quat
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Ryan Oldenburg
parent
7a9bca4236
commit
a307f89589
1 changed files with 107 additions and 97 deletions
150
src/vmath.nim
150
src/vmath.nim
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@ -806,52 +806,52 @@ proc `*`*(a: Mat4, b: Vec4): Vec4 =
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result.z = a[2] * b.x + a[6] * b.y + a[10] * b.z + a[14] * b.w
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result.w = a[3] * b.x + a[7] * b.y + a[11] * b.z + a[15] * b.w
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proc right*(a: Mat4): Vec3 =
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proc right*(a: Mat4): Vec3 {.inline.} =
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result.x = a[0]
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result.y = a[1]
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result.z = a[2]
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proc `right=`*(a: var Mat4, b: Vec3) =
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proc `right=`*(a: var Mat4, b: Vec3) {.inline.} =
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a[0] = b.x
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a[1] = b.y
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a[2] = b.z
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proc up*(a: Mat4): Vec3 =
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proc up*(a: Mat4): Vec3 {.inline.} =
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result.x = a[4]
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result.y = a[5]
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result.z = a[6]
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proc `up=`*(a: var Mat4, b: Vec3) =
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proc `up=`*(a: var Mat4, b: Vec3) {.inline.} =
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a[4] = b.x
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a[5] = b.y
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a[6] = b.z
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proc forward*(a: Mat4): Vec3 =
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proc forward*(a: Mat4): Vec3 {.inline.} =
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result.x = a[8]
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result.y = a[9]
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result.z = a[10]
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proc `forward=`*(a: var Mat4, b: Vec3) =
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proc `forward=`*(a: var Mat4, b: Vec3) {.inline.} =
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a[8] = b.x
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a[9] = b.y
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a[10] = b.z
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proc pos*(a: Mat4): Vec3 =
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proc pos*(a: Mat4): Vec3 {.inline.} =
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result.x = a[12]
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result.y = a[13]
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result.z = a[14]
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proc `pos=`*(a: var Mat4, b: Vec3) =
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proc `pos=`*(a: var Mat4, b: Vec3) {.inline.} =
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a[12] = b.x
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a[13] = b.y
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a[14] = b.z
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proc rotationOnly*(a: Mat4): Mat4 =
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proc rotationOnly*(a: Mat4): Mat4 {.inline.} =
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result = a
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result.pos = vec3(0, 0, 0)
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proc dist*(a, b: Mat4): float32 =
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var
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let
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x = a[12] - b[12]
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y = a[13] - b[13]
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z = a[14] - b[14]
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@ -932,7 +932,7 @@ proc hrp*(m: Mat4): Vec3 =
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result.z = roll
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proc frustum*(left, right, bottom, top, near, far: float32): Mat4 =
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var
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let
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rl = (right - left)
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tb = (top - bottom)
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fn = (far - near)
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@ -954,13 +954,13 @@ proc frustum*(left, right, bottom, top, near, far: float32): Mat4 =
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result[15] = 0
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proc perspective*(fovy, aspect, near, far: float32): Mat4 =
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var
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let
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top = near * tan(fovy * PI / 360.0)
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right = top * aspect
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frustum(-right, right, -top, top, near, far)
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proc ortho*(left, right, bottom, top, near, far: float32): Mat4 =
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var
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let
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rl = (right - left)
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tb = (top - bottom)
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fn = (far - near)
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@ -982,7 +982,7 @@ proc ortho*(left, right, bottom, top, near, far: float32): Mat4 =
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result[15] = 1
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proc lookAt*(eye, center, up: Vec3): Mat4 =
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var
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let
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eyex = eye[0]
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eyey = eye[1]
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eyez = eye[2]
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@ -1128,19 +1128,19 @@ type Quat* = object
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z*: float32
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w*: float32
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proc quat*(x, y, z, w: float32): Quat =
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proc quat*(x, y, z, w: float32): Quat {.inline.} =
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result.x = x
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result.y = y
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result.z = z
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result.w = w
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proc conjugate*(q: Quat): Quat =
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proc conjugate*(q: Quat): Quat {.inline.} =
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result.w = +q.w
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result.x = -q.x
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result.y = -q.y
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result.z = -q.z
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proc length*(q: Quat): float32 =
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proc length*(q: Quat): float32 {.inline.} =
