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/*
 * Copyright (c) 2005  Institute for Visualization and Interactive
 * Systems, University of Stuttgart, Germany
 *
 * This source code is distributed as part of the single-pass volume
 * rendering project. Details about this project can be found on the
 * project web page at http://www.vis.uni-stuttgart.de/eng/research/
 * fields/current/spvolren. This file may be distributed, modified,
 * and used free of charge as long as this copyright notice is
 * included in its original form. Commercial use is strictly
 * prohibited.
 *
 * Filename: mmath.h
 * 
 */

#ifndef MMATH_H
#define MMATH_H

#ifdef __cplusplus
extern "C" {
#endif

#define SQR(x) ((x)*(x))

#ifndef M_PI
        #define M_PI 3.141592765
#endif

#define EPS 1e-5f

typedef struct {
        float x, y, z;
} Vector3;

typedef struct {
        float x, y, z, w;
} Quaternion;

Vector3 Vector3_new(float x, float y, float z);

Vector3 Vector3_add(Vector3 u, Vector3 v);

Vector3 Vector3_sub(Vector3 u, Vector3 v);

Vector3 Vector3_cross(Vector3 u, Vector3 v);

float Vector3_dot(Vector3 u, Vector3 v);

Vector3 Vector3_mult(Vector3 u, Vector3 v);

Vector3 Vector3_smult(float s, Vector3 v);

float Vector3_normalize(Vector3 *v);

void Vector3_stderr(char *s, Vector3 v);

Quaternion Quaternion_new(float w, float x, float y, float z);

Quaternion Quaternion_fromAngleAxis(float angle, Vector3 axis);

Quaternion Quaternion_mult(Quaternion p, Quaternion q);

void Quaternion_getAngleAxis(const Quaternion q, float *angle, Vector3 *axis);

void Quaternion_normalize(Quaternion *q);

Quaternion Quaternion_inverse(Quaternion q);

Vector3 Quaternion_multVector3(Quaternion q, Vector3 v);

void Quaternion_stderr(char *s, Quaternion q);

#ifdef __cplusplus
}
#endif


#endif

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