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feat: add additional quaternion ops to pl_math.h
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Jonathan Hoffstadt 2025-02-05 21:05:29 -06:00
parent aebd939d7d
commit 8e8da6a934
2 changed files with 11 additions and 9 deletions
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2
README.md
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@ -10,7 +10,7 @@ Library | Lastest Version | Category | Lines of Code | Description
**[pl_ds.h](pl_ds.h)** | 1.0 | utility | 691 | typesafe dynamic array and hash tables for C
**[pl_json.h](pl_json.h)** | 1.0 | parsing | 2067 | json reading & writing for C
**[pl_log.h](pl_log.h)** | 1.0 | utility | 1295 | small logging library for C
**[pl_math.h](pl_math.h)** | 1.0 | math | 800 | small math library for C (vectors, matrices, quaternions, etc.)
**[pl_math.h](pl_math.h)** | 1.1 | math | 801 | small math library for C (vectors, matrices, quaternions, etc.)
**[pl_memory.h](pl_memory.h)** | 1.0 | utility | 699 | various memory allocators for C
**[pl_profile.h](pl_profile.h)** | 1.0 | utility | 551 | small profiling library for C
**[pl_stl.h](pl_stl.h)** | 1.0 | parsing | 340 | small STL file parser

18
pl_math.h
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@ -14,8 +14,8 @@
*/
// library version (format XYYZZ)
#define PL_MATH_VERSION "1.0.0"
#define PL_MATH_VERSION_NUM 10000
#define PL_MATH_VERSION "1.1.0"
#define PL_MATH_VERSION_NUM 10100
/*
Index of this file:
@ -347,12 +347,14 @@ static inline plMat4 pl_mul_mat4t (const plMat4* ptLeft, const plMat4* ptRight
// [SECTION] quaternion ops
//-----------------------------------------------------------------------------
static inline plVec4 pl_mul_quat (plVec4 tQ1, plVec4 tQ2) { return pl_create_vec4(tQ1.w * tQ2.x + tQ1.x * tQ2.w + tQ1.y * tQ2.z - tQ1.z * tQ2.y, tQ1.w * tQ2.y - tQ1.x * tQ2.z + tQ1.y * tQ2.w + tQ1.z * tQ2.x, tQ1.w * tQ2.z + tQ1.x * tQ2.y - tQ1.y * tQ2.x + tQ1.z * tQ2.w, tQ1.w * tQ2.w - tQ1.x * tQ2.x - tQ1.y * tQ2.y - tQ1.z * tQ2.z);}
static inline plVec4 pl_quat_rotation_normal (float fAngle, float fX, float fY, float fZ) { const float fSin2 = sinf(0.5f * fAngle); return pl_create_vec4(fSin2 * fX, fSin2 * fY, fSin2 * fZ, cosf(0.5f * fAngle));}
static inline plVec4 pl_quat_rotation_normal_vec3(float fAngle, plVec3 tNormalAxis) { return pl_quat_rotation_normal(fAngle, tNormalAxis.x, tNormalAxis.y, tNormalAxis.z);}
static inline plVec4 pl_norm_quat (plVec4 tQ) { const plVec3 tNorm = pl_norm_vec3(tQ.xyz); return pl_create_vec4(tNorm.x, tNorm.y, tNorm.z, tQ.w);}
static inline plVec4 pl_quat_slerp (plVec4 tQ1, plVec4 tQ2, float fT);
static inline void pl_decompose_matrix (const plMat4* ptM, plVec3* ptS, plVec4* ptQ, plVec3* ptT);
static inline plVec3 pl_mul_quat_vec3 (plVec3 tV, plVec4 tQ) { return pl_add_vec3(pl_add_vec3(pl_mul_vec3_scalarf(tV, tQ.w * tQ.w - (tQ.x * tQ.x + tQ.y * tQ.y + tQ.z * tQ.z)), pl_mul_vec3_scalarf(tQ.xyz, pl_dot_vec3(tV, tQ.xyz) * 2.0f)), pl_mul_vec3_scalarf(pl_cross_vec3(tQ.xyz, tV), tQ.w * 2.0f));}
static inline plVec4 pl_mul_quat (plVec4 tQ1, plVec4 tQ2) { return pl_create_vec4(tQ1.w * tQ2.x + tQ1.x * tQ2.w + tQ1.y * tQ2.z - tQ1.z * tQ2.y, tQ1.w * tQ2.y - tQ1.x * tQ2.z + tQ1.y * tQ2.w + tQ1.z * tQ2.x, tQ1.w * tQ2.z + tQ1.x * tQ2.y - tQ1.y * tQ2.x + tQ1.z * tQ2.w, tQ1.w * tQ2.w - tQ1.x * tQ2.x - tQ1.y * tQ2.y - tQ1.z * tQ2.z);}
static inline plVec4 pl_quat_rotation (float fAngle, float fX, float fY, float fZ) { const float fSin2 = sinf(0.5f * fAngle); return pl_create_vec4(fSin2 * fX, fSin2 * fY, fSin2 * fZ, cosf(0.5f * fAngle));}
static inline plVec4 pl_quat_rotation_vec3(float fAngle, plVec3 tAxis) { return pl_quat_rotation(fAngle, tAxis.x, tAxis.y, tAxis.z);}
static inline plVec4 pl_norm_quat (plVec4 tQ) { return pl_norm_vec4(tQ);}
static inline plVec4 pl_quat_slerp (plVec4 tQ1, plVec4 tQ2, float fT);
static inline float pl_quat_decompose (plVec4 tQ, plVec3* ptAxisOut) { const float fAngle = 2.0f * acosf(tQ.w); if(fAngle != 0.0f) { const float fSin = sinf(0.5f * fAngle); ptAxisOut->x = tQ.x / fSin; ptAxisOut->y = tQ.y / fSin; ptAxisOut->z = tQ.z / fSin; } return fAngle; }
static inline void pl_decompose_matrix (const plMat4* ptM, plVec3* ptS, plVec4* ptQ, plVec3* ptT);
//-----------------------------------------------------------------------------
// [SECTION] rect ops