6 float Math::clamp(float val, float min, float max)
8 if(val < min) return min;
9 if(val > max) return max;
13 float Math::abs(float f)
15 return (float)::fabs(f);
18 float Math::sqrt(float f)
20 return (float)::sqrt(f);
23 float Math::ceil(float f)
25 return (float)::ceil(f);
28 float Math::acos(float f)
30 return (float)::acos(f);
33 float Math::asin(float f)
35 return (float)::asin(f);
38 float Math::cos(float f)
40 return (float)::cos(f);
43 float Math::sin(float f)
45 return (float)::sin(f);
48 float Math::tan(float f)
50 return (float)::tan(f);
53 float Math::atan(float f)
55 return (float)::atan(f);
58 float Math::atan2(float y, float x)
60 return (float)::atan2(y, x);
63 double Math::floor(double x)
68 double Math::abs(double f)
73 double Math::sqrt(double f)
78 float Math::pow(double base, double exp)
80 return (float)::pow(base, exp);
83 double Math::ceil(double f)
88 double Math::cos(double f)
93 double Math::sin(double f)
98 double Math::tan(double f)
103 double Math::atan2(double y, double x)
105 return ::atan2(y, x);
108 void Math::set3(float* v, float* out)
115 float Math::dot3(float* a, float* b)
117 return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
120 void Math::mul3(float scalar, float* v, float* out)
122 out[0] = scalar * v[0];
123 out[1] = scalar * v[1];
124 out[2] = scalar * v[2];
127 void Math::add3(float* a, float* b, float* out)
129 out[0] = a[0] + b[0];
130 out[1] = a[1] + b[1];
131 out[2] = a[2] + b[2];
134 void Math::sub3(float* a, float* b, float* out)
136 out[0] = a[0] - b[0];
137 out[1] = a[1] - b[1];
138 out[2] = a[2] - b[2];
141 float Math::mag3(float* v)
143 return sqrt(dot3(v, v));
146 void Math::unit3(float* v, float* out)
148 float imag = 1/mag3(v);
152 void Math::cross3(float* a, float* b, float* out)
154 float ax=a[0], ay=a[1], az=a[2];
155 float bx=b[0], by=b[1], bz=b[2];
156 out[0] = ay*bz - by*az;
157 out[1] = az*bx - bz*ax;
158 out[2] = ax*by - bx*ay;
161 void Math::mmul33(float* a, float* b, float* out)
164 tmp[0] = a[0]*b[0] + a[1]*b[3] + a[2]*b[6];
165 tmp[3] = a[3]*b[0] + a[4]*b[3] + a[5]*b[6];
166 tmp[6] = a[6]*b[0] + a[7]*b[3] + a[8]*b[6];
168 tmp[1] = a[0]*b[1] + a[1]*b[4] + a[2]*b[7];
169 tmp[4] = a[3]*b[1] + a[4]*b[4] + a[5]*b[7];
170 tmp[7] = a[6]*b[1] + a[7]*b[4] + a[8]*b[7];
172 tmp[2] = a[0]*b[2] + a[1]*b[5] + a[2]*b[8];
173 tmp[5] = a[3]*b[2] + a[4]*b[5] + a[5]*b[8];
174 tmp[8] = a[6]*b[2] + a[7]*b[5] + a[8]*b[8];
181 void Math::vmul33(float* m, float* v, float* out)
183 float x = v[0], y = v[1], z = v[2];
184 out[0] = x*m[0] + y*m[1] + z*m[2];
185 out[1] = x*m[3] + y*m[4] + z*m[5];
186 out[2] = x*m[6] + y*m[7] + z*m[8];
189 void Math::tmul33(float* m, float* v, float* out)
191 float x = v[0], y = v[1], z = v[2];
192 out[0] = x*m[0] + y*m[3] + z*m[6];
193 out[1] = x*m[1] + y*m[4] + z*m[7];
194 out[2] = x*m[2] + y*m[5] + z*m[8];
197 void Math::invert33(float* m, float* out)
199 // Compute the inverse as the adjoint matrix times 1/(det M).
200 // A, B ... I are the cofactors of a b c
203 float a=m[0], b=m[1], c=m[2];
204 float d=m[3], e=m[4], f=m[5];
205 float g=m[6], h=m[7], i=m[8];
207 float A = (e*i - h*f);
208 float B = -(d*i - g*f);
209 float C = (d*h - g*e);
210 float D = -(b*i - h*c);
211 float E = (a*i - g*c);
212 float F = -(a*h - g*b);
213 float G = (b*f - e*c);
214 float H = -(a*f - d*c);
215 float I = (a*e - d*b);
217 float id = 1/(a*A + b*B + c*C);
219 out[0] = id*A; out[1] = id*D; out[2] = id*G;
220 out[3] = id*B; out[4] = id*E; out[5] = id*H;
221 out[6] = id*C; out[7] = id*F; out[8] = id*I;
224 void Math::trans33(float* m, float* out)
226 // 0 1 2 Elements 0, 4, and 8 are the same
227 // 3 4 5 Swap elements 1/3, 2/6, and 5/7
246 void Math::ortho33(float* x, float* y,
247 float* xOut, float* yOut, float* zOut)
254 cross3(xOut, y0, zOut);
256 cross3(zOut, xOut, yOut);
259 }; // namespace yasim