rapier_math.h File Reference

Inline value constructors and arithmetic; no allocation or error-state changes. More...

Go to the source code of this file.

Macros
#define	R2_PI   ((R2Real)3.14159265358979323846)
	Pi in the selected scalar precision.

Functions
static R2Vector	r2Vector (R2Real x, R2Real y)
	Construct a vector from its components.
static R2Rotation	r2Rotation (R2Real angle)
	Construct a 2D rotation from an angle in radians.
static R2Vector	r2VectorAdd (R2Vector a, R2Vector b)
	Return a + b.
static R2Vector	r2VectorSub (R2Vector a, R2Vector b)
	Return a - b.
static R2Vector	r2VectorScale (R2Vector vector, R2Real scale)
	Multiply each component by scale.
static R2Real	r2VectorDot (R2Vector a, R2Vector b)
	Return the dot product.
static R2Real	r2VectorLength (R2Vector vector)
	Return the Euclidean length.
static R2Vector	r2VectorNormalize (R2Vector vector)
	Normalize a nonzero vector; a zero vector is returned unchanged.
static R2Rotation	r2RotationMul (R2Rotation a, R2Rotation b)
	Compose rotations, applying b then a.
static R2Vector	r2RotationTransformVector (R2Rotation rotation, R2Vector vector)
	Rotate a vector; rotation must be normalized.
static R2Pose	r2Pose (R2Vector translation, R2Rotation rotation)
	Construct a pose from translation and rotation without validation.
static R2Pose	r2TranslationPose (R2Vector translation)
	Construct a pose with the supplied translation and identity rotation.
static R2MassProperties	r2MassProperties (R2Vector local_com, R2Real mass, R2AngVector principal_inertia)
	Construct mass properties from a local center of mass, a mass, and principal angular inertia (a scalar in 2D); in 3D the principal inertia frame is the identity rotation.
static R2Rotation	r2RotationInverse (R2Rotation rotation)
	Return the inverse of a normalized rotation.
static R2Vector	r2PoseTransformPoint (R2Pose pose, R2Vector point)
	Transform a point by rotation then translation.
static R2Pose	r2PoseInverse (R2Pose pose)
	Return the inverse rigid transform.

Detailed Description

Inline value constructors and arithmetic; no allocation or error-state changes.

Trigonometry uses the library's Sin and Cos, so results match across platforms with enhanced-determinism; square roots are exactly rounded everywhere.