1 files changed, 215 insertions, 0 deletions
diff --git a/src/libgeometry/arith3.c b/src/libgeometry/arith3.c
new file mode 100644
index 00000000..8ab1755e
--- /dev/null
+++ b/src/libgeometry/arith3.c
@@ -0,0 +1,215 @@
+#include <u.h>
+#include <libc.h>
+#include <draw.h>
+#include <geometry.h>
+/*
+ * Routines whose names end in 3 work on points in Affine 3-space.
+ * They ignore w in all arguments and produce w=1 in all results.
+ * Routines whose names end in 4 work on points in Projective 3-space.
+ */
+Point3 add3(Point3 a, Point3 b){
+	a.x+=b.x;
+	a.y+=b.y;
+	a.z+=b.z;
+	a.w=1.;
+	return a;
+}
+Point3 sub3(Point3 a, Point3 b){
+	a.x-=b.x;
+	a.y-=b.y;
+	a.z-=b.z;
+	a.w=1.;
+	return a;
+}
+Point3 neg3(Point3 a){
+	a.x=-a.x;
+	a.y=-a.y;
+	a.z=-a.z;
+	a.w=1.;
+	return a;
+}
+Point3 div3(Point3 a, double b){
+	a.x/=b;
+	a.y/=b;
+	a.z/=b;
+	a.w=1.;
+	return a;
+}
+Point3 mul3(Point3 a, double b){
+	a.x*=b;
+	a.y*=b;
+	a.z*=b;
+	a.w=1.;
+	return a;
+}
+int eqpt3(Point3 p, Point3 q){
+	return p.x==q.x && p.y==q.y && p.z==q.z;
+}
+/*
+ * Are these points closer than eps, in a relative sense
+ */
+int closept3(Point3 p, Point3 q, double eps){
+	return 2.*dist3(p, q)<eps*(len3(p)+len3(q));
+}
+double dot3(Point3 p, Point3 q){
+	return p.x*q.x+p.y*q.y+p.z*q.z;
+}
+Point3 cross3(Point3 p, Point3 q){
+	Point3 r;
+	r.x=p.y*q.z-p.z*q.y;
+	r.y=p.z*q.x-p.x*q.z;
+	r.z=p.x*q.y-p.y*q.x;
+	r.w=1.;
+	return r;
+}
+double len3(Point3 p){
+	return sqrt(p.x*p.x+p.y*p.y+p.z*p.z);
+}
+double dist3(Point3 p, Point3 q){
+	p.x-=q.x;
+	p.y-=q.y;
+	p.z-=q.z;
+	return sqrt(p.x*p.x+p.y*p.y+p.z*p.z);
+}
+Point3 unit3(Point3 p){
+	double len=sqrt(p.x*p.x+p.y*p.y+p.z*p.z);
+	p.x/=len;
+	p.y/=len;
+	p.z/=len;
+	p.w=1.;
+	return p;
+}
+Point3 midpt3(Point3 p, Point3 q){
+	p.x=.5*(p.x+q.x);
+	p.y=.5*(p.y+q.y);
+	p.z=.5*(p.z+q.z);
+	p.w=1.;
+	return p;
+}
+Point3 lerp3(Point3 p, Point3 q, double alpha){
+	p.x+=(q.x-p.x)*alpha;
+	p.y+=(q.y-p.y)*alpha;
+	p.z+=(q.z-p.z)*alpha;
+	p.w=1.;
+	return p;
+}
+/*
+ * Reflect point p in the line joining p0 and p1
+ */
+Point3 reflect3(Point3 p, Point3 p0, Point3 p1){
+	Point3 a, b;
+	a=sub3(p, p0);
+	b=sub3(p1, p0);
+	return add3(a, mul3(b, 2*dot3(a, b)/dot3(b, b)));
+}
+/*
+ * Return the nearest point on segment [p0,p1] to point testp
+ */
+Point3 nearseg3(Point3 p0, Point3 p1, Point3 testp){
+	double num, den;
+	Point3 q, r;
+	q=sub3(p1, p0);
+	r=sub3(testp, p0);
+	num=dot3(q, r);;
+	if(num<=0) return p0;
+	den=dot3(q, q);
+	if(num>=den) return p1;
+	return add3(p0, mul3(q, num/den));
+}
+/*
+ * distance from point p to segment [p0,p1]
+ */
+#define	SMALL	1e-8	/* what should this value be? */
+double pldist3(Point3 p, Point3 p0, Point3 p1){
+	Point3 d, e;
+	double dd, de, dsq;
+	d=sub3(p1, p0);
+	e=sub3(p, p0);
+	dd=dot3(d, d);
+	de=dot3(d, e);
+	if(dd<SMALL*SMALL) return len3(e);
+	dsq=dot3(e, e)-de*de/dd;
+	if(dsq<SMALL*SMALL) return 0;
+	return sqrt(dsq);
+}
+/*
+ * vdiv3(a, b) is the magnitude of the projection of a onto b
+ * measured in units of the length of b.
