97 lines
3.4 KiB
C
97 lines
3.4 KiB
C
/*
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Fixed point implementation of 3 dimensional vectors.
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SSE2 extension availability is assumed, making it more viable.
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For mul and div we don't use com_fixed functions to make fewer bitshifts.
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*/
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#ifndef COM_VEC_H
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#define COM_VEC_H
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#include "def.h"
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#include "fix.h"
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#include <stdint.h>
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typedef struct {
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com_def_alignedas(16) com_def_vector(com_fix_t, a, 4 * sizeof(com_fix_t));
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} com_vec_t;
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static inline com_vec_t com_vec_from(com_fix_t x, com_fix_t y, com_fix_t z) {
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return (com_vec_t){.a = {x, y, z}};
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}
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static inline com_vec_t com_vec_scalar(com_fix_t s) {
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return (com_vec_t){.a = {s, s, s}};
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}
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static inline com_vec_t com_vec_identity(void) {
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return (com_vec_t){
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.a = {COM_FIX_FRACUNIT, COM_FIX_FRACUNIT, COM_FIX_FRACUNIT}};
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}
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static inline com_vec_t com_vec_add(com_vec_t a, com_vec_t b) {
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return (com_vec_t){.a = {com_fix_add(a.a[0], b.a[0]),
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com_fix_add(a.a[1], b.a[1]),
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com_fix_add(a.a[2], b.a[2])}};
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}
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static inline com_vec_t com_vec_sub(com_vec_t a, com_vec_t b) {
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return (com_vec_t){.a = {com_fix_sub(a.a[0], b.a[0]),
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com_fix_sub(a.a[1], b.a[1]),
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com_fix_sub(a.a[2], b.a[2])}};
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}
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static inline com_vec_t com_vec_mul(com_vec_t a, com_vec_t b) {
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return (com_vec_t){.a = {com_fix_mul(a.a[0], b.a[0]),
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com_fix_mul(a.a[1], b.a[1]),
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com_fix_mul(a.a[2], b.a[2])}};
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}
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/* Note: this does not clamp for over/underflow cases */
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static inline com_vec_t com_vec_div(com_vec_t a, com_vec_t b) {
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return (com_vec_t){.a = {com_fix_div(a.a[0], b.a[0]),
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com_fix_div(a.a[1], b.a[1]),
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com_fix_div(a.a[2], b.a[2])}};
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}
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/* Scale vector by a fixed point number */
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static inline com_vec_t com_vec_scl(com_vec_t a, com_fix_t b) {
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return (com_vec_t){.a = {com_fix_mul(a.a[0], b), com_fix_mul(a.a[1], b),
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com_fix_mul(a.a[2], b)}};
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}
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/* Shows how much given vectors are correlated in direction to each other */
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/* Resulted range depends on input, it's in -1 to 1 for normalized
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* input and otherwise is -ab to +ab */
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static inline com_fix_t com_vec_dot(com_vec_t a, com_vec_t b) {
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return ((com_fix_mul(a.a[0], b.a[0])) + (com_fix_mul(a.a[1], b.a[1])) +
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(com_fix_mul(a.a[2], b.a[2])));
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}
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/* Cross product produces a perpendicular for normalized vectors, or 0 for
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* parallel vectors */
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static inline com_vec_t com_vec_crs(com_vec_t a, com_vec_t b) {
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return (com_vec_t){
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.a = {(com_fix_mul(a.a[1], b.a[2])) - (com_fix_mul(a.a[2], b.a[1])),
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(com_fix_mul(a.a[2], b.a[0])) - (com_fix_mul(a.a[0], b.a[2])),
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(com_fix_mul(a.a[0], b.a[1])) - (com_fix_mul(a.a[1], b.a[0]))}};
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}
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/* Normalize vector, making it a unit one (of length 1). */
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/* Pretty expensive, make sure you actually need it. */
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static inline com_vec_t com_vec_nrm(com_vec_t a) {
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com_fix_t const n = com_fix_sqrt(com_vec_dot(a, a));
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// return com_vec_scl(a, com_fix_div(COM_FIX_FRACUNIT, n));
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return (com_vec_t){.a = {com_fix_div(a.a[0], n), com_fix_div(a.a[1], n),
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com_fix_div(a.a[2], n)}};
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}
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static inline com_fix_t com_vec_min(com_vec_t a) {
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return com_fix_min(com_fix_min(a.a[0], a.a[1]), a.a[2]);
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}
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static inline com_fix_t com_vec_max(com_vec_t a) {
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return com_fix_max(com_fix_max(a.a[0], a.a[1]), a.a[2]);
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}
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#endif
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