmm_mat4 Right);
|
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HMMDEF hmm_quaternion operator-(hmm_quaternion Left, hmm_quaternion Right);
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|
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HMMDEF hmm_vec2 operator*(hmm_vec2 Left, hmm_vec2 Right);
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HMMDEF hmm_vec3 operator*(hmm_vec3 Left, hmm_vec3 Right);
|
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HMMDEF hmm_vec4 operator*(hmm_vec4 Left, hmm_vec4 Right);
|
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HMMDEF hmm_mat4 operator*(hmm_mat4 Left, hmm_mat4 Right);
|
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HMMDEF hmm_quaternion operator*(hmm_quaternion Left, hmm_quaternion Right);
|
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|
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HMMDEF hmm_vec2 operator*(hmm_vec2 Left, float Right);
|
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HMMDEF hmm_vec3 operator*(hmm_vec3 Left, float Right);
|
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HMMDEF hmm_vec4 operator*(hmm_vec4 Left, float Right);
|
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HMMDEF hmm_mat4 operator*(hmm_mat4 Left, float Right);
|
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HMMDEF hmm_quaternion operator*(hmm_quaternion Left, float Right);
|
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|
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HMMDEF hmm_vec2 operator*(float Left, hmm_vec2 Right);
|
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HMMDEF hmm_vec3 operator*(float Left, hmm_vec3 Right);
|
||||
HMMDEF hmm_vec4 operator*(float Left, hmm_vec4 Right);
|
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HMMDEF hmm_mat4 operator*(float Left, hmm_mat4 Right);
|
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HMMDEF hmm_quaternion operator*(float Left, hmm_quaternion Right);
|
||||
|
||||
HMMDEF hmm_vec4 operator*(hmm_mat4 Matrix, hmm_vec4 Vector);
|
||||
|
||||
@@ -532,16 +621,19 @@ HMMDEF hmm_vec2 operator/(hmm_vec2 Left, float Right);
|
||||
HMMDEF hmm_vec3 operator/(hmm_vec3 Left, float Right);
|
||||
HMMDEF hmm_vec4 operator/(hmm_vec4 Left, float Right);
|
||||
HMMDEF hmm_mat4 operator/(hmm_mat4 Left, float Right);
|
||||
HMMDEF hmm_quaternion operator/(hmm_quaternion Left, float Right);
|
||||
|
||||
HMMDEF hmm_vec2 &operator+=(hmm_vec2 &Left, hmm_vec2 Right);
|
||||
HMMDEF hmm_vec3 &operator+=(hmm_vec3 &Left, hmm_vec3 Right);
|
||||
HMMDEF hmm_vec4 &operator+=(hmm_vec4 &Left, hmm_vec4 Right);
|
||||
HMMDEF hmm_mat4 &operator+=(hmm_mat4 &Left, hmm_mat4 Right);
|
||||
HMMDEF hmm_quaternion &operator+=(hmm_quaternion &Left, hmm_quaternion Right);
|
||||
|
||||
HMMDEF hmm_vec2 &operator-=(hmm_vec2 &Left, hmm_vec2 Right);
|
||||
HMMDEF hmm_vec3 &operator-=(hmm_vec3 &Left, hmm_vec3 Right);
|
||||
HMMDEF hmm_vec4 &operator-=(hmm_vec4 &Left, hmm_vec4 Right);
|
||||
HMMDEF hmm_mat4 &operator-=(hmm_mat4 &Left, hmm_mat4 Right);
|
||||
HMMDEF hmm_quaternion &operator-=(hmm_quaternion &Left, hmm_quaternion Right);
|
||||
|
||||
HMMDEF hmm_vec2 &operator*=(hmm_vec2 &Left, hmm_vec2 Right);
|
||||
HMMDEF hmm_vec3 &operator*=(hmm_vec3 &Left, hmm_vec3 Right);
|
||||
@@ -551,6 +643,7 @@ HMMDEF hmm_vec2 &operator*=(hmm_vec2 &Left, float Right);
|
||||
HMMDEF hmm_vec3 &operator*=(hmm_vec3 &Left, float Right);
|
||||
HMMDEF hmm_vec4 &operator*=(hmm_vec4 &Left, float Right);
|
||||
HMMDEF hmm_mat4 &operator*=(hmm_mat4 &Left, float Right);
|
||||
HMMDEF hmm_quaternion &operator*=(hmm_quaternion &Left, float Right);
|
||||
|
||||
HMMDEF hmm_vec2 &operator/=(hmm_vec2 &Left, hmm_vec2 Right);
|
||||
HMMDEF hmm_vec3 &operator/=(hmm_vec3 &Left, hmm_vec3 Right);
|
||||
@@ -560,6 +653,7 @@ HMMDEF hmm_vec2 &operator/=(hmm_vec2 &Left, float Right);
|
||||
HMMDEF hmm_vec3 &operator/=(hmm_vec3 &Left, float Right);
