raylib-cs/Raylib-cs/Raymath.cs

using System.Numerics;
using System.Runtime.InteropServices;
using System.Security;

namespace Raylib_cs
{
    // NOTE: Helper types to be used instead of array return types for *ToFloat functions
    public struct float3
    {
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
        public float[] v;
    }

    public struct float16
    {
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
        public float[] v;
    }

    [SuppressUnmanagedCodeSecurity]
    public static class Raymath
    {
        // Used by DllImport to load the native library.
        public const string nativeLibName = "raylib";

        // Clamp float value
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Clamp(float value, float min, float max);

        // Calculate linear interpolation between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Lerp(float start, float end, float amount);

        // Vector with components value 0.0f
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Zero();

        // Vector with components value 1.0f
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2One();

        // Add two vectors (v1 + v2)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Add(Vector2 v1, Vector2 v2);

        // Subtract two vectors (v1 - v2)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Subtract(Vector2 v1, Vector2 v2);

        // Calculate vector length
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector2Length(Vector2 v);

        // Calculate two vectors dot product
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector2DotProduct(Vector2 v1, Vector2 v2);

        // Calculate distance between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector2Distance(Vector2 v1, Vector2 v2);

        // Calculate angle from two vectors in X-axis
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector2Angle(Vector2 v1, Vector2 v2);

        // Scale vector (multiply by value)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Scale(Vector2 v, float scale);

        // Multiply vector by vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2MultiplyV(Vector2 v1, Vector2 v2);

        // Negate vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Negate(Vector2 v);

        // Divide vector by a float value
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Divide(Vector2 v, float div);

        // Divide vector by vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2DivideV(Vector2 v1, Vector2 v2);

        // Normalize provided vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Normalize(Vector2 v);

        // Calculate linear interpolation between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount);

        // Calculate linear interpolation between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector2 Vector2Rotate(Vector2 v, float degs);

        // Vector with components value 0.0f
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Zero();

        // Vector with components value 1.0f
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3One();

        // Add two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Add(Vector3 v1, Vector3 v2);

        // Subtract two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Subtract(Vector3 v1, Vector3 v2);

        // Multiply vector by scalar
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Scale(Vector3 v, float scalar);

        // Multiply vector by vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Multiply(Vector3 v1, Vector3 v2);

        // Calculate two vectors cross product
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2);

        // Calculate one vector perpendicular vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Perpendicular(Vector3 v);

        // Calculate vector length
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector3Length(Vector3 v);

        // Calculate two vectors dot product

        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector3DotProduct(Vector3 v1, Vector3 v2);

        // Calculate distance between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float Vector3Distance(Vector3 v1, Vector3 v2);

        // Negate provided vector (invert direction)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Negate(Vector3 v);

        // Divide vector by a float value
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Divide(Vector3 v, float div);

        // Divide vector by vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3DivideV(Vector3 v1, Vector3 v2);

        // Normalize provided vector
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Normalize(Vector3 v);

        // Orthonormalize provided vectors
        // Makes vectors normalized and orthogonal to each other
        // Gram-Schmidt function implementation
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern void Vector3OrthoNormalize(ref Vector3 v1, ref Vector3 v2);

        // Transforms a Vector3 by a given Matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Transform(Vector3 v, Matrix4x4 mat);

        // Transform a vector by quaternion rotation
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q);

        // Calculate linear interpolation between two vectors
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount);

        // Calculate reflected vector to normal
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Reflect(Vector3 v, Vector3 normal);

        // Return min value for each pair of components
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Min(Vector3 v1, Vector3 v2);

        // Return max value for each pair of components
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Max(Vector3 v1, Vector3 v2);

        // Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
        // NOTE: Assumes P is on the plane of the triangle
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c);

        // Returns Vector3 as float array
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float3 Vector3ToFloatV(Vector3 v);

        // Compute matrix determinant
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float MatrixDeterminant(Matrix4x4 mat);

        // Returns the trace of the matrix (sum of the values along the diagonal)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float MatrixTrace(Matrix4x4 mat);

        // Transposes provided matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixTranspose(Matrix4x4 mat);

        // Invert provided matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixInvert(Matrix4x4 mat);

        // Normalize provided matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixNormalize(Matrix4x4 mat);

        // Returns identity matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixIdentity();

        // Add two matrices
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixAdd(Matrix4x4 left, Matrix4x4 right);

        // Subtract two matrices (left - right)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixSubtract(Matrix4x4 left, Matrix4x4 right);

        // Returns translation matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixTranslate(float x, float y, float z);

        // Create rotation matrix from axis and angle
        // NOTE: Angle should be provided in radians
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixRotate(Vector3 axis, float angle);

        // Returns xyz-rotation matrix (angles in radians)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixRotateXYZ(Vector3 ang);

        // Returns x-rotation matrix (angle in radians)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixRotateX(float angle);

        // Returns y-rotation matrix (angle in radians)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixRotateY(float angle);

        // Returns z-rotation matrix (angle in radians)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixRotateZ(float angle);

        // Returns scaling matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixScale(float x, float y, float z);

        // Returns two matrix multiplication
        // NOTE: When multiplying matrices... the order matters!
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixMultiply(Matrix4x4 left, Matrix4x4 right);

        // Returns perspective projection matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixFrustum(double left, double right, double bottom, double top, double near, double far);

        // Returns perspective projection matrix
        // NOTE: Angle should be provided in radians
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixPerspective(double fovy, double aspect, double near, double far);

        // Returns orthographic projection matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixOrtho(double left, double right, double bottom, double top, double near, double far);

        // Returns camera look-at matrix (view matrix)
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up);

        // Returns float array of matrix data
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float16 MatrixToFloatV(Matrix4x4 mat);

        // Returns identity quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionIdentity();

        // Computes the length of a quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern float QuaternionLength(Quaternion q);

        // Normalize provided quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionNormalize(Quaternion q);

        // Invert provided quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionInvert(Quaternion q);

        // Calculate two quaternion multiplication
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2);

        // Calculate linear interpolation between two quaternions
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount);

        // Calculate slerp-optimized interpolation between two quaternions
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount);

        // Calculates spherical linear interpolation between two quaternions
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount);

        // Calculate quaternion based on the rotation from one vector to another
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to);

        // Returns a quaternion for a given rotation matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionFromMatrix(Matrix4x4 mat);

        // Returns a matrix for a given quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Matrix4x4 QuaternionToMatrix(Quaternion q);

        // Returns rotation quaternion for an angle and axis
        // NOTE: angle must be provided in radians
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle);

        // Returns the rotation angle and axis for a given quaternion
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern void QuaternionToAxisAngle(Quaternion q, ref Vector3 outAxis, ref float outAngle);

        // Returns he quaternion equivalent to Euler angles
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionFromEuler(float roll, float pitch, float yaw);

        // Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
        // NOTE: Angles are returned in a Vector3 struct in degrees
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Vector3 QuaternionToEuler(Quaternion q);

        // Transform a quaternion given a transformation matrix
        [DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
        public static extern Quaternion QuaternionTransform(Quaternion q, Matrix4x4 mat);
    }
}