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/***
* libccd
* ---------------------------------
* Copyright (c)2010,2011 Daniel Fiser <danfis@danfis.cz>
*
*
* This file is part of libccd.
*
* Distributed under the OSI-approved BSD License (the "License");
* see accompanying file BDS-LICENSE for details or see
* <http://www.opensource.org/licenses/bsd-license.php>.
*
* This software is distributed WITHOUT ANY WARRANTY; without even the
* implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the License for more information.
*/
#ifndef __CCD_CUSTOM_VEC3_H__
#define __CCD_CUSTOM_VEC3_H__
#include <ccd/vec3.h>
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#ifdef CCD_SINGLE
# define CCD_ATAN2(x, y) (atan2f((x), (y))) /*!< atan2 of two floats */
#endif /* CCD_SINGLE */
#ifdef CCD_DOUBLE
# define CCD_ATAN2(x, y) (atan2((x), (y))) /*!< atan2 of two floats */
#endif /* CCD_DOUBLE */
/**
* d = v + w
*/
_ccd_inline void ccdVec3Add2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w);
/**
* d = s * k;
*/
_ccd_inline void ccdVec3CopyScaled(ccd_vec3_t *d, const ccd_vec3_t *s, ccd_real_t k);
/**
* d = v + s * k;
*/
_ccd_inline void ccdVec3AddScaled(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *s, ccd_real_t k);
/**
* Normalizes given vector to unit length.
*/
_ccd_inline int ccdVec3SafeNormalize(ccd_vec3_t *d);
_ccd_inline void ccdVec3Add2(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *w)
{
#ifndef dLIBCCD_USE_SYSTEM
d->v[0] = v->v[0] + w->v[0];
d->v[1] = v->v[1] + w->v[1];
d->v[2] = v->v[2] + w->v[2];
#else
ccdVec3Copy(d, v);
ccdVec3Add(d, w);
#endif
}
_ccd_inline void ccdVec3CopyScaled(ccd_vec3_t *d, const ccd_vec3_t *s, ccd_real_t k)
{
#ifndef dLIBCCD_USE_SYSTEM
d->v[0] = s->v[0] * k;
d->v[1] = s->v[1] * k;
d->v[2] = s->v[2] * k;
#else
ccdVec3Copy(d, s);
ccdVec3Scale(d, k);
#endif
}
_ccd_inline void ccdVec3AddScaled(ccd_vec3_t *d, const ccd_vec3_t *v, const ccd_vec3_t *s, ccd_real_t k)
{
#ifndef dLIBCCD_USE_SYSTEM
d->v[0] = v->v[0] + s->v[0] * k;
d->v[1] = v->v[1] + s->v[1] * k;
d->v[2] = v->v[2] + s->v[2] * k;
#else
ccdVec3Copy(d, s);
ccdVec3Scale(d, k);
ccdVec3Add(d, v);
#endif
}
_ccd_inline int ccdVec3SafeNormalize(ccd_vec3_t *d)
{
int result = -1;
ccd_real_t len = CCD_SQRT(ccdVec3Len2(d));
if (len >= CCD_EPS) {
ccdVec3Scale(d, CCD_ONE / len);
result = 0;
}
return result;
}
#ifdef __cplusplus
} /* extern "C" */
#endif /* __cplusplus */
#endif /* __CCD_CUSTOM_VEC3_H__ */
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