Math and array types

Plain values and inline arithmetic. More...

Topics
	Inline math

Files
file	rapier_helpers.h
	Explicit invalid handle values; no owned resources.

Data Structures
struct	R3SpringCoefficients
	Spring softness expressed as natural frequency and damping ratio. More...
struct	R3OptionalReal
	Optional scalar override; enabled = 0 selects no override. More...
struct	R3OptionalU32
	Optional unsigned integer override; enabled = 0 selects no override. More...
struct	R3Vector
	Cartesian vector with two or three components. More...
struct	R3Rotation
	2D: angle in radians. More...
struct	R3Pose
	Rigid transform combining translation and rotation. More...
struct	R3UserData
	Application-defined 128-bit value. More...
struct	R3VectorView
	Borrowed array of vector elements. More...
struct	R3RealView
	Borrowed array of real elements. More...
struct	R3IndexView
	Borrowed array of index elements. More...
struct	R3Edge
	Vertex indices for one edge; contiguous u32 fields with no padding. More...
struct	R3EdgeView
	Borrowed array of edge elements. More...
struct	R3Triangle
	Vertex indices for one triangle; contiguous u32 fields with no padding. More...
struct	R3TriangleView
	Borrowed array of triangle elements. More...
struct	R3Tetrahedron
	Vertex indices for one tetrahedron; contiguous u32 fields with no padding. More...
struct	R3TetrahedronView
	Borrowed array of tetrahedron elements. More...
struct	R3Dihedral
	Vertex indices for one dihedral; contiguous u32 fields with no padding. More...
struct	R3DihedralView
	Borrowed array of dihedral elements. More...
struct	R3OptionalBool
	Optional boolean override. More...
struct	R3MassProperties
	Explicit mass and principal inertia, matching MassProperties constructors. More...
struct	R3InteractionGroups
	Collision membership/filter masks and their pairwise combination rule. More...
struct	R3Aabb
	Axis-aligned bounding box. More...
struct	R3PodLayout
	Sizes of the POD types in this library build, for foreign-language layout checks. More...
struct	R3InverseKinematicsOptions
	Damped least-squares inverse-kinematics parameters. More...
struct	R3ByteView
	Borrowed bytes. More...
struct	R3ParticleDestination
	Particle remapping after tearing. More...
struct	R3OptionalParticleDestination
	Optional particle remapping; check found before reading the destination. More...
struct	R3VoxelKey
	Integer coordinates of a voxel cell. More...

Typedefs
typedef float	R3Real
	Floating-point scalar: float for f32, double for f64.
typedef struct R3SpringCoefficients	R3SpringCoefficients
	Spring softness expressed as natural frequency and damping ratio.
typedef uint32_t	R3Bool
	ABI booleans are uint32_t: zero is false, one is true.
typedef struct R3OptionalReal	R3OptionalReal
	Optional scalar override; enabled = 0 selects no override.
typedef struct R3OptionalU32	R3OptionalU32
	Optional unsigned integer override; enabled = 0 selects no override.
typedef struct R3Vector	R3Vector
	Cartesian vector with two or three components.
typedef struct R3Rotation	R3Rotation
	2D: angle in radians.
typedef struct R3Pose	R3Pose
	Rigid transform combining translation and rotation.
typedef struct R3UserData	R3UserData
	Application-defined 128-bit value.
typedef struct R3VectorView	R3VectorView
	Borrowed array of vector elements.
typedef struct R3RealView	R3RealView
	Borrowed array of real elements.
typedef struct R3IndexView	R3IndexView
	Borrowed array of index elements.
typedef struct R3Edge	R3Edge
	Vertex indices for one edge; contiguous u32 fields with no padding.
typedef struct R3EdgeView	R3EdgeView
	Borrowed array of edge elements.
typedef struct R3Triangle	R3Triangle
	Vertex indices for one triangle; contiguous u32 fields with no padding.
typedef struct R3TriangleView	R3TriangleView
	Borrowed array of triangle elements.
typedef struct R3Tetrahedron	R3Tetrahedron
	Vertex indices for one tetrahedron; contiguous u32 fields with no padding.
typedef struct R3TetrahedronView	R3TetrahedronView
	Borrowed array of tetrahedron elements.
typedef struct R3TetrahedronView	R3CellView
	Borrowed cell array: triangles in 2D, tetrahedra in 3D.
typedef struct R3TriangleView	R3SurfaceElementView
	Borrowed surface array: edges in 2D, triangles in 3D.
typedef struct R3Dihedral	R3Dihedral
	Vertex indices for one dihedral; contiguous u32 fields with no padding.
typedef struct R3DihedralView	R3DihedralView
	Borrowed array of dihedral elements.
typedef struct R3OptionalBool	R3OptionalBool
	Optional boolean override.
typedef struct R3Vector	R3AngVector
	Angular scalar in 2D or vector in 3D, in radians for angular displacement.
typedef struct R3MassProperties	R3MassProperties
	Explicit mass and principal inertia, matching MassProperties constructors.
typedef struct R3InteractionGroups	R3InteractionGroups
	Collision membership/filter masks and their pairwise combination rule.
typedef struct R3Aabb	R3Aabb
	Axis-aligned bounding box.
typedef struct R3PodLayout	R3PodLayout
	Sizes of the POD types in this library build, for foreign-language layout checks.
typedef struct R3InverseKinematicsOptions	R3InverseKinematicsOptions
	Damped least-squares inverse-kinematics parameters.
typedef struct R3ByteView	R3ByteView
	Borrowed bytes.
typedef struct R3ParticleDestination	R3ParticleDestination
	Particle remapping after tearing.
typedef struct R3OptionalParticleDestination	R3OptionalParticleDestination
	Optional particle remapping; check found before reading the destination.
typedef int32_t	R3VoxelCoord
	Voxel coordinates have DIM signed integer components.
typedef struct R3VoxelKey	R3VoxelKey
	Integer coordinates of a voxel cell.

