mirror of
https://github.com/raylib-cs/raylib-cs
synced 2025-04-03 11:09:40 -04:00
ChrisDill
8b522882f6
- Matrix in raylib is column major whereas in numerics it is row major. The type marshals and works but it needs to be transposed before it can be used. At first I looked into keeping the matrix type and converting between the 2 as that made sense but I think using just the on type and documenting the difference is a better tradeoff. It may be easy to create bugs by forgetting to transpose but with good documentation I think this is better than having to deal with the 2 types. I may be wrong about this so we will see how it goes.
361 lines
18 KiB
C#
361 lines
18 KiB
C#
/* Raymath.cs
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*
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* Copyright 2020 Chris Dill
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*
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* Release under zLib License.
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* See LICENSE for details.
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*/
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using System.Numerics;
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using System.Runtime.InteropServices;
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using System.Security;
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namespace Raylib_cs
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{
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// NOTE: Helper types to be used instead of array return types for *ToFloat functions
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public struct float3
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{
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
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public float[] v;
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}
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public struct float16
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{
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[MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
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public float[] v;
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}
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[SuppressUnmanagedCodeSecurity]
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public static class Raymath
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{
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// Used by DllImport to load the native library.
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public const string nativeLibName = "raylib";
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// Clamp float value
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Clamp(float value, float min, float max);
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// Calculate linear interpolation between two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Lerp(float start, float end, float amount);
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// Vector with components value 0.0f
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Zero();
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// Vector with components value 1.0f
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2One();
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// Add two vectors (v1 + v2)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Add(Vector2 v1, Vector2 v2);
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// Subtract two vectors (v1 - v2)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Subtract(Vector2 v1, Vector2 v2);
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// Calculate vector length
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector2Length(Vector2 v);
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// Calculate two vectors dot product
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector2DotProduct(Vector2 v1, Vector2 v2);
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// Calculate distance between two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector2Distance(Vector2 v1, Vector2 v2);
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// Calculate angle from two vectors in X-axis
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector2Angle(Vector2 v1, Vector2 v2);
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// Scale vector (multiply by value)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Scale(Vector2 v, float scale);
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// Multiply vector by vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2MultiplyV(Vector2 v1, Vector2 v2);
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// Negate vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Negate(Vector2 v);
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// Divide vector by a float value
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Divide(Vector2 v, float div);
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// Divide vector by vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2DivideV(Vector2 v1, Vector2 v2);
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// Normalize provided vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Normalize(Vector2 v);
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// Calculate linear interpolation between two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector2 Vector2Lerp(Vector2 v1, Vector2 v2, float amount);
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// Vector with components value 0.0f
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Zero();
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// Vector with components value 1.0f
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3One();
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// Add two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Add(Vector3 v1, Vector3 v2);
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// Subtract two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Subtract(Vector3 v1, Vector3 v2);
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// Multiply vector by scalar
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Multiply(Vector3 v, float scalar);
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// Multiply vector by vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2);
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// Calculate two vectors cross product
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3CrossProduct(Vector3 v1, Vector3 v2);
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// Calculate one vector perpendicular vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Perpendicular(Vector3 v);
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// Calculate vector length
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector3Length(Vector3 v);
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// Calculate two vectors dot product
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector3DotProduct(Vector3 v1, Vector3 v2);
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// Calculate distance between two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float Vector3Distance(Vector3 v1, Vector3 v2);
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// Scale provided vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Scale(Vector3 v, float scale);
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// Negate provided vector (invert direction)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Negate(Vector3 v);
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// Divide vector by a float value
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Divide(Vector3 v, float div);
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// Divide vector by vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3DivideV(Vector3 v1, Vector3 v2);
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// Normalize provided vector
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Normalize(Vector3 v);
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// Orthonormalize provided vectors
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// Makes vectors normalized and orthogonal to each other
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// Gram-Schmidt function implementation
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern void Vector3OrthoNormalize(ref Vector3 v1, ref Vector3 v2);
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// Transforms a Vector3 by a given Matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Transform(Vector3 v, Matrix4x4 mat);
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// Transform a vector by quaternion rotation
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q);
