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#ifndef LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_VEC_H_
#define LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_VEC_H_
/*
* Copyright (C) 2016 The Android Open Source Project
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <nanohub_math.h>
#ifdef __cplusplus
extern "C" {
#endif
struct Vec3 {
float x, y, z;
};
struct Vec4 {
float x, y, z, w;
};
static inline void initVec3(struct Vec3 *v, float x, float y, float z) {
v->x = x;
v->y = y;
v->z = z;
}
static inline void vec3Add(struct Vec3 *v, const struct Vec3 *w) {
v->x += w->x;
v->y += w->y;
v->z += w->z;
}
static inline void vec3Sub(struct Vec3 *v, const struct Vec3 *w) {
v->x -= w->x;
v->y -= w->y;
v->z -= w->z;
}
static inline void vec3ScalarMul(struct Vec3 *v, float c) {
v->x *= c;
v->y *= c;
v->z *= c;
}
static inline float vec3Dot(const struct Vec3 *v, const struct Vec3 *w) {
return v->x * w->x + v->y * w->y + v->z * w->z;
}
static inline float vec3NormSquared(const struct Vec3 *v) {
return vec3Dot(v, v);
}
static inline float vec3Norm(const struct Vec3 *v) {
return sqrtf(vec3NormSquared(v));
}
static inline void vec3Normalize(struct Vec3 *v) {
float invNorm = 1.0f / vec3Norm(v);
v->x *= invNorm;
v->y *= invNorm;
v->z *= invNorm;
}
static inline void vec3Cross(struct Vec3 *u, const struct Vec3 *v,
const struct Vec3 *w) {
u->x = v->y * w->z - v->z * w->y;
u->y = v->z * w->x - v->x * w->z;
u->z = v->x * w->y - v->y * w->x;
}
static inline void initVec4(struct Vec4 *v, float x, float y, float z,
float w) {
v->x = x;
v->y = y;
v->z = z;
v->w = w;
}
void findOrthogonalVector(float inX, float inY, float inZ, float *outX,
float *outY, float *outZ);
#ifdef __cplusplus
}
#endif
#endif // LOCATION_LBS_CONTEXTHUB_NANOAPPS_COMMON_MATH_VEC_H_
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