Remove SOL body flags

[neverball] / share / vec3.h

diff --git a/share/vec3.h b/share/vec3.h
index 674ea4c..a4b9e3d 100644 (file)
--- a/share/vec3.h
+++ b/share/vec3.h
@@ -24,9 +24,10 @@
 
 #define fsinf(a)      ((float) sin((double) a))
 #define fcosf(a)      ((float) cos((double) a))
-#define ftanf(a)      ((float) cos((double) a))
+#define ftanf(a)      ((float) tan((double) a))
 #define fabsf(a)      ((float) fabs((double) a))
 #define fsqrtf(a)     ((float) sqrt((double) a))
+#define fasinf(a)     ((float) asin((double) a))
 #define facosf(a)     ((float) acos((double) a))
 #define fmodf(x,y)    ((float) fmod((double) x, (double) y))
 #define fatan2f(x, y) ((float) atan2((double) x, (double) y))
@@ -36,47 +37,47 @@
 #define v_dot(u, v)  ((u)[0] * (v)[0] + (u)[1] * (v)[1] + (u)[2] * (v)[2])
 #define v_len(u)     fsqrtf(v_dot(u, u))
 
-#define v_cpy(u, v) { \
-    (u)[0] = (v)[0];  \
-    (u)[1] = (v)[1];  \
-    (u)[2] = (v)[2];  \
-}
-
-#define v_inv(u, v) { \
-    (u)[0] = -(v)[0]; \
-    (u)[1] = -(v)[1]; \
-    (u)[2] = -(v)[2]; \
-}
-
-#define v_scl(u, v, k) {   \
-    (u)[0] = (v)[0] * (k); \
-    (u)[1] = (v)[1] * (k); \
-    (u)[2] = (v)[2] * (k); \
-}
-
-#define v_add(u, v, w) {      \
+#define v_cpy(u, v) do { \
+    (u)[0] = (v)[0];     \
+    (u)[1] = (v)[1];     \
+    (u)[2] = (v)[2];     \
+} while (0)
+
+#define v_inv(u, v) do { \
+    (u)[0] = -(v)[0];    \
+    (u)[1] = -(v)[1];    \
+    (u)[2] = -(v)[2];    \
+} while (0)
+
+#define v_scl(u, v, k) do { \
+    (u)[0] = (v)[0] * (k);  \
+    (u)[1] = (v)[1] * (k);  \
+    (u)[2] = (v)[2] * (k);  \
+} while (0)
+
+#define v_add(u, v, w) do {   \
     (u)[0] = (v)[0] + (w)[0]; \
     (u)[1] = (v)[1] + (w)[1]; \
     (u)[2] = (v)[2] + (w)[2]; \
-}
+} while (0)
 
-#define v_sub(u, v, w) {      \
+#define v_sub(u, v, w) do {   \
     (u)[0] = (v)[0] - (w)[0]; \
     (u)[1] = (v)[1] - (w)[1]; \
     (u)[2] = (v)[2] - (w)[2]; \
-}
+} while (0)
 
-#define v_mid(u, v, w) {              \
+#define v_mid(u, v, w) do {           \
     (u)[0] = ((v)[0] + (w)[0]) / 2.f; \
     (u)[1] = ((v)[1] + (w)[1]) / 2.f; \
     (u)[2] = ((v)[2] + (w)[2]) / 2.f; \
-}
+} while (0)
 
-#define v_mad(u, p, v, t) {         \
+#define v_mad(u, p, v, t) do {      \
     (u)[0] = (p)[0] + (v)[0] * (t); \
     (u)[1] = (p)[1] + (v)[1] * (t); \
     (u)[2] = (p)[2] + (v)[2] * (t); \
-}
+} while (0)
 
 /*---------------------------------------------------------------------------*/
 
@@ -92,7 +93,6 @@ void   m_ident(float *);
 void   m_basis(float *, const float *,
                         const float *,
                         const float *);
-
 void   m_xlt(float *, const float *);
 void   m_scl(float *, const float *);
 void   m_rot(float *, const float *, float);
@@ -101,4 +101,30 @@ void   m_mult(float *, const float *, const float *);
 void   m_pxfm(float *, const float *, const float *);
 void   m_vxfm(float *, const float *, const float *);
 
+void   m_view(float *, const float *,
+                       const float *,
+                       const float *);
+
+/*---------------------------------------------------------------------------*/
+
+#define q_dot(q, r) ((q)[0] * (r)[0] + v_dot((q) + 1, (r) + 1))
+#define q_len(q)    fsqrtf(q_dot((q), (q)))
+
+#define q_cpy(q, r) do { \
+    (q)[0] = (r)[0];     \
+    (q)[1] = (r)[1];     \
+    (q)[2] = (r)[2];     \
+    (q)[3] = (r)[3];     \
+} while (0)
+
+void q_as_axisangle(const float q[4], float u[3], float *a);
+void q_by_axisangle(float q[4], const float u[3], float a);
+
+void q_nrm(float q[4], const float r[4]);
+void q_mul(float q[4], const float a[4], const float b[4]);
+void q_rot(float v[3], const float r[4], const float w[3]);
+
+void q_euler(float v[3], const float q[4]);
+void q_slerp(float q[4], const float a[4], const float b[4], float t);
+
 #endif