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|
;;; Chickadee Game Toolkit
;;; Copyright © 2016 David Thompson <dthompson2@worcester.edu>
;;;
;;; 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.
(define-module (chickadee math vector)
#:use-module (ice-9 format)
#:use-module (rnrs bytevectors)
#:use-module (srfi srfi-9)
#:use-module (srfi srfi-9 gnu)
#:use-module (system foreign)
#:use-module (chickadee data bytestruct)
#:use-module (chickadee math)
#:export (<vec2>
vec2
vec2/polar
vec2?
vec2=
vec3=
vec2-copy
vec2-copy!
vec2-x
vec2-y
vec2-magnitude
vec2-dot
vec2-cross
vec2-normalize
set-vec2-x!
set-vec2-y!
set-vec2!
vec2-normalize!
vec2-mult!
vec2-add!
vec2-sub!
vec2*
vec2+
vec2-
<vec3>
vec3
vec3?
vec3->pointer
vec3-copy
vec3-copy!
vec3-x
vec3-y
vec3-z
vec3-magnitude
vec3-dot
vec3-cross
vec3-cross!
vec3-normalize
set-vec3-x!
set-vec3-y!
set-vec3-z!
set-vec3!
vec3-normalize!
vec3*
vec3+
vec3-
vec3-mult!
vec3-add!
vec3-sub!))
;;
;; 2D Vectors
;;
(define-byterecord-type <vec2>
(vec2 x y)
vec2?
(x f32 vec2-x set-vec2-x!)
(y f32 vec2-y set-vec2-y!)
#:printer (lambda (v port)
(format port "#<vec2 ~a ~a>"
(bytestruct-ref <vec2> (x) v)
(bytestruct-ref <vec2> (y) v))))
(define (make-null-vec2)
(vec2 0.0 0.0))
(define-inlinable (vec2= a b)
(and (= (vec2-x a) (vec2-x b))
(= (vec2-y a) (vec2-y b))))
(define-syntax-rule (with-new-vec2 name body ...)
(let ((name (make-null-vec2))) body ... name))
(define-inlinable (vec2/polar origin r theta)
"Return a new vec2 containing the Cartesian representation of the
polar coordinate (R, THETA) with an arbitrary ORIGIN point."
(vec2 (+ (vec2-x origin) (* r (cos theta)))
(+ (vec2-y origin) (* r (sin theta)))))
(define-inlinable (set-vec2! v x y)
(set-vec2-x! v x)
(set-vec2-y! v y))
(define (vec2-copy! source-vec2 target-vec2)
"Copy SOURCE-VEC2 to TARGET-VEC2."
(set-vec2-x! target-vec2 (vec2-x source-vec2))
(set-vec2-y! target-vec2 (vec2-y source-vec2)))
(define (vec2-copy vec2)
"Return a new vec2 that is a copy of VEC2."
(with-new-vec2 new
(vec2-copy! vec2 new)))
(define-inlinable (vec2-magnitude v)
"Return the magnitude of the vec2 V."
(sqrt (+ (* (vec2-x v) (vec2-x v)) (* (vec2-y v) (vec2-y v)))))
(define-inlinable (vec2-dot v1 v2)
"Return the dot product of the vec2s V1 and V2."
(+ (* (vec2-x v1) (vec2-x v2))
(* (vec2-y v1) (vec2-y v2))))
(define-inlinable (vec2-cross v1 v2)
(- (* (vec2-x v1) (vec2-y v2))
(* (vec2-y v1) (vec2-x v2))))
(define-inlinable (vec2-normalize! v)
"Normalize the vec2 V in-place."
(unless (and (zero? (vec2-x v)) (zero? (vec2-y v)))
(let ((m (vec2-magnitude v)))
(set-vec2-x! v (/ (vec2-x v) m))
(set-vec2-y! v (/ (vec2-y v) m)))))
(define (vec2-normalize v)
"Return the normalized form of the vec2 V."
