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