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sqrt(
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q.w * q.w +
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q.x * q.x +
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@ -1155,23 +1155,23 @@ proc normalize*(q: Quat): Quat =
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result.z = q.z / m
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result.w = q.w / m
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proc xyz*(q: Quat): Vec3 =
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proc xyz*(q: Quat): Vec3 {.inline.} =
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result.x = q.x
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result.y = q.y
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result.z = q.z
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proc `xyz=`*(q: var Quat, v: Vec3) =
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proc `xyz=`*(q: var Quat, v: Vec3) {.inline.} =
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q.x = v.x
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q.y = v.y
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q.z = v.z
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proc `-`*(a: var Quat): Quat =
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proc `-`*(a: var Quat): Quat {.inline.} =
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result.x = -a.x
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result.y = -a.y
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result.z = -a.z
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result.w = -a.w
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proc `+`*(a: Quat, b: Quat): Quat =
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proc `+`*(a: Quat, b: Quat): Quat {.inline.} =
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result.x = a.x + b.x
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result.y = a.y + b.y
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result.z = a.z + b.z
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@ -1195,7 +1195,7 @@ proc `*`*(a, b: Quat): Quat =
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result.z = a.z * b.w + a.w * b.z + a.x * b.y - a.y * b.x
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result.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
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proc `*`*(q: Quat, v: float32): Quat =
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proc `*`*(q: Quat, v: float32): Quat {.inline.} =
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## Multiply the quaternion by a float32.
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result.x = q.x * v
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result.y = q.y * v
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@ -1204,7 +1204,7 @@ proc `*`*(q: Quat, v: float32): Quat =
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proc `*`*(q: Quat, v: Vec3): Vec3 =
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## Multiply the quaternion by a vector.
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var
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let
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x = v.x
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y = v.y
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z = v.z
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@ -1223,29 +1223,35 @@ proc `*`*(q: Quat, v: Vec3): Vec3 =
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result.y = iy * qw + iw * -qy + iz * -qx - ix * -qz
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result.z = iz * qw + iw * -qz + ix * -qy - iy * -qx
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proc `[]`*(a: var Quat, i: int, b: float32) =
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case i
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of 0: a.x
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of 1: a.y
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of 2: a.z
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of 3: a.w
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else: raise newException(IndexDefect, "Index not in 0 .. 3")
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proc `[]=`*(a: var Quat, i: int, b: float32) =
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assert(i == 0 or i == 1 or i == 2 or i == 3)
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if i == 0:
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a.x = b
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elif i == 1:
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a.y = b
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elif i == 2:
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a.z = b
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elif i == 3:
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a.w = b
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case i
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of 0: a.x = b
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of 1: a.y = b
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of 2: a.z = b
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of 3: a.w = b
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else: raise newException(IndexDefect, "Index not in 0 .. 3")
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proc mat3*(q: Quat): Mat3 =
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var xx = q.x * q.x
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var xy = q.x * q.y
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var xz = q.x * q.z
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var xw = q.x * q.w
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let
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xx = q.x * q.x
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xy = q.x * q.y
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xz = q.x * q.z
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xw = q.x * q.w
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var yy = q.y * q.y
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var yz = q.y * q.z
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var yw = q.y * q.w
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yy = q.y * q.y
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yz = q.y * q.z
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yw = q.y * q.w
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var zz = q.z * q.z
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var zw = q.z * q.w
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zz = q.z * q.z
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zw = q.z * q.w
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result[0] = 1 - 2 * (yy + zz)
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result[1] = 0 + 2 * (xy - zw)
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@ -1258,17 +1264,18 @@ proc mat3*(q: Quat): Mat3 =
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result[8] = 1 - 2 * (xx + yy)
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proc mat4*(q: Quat): Mat4 =
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var xx = q.x * q.x
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var xy = q.x * q.y
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var xz = q.x * q.z
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var xw = q.x * q.w
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let
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xx = q.x * q.x
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xy = q.x * q.y
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xz = q.x * q.z
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xw = q.x * q.w
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var yy = q.y * q.y
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var yz = q.y * q.z
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var yw = q.y * q.w
