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/* some geometric routines always needed */
#include <math.h>
float length(float *v) {
return (float)sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
}
float length2(float *v) {
return (float)sqrt(v[0] * v[0] + v[1] * v[1]);
}
float length3(float *v) {
return length(v);
}
void normalize(float *v) {
float d = length(v);
if (d == 0) return;
v[0] /= d;
v[1] /= d;
v[2] /= d;
}
void crossprod(float *v1, float *v2, float *out) {
out[0] = v1[1] * v2[2] - v1[2] * v2[1];
out[1] = v1[2] * v2[0] - v1[0] * v2[2];
out[2] = v1[0] * v2[1] - v1[1] * v2[0];
}
void normcrossprod(float *v1, float *v2, float *out) {
crossprod(v1, v2, out);
normalize(out);
}
float scalarprod2(float *v1, float *v2) {
return v1[0] * v2[0] + v1[1] * v2[1];
}
float scalarprod(float *v1, float *v2) {
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
void vsub2(float *v1, float *v2, float *out) {
out[0] = v1[0] - v2[0];
out[1] = v1[1] - v2[1];
}
void vsub(float *v1, float *v2, float *out) {
out[0] = v1[0] - v2[0];
out[1] = v1[1] - v2[1];
out[2] = v1[2] - v2[2];
}
void vadd2(float *v1, float *v2, float *out) {
out[0] = v1[0] + v2[0];
out[1] = v1[1] + v2[1];
}
void vadd(float *v1, float *v2, float *out) {
out[0] = v1[0] + v2[0];
out[1] = v1[1] + v2[1];
out[2] = v1[2] + v2[2];
}
void vcopy(float *v1, float *out) {
out[0] = v1[0];
out[1] = v1[1];
out[2] = v1[2];
}
void vmul(float *v, float f) {
v[0] *= f;
v[1] *= f;
v[2] *= f;
}
/* 4 entries... */
float length4(float *v) {
return (float)sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2] +
v[3] * v[3]);
}
void normalize4(float *v) {
float d = length(v);
if (d == 0) return;
v[0] /= d;
v[1] /= d;
v[2] /= d;
v[3] /= d;
}
float scalarprod4(float *v1, float *v2) {
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2] +
v1[3] * v2[3];
}
void vsub4(float *v1, float *v2, float *out) {
out[0] = v1[0] - v2[0];
out[1] = v1[1] - v2[1];
out[2] = v1[2] - v2[2];
out[3] = v1[3] - v2[3];
}
void vadd4(float *v1, float *v2, float *out) {
out[0] = v1[0] + v2[0];
out[1] = v1[1] + v2[1];
out[2] = v1[2] + v2[2];
out[3] = v1[3] + v2[3];
}
void vcopy4(float *v1, float *out) {
out[0] = v1[0];
out[1] = v1[1];
out[2] = v1[2];
out[3] = v1[3];
}
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