9 // Simple wrappers around library routines
10 static float abs(float f);
11 static float sqrt(float f);
12 static float pow(float base, float exp);
13 static float ceil(float f);
14 static float sin(float f);
15 static float cos(float f);
16 static float tan(float f);
17 static float atan2(float y, float x);
19 // double variants of the above
20 static double abs(double f);
21 static double sqrt(double f);
22 static double pow(double base, double exp);
23 static double ceil(double f);
24 static double sin(double f);
25 static double cos(double f);
26 static double tan(double f);
27 static double atan2(double y, double x);
29 // Some 3D vector stuff. In all cases, it is permissible for the
30 // "out" vector to be the same as one of the inputs.
31 static void set3(float* v, float* out);
32 static float dot3(float* a, float* b);
33 static void cross3(float* a, float* b, float* out);
34 static void mul3(float scalar, float* v, float* out);
35 static void add3(float* a, float* b, float* out);
36 static void sub3(float* a, float* b, float* out);
37 static float mag3(float* v);
38 static void unit3(float* v, float* out);
40 // Matrix array convention: 0 1 2
44 // Multiply two matrices
45 static void mmul33(float* a, float* b, float* out);
48 static void vmul33(float* m, float* v, float* out);
50 // Multiply the vector by the matrix transpose. Or pre-multiply the
51 // matrix by v as a row vector. Same thing.
52 static void tmul33(float* m, float* v, float* out);
55 static void invert33(float* m, float* out);
57 // Transpose matrix (for an orthonormal orientation matrix, this
58 // is the same as the inverse).
59 static void trans33(float* m, float* out);
61 // Generates an orthonormal basis:
62 // xOut becomes the unit vector in the direction of x
63 // yOut is perpendicular to xOut in the x/y plane
64 // zOut becomes the unit vector: (xOut cross yOut)
65 static void ortho33(float* x, float* y,
66 float* xOut, float* yOut, float* zOut);