I think the matrix part is now usable

diff --git a/src/cgmmat.inl b/src/cgmmat.inl
index f64b259..e97099d 100644 (file)
--- a/src/cgmmat.inl
+++ b/src/cgmmat.inl
@@ -451,7 +451,7 @@ static inline void cgm_mget_frustum_plane(const float *m, int p, cgm_vec4 *res)
 static inline void cgm_mlookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
                const cgm_vec3 *up)
 {
-       float rot[16], trans[16];
+       float trans[16];
        cgm_vec3 dir = *targ, right, vup;
 
        cgm_vsub(&dir, pos);
@@ -461,19 +461,109 @@ static inline void cgm_mlookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *ta
        cgm_vcross(&vup, &right, &dir);
        cgm_vnormalize(&vup);
 
+       cgm_midentity(m);
+       m[0] = right.x;
+       m[1] = right.y;
+       m[2] = right.z;
+       m[4] = vup.x;
+       m[5] = vup.y;
+       m[6] = vup.z;
+       m[8] = -dir.x;
+       m[9] = -dir.y;
+       m[10] = -dir.z;
 
-       rot[0] = right.x;
-       /* TODO cont. */
+       cgm_mtranslation(trans, pos->x, pos->y, pos->z);
+       cgm_mmul(m, trans);
 }
 
 static inline void cgm_minv_lookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
-               const cgm_vec3 *up);
+               const cgm_vec3 *up)
+{
+       float rot[16];
+       cgm_vec3 dir = *targ, right, vup;
+
+       cgm_vsub(&dir, pos);
+       cgm_vnormalize(&dir);
+       cgm_vcross(&right, &dir, up);
+       cgm_vnormalize(&right);
+       cgm_vcross(&vup, &right, &dir);
+       cgm_vnormalize(&vup);
+
+       cgm_midentity(rot);
+       rot[0] = right.x;
+       rot[4] = right.y;
+       rot[8] = right.z;
+       rot[1] = vup.x;
+       rot[5] = vup.y;
+       rot[9] = vup.z;
+       rot[2] = -dir.x;
+       rot[6] = -dir.y;
+       rot[10] = -dir.z;
+
+       cgm_mtranslation(m, -pos->x, -pos->y, -pos->z);
+       cgm_mmul(m, rot);
+}
 
 static inline void cgm_mortho(float *m, float left, float right, float bot, float top,
-               float znear, float zfar);
+               float znear, float zfar)
+{
+       float dx = right - left;
+       float dy = top - bot;
+       float dz = zfar - znear;
+
+       cgm_midentity(m);
+       m[0] = 2.0f / dx;
+       m[5] = 2.0f / dy;
+       m[10] = -2.0f / dz;
+       m[12] = -(right + left) / dx;
+       m[13] = -(top + bot) / dy;
+       m[14] = -(zfar + znear) / dz;
+}
+
 static inline void cgm_mfrustum(float *m, float left, float right, float bot, float top,
-               float znear, float zfar);
-static inline void cgm_mperspective(float *m, float vfov, float aspect, float znear, float zfar);
+               float znear, float zfar)
+{
+       float dx = right - left;
+       float dy = top - bot;
+       float dz = zfar - znear;
 
-static inline void cgm_mmirror(float *m, float a, float b, float c, float d);
+       cgm_mzero(m);
+       m[0] = 2.0f * znear / dx;
+       m[5] = 2.0f * znear / dy;
+       m[8] = (right + left) / dx;
+       m[9] = (top + bot) / dy;
+       m[10] = -(zfar + znear) / dz;
+       m[14] = -2.0f * zfar * znear / dz;
+       m[11] = -1.0f;
+}
+
+static inline void cgm_mperspective(float *m, float vfov, float aspect, float znear, float zfar)
+{
+       float s = 1.0f / (float)tan(vfov / 2.0f);
+       float range = znear - zfar;
 
+       cgm_mzero(m);
+       m[0] = s / aspect;
+       m[5] = s;
+       m[10] = (znear + zfar) / range;
+       m[14] = 2.0f * znear * zfar / range;
+       m[11] = -1.0f;
+}
+
+static inline void cgm_mmirror(float *m, float a, float b, float c, float d)
+{
+       m[0] = 1.0f - 2.0f * a * a;
+       m[5] = 1.0f - 2.0f * b * b;
+       m[10] = 1.0f - 2.0f * c * c;
+       m[15] = 1.0f;
+
+       m[1] = m[4] = -2.0f * a * b;
+       m[2] = m[8] = -2.0f * a * c;
+       m[6] = m[9] = -2.0f * b * c;
+
+       m[12] = -2.0f * a * d;
+       m[13] = -2.0f * b * d;
+       m[14] = -2.0f * c * d;
+
+       m[3] = m[7] = m[11] = 0.0f;
+}