vec.h

Go to the documentation of this file.

// Copyright 2019, Philipp Zabel
// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  Vector subtraction and normalization, specialized for P3P solving.
 * @author Philipp Zabel <philipp.zabel@gmail.com>
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup xrt_iface
 */
 
#pragma once
 
#include <math.h>
 
 
static inline void
vec3_normalise(double *v)
{
        double rnorm = 1.0 / sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
        v[0] *= rnorm;
        v[1] *= rnorm;
        v[2] *= rnorm;
}
 
static inline void
vec3_sub(double *ret, const double *a, const double *b)
{
        ret[0] = a[0] - b[0];
        ret[1] = a[1] - b[1];
        ret[2] = a[2] - b[2];
}