|
||||
HMMDEF hmm_vec4 &operator/=(hmm_vec4 &Left, float Right);
|
||||
HMMDEF hmm_mat4 &operator/=(hmm_mat4 &Left, float Right);
|
||||
HMMDEF hmm_quaternion &operator/=(hmm_quaternion &Left, float Right);
|
||||
|
||||
#endif /* HANDMADE_MATH_CPP */
|
||||
|
||||
@@ -594,6 +688,33 @@ HMM_TanF(float Radians)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_ACosF(float Radians)
|
||||
{
|
||||
float Result = 0.0f;
|
||||
|
||||
Result = HMM_ACOSF(Radians);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_ATanF(float Radians)
|
||||
{
|
||||
float Result = 0.0f;
|
||||
|
||||
Result = HMM_ATANF(Radians);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_Atan2F(float Left, float Right)
|
||||
{
|
||||
float Result = 0.0f;
|
||||
|
||||
Result = HMM_ATAN2F(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_ExpF(float Float)
|
||||
{
|
||||
@@ -1205,7 +1326,7 @@ HMM_SubtractMat4(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_MultiplyMat4(hmm_mat4 Left, hmm_mat4 Right)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4();
|
||||
@@ -1230,7 +1351,7 @@ HMM_MultiplyMat4(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_MultiplyMat4f(hmm_mat4 Matrix, float Scalar)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4();
|
||||
@@ -1248,7 +1369,7 @@ HMM_MultiplyMat4f(hmm_mat4 Matrix, float Scalar)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_vec4
|
||||
HINLINE hmm_vec4
|
||||
HMM_MultiplyMat4ByVec4(hmm_mat4 Matrix, hmm_vec4 Vector)
|
||||
{
|
||||
hmm_vec4 Result = {0};
|
||||
@@ -1268,7 +1389,7 @@ HMM_MultiplyMat4ByVec4(hmm_mat4 Matrix, hmm_vec4 Vector)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4();
|
||||
@@ -1286,7 +1407,7 @@ HMM_DivideMat4f(hmm_mat4 Matrix, float Scalar)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Transpose(hmm_mat4 Matrix)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4();
|
||||
@@ -1304,7 +1425,7 @@ HMM_Transpose(hmm_mat4 Matrix)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Orthographic(float Left, float Right, float Bottom, float Top, float Near, float Far)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4d(1.0f);
|
||||
@@ -1320,7 +1441,7 @@ HMM_Orthographic(float Left, float Right, float Bottom, float Top, float Near, f
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Perspective(float FOV, float AspectRatio, float Near, float Far)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4d(1.0f);
|
||||
@@ -1337,7 +1458,7 @@ HMM_Perspective(float FOV, float AspectRatio, float Near, float Far)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Translate(hmm_vec3 Translation)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4d(1.0f);
|
||||
@@ -1349,7 +1470,7 @@ HMM_Translate(hmm_vec3 Translation)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Rotate(float Angle, hmm_vec3 Axis)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4d(1.0f);
|
||||
@@ -1375,7 +1496,7 @@ HMM_Rotate(float Angle, hmm_vec3 Axis)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_Scale(hmm_vec3 Scale)
|
||||
{
|
||||
hmm_mat4 Result = HMM_Mat4d(1.0f);
|
||||
@@ -1387,7 +1508,7 @@ HMM_Scale(hmm_vec3 Scale)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
hmm_mat4
|
||||
HINLINE hmm_mat4
|
||||
HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up)
|
||||
{
|
||||
hmm_mat4 Result = {0};
|
||||
@@ -1416,6 +1537,236 @@ HMM_LookAt(hmm_vec3 Eye, hmm_vec3 Center, hmm_vec3 Up)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
|
||||
HMMDEF hmm_quaternion
|
||||
HMM_Quaternion(float X, float Y, float Z, float W)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = X;
|
||||
Result.Y = Y;
|
||||
Result.Z = Z;
|
||||
Result.W = W;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_QuaternionV4(hmm_vec4 Vector)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = Vector.X;
|
||||
Result.Y = Vector.Y;
|
||||
Result.Z = Vector.Z;
|
||||
