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