Functions
R3Real	r3Sin (R3Real x)
	Sine of an angle in radians, computed by Rapier's math backend.
R3Real	r3Cos (R3Real x)
	Cosine of an angle in radians, computed by Rapier's math backend.
R3Real	r3Tan (R3Real x)
	Tangent of an angle in radians, computed by Rapier's math backend.
R3Real	r3Asin (R3Real x)
	Arcsine in radians, computed by Rapier's math backend.
R3Real	r3Acos (R3Real x)
	Arccosine in radians, computed by Rapier's math backend.
R3Real	r3Atan2 (R3Real y, R3Real x)
	Angle in radians of the point (x, y), in [-pi, pi], computed by Rapier's math backend.
R3Real	r3Exp (R3Real x)
	Exponential e^x, computed by Rapier's math backend.
R3Real	r3Ln (R3Real x)
	Natural logarithm, computed by Rapier's math backend.
R3Real	r3Powf (R3Real base, R3Real exponent)
	base raised to the power exponent, computed by Rapier's math backend.

Detailed Description

Plain values and inline arithmetic.

Constructors do not allocate.

Typedef Documentation

R3Aabb

typedef struct R3Aabb R3Aabb

Axis-aligned bounding box.

R3AngVector

typedef struct R3Vector R3AngVector

Angular scalar in 2D or vector in 3D, in radians for angular displacement.

R3Bool

typedef uint32_t R3Bool

ABI booleans are uint32_t: zero is false, one is true.

R3ByteView

typedef struct R3ByteView R3ByteView

Borrowed bytes.

Valid while the source Bytes object remains alive; never free data.

R3CellView

typedef struct R3TetrahedronView R3CellView

Borrowed cell array: triangles in 2D, tetrahedra in 3D.

R3Dihedral

typedef struct R3Dihedral R3Dihedral

Vertex indices for one dihedral; contiguous u32 fields with no padding.

R3DihedralView

typedef struct R3DihedralView R3DihedralView

Borrowed array of dihedral elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3Edge

typedef struct R3Edge R3Edge

Vertex indices for one edge; contiguous u32 fields with no padding.

R3EdgeView

typedef struct R3EdgeView R3EdgeView

Borrowed array of edge elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3IndexView

typedef struct R3IndexView R3IndexView

Borrowed array of index elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3InteractionGroups

typedef struct R3InteractionGroups R3InteractionGroups

Collision membership/filter masks and their pairwise combination rule.

R3InverseKinematicsOptions

typedef struct R3InverseKinematicsOptions R3InverseKinematicsOptions

Damped least-squares inverse-kinematics parameters.

R3MassProperties

typedef struct R3MassProperties R3MassProperties

Explicit mass and principal inertia, matching MassProperties constructors.

