More vector operations, add/sub/scale
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211
linalg/main.c
211
linalg/main.c
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@ -3,6 +3,12 @@
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#include <stdbool.h>
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#include <stdio.h>
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/*
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* Simple linear algebra mat/vec operations
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*
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* TODO: Normalizations
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*/
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/**
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* @brief A 2×2 matrix stored in row-major order.
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*
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@ -58,6 +64,68 @@ inline float vec3_dot(const Vec3 *a, const Vec3 *b);
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*/
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Vec3 vec3_cross(const Vec3 *a, const Vec3 *b);
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/**
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* @brief Subtracts one 3D vector from another.
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*
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* @param a Pointer to the minuend vector.
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* @param b Pointer to the subtrahend vector.
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* @return The resulting vector (a - b).
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*/
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Vec3 vec3_sub(const Vec3 *a, const Vec3 *b);
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/**
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* @brief Adds two 3D vectors.
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*
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* @param a Pointer to the first vector.
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* @param b Pointer to the second vector.
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* @return The resulting vector (a + b).
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*/
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Vec3 vec3_add(const Vec3 *a, const Vec3 *b);
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/**
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* @brief Scales a 3D vector by a scalar value.
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*
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* @param a Pointer to the vector to scale.
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* @param scalar The scalar value to multiply with the vector.
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* @return The scaled vector (a * scalar).
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*/
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Vec3 vec3_scale(const Vec3 *a, const float scalar);
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/**
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* @brief Computes the dot product of two 2D vectors.
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*
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* @param a Pointer to the first vector.
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* @param b Pointer to the second vector.
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* @return The dot product (a • b).
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*/
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inline float vec2_dot(const Vec2 *a, const Vec2 *b);
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/**
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* @brief Subtracts one 2D vector from another.
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*
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* @param a Pointer to the minuend vector.
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* @param b Pointer to the subtrahend vector.
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* @return The resulting vector (a - b).
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*/
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Vec2 vec2_sub(const Vec2 *a, const Vec2 *b);
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/**
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* @brief Adds two 2D vectors.
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*
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* @param a Pointer to the first vector.
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* @param b Pointer to the second vector.
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* @return The resulting vector (a + b).
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*/
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Vec2 vec2_add(const Vec2 *a, const Vec2 *b);
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/**
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* @brief Scales a 2D vector by a scalar value.
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*
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* @param a Pointer to the vector to scale.
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* @param scalar The scalar value to multiply with the vector.
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* @return The scaled vector (a * scalar).
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*/
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Vec2 vec2_scale(const Vec2 *a, const float scalar);
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/**
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* @brief Computes the determinant of a 2×2 matrix.
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*
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@ -112,6 +180,26 @@ bool mat2_approx_eq(const Mat2 *a, const Mat2 *b, float epsilon);
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*/
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bool mat3_approx_eq(const Mat3 *a, const Mat3 *b, float epsilon);
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/**
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* @brief Checks if two 3×3 vectors are approximately equal.
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*
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* @param a Pointer to the first vector.
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* @param b Pointer to the second vector.
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* @param epsilon Tolerance for comparison.
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* @return true if all elements are approximately equal within epsilon.
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*/
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bool vec3_approx_eq(const Vec3 *a, const Vec3 *b, float epsilon);
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/**
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* @brief Checks if two 2x2 vectors are approximately equal.
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*
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* @param a Pointer to the first vector.
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* @param b Pointer to the second vector.
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* @param epsilon Tolerance for comparison.
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* @return true if all elements are approximately equal within epsilon.