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yy = q.y * q.y
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yz = q.y * q.z
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yw = q.y * q.w
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var zz = q.z * q.z
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var zw = q.z * q.w
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zz = q.z * q.z
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zw = q.z * q.w
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result[00] = 1 - 2 * (yy + zz)
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result[01] = 0 + 2 * (xy - zw)
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@ -1288,11 +1295,11 @@ proc mat4*(q: Quat): Mat4 =
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result[14] = 0
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result[15] = 1.0
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proc recifuncalSqrt*(x: float32): float32 =
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proc recifuncalSqrt*(x: float32): float32 {.inline.} =
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1.0 / sqrt(x)
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proc quat*(m: Mat4): Quat =
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var
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let
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m00 = m[0]
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m01 = m[4]
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m02 = m[8]
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@ -1305,8 +1312,9 @@ proc quat*(m: Mat4): Quat =
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m21 = m[6]
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m22 = m[10]
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var q: Quat
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var t: float32
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var
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q: Quat
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t: float32
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if m22 < 0:
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if m00 > m11:
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@ -1328,8 +1336,9 @@ proc quat*(m: Mat4): Quat =
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q
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proc fromAxisAngle*(axis: Vec3, angle: float32): Quat =
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var a = axis.normalize()
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var s = sin(angle / 2)
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let
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a = axis.normalize()
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s = sin(angle / 2)
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result.x = a.x * s
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result.y = a.y * s
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result.z = a.z * s
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@ -1348,18 +1357,19 @@ proc toAxisAngle*(q: Quat, axis: var Vec3, angle: var float32) =
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axis.z = q.z / sinAngle
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proc quat*(heading, pitch, roll: float32): Quat =
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var t0 = cos(heading * 0.5)
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var t1 = sin(heading * 0.5)
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var t2 = cos(roll * 0.5)
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var t3 = sin(roll * 0.5)
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var t4 = cos(pitch * 0.5)
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var t5 = sin(pitch * 0.5)
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let
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t0 = cos(heading * 0.5)
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t1 = sin(heading * 0.5)
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t2 = cos(roll * 0.5)
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t3 = sin(roll * 0.5)
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t4 = cos(pitch * 0.5)
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t5 = sin(pitch * 0.5)
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result.w = t0 * t2 * t4 + t1 * t3 * t5
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result.x = t0 * t3 * t4 - t1 * t2 * t5
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result.y = t0 * t2 * t5 + t1 * t3 * t4
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result.z = t1 * t2 * t4 - t0 * t3 * t5
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proc quat*(hpr: Vec3): Quat =
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proc quat*(hpr: Vec3): Quat {.inline.} =
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quat(hpr.x, hpr.y, hpr.z)
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proc hrp*(q: Quat): Vec3 =
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@ -1380,7 +1390,7 @@ proc hrp*(q: Quat): Vec3 =
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var t4 = +1.0 - 2.0 * (ysqr + q.z * q.z)
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result.x = arctan2(t3, t4)
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proc dot*(a: Quat, b: Quat): float32 =
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proc dot*(a: Quat, b: Quat): float32 {.inline.} =
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a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w
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proc nlerp*(a: Quat, b: Quat, v: float32): Quat =
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@ -1393,25 +1403,25 @@ proc nlerp*(a: Quat, b: Quat, v: float32): Quat =
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proc `$`*(a: Quat): string =
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&"q({a.x:.8f}, {a.y:.8f}, {a.z:.8f}, {a.w:.8f})"
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proc rotate*(angle: float32, axis: Vec3): Mat4 =
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proc rotate*(angle: float32, axis: Vec3): Mat4 {.inline.} =
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fromAxisAngle(axis, angle).mat4()
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proc rotateX*(angle: float32): Mat4 =
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proc rotateX*(angle: float32): Mat4 {.inline.} =
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rotate(angle, vec3(1, 0, 0))
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proc rotateY*(angle: float32): Mat4 =
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proc rotateY*(angle: float32): Mat4 {.inline.} =
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rotate(angle, vec3(0, 1, 0))
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proc rotateZ*(angle: float32): Mat4 =
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proc rotateZ*(angle: float32): Mat4 {.inline.} =
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rotate(angle, vec3(0, 0, 1))
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proc scaleMat*(scale: Vec3): Mat4 =
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proc scaleMat*(scale: Vec3): Mat4 {.inline.} =
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result[0] = scale.x
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result[5] = scale.y
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result[10] = scale.z
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result[15] = 1.0
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proc scaleMat*(scale: float32): Mat4 =
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proc scaleMat*(scale: float32): Mat4 {.inline.} =
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scaleMat(vec3(scale, scale, scale))
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type Rect* = object
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