1 #ifndef _GEOMETRY_H_
2 #define _GEOMETRY_H_ 1
3 #if defined(__cplusplus)
4 extern "C" { 
5 #endif
6 
7 
8 AUTOLIB(geometry)
9 
10 typedef double Matrix[4][4];
11 typedef struct Point3 Point3;
12 typedef struct Quaternion Quaternion;
13 typedef struct Space Space;
14 struct Point3{
15 	double x, y, z, w;
16 };
17 struct Quaternion{
18 	double r, i, j, k;
19 };
20 struct Space{
21 	Matrix t;
22 	Matrix tinv;
23 	Space *next;
24 };
25 /*
26  * 3-d point arithmetic
27  */
28 Point3 add3(Point3 a, Point3 b);
29 Point3 sub3(Point3 a, Point3 b);
30 Point3 neg3(Point3 a);
31 Point3 div3(Point3 a, double b);
32 Point3 mul3(Point3 a, double b);
33 int eqpt3(Point3 p, Point3 q);
34 int closept3(Point3 p, Point3 q, double eps);
35 double dot3(Point3 p, Point3 q);
36 Point3 cross3(Point3 p, Point3 q);
37 double len3(Point3 p);
38 double dist3(Point3 p, Point3 q);
39 Point3 unit3(Point3 p);
40 Point3 midpt3(Point3 p, Point3 q);
41 Point3 lerp3(Point3 p, Point3 q, double alpha);
42 Point3 reflect3(Point3 p, Point3 p0, Point3 p1);
43 Point3 nearseg3(Point3 p0, Point3 p1, Point3 testp);
44 double pldist3(Point3 p, Point3 p0, Point3 p1);
45 double vdiv3(Point3 a, Point3 b);
46 Point3 vrem3(Point3 a, Point3 b);
47 Point3 pn2f3(Point3 p, Point3 n);
48 Point3 ppp2f3(Point3 p0, Point3 p1, Point3 p2);
49 Point3 fff2p3(Point3 f0, Point3 f1, Point3 f2);
50 Point3 pdiv4(Point3 a);
51 Point3 add4(Point3 a, Point3 b);
52 Point3 sub4(Point3 a, Point3 b);
53 /*
54  * Quaternion arithmetic
55  */
56 void qtom(Matrix, Quaternion);
57 Quaternion mtoq(Matrix);
58 Quaternion qadd(Quaternion, Quaternion);
59 Quaternion qsub(Quaternion, Quaternion);
60 Quaternion qneg(Quaternion);
61 Quaternion qmul(Quaternion, Quaternion);
62 Quaternion p9qdiv(Quaternion, Quaternion);
63 Quaternion qunit(Quaternion);
64 Quaternion qinv(Quaternion);
65 double qlen(Quaternion);
66 Quaternion slerp(Quaternion, Quaternion, double);
67 Quaternion qmid(Quaternion, Quaternion);
68 Quaternion qsqrt(Quaternion);
69 void qball(Rectangle, Mouse *, Quaternion *, void (*)(void), Quaternion *);
70 /*
71  * Matrix arithmetic
72  */
73 void ident(Matrix);
74 void matmul(Matrix, Matrix);
75 void matmulr(Matrix, Matrix);
76 double determinant(Matrix);
77 void adjoint(Matrix, Matrix);
78 double invertmat(Matrix, Matrix);
79 /*
80  * Space stack routines
81  */
82 Space *pushmat(Space *);
83 Space *popmat(Space *);
84 void rot(Space *, double, int);
85 void qrot(Space *, Quaternion);
86 void scale(Space *, double, double, double);
87 void move(Space *, double, double, double);
88 void xform(Space *, Matrix);
89 void ixform(Space *, Matrix, Matrix);
90 void look(Space *, Point3, Point3, Point3);
91 int persp(Space *, double, double, double);
92 void viewport(Space *, Rectangle, double);
93 Point3 xformpoint(Point3, Space *, Space *);
94 Point3 xformpointd(Point3, Space *, Space *);
95 Point3 xformplane(Point3, Space *, Space *);
96 #define	radians(d)	((d)*.01745329251994329572)
97 
98 #ifndef NOPLAN9DEFINES
99 #define	qdiv	p9qdiv	/* for NetBSD */
100 #endif
101 
102 #if defined(__cplusplus)
103 }
104 #endif
105 #endif