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// Calculate linear interpolation between two vectors
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount);
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// Calculate reflected vector to normal
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Reflect(Vector3 v, Vector3 normal);
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// Return min value for each pair of components
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Min(Vector3 v1, Vector3 v2);
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// Return max value for each pair of components
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Max(Vector3 v1, Vector3 v2);
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// Compute barycenter coordinates (u, v, w) for point p with respect to triangle (a, b, c)
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// NOTE: Assumes P is on the plane of the triangle
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c);
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// Returns Vector3 as float array
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float3 Vector3ToFloatV(Vector3 v);
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// Compute matrix determinant
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float MatrixDeterminant(Matrix4x4 mat);
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// Returns the trace of the matrix (sum of the values along the diagonal)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float MatrixTrace(Matrix4x4 mat);
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// Transposes provided matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixTranspose(Matrix4x4 mat);
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// Invert provided matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixInvert(Matrix4x4 mat);
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// Normalize provided matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixNormalize(Matrix4x4 mat);
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// Returns identity matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixIdentity();
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// Add two matrices
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixAdd(Matrix4x4 left, Matrix4x4 right);
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// Subtract two matrices (left - right)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixSubtract(Matrix4x4 left, Matrix4x4 right);
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// Returns translation matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixTranslate(float x, float y, float z);
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// Create rotation matrix from axis and angle
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// NOTE: Angle should be provided in radians
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixRotate(Vector3 axis, float angle);
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// Returns xyz-rotation matrix (angles in radians)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixRotateXYZ(Vector3 ang);
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// Returns x-rotation matrix (angle in radians)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixRotateX(float angle);
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// Returns y-rotation matrix (angle in radians)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixRotateY(float angle);
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// Returns z-rotation matrix (angle in radians)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixRotateZ(float angle);
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// Returns scaling matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixScale(float x, float y, float z);
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// Returns two matrix multiplication
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// NOTE: When multiplying matrices... the order matters!
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixMultiply(Matrix4x4 left, Matrix4x4 right);
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// Returns perspective projection matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixFrustum(double left, double right, double bottom, double top, double near, double far);
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// Returns perspective projection matrix
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// NOTE: Angle should be provided in radians
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixPerspective(double fovy, double aspect, double near, double far);
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// Returns orthographic projection matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixOrtho(double left, double right, double bottom, double top, double near, double far);
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// Returns camera look-at matrix (view matrix)
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up);
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// Returns float array of matrix data
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float16 MatrixToFloatV(Matrix4x4 mat);
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// Returns identity quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionIdentity();
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// Computes the length of a quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern float QuaternionLength(Quaternion q);
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// Normalize provided quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionNormalize(Quaternion q);
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// Invert provided quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionInvert(Quaternion q);
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// Calculate two quaternion multiplication
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionMultiply(Quaternion q1, Quaternion q2);
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// Calculate linear interpolation between two quaternions
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionLerp(Quaternion q1, Quaternion q2, float amount);
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// Calculate slerp-optimized interpolation between two quaternions
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount);
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// Calculates spherical linear interpolation between two quaternions
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionSlerp(Quaternion q1, Quaternion q2, float amount);
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// Calculate quaternion based on the rotation from one vector to another
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to);
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// Returns a quaternion for a given rotation matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionFromMatrix(Matrix4x4 mat);
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// Returns a matrix for a given quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Matrix4x4 QuaternionToMatrix(Quaternion q);
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// Returns rotation quaternion for an angle and axis
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// NOTE: angle must be provided in radians
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle);
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// Returns the rotation angle and axis for a given quaternion
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern void QuaternionToAxisAngle(Quaternion q, ref Vector3 outAxis, ref float outAngle);
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// Returns he quaternion equivalent to Euler angles
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionFromEuler(float roll, float pitch, float yaw);
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// Return the Euler angles equivalent to quaternion (roll, pitch, yaw)
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// NOTE: Angles are returned in a Vector3 struct in degrees
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Vector3 QuaternionToEuler(Quaternion q);
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// Transform a quaternion given a transformation matrix
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[DllImport(nativeLibName, CallingConvention = CallingConvention.Cdecl)]
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public static extern Quaternion QuaternionTransform(Quaternion q, Matrix4x4 mat);
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}
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}
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