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*/
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bool vec2_approx_eq(const Vec2 *a, const Vec2 *b, float epsilon);
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#define MAT2_AT(m, row, col) ((m)->arr[(col) * 2 + (row)])
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#define MAT3_AT(m, row, col) ((m)->arr[(col) * 3 + (row)])
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@ -134,14 +222,75 @@ float mat3_det(const Mat3 *m) {
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m02 * (m10 * m21 - m11 * m20);
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}
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inline float vec3_dot(const struct Vec3 *a, const struct Vec3 *b) {
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inline float vec3_dot(const Vec3 *a, const Vec3 *b) {
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return a->x * b->x + a->y * b->y + a->z * b->z;
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}
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struct Vec3 vec3_cross(const struct Vec3 *a, const struct Vec3 *b) {
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struct Vec3 res = {.x = a->y * b->z - a->z * b->y,
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.y = a->x * b->z - a->z * b->x,
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.z = a->x * b->y - a->y * b->x};
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Vec3 vec3_cross(const Vec3 *a, const Vec3 *b) {
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Vec3 res = {.x = a->y * b->z - a->z * b->y,
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.y = a->x * b->z - a->z * b->x,
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.z = a->x * b->y - a->y * b->x};
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return res;
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}
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Vec3 vec3_sub(const Vec3 *a, const Vec3 *b) {
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Vec3 res = {
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.x = a->x - b->x,
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.y = a->y - b->y,
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.z = a->z - b->z,
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};
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return res;
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}
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Vec3 vec3_add(const Vec3 *a, const Vec3 *b) {
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Vec3 res = {
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.x = a->x + b->x,
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.y = a->y + b->y,
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.z = a->z + b->z,
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};
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return res;
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}
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Vec3 vec3_scale(const Vec3 *a, const float scalar) {
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Vec3 res = {
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.x = a->x * scalar,
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.y = a->y * scalar,
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.z = a->z * scalar,
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};
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return res;
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}
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float vec2_dot(const Vec2 *a, const Vec2 *b) {
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return a->x * b->x + a->y * b->y;
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}
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Vec2 vec2_sub(const Vec2 *a, const Vec2 *b) {
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Vec2 res = {
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.x = a->x - b->x,
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.y = a->y - b->y,
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};
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return res;
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}
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Vec2 vec2_add(const Vec2 *a, const Vec2 *b) {
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Vec2 res = {
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.x = a->x + b->x,
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.y = a->y + b->y,
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};
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return res;
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}
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Vec2 vec2_scale(const Vec2 *a, const float scalar) {
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Vec2 res = {
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.x = a->x * scalar,
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.y = a->y * scalar,
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};
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return res;
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}
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@ -203,6 +352,15 @@ bool mat3_approx_eq(const Mat3 *a, const Mat3 *b, float epsilon) {
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return true;
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}
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bool vec2_approx_eq(const Vec2 *a, const Vec2 *b, float epsilon) {
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return (fabsf(a->x - b->x) <= epsilon) && (fabsf(a->y - b->y) <= epsilon);
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}
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bool vec3_approx_eq(const Vec3 *a, const Vec3 *b, float epsilon) {
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return (fabsf(a->x - b->x) <= epsilon) && (fabsf(a->y - b->y) <= epsilon) &&
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(fabsf(a->z - b->z) <= epsilon);
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}
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/* Implem end */
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int main(void) {
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@ -222,15 +380,46 @@ int main(void) {
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printf("Determinant: %f\n", d);
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}
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{
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struct Vec3 a = {10, 10, 10};
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struct Vec3 b = {5, 5, 5};
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struct Vec3 c = vec3_cross(&a, &b);
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/* Vector tests for addition, subtraction and multiplication (scale) */
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/* Vec3 */
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Vec3 a3 = {2, 2, 2};
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Vec3 b3 = {1, 1, 1};
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Vec3 c3_sub = vec3_sub(&a3, &b3);
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Vec3 c3_add = vec3_add(&a3, &b3);
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Vec3 m3 = vec3_scale(&a3, 1.5);
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Vec3 v3_expected_add = {3, 3, 3};
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assert(vec3_approx_eq(&c3_sub, &b3, 0.01));
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assert(vec3_approx_eq(&c3_add, &v3_expected_add, 0.01));
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assert(vec3_approx_eq(&m3, &v3_expected_add, 0.01));
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/* Vec2 */
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Vec2 a2 = {2, 2};
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Vec2 b2 = {1, 1};
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Vec2 c2_sub = vec2_sub(&a2, &b2);
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Vec2 c2_add = vec2_add(&a2, &b2);
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Vec2 m2 = vec2_scale(&a2, 1.5);
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Vec2 v2_expected_add = {3, 3};
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assert(vec2_approx_eq(&c2_sub, &b2, 0.01));
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assert(vec2_approx_eq(&c2_add, &v2_expected_add, 0.01));
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assert(vec2_approx_eq(&m2, &v2_expected_add, 0.01));
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}
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{
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Vec3 a = {10, 10, 10};
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Vec3 b = {5, 5, 5};
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Vec3 c = vec3_cross(&a, &b);
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printf("{ Vec3: %f, %f, %f }\n", c.x, c.y, c.z);
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}
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{
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struct Vec3 a = {0, 1, 0};
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struct Vec3 b = {0, 0, 1};
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struct Vec3 c = vec3_cross(&a, &b);
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Vec3 a = {0, 1, 0};
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Vec3 b = {0, 0, 1};
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Vec3 c = vec3_cross(&a, &b);
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printf("{ Vec3: %f, %f, %f }\n", c.x, c.y, c.z);
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}
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