maul.h

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#ifndef MAUL_MATH_H
#define MAUL_MATH_H

#include <stdio.h>
#include <math.h>

#define mauldot3(x, y) ((x[0]*y[0])+(x[1]*y[1])+(x[2]*y[2]))
#define mauldot2(x, y) ((x[0]*y[0])+(x[1]*y[1]))

#define mauladd3(x, y, o) o[0]=x[0]+y[0]; o[1]=x[1]+y[1]; o[2]=x[2]+y[2]
#define mauladd2(x, y, o) o[0]=x[0]+y[0]; o[1]=x[1]+y[1]

#define maulsub3(x, y, o) o[0]=x[0]-y[0]; o[1]=x[1]-y[1]; o[2]=x[2]-y[2]
#define maulsub2(x, y, o) o[0]=x[0]-y[0]; o[1]=x[1]-y[1]

/* do NOT do something like maulcross3(x, y, x)...will not work! */
#define maulcross3(x, y, o) o[0]=((x[1]*y[2])-(x[2]*y[1])); \
                            o[1]=((x[2]*y[0])-(x[0]*y[2])); \
                            o[2]=((x[0]*y[1])-(x[1]*y[0]))

#define maullen3(x) sqrt((x[0]*x[0])+(x[1]*x[1])+(x[2]*x[2]))
#define maullensq3(x) ((x[0]*x[0])+(x[1]*x[1])+(x[2]*x[2]))

#define maullen3(x) sqrt((x[0]*x[0])+(x[1]*x[1]))
#define maullensq3(x) ((x[0]*x[0])+(x[1]*x[1]))

#define maulmul3(x, y, o) o[0]=x[0]*y[0]; o[1]=x[1]*y[1]; o[2]=x[2]*y[2]
#define maulmul3c(x, c, o) o[0]=x[0]*c; o[1]=x[1]*c; o[2]=x[2]*c

#define mauldiv3(x, y, o) o[0]=x[0]/y[0]; o[1]=x[1]/y[1]; o[2]=x[2]/y[2]
#define mauldiv3c(x, y, o) o[0]=x[0]/c; o[1]=x[1]/c; o[2]=x[2]/c

struct line_d {
  double p[3], v[3], t;
};

typedef struct line_d line;

struct plane_d {
  double n[3], d;
};

typedef struct plane_d line;

double *maulnorm3d(double *a);
plane *maulpnp(double *n, double *p, plane *a);
double *maulppl(double *p, double *q, plane *a, double *o);
int maulpit(double *t0, double *t1, double *t1, double *p);
int maultti(double *t0, double *t1, double *t2,
	    double *u0, double *u1, double *u2);

int maulssi(double *p0, double r0, double *p1, double r1);

#endif