Result.W = Vector.W;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_AddQuaternion(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = Left.X + Right.X;
|
||||
Result.Y = Left.Y + Right.Y;
|
||||
Result.Z = Left.Z + Right.Z;
|
||||
Result.W = Left.W + Right.W;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_SubtractQuaternion(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = Left.X - Right.X;
|
||||
Result.Y = Left.Y - Right.Y;
|
||||
Result.Z = Left.Z - Right.Z;
|
||||
Result.W = Left.W - Right.W;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_MultiplyQuaternion(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = (Left.X * Right.W) + (Left.Y * Right.Z) - (Left.Z * Right.Y) + (Left.W * Right.X);
|
||||
Result.Y = (-Left.X * Right.Z) + (Left.Y * Right.W) + (Left.Z * Right.X) + (Left.W * Right.Y);
|
||||
Result.Z = (Left.X * Right.Y) - (Left.Y * Right.X) + (Left.Z * Right.W) + (Left.W * Right.Z);
|
||||
Result.W = (-Left.X * Right.X) - (Left.Y * Right.Y) - (Left.Z * Right.Z) + (Left.W * Right.W);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_MultiplyQuaternionF(hmm_quaternion Left, float Multiplicative)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = Left.X * Multiplicative;
|
||||
Result.Y = Left.Y * Multiplicative;
|
||||
Result.Z = Left.Z * Multiplicative;
|
||||
Result.W = Left.W * Multiplicative;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_DivideQuaternionF(hmm_quaternion Left, float Dividend)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = Left.X / Dividend;
|
||||
Result.Y = Left.Y / Dividend;
|
||||
Result.Z = Left.Z / Dividend;
|
||||
Result.W = Left.W / Dividend;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_InverseQuaternion(hmm_quaternion Left)
|
||||
{
|
||||
hmm_quaternion Conjugate = {0};
|
||||
hmm_quaternion Result = {0};
|
||||
float Norm = 0;
|
||||
float NormSquared = 0;
|
||||
|
||||
Conjugate.X = -Left.X;
|
||||
Conjugate.Y = -Left.Y;
|
||||
Conjugate.Z = -Left.Z;
|
||||
Conjugate.W = Left.W;
|
||||
|
||||
Norm = HMM_SquareRootF(HMM_DotQuaternion(Left, Left));
|
||||
NormSquared = Norm * Norm;
|
||||
|
||||
Result.X = Conjugate.X / NormSquared;
|
||||
Result.Y = Conjugate.Y / NormSquared;
|
||||
Result.Z = Conjugate.Z / NormSquared;
|
||||
Result.W = Conjugate.W / NormSquared;
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_DotQuaternion(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
float Result = 0.0f;
|
||||
|
||||
Result = (Left.X * Right.X) + (Left.Y * Right.Y) + (Left.Z * Right.Z) + (Left.W * Right.W);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_NormalizeQuaternion(hmm_quaternion Left)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
float Length = HMM_SquareRootF(HMM_DotQuaternion(Left, Left));
|
||||
Result = HMM_DivideQuaternionF(Left, Length);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_NLerp(hmm_quaternion Left, float Time, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result.X = HMM_Lerp(Left.X, Time, Right.X);
|
||||
Result.Y = HMM_Lerp(Left.Y, Time, Right.Y);
|
||||
Result.Z = HMM_Lerp(Left.Z, Time, Right.Z);
|
||||
Result.W = HMM_Lerp(Left.W, Time, Right.W);
|
||||
|
||||
Result = HMM_Normalize(Result);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Slerp(hmm_quaternion Left, float Time, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
hmm_quaternion QuaternionLeft = {0};
|
||||
hmm_quaternion QuaternionRight = {0};
|
||||
|
||||
float Cos_Theta = HMM_DotQuaternion(Left, Right);
|
||||
float Angle = HMM_ACosF(Cos_Theta);
|
||||
|
||||
float S1 = HMM_SinF((1.0f - Time) * Angle);
|
||||
float S2 = HMM_SinF(Time * Angle);
|
||||
float Is = 1.0f / HMM_SinF(Angle);
|
||||
|
||||
QuaternionLeft = HMM_MultiplyQuaternionF(Left, S1);
|
||||
QuaternionRight = HMM_MultiplyQuaternionF(Right, S2);
|
||||
|
||||
Result = HMM_AddQuaternion(QuaternionLeft, QuaternionRight);
|
||||
Result = HMM_MultiplyQuaternionF(Result, Is);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_mat4