(with-new-vec2 new
(vec2-copy! v new)
(vec2-normalize! new)))
(define-inlinable (vec2-mult! v x)
"Multiply the vec2 V by X, a real number or vec2."
(if (real? x)
(begin
(set-vec2-x! v (* (vec2-x v) x))
(set-vec2-y! v (* (vec2-y v) x)))
(begin
(set-vec2-x! v (* (vec2-x v) (vec2-x x)))
(set-vec2-y! v (* (vec2-y v) (vec2-y x))))))
(define-inlinable (vec2-add! v x)
"Add X, a real number or vec2, to the vec2 V."
(if (real? x)
(begin
(set-vec2-x! v (+ (vec2-x v) x))
(set-vec2-y! v (+ (vec2-y v) x)))
(begin
(set-vec2-x! v (+ (vec2-x v) (vec2-x x)))
(set-vec2-y! v (+ (vec2-y v) (vec2-y x))))))
(define-inlinable (vec2-sub! v x)
"Subtract X, a real number or vec2, from the vec2 V."
(if (real? x)
(begin
(set-vec2-x! v (- (vec2-x v) x))
(set-vec2-y! v (- (vec2-y v) x)))
(begin
(set-vec2-x! v (- (vec2-x v) (vec2-x x)))
(set-vec2-y! v (- (vec2-y v) (vec2-y x))))))
(define-inlinable (vec2* v x)
"Multiply V by X."
(let ((new (vec2-copy v)))
(vec2-mult! new x)
new))
(define-inlinable (vec2+ v x)
"Add X to V."
(let ((new (vec2-copy v)))
(vec2-add! new x)
new))
(define-inlinable (vec2- v x)
"Subtract X from V."
(let ((new (vec2-copy v)))
(vec2-sub! new x)
new))
;;
;; 3D Vectors
;;;
(define-byterecord-type <vec3>
(vec3 x y z)
vec3?
(x f32 vec3-x set-vec3-x!)
(y f32 vec3-y set-vec3-y!)
(z f32 vec3-z set-vec3-z!)
#:printer (lambda (v port)
(format port "#<vec3 ~a ~a ~a>"
(bytestruct-ref <vec3> (x) v)
(bytestruct-ref <vec3> (y) v)
(bytestruct-ref <vec3> (z) v))))
(define (make-null-vec3)
(vec3 0.0 0.0 0.0))
(define-inlinable (vec3= a b)
(and (= (vec3-x a) (vec3-x b))
(= (vec3-y a) (vec3-y b))
(= (vec3-z a) (vec3-z b))))
(define-syntax-rule (with-new-vec3 name body ...)
(let ((name (make-null-vec3))) body ... name))
(define-inlinable (vec3 x y z)
(with-new-vec3 v
(set-vec3-x! v x)
(set-vec3-y! v y)
(set-vec3-z! v z)))
(define-inlinable (set-vec3! v x y z)
(set-vec3-x! v x)
(set-vec3-y! v y)
(set-vec3-z! v z))
(define (vec3-copy! source-vec3 target-vec3)
"Copy SOURCE-VEC3 to TARGET-VEC3."
(set-vec3! target-vec3
(vec3-x source-vec3)
(vec3-y source-vec3)
(vec3-z source-vec3)))
(define (vec3-copy vec3)
"Return a new vec3 that is a copy of VEC3."
(with-new-vec3 new
(vec3-copy! vec3 new)))
(define-inlinable (vec3-magnitude v)
"Return the magnitude of the vec3 V."
(sqrt (+ (* (vec3-x v) (vec3-x v))
(* (vec3-y v) (vec3-y v))
(* (vec3-z v) (vec3-z v)))))
(define-inlinable (vec3-dot v1 v2)
"Return the dot product of the vec3s V1 and V2."
