libgeometry revamp

1 files changed, 126 insertions, 78 deletions

diff --git a/sys/include/geometry.h b/sys/include/geometry.h
index 695518257..401ed2ae7 100644
--- a/sys/include/geometry.h
+++ b/sys/include/geometry.h
@@ -1,89 +1,137 @@
 #pragma lib "libgeometry.a"
 #pragma src "/sys/src/libgeometry"
-typedef double Matrix[4][4];
+
+#define DEG 0.01745329251994330	/* π/180 */
+
+typedef struct Point2 Point2;
 typedef struct Point3 Point3;
+typedef double Matrix[3][3];
+typedef double Matrix3[4][4];
 typedef struct Quaternion Quaternion;
-typedef struct Space Space;
-struct Point3{
+typedef struct RFrame RFrame;
+typedef struct RFrame3 RFrame3;
+typedef struct Triangle2 Triangle2;
+typedef struct Triangle3 Triangle3;
+
+struct Point2 {
+	double x, y, w;
+};
+
+struct Point3 {
 	double x, y, z, w;
 };
-struct Quaternion{
+
+struct Quaternion {
 	double r, i, j, k;
 };
-struct Space{
-	Matrix t;
-	Matrix tinv;
-	Space *next;
+
+struct RFrame {
+	Point2 p;
+	Point2 bx, by;
+};
+
+struct RFrame3 {
+	Point3 p;
+	Point3 bx, by, bz;
+};
+
+struct Triangle2
+{
+	Point2 p0, p1, p2;
+};
+
+struct Triangle3 {
+	Point3 p0, p1, p2;
 };
-/*
- * 3-d point arithmetic
- */
-Point3 add3(Point3 a, Point3 b);
-Point3 sub3(Point3 a, Point3 b);
-Point3 neg3(Point3 a);
-Point3 div3(Point3 a, double b);
-Point3 mul3(Point3 a, double b);
-int eqpt3(Point3 p, Point3 q);
-int closept3(Point3 p, Point3 q, double eps);
-double dot3(Point3 p, Point3 q);
-Point3 cross3(Point3 p, Point3 q);
-double len3(Point3 p);
-double dist3(Point3 p, Point3 q);
-Point3 unit3(Point3 p);
-Point3 midpt3(Point3 p, Point3 q);
-Point3 lerp3(Point3 p, Point3 q, double alpha);
-Point3 reflect3(Point3 p, Point3 p0, Point3 p1);
-Point3 nearseg3(Point3 p0, Point3 p1, Point3 testp);
-double pldist3(Point3 p, Point3 p0, Point3 p1);
-double vdiv3(Point3 a, Point3 b);
-Point3 vrem3(Point3 a, Point3 b);
-Point3 pn2f3(Point3 p, Point3 n);
-Point3 ppp2f3(Point3 p0, Point3 p1, Point3 p2);
-Point3 fff2p3(Point3 f0, Point3 f1, Point3 f2);
-Point3 pdiv4(Point3 a);
-Point3 add4(Point3 a, Point3 b);
-Point3 sub4(Point3 a, Point3 b);
-/*
- * Quaternion arithmetic
- */
-void qtom(Matrix, Quaternion);
-Quaternion mtoq(Matrix);
-Quaternion qadd(Quaternion, Quaternion);
-Quaternion qsub(Quaternion, Quaternion);
-Quaternion qneg(Quaternion);
-Quaternion qmul(Quaternion, Quaternion);
-Quaternion qdiv(Quaternion, Quaternion);
-Quaternion qunit(Quaternion);
-Quaternion qinv(Quaternion);
+
+/* utils */
+double flerp(double, double, double);
+double fclamp(double, double, double);
+
+/* Point2 */
+Point2 Pt2(double, double, double);
+Point2 Vec2(double, double);
+Point2 addpt2(Point2, Point2);
+Point2 subpt2(Point2, Point2);
+Point2 mulpt2(Point2, double);
+Point2 divpt2(Point2, double);
+Point2 lerp2(Point2, Point2, double);
+double dotvec2(Point2, Point2);
+double vec2len(Point2);
+Point2 normvec2(Point2);
+int edgeptcmp(Point2, Point2, Point2);
+int ptinpoly(Point2, Point2*, ulong);
+