Zero mass/inertia means infinite.

R3OptionalBool

typedef struct R3OptionalBool R3OptionalBool

Optional boolean override.

When disabled, retain the recipe's native default.

R3OptionalParticleDestination

typedef struct R3OptionalParticleDestination R3OptionalParticleDestination

Optional particle remapping; check found before reading the destination.

R3OptionalReal

typedef struct R3OptionalReal R3OptionalReal

Optional scalar override; enabled = 0 selects no override.

R3OptionalU32

typedef struct R3OptionalU32 R3OptionalU32

Optional unsigned integer override; enabled = 0 selects no override.

R3ParticleDestination

typedef struct R3ParticleDestination R3ParticleDestination

Particle remapping after tearing.

R3PodLayout

typedef struct R3PodLayout R3PodLayout

Sizes of the POD types in this library build, for foreign-language layout checks.

R3Pose

typedef struct R3Pose R3Pose

Rigid transform combining translation and rotation.

Use TranslationPose with a zero vector for identity.

R3Real

typedef float R3Real

Floating-point scalar: float for f32, double for f64.

R3RealView

typedef struct R3RealView R3RealView

Borrowed array of real elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3Rotation

typedef struct R3Rotation R3Rotation

2D: angle in radians.

3D: unit quaternion in x,y,z,w order (normalized on input).

R3SpringCoefficients

typedef struct R3SpringCoefficients R3SpringCoefficients

Spring softness expressed as natural frequency and damping ratio.

R3SurfaceElementView

typedef struct R3TriangleView R3SurfaceElementView

Borrowed surface array: edges in 2D, triangles in 3D.

R3Tetrahedron

typedef struct R3Tetrahedron R3Tetrahedron

Vertex indices for one tetrahedron; contiguous u32 fields with no padding.

R3TetrahedronView

typedef struct R3TetrahedronView R3TetrahedronView

Borrowed array of tetrahedron elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3Triangle

typedef struct R3Triangle R3Triangle

Vertex indices for one triangle; contiguous u32 fields with no padding.

R3TriangleView

typedef struct R3TriangleView R3TriangleView

Borrowed array of triangle elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3UserData

typedef struct R3UserData R3UserData

Application-defined 128-bit value.

Contains no owned pointers.

R3Vector

typedef struct R3Vector R3Vector

Cartesian vector with two or three components.

R3VectorView

typedef struct R3VectorView R3VectorView

Borrowed array of vector elements.

count counts elements of the declared type. Copying this view does not copy its data or extend its lifetime. No Free is needed. Data must remain live through the build/insert call that reads the description. NULL is permitted only when count is zero.

R3VoxelCoord

typedef int32_t R3VoxelCoord

Voxel coordinates have DIM signed integer components.

R3VoxelKey

typedef struct R3VoxelKey R3VoxelKey

Integer coordinates of a voxel cell.

Function Documentation

r3Acos()

R3Real r3Acos

(

R3Real

x

)

Arccosine in radians, computed by Rapier's math backend.

See r3Sin.

r3Asin()

R3Real r3Asin

(

R3Real

x

)

Arcsine in radians, computed by Rapier's math backend.

See r3Sin.

r3Atan2()

R3Real r3Atan2	(	R3Real	y,
		R3Real	x )

Angle in radians of the point (x, y), in [-pi, pi], computed by Rapier's math backend.

See r3Sin.

r3Cos()

R3Real r3Cos

(

R3Real

x

)

Cosine of an angle in radians, computed by Rapier's math backend.

See r3Sin.

r3Exp()

R3Real r3Exp

(

R3Real

x

)

Exponential e^x, computed by Rapier's math backend.

See r3Sin.

r3Ln()

R3Real r3Ln

(

R3Real

x

)

Natural logarithm, computed by Rapier's math backend.

See r3Sin.

r3Powf()

R3Real r3Powf	(	R3Real	base,
		R3Real	exponent )

base raised to the power exponent, computed by Rapier's math backend.

See r3Sin.

r3Sin()

R3Real r3Sin

(

R3Real

x

)

Sine of an angle in radians, computed by Rapier's math backend.

With enhanced-determinism (see BuildFeatures), the result is identical on every platform.

r3Tan()

R3Real r3Tan

(

R3Real

x

)

Tangent of an angle in radians, computed by Rapier's math backend.

See r3Sin.