|
||||
HMM_QuaternionToMat4(hmm_quaternion Left)
|
||||
{
|
||||
hmm_mat4 Result = {0};
|
||||
Result = HMM_Mat4d(1);
|
||||
|
||||
hmm_quaternion NormalizedQuaternion = HMM_NormalizeQuaternion(Left);
|
||||
|
||||
float XX, YY, ZZ,
|
||||
XY, XZ, YZ,
|
||||
WX, WY, WZ;
|
||||
|
||||
XX = NormalizedQuaternion.X * NormalizedQuaternion.X;
|
||||
YY = NormalizedQuaternion.Y * NormalizedQuaternion.Y;
|
||||
ZZ = NormalizedQuaternion.Z * NormalizedQuaternion.Z;
|
||||
XY = NormalizedQuaternion.X * NormalizedQuaternion.Y;
|
||||
XZ = NormalizedQuaternion.X * NormalizedQuaternion.Z;
|
||||
YZ = NormalizedQuaternion.Y * NormalizedQuaternion.Z;
|
||||
WX = NormalizedQuaternion.W * NormalizedQuaternion.X;
|
||||
WY = NormalizedQuaternion.W * NormalizedQuaternion.Y;
|
||||
WZ = NormalizedQuaternion.W * NormalizedQuaternion.Z;
|
||||
|
||||
Result.Elements[0][0] = 1.0f - 2.0f * (YY + ZZ);
|
||||
Result.Elements[0][1] = 2.0f * (XY + WZ);
|
||||
Result.Elements[0][2] = 2.0f * (XZ - WY);
|
||||
|
||||
Result.Elements[1][0] = 2.0f * (XY - WZ);
|
||||
Result.Elements[1][1] = 1.0f - 2.0f * (XX + ZZ);
|
||||
Result.Elements[1][2] = 2.0f * (YZ + WX);
|
||||
|
||||
Result.Elements[2][0] = 2.0f * (XZ + WY);
|
||||
Result.Elements[2][1] = 2.0f * (YZ - WX);
|
||||
Result.Elements[2][2] = 1.0f - 2.0f * (XX + YY);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_QuaternionFromAxisAngle(hmm_vec3 Axis, float AngleOfRotation)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
float AxisNorm = 0;
|
||||
float SineOfRotation = 0;
|
||||
hmm_vec3 RotatedVector = {0};
|
||||
|
||||
AxisNorm = HMM_SquareRootF(HMM_DotVec3(Axis, Axis));
|
||||
SineOfRotation = HMM_SinF(AngleOfRotation / 2.0f);
|
||||
RotatedVector = HMM_MultiplyVec3f(Axis, SineOfRotation);
|
||||
|
||||
Result.W = HMM_CosF(AngleOfRotation / 2.0f);
|
||||
Result.XYZ = HMM_DivideVec3f(RotatedVector, AxisNorm);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
#ifdef HANDMADE_MATH_CPP_MODE
|
||||
|
||||
HMMDEF float
|
||||
@@ -1508,6 +1859,16 @@ HMM_Normalize(hmm_vec4 A)
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Normalize(hmm_quaternion A)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_NormalizeQuaternion(A);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_Dot(hmm_vec2 VecOne, hmm_vec2 VecTwo)
|
||||
{
|
||||
@@ -1538,6 +1899,16 @@ HMM_Dot(hmm_vec4 VecOne, hmm_vec4 VecTwo)
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE float
|
||||
HMM_Dot(hmm_quaternion QuatOne, hmm_quaternion QuatTwo)
|
||||
{
|
||||
float Result = 0;
|
||||
|
||||
Result = HMM_DotQuaternion(QuatOne, QuatTwo);
|
||||
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
HMM_Add(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1574,6 +1945,15 @@ HMM_Add(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Add(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_AddQuaternion(Left, Right);
|
||||
return(Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
HMM_Subtract(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1610,6 +1990,15 @@ HMM_Subtract(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Subtract(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_SubtractQuaternion(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
HMM_Multiply(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1691,6 +2080,33 @@ HMM_Multiply(hmm_mat4 Matrix, hmm_vec4 Vector)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Multiply(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_MultiplyQuaternion(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Multiply(hmm_quaternion Left, float Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_MultiplyQuaternionF(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Multiply(float Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_MultiplyQuaternionF(Right, Left);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
