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#pragma lib "libgeometry.a"
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#pragma src "/sys/src/libgeometry"
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typedef double Matrix[4][4];
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typedef struct Point3 Point3;
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typedef struct Quaternion Quaternion;
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typedef struct Space Space;
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struct Point3{
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double x, y, z, w;
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};
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struct Quaternion{
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double r, i, j, k;
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};
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struct Space{
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Matrix t;
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Matrix tinv;
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Space *next;
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};
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/*
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* 3-d point arithmetic
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*/
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Point3 add3(Point3 a, Point3 b);
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Point3 sub3(Point3 a, Point3 b);
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Point3 neg3(Point3 a);
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Point3 div3(Point3 a, double b);
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Point3 mul3(Point3 a, double b);
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int eqpt3(Point3 p, Point3 q);
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int closept3(Point3 p, Point3 q, double eps);
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double dot3(Point3 p, Point3 q);
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Point3 cross3(Point3 p, Point3 q);
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double len3(Point3 p);
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double dist3(Point3 p, Point3 q);
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Point3 unit3(Point3 p);
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Point3 midpt3(Point3 p, Point3 q);
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Point3 lerp3(Point3 p, Point3 q, double alpha);
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Point3 reflect3(Point3 p, Point3 p0, Point3 p1);
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Point3 nearseg3(Point3 p0, Point3 p1, Point3 testp);
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double pldist3(Point3 p, Point3 p0, Point3 p1);
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double vdiv3(Point3 a, Point3 b);
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Point3 vrem3(Point3 a, Point3 b);
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Point3 pn2f3(Point3 p, Point3 n);
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Point3 ppp2f3(Point3 p0, Point3 p1, Point3 p2);
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Point3 fff2p3(Point3 f0, Point3 f1, Point3 f2);
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Point3 pdiv4(Point3 a);
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Point3 add4(Point3 a, Point3 b);
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Point3 sub4(Point3 a, Point3 b);
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/*
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* Quaternion arithmetic
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*/
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void qtom(Matrix, Quaternion);
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Quaternion mtoq(Matrix);
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Quaternion qadd(Quaternion, Quaternion);
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Quaternion qsub(Quaternion, Quaternion);
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Quaternion qneg(Quaternion);
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Quaternion qmul(Quaternion, Quaternion);
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Quaternion qdiv(Quaternion, Quaternion);
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Quaternion qunit(Quaternion);
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Quaternion qinv(Quaternion);
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double qlen(Quaternion);
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Quaternion slerp(Quaternion, Quaternion, double);
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Quaternion qmid(Quaternion, Quaternion);
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Quaternion qsqrt(Quaternion);
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void qball(Rectangle, Mouse *, Quaternion *, void (*)(void), Quaternion *);
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/*
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* Matrix arithmetic
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*/
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void ident(Matrix);
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void matmul(Matrix, Matrix);
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void matmulr(Matrix, Matrix);
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double determinant(Matrix);
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void adjoint(Matrix, Matrix);
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double invertmat(Matrix, Matrix);
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/*
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* Space stack routines
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*/
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Space *pushmat(Space *);
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Space *popmat(Space *);
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void rot(Space *, double, int);
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void qrot(Space *, Quaternion);
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void scale(Space *, double, double, double);
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void move(Space *, double, double, double);
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void xform(Space *, Matrix);
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void ixform(Space *, Matrix, Matrix);
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void look(Space *, Point3, Point3, Point3);
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int persp(Space *, double, double, double);
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void viewport(Space *, Rectangle, double);
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Point3 xformpoint(Point3, Space *, Space *);
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Point3 xformpointd(Point3, Space *, Space *);
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Point3 xformplane(Point3, Space *, Space *);
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#define radians(d) ((d)*.01745329251994329572)
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