+/* Point3 */
+Point3 Pt3(double, double, double, double);
+Point3 Vec3(double, double, double);
+Point3 addpt3(Point3, Point3);
+Point3 subpt3(Point3, Point3);
+Point3 mulpt3(Point3, double);
+Point3 divpt3(Point3, double);
+Point3 lerp3(Point3, Point3, double);
+double dotvec3(Point3, Point3);
+Point3 crossvec3(Point3, Point3);
+double vec3len(Point3);
+Point3 normvec3(Point3);
+
+/* Matrix */
+void identity(Matrix);
+void addm(Matrix, Matrix);
+void subm(Matrix, Matrix);
+void mulm(Matrix, Matrix);
+void smulm(Matrix, double);
+void transposem(Matrix);
+double detm(Matrix);
+double tracem(Matrix);
+void adjm(Matrix);
+void invm(Matrix);
+Point2 xform(Point2, Matrix);
+
+/* Matrix3 */
+void identity3(Matrix3);
+void addm3(Matrix3, Matrix3);
+void subm3(Matrix3, Matrix3);
+void mulm3(Matrix3, Matrix3);
+void smulm3(Matrix3, double);
+void transposem3(Matrix3);
+double detm3(Matrix3);
+double tracem3(Matrix3);
+void adjm3(Matrix3);
+void invm3(Matrix3);
+Point3 xform3(Point3, Matrix3);
+
+/* Quaternion */
+Quaternion Quat(double, double, double, double);
+Quaternion Quatvec(double, Point3);
+Quaternion addq(Quaternion, Quaternion);
+Quaternion subq(Quaternion, Quaternion);
+Quaternion mulq(Quaternion, Quaternion);
+Quaternion smulq(Quaternion, double);
+Quaternion sdivq(Quaternion, double);
+double dotq(Quaternion, Quaternion);
+Quaternion invq(Quaternion);
 double qlen(Quaternion);
+Quaternion normq(Quaternion);
 Quaternion slerp(Quaternion, Quaternion, double);
-Quaternion qmid(Quaternion, Quaternion);
-Quaternion qsqrt(Quaternion);
-void qball(Rectangle, Mouse *, Quaternion *, void (*)(void), Quaternion *);
-/*
- * Matrix arithmetic
- */
-void ident(Matrix);
-void matmul(Matrix, Matrix);
-void matmulr(Matrix, Matrix);
-double determinant(Matrix);
-void adjoint(Matrix, Matrix);
-double invertmat(Matrix, Matrix);
-/*
- * Space stack routines
- */
-Space *pushmat(Space *);
-Space *popmat(Space *);
-void rot(Space *, double, int);
-void qrot(Space *, Quaternion);
-void scale(Space *, double, double, double);
-void move(Space *, double, double, double);
-void xform(Space *, Matrix);
-void ixform(Space *, Matrix, Matrix);
-void look(Space *, Point3, Point3, Point3);
-int persp(Space *, double, double, double);
-void viewport(Space *, Rectangle, double);
-Point3 xformpoint(Point3, Space *, Space *);
-Point3 xformpointd(Point3, Space *, Space *);
-Point3 xformplane(Point3, Space *, Space *);
-#define	radians(d)	((d)*.01745329251994329572)
+Point3 qrotate(Point3, Point3, double);
+
+/* RFrame */
+Point2 rframexform(Point2, RFrame);
+Point3 rframexform3(Point3, RFrame3);
+Point2 invrframexform(Point2, RFrame);
+Point3 invrframexform3(Point3, RFrame3);
+
+/* Triangle2 */
+Point2 centroid(Triangle2);
+Point3 barycoords(Triangle2, Point2);
+
+/* Triangle3 */
+Point3 centroid3(Triangle3);
+
+/* Fmt */
+#pragma varargck type "v" Point2
+#pragma varargck type "V" Point3
+int vfmt(Fmt*);
+int Vfmt(Fmt*);
+void GEOMfmtinstall(void);