HMM_Divide(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1754,6 +2170,15 @@ HMM_Divide(hmm_mat4 Left, float Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
HMM_Divide(hmm_quaternion Left, float Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_DivideQuaternionF(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
operator+(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1790,6 +2215,15 @@ operator+(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator+(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Add(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
operator-(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1826,6 +2260,15 @@ operator-(hmm_mat4 Left, hmm_mat4 Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator-(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Subtract(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
operator*(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1942,6 +2385,33 @@ operator*(hmm_mat4 Matrix, hmm_vec4 Vector)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator*(hmm_quaternion Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Multiply(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator*(hmm_quaternion Left, float Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Multiply(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator*(float Left, hmm_quaternion Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Multiply(Right, Left);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2
|
||||
operator/(hmm_vec2 Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -1954,7 +2424,9 @@ operator/(hmm_vec2 Left, hmm_vec2 Right)
|
||||
HINLINE hmm_vec3
|
||||
operator/(hmm_vec3 Left, hmm_vec3 Right)
|
||||
{
|
||||
hmm_vec3 Result = HMM_Divide(Left, Right);
|
||||
hmm_vec3 Result = {0};
|
||||
|
||||
Result = HMM_Divide(Left, Right);
|
||||
|
||||
return (Result);
|
||||
}
|
||||
@@ -2004,6 +2476,15 @@ operator/(hmm_mat4 Left, float Right)
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion
|
||||
operator/(hmm_quaternion Left, float Right)
|
||||
{
|
||||
hmm_quaternion Result = {0};
|
||||
|
||||
Result = HMM_Divide(Left, Right);
|
||||
return (Result);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2 &
|
||||
operator+=(hmm_vec2 &Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -2028,6 +2509,12 @@ operator+=(hmm_mat4 &Left, hmm_mat4 Right)
|
||||
return (Left = Left + Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion &
|
||||
operator+=(hmm_quaternion &Left, hmm_quaternion Right)
|
||||
{
|
||||
return (Left = Left + Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2 &
|
||||
operator-=(hmm_vec2 &Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -2052,6 +2539,12 @@ operator-=(hmm_mat4 &Left, hmm_mat4 Right)
|
||||
return (Left = Left - Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion &
|
||||
operator-=(hmm_quaternion &Left, hmm_quaternion Right)
|
||||
{
|
||||
return (Left = Left - Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2 &
|
||||
operator/=(hmm_vec2 &Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -2094,6 +2587,12 @@ operator/=(hmm_mat4 &Left, float Right)
|
||||
return (Left = Left / Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion &
|
||||
operator/=(hmm_quaternion &Left, float Right)
|
||||
{
|
||||
return (Left = Left / Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_vec2 &
|
||||
operator*=(hmm_vec2 &Left, hmm_vec2 Right)
|
||||
{
|
||||
@@ -2136,6 +2635,12 @@ operator*=(hmm_mat4 &Left, float Right)
|
||||
return (Left = Left * Right);
|
||||
}
|
||||
|
||||
HINLINE hmm_quaternion &
|
||||
operator*=(hmm_quaternion &Left, float Right)
|
||||
{
|
||||
return (Left = Left * Right);
|
||||
}
|
||||
|
||||
#endif /* HANDMADE_MATH_CPP_MODE */
|
||||
|
||||
#endif /* HANDMADE_MATH_IMPLEMENTATION */
|
||||
#endif /* HANDMADE_MATH_IMPLEMENTATION */
|
||||
|
||||
Reference in New Issue
Block a user