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Functions parameters reorganize: Axis and Angle

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sin(), cos() functions cached and replaced by float c99 versions sinf(),
cos()
This commit is contained in:
Ray 2016-02-02 18:41:01 +01:00
parent 65ecde1e75
commit df5c64d0be
5 changed files with 38 additions and 35 deletions
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47
src/raymath.h
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@ -141,7 +141,7 @@ RMDEF Matrix MatrixIdentity(void); // Returns identit
RMDEF Matrix MatrixAdd(Matrix left, Matrix right); // Add two matrices
RMDEF Matrix MatrixSubstract(Matrix left, Matrix right); // Substract two matrices (left - right)
RMDEF Matrix MatrixTranslate(float x, float y, float z); // Returns translation matrix
RMDEF Matrix MatrixRotate(float angle, Vector3 axis); // Returns rotation matrix for an angle around an specified axis (angle in radians)
RMDEF Matrix MatrixRotate(Vector3 axis, float angle); // Returns rotation matrix for an angle around an specified axis (angle in radians)
RMDEF Matrix MatrixRotateX(float angle); // Returns x-rotation matrix (angle in radians)
RMDEF Matrix MatrixRotateY(float angle); // Returns y-rotation matrix (angle in radians)
RMDEF Matrix MatrixRotateZ(float angle); // Returns z-rotation matrix (angle in radians)
@ -162,8 +162,8 @@ RMDEF Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2); // Calcula
RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float slerp); // Calculates spherical linear interpolation between two quaternions
RMDEF Quaternion QuaternionFromMatrix(Matrix matrix); // Returns a quaternion for a given rotation matrix
RMDEF Matrix QuaternionToMatrix(Quaternion q); // Returns a matrix for a given quaternion
RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis); // Returns rotation quaternion for an angle and axis
RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis); // Returns the rotation angle and axis for a given quaternion
RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle); // Returns rotation quaternion for an angle and axis
RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle); // Returns the rotation angle and axis for a given quaternion
RMDEF void QuaternionTransform(Quaternion *q, Matrix mat); // Transform a quaternion given a transformation matrix
#ifdef __cplusplus
@ -587,7 +587,7 @@ RMDEF Matrix MatrixTranslate(float x, float y, float z)
// Create rotation matrix from axis and angle
// NOTE: Angle should be provided in radians
RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
RMDEF Matrix MatrixRotate(Vector3 axis, float angle)
{
Matrix result;
@ -605,9 +605,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
z *= length;
}
float s = sinf(angle);
float c = cosf(angle);
float t = 1.0f - c;
float sinres = sinf(angle);
float cosres = cosf(angle);
float t = 1.0f - cosres;
// Cache some matrix values (speed optimization)
float a00 = mat.m0, a01 = mat.m1, a02 = mat.m2, a03 = mat.m3;
@ -615,9 +615,9 @@ RMDEF Matrix MatrixRotate(float angle, Vector3 axis)
float a20 = mat.m8, a21 = mat.m9, a22 = mat.m10, a23 = mat.m11;
// Construct the elements of the rotation matrix
float b00 = x*x*t + c, b01 = y*x*t + z*s, b02 = z*x*t - y*s;
float b10 = x*y*t - z*s, b11 = y*y*t + c, b12 = z*y*t + x*s;
float b20 = x*z*t + y*s, b21 = y*z*t - x*s, b22 = z*z*t + c;
float b00 = x*x*t + cosres, b01 = y*x*t + z*sinres, b02 = z*x*t - y*sinres;
float b10 = x*y*t - z*sinres, b11 = y*y*t + cosres, b12 = z*y*t + x*sinres;
float b20 = x*z*t + y*sinres, b21 = y*z*t - x*sinres, b22 = z*z*t + cosres;
// Perform rotation-specific matrix multiplication
result.m0 = a00*b00 + a10*b01 + a20*b02;
@ -688,8 +688,8 @@ RMDEF Matrix MatrixRotateX(float angle)
{
Matrix result = MatrixIdentity();
float cosres = (float)cos(angle);
float sinres = (float)sin(angle);
float cosres = cosf(angle);
float sinres = sinf(angle);
result.m5 = cosres;
result.m6 = -sinres;
@ -720,8 +720,8 @@ RMDEF Matrix MatrixRotateZ(float angle)
{
Matrix result = MatrixIdentity();
float cosres = (float)cos(angle);
float sinres = (float)sin(angle);
float cosres = cosf(angle);
float sinres = sinf(angle);
result.m0 = cosres;
result.m1 = -sinres;
@ -946,8 +946,8 @@ RMDEF Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount)
}
else
{
float ratioA = sin((1 - amount)*halfTheta)/sinHalfTheta;
float ratioB = sin(amount*halfTheta)/sinHalfTheta;
float ratioA = sinf((1 - amount)*halfTheta)/sinHalfTheta;
float ratioB = sinf(amount*halfTheta)/sinHalfTheta;
result.x = (q1.x*ratioA + q2.x*ratioB);
result.y = (q1.y*ratioA + q2.y*ratioB);
@ -1060,7 +1060,7 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q)
// Returns rotation quaternion for an angle and axis
// NOTE: angle must be provided in radians
RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle)
{
Quaternion result = { 0.0f, 0.0f, 0.0f, 1.0f };
@ -1069,11 +1069,14 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
angle *= 0.5f;
VectorNormalize(&axis);
float sinres = sinf(angle);
float cosres = cosf(angle);
result.x = axis.x*(float)sin(angle);
result.y = axis.y*(float)sin(angle);
result.z = axis.z*(float)sin(angle);
result.w = (float)cos(angle);
result.x = axis.x*sinres;
result.y = axis.y*sinres;
result.z = axis.z*sinres;
result.w = cosres;
QuaternionNormalize(&result);
@ -1081,7 +1084,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(float angle, Vector3 axis)
}
// Returns the rotation angle and axis for a given quaternion
RMDEF void QuaternionToAxisAngle(Quaternion q, float *outAngle, Vector3 *outAxis)
RMDEF void QuaternionToAxisAngle(Quaternion q, Vector3 *outAxis, float *outAngle)
{
if (fabs(q.w) > 1.0f) QuaternionNormalize(&q);