+ * vrem3(a, b) is the component of a perpendicular to b.
+ */
+double vdiv3(Point3 a, Point3 b){
+	return (a.x*b.x+a.y*b.y+a.z*b.z)/(b.x*b.x+b.y*b.y+b.z*b.z);
+}
+Point3 vrem3(Point3 a, Point3 b){
+	double quo=(a.x*b.x+a.y*b.y+a.z*b.z)/(b.x*b.x+b.y*b.y+b.z*b.z);
+	a.x-=b.x*quo;
+	a.y-=b.y*quo;
+	a.z-=b.z*quo;
+	a.w=1.;
+	return a;
+}
+/*
+ * Compute face (plane) with given normal, containing a given point
+ */
+Point3 pn2f3(Point3 p, Point3 n){
+	n.w=-dot3(p, n);
+	return n;
+}
+/*
+ * Compute face containing three points
+ */
+Point3 ppp2f3(Point3 p0, Point3 p1, Point3 p2){
+	Point3 p01, p02;
+	p01=sub3(p1, p0);
+	p02=sub3(p2, p0);
+	return pn2f3(p0, cross3(p01, p02));
+}
+/*
+ * Compute point common to three faces.
+ * Cramer's rule, yuk.
+ */
+Point3 fff2p3(Point3 f0, Point3 f1, Point3 f2){
+	double det;
+	Point3 p;
+	det=dot3(f0, cross3(f1, f2));
+	if(fabs(det)<SMALL){	/* parallel planes, bogus answer */
+		p.x=0.;
+		p.y=0.;
+		p.z=0.;
+		p.w=0.;
+		return p;
+	}
+	p.x=(f0.w*(f2.y*f1.z-f1.y*f2.z)
+		+f1.w*(f0.y*f2.z-f2.y*f0.z)+f2.w*(f1.y*f0.z-f0.y*f1.z))/det;
+	p.y=(f0.w*(f2.z*f1.x-f1.z*f2.x)
+		+f1.w*(f0.z*f2.x-f2.z*f0.x)+f2.w*(f1.z*f0.x-f0.z*f1.x))/det;
+	p.z=(f0.w*(f2.x*f1.y-f1.x*f2.y)
+		+f1.w*(f0.x*f2.y-f2.x*f0.y)+f2.w*(f1.x*f0.y-f0.x*f1.y))/det;
+	p.w=1.;
+	return p;
+}
+/*
+ * pdiv4 does perspective division to convert a projective point to affine coordinates.
+ */
+Point3 pdiv4(Point3 a){
+	if(a.w==0) return a;
+	a.x/=a.w;
+	a.y/=a.w;
+	a.z/=a.w;
+	a.w=1.;
+	return a;
+}
+Point3 add4(Point3 a, Point3 b){
+	a.x+=b.x;
+	a.y+=b.y;
+	a.z+=b.z;
+	a.w+=b.w;
+	return a;
+}
+Point3 sub4(Point3 a, Point3 b){
+	a.x-=b.x;
+	a.y-=b.y;
+	a.z-=b.z;
+	a.w-=b.w;
+	return a;
+}