(+ (* (vec3-x v1) (vec3-x v2))
(* (vec3-y v1) (vec3-y v2))
(* (vec3-z v1) (vec3-z v2))))
(define-inlinable (vec3-cross! dest v1 v2)
(set-vec3! dest
(- (* (vec3-y v1) (vec3-z v2))
(* (vec3-z v1) (vec3-y v2)))
(- (* (vec3-z v1) (vec3-x v2))
(* (vec3-x v1) (vec3-z v2)))
(- (* (vec3-x v1) (vec3-y v2))
(* (vec3-y v1) (vec3-x v2)))))
(define-inlinable (vec3-cross v1 v2)
(let ((vout (vec3 0.0 0.0 0.0)))
(vec3-cross! vout v1 v2)
vout))
(define-inlinable (vec3-normalize! v)
"Normalize the vec3 V in-place."
(unless (and (= (vec3-x v) 0.0)
(= (vec3-y v) 0.0)
(= (vec3-z v) 0.0))
(let ((m (vec3-magnitude v)))
(set-vec3! v
(/ (vec3-x v) m)
(/ (vec3-y v) m)
(/ (vec3-z v) m)))))
(define (vec3-normalize v)
"Return the normalized form of the vec3 V."
(with-new-vec3 new
(vec3-copy! v new)
(vec3-normalize! new)))
(define-inlinable (vec3-mult! v x)
"Multiply the vec3 V by X, a real number or vec3."
(if (real? x)
(begin
(set-vec3-x! v (* (vec3-x v) x))
(set-vec3-y! v (* (vec3-y v) x))
(set-vec3-z! v (* (vec3-z v) x)))
(begin
(set-vec3-x! v (* (vec3-x v) (vec3-x x)))
(set-vec3-y! v (* (vec3-y v) (vec3-y x)))
(set-vec3-z! v (* (vec3-z v) (vec3-z x))))))
(define-inlinable (vec3-add! v x)
"Add X, a real number or vec3, to the vec3 V."
(if (real? x)
(begin
(set-vec3-x! v (+ (vec3-x v) x))
(set-vec3-y! v (+ (vec3-y v) x))
(set-vec3-z! v (+ (vec3-z v) x)))
(begin
(set-vec3-x! v (+ (vec3-x v) (vec3-x x)))
(set-vec3-y! v (+ (vec3-y v) (vec3-y x)))
(set-vec3-z! v (+ (vec3-z v) (vec3-z x))))))
(define-inlinable (vec3-sub! v x)
"Subtract X, a real number or vec3, from the vec3 V."
(if (real? x)
(begin
(set-vec3-x! v (- (vec3-x v) x))
(set-vec3-y! v (- (vec3-y v) x))
(set-vec3-z! v (- (vec3-z v) x)))
(begin
(set-vec3-x! v (- (vec3-x v) (vec3-x x)))
(set-vec3-y! v (- (vec3-y v) (vec3-y x)))
(set-vec3-z! v (- (vec3-z v) (vec3-z x))))))
(define-inlinable (vec3* v x)
"Multiply V by X."
(let ((new (vec3-copy v)))
(vec3-mult! new x)
new))
(define-inlinable (vec3+ v x)
"Add X to V."
(let ((new (vec3-copy v)))
(vec3-add! new x)
new))
(define-inlinable (vec3- v x)
"Subtract X from V."
(let ((new (vec3-copy v)))
(vec3-sub! new x)
new))
;; Reader macro for vectors.
(define (read-vec chr port)
(define (consume-whitespace port)
(when (char-whitespace? (peek-char port))
(read-char port)
(consume-whitespace port)))
(display "warning: #v syntax is deprecated, use vec2, vec3, etc. instead.\n"
(current-error-port))
(if (eq? (peek-char port) #\()
(read-char port)
(error "expected opening #\\("))
(consume-whitespace port)
(let ((x (read port))
(y (read port)))
(if (eq? (peek-char port) #\))
(begin
(read-char port)
`(vec2 ,x ,y))
(let ((z (read port)))
(consume-whitespace port)
(if (eq? (peek-char port) #\))
(begin
(read-char port)
`(vec3 ,x ,y ,z))
(error "expected terminating #\\)"))))))
(read-hash-extend #\v read-vec)
|
