cgm_mcopy(m, id);
}
-static inline void cgm_msetrow_v3(float *m, int idx, const cgm_vec3 *v)
+static inline void cgm_mmul(float *a, const float *b)
{
- m[idx] = v->x;
- m[idx + 4] = v->y;
- m[idx + 8] = v->z;
- m[idx + 12] = 0.0f;
+ int i, j;
+ float res[16];
+ float *resptr = res;
+ float *arow = a;
+
+ for(i=0; i<4; i++) {
+ for(j=0; j<4; j++) {
+ *resptr++ = arow[0] * b[j] + arow[1] * b[4 + j] +
+ arow[2] * b[8 + j] + arow[3] * b[12 + j];
+ }
+ arow += 4;
+ }
+ cgm_mcopy(a, res);
}
-static inline void cgm_msetrow_v4(float *m, int idx, const cgm_vec4 *v)
+static inline void cgm_msubmatrix(float *m, int row, int col)
{
- m[idx] = v->x;
- m[idx + 4] = v->y;
- m[idx + 8] = v->z;
- m[idx + 12] = v->w;
+ float orig[16];
+ int i, j, subi, subj;
+
+ cgm_mcopy(orig, m);
+
+ subi = 0;
+ for(i=0; i<4; i++) {
+ if(i == col) continue;
+
+ subj = 0;
+ for(j=0; j<4; j++) {
+ if(j == row) continue;
+
+ m[subi * 4 + subj++] = orig[i * 4 + j];
+ }
+ subi++;
+ }
+
+ cgm_mupper3(m);
}
-static inline void cgm_msetcol_v3(float *m, int idx, const cgm_vec3 *v)
+static inline void cgm_mupper3(float *m)
{
- m[idx * 4] = v->x;
- m[idx * 4 + 1] = v->y;
- m[idx * 4 + 2] = v->z;
- m[idx * 4 + 3] = 0.0f;
+ m[3] = m[7] = m[11] = m[12] = m[13] = m[14] = 0.0f;
+ m[15] = 1.0f;
}
-static inline void cgm_msetcol_v4(float *m, int idx, const cgm_vec4 *v)
+static inline float cgm_msubdet(float *m, int row, int col)
{
- m[idx * 4] = v->x;
- m[idx * 4 + 1] = v->y;
- m[idx * 4 + 2] = v->z;
- m[idx * 4 + 3] = v->w;
+ cgm_msubmatrix(m, row, col);
+ return cgm_mdet(m);
}
-static inline void cgm_mgetrow_v3(cgm_vec3 *v, const float *m, int idx)
+static inline float cgm_mcofactor(float *m, int row, int col)
{
- v->x = m[idx];
- v->y = m[idx + 4];
- v->z = m[idx + 8];
+ float min = cgm_msubdet(m, row, col);
+ return (row + col) & 1 ? -min : min;
}
-static inline void cgm_mgetrow_v4(cgm_vec4 *v, const float *m, int idx)
+static inline float cgm_mdet(float *m)
{
- v->x = m[idx];
- v->y = m[idx + 4];
- v->z = m[idx + 8];
- v->w = m[idx + 12];
+ return m[0] * cgm_msubdet(m, 0, 0) - m[1] * cgm_msubdet(m, 0, 1) +
+ m[2] * cgm_msubdet(m, 0, 2) - m[3] * cgm_msubdet(m, 0, 3);
}
-static inline void cgm_mgetcol_v3(cgm_vec3 *v, const float *m, int idx)
+static inline void cgm_mtranspose(float *m)
{
- v->x = m[idx * 4];
- v->y = m[idx * 4 + 1];
- v->z = m[idx * 4 + 2];
+ int i, j;
+ for(i=0; i<4; i++) {
+ for(j=0; j<i; j++) {
+ int a = i * 4 + j;
+ int b = j * 4 + i;
+ float tmp = m[a];
+ m[a] = m[b];
+ m[b] = tmp;
+ }
+ }
}
-static inline void cgm_mgetcol_v4(cgm_vec4 *v, const float *m, int idx)
+static inline void cgm_mcofmatrix(float *m)
{
- v->x = m[idx * 4];
- v->y = m[idx * 4 + 1];
- v->z = m[idx * 4 + 2];
- v->w = m[idx * 4 + 3];
+ float tmp[16];
+ int i, j;
+
+ cgm_mcopy(tmp, m);
+
+ for(i=0; i<4; i++) {
+ for(j=0; j<4; j++) {
+ m[i * 4 + j] = cgm_mcofactor(tmp, i, j);
+ }
+ }
}
-static inline void cgm_msubmatrix(float *m, int row, int col)
+static inline int cgm_minverse(float *m)
{
+ int i, j;
+ float tmp[16];
+ float inv_det;
+ float det = cgm_mdet(m);
+ if(det == 0.0f) return -1;
+ inv_det = 1.0f / det;
+
+ cgm_mcopy(tmp, m);
+
+ for(i=0; i<4; i++) {
+ for(j=0; j<4; j++) {
+ m[i * 4 + j] = cgm_mcofactor(tmp, j, i) * inv_det; /* transposed */
+ }
+ }
}
-static inline void cgm_mupper3(float *m)
+static inline void cgm_mtranslation(float *m, float x, float y, float z)
{
- m[3] = m[7] = m[11] = m[12] = m[13] = m[14] = 0.0f;
+ cgm_midentity(m);
+ m[12] = x;
+ m[13] = y;
+ m[14] = z;
+}
+
+static inline void cgm_mscaling(float *m, float sx, float sy, float sz)
+{
+ cgm_mzero(m);
+ m[0] = sx;
+ m[5] = sy;
+ m[10] = sz;
+ m[15] = 1.0f;
+}
+
+static inline void cgm_mrotation_x(float *m, float angle)
+{
+ float sa = sin(angle);
+ float ca = cos(angle);
+
+ cgm_midentity(m);
+ m[5] = ca;
+ m[6] = sa;
+ m[9] = -sa;
+ m[10] = ca;
+}
+
+static inline void cgm_mrotation_y(float *m, float angle)
+{
+ float sa = sin(angle);
+ float ca = cos(angle);
+
+ cgm_midentity(m);
+ m[0] = ca;
+ m[2] = -sa;
+ m[8] = sa;
+ m[10] = ca;
+}
+
+static inline void cgm_mrotation_z(float *m, float angle)
+{
+ float sa = sin(angle);
+ float ca = cos(angle);
+
+ cgm_midentity(m);
+ m[0] = ca;
+ m[1] = sa;
+ m[4] = -sa;
+ m[5] = ca;
+}
+
+static inline void cgm_mrotation_axis(float *m, int idx, float angle)
+{
+ switch(idx) {
+ case 0:
+ cgm_mrotation_x(m, angle);
+ break;
+ case 1:
+ cgm_mrotation_y(m, angle);
+ break;
+ case 2:
+ cgm_mrotation_z(m, angle);
+ break;
+ }
+}
+
+static inline void cgm_mrotation(float *m, float angle, float x, float y, float z)
+{
+ float sa = sin(angle);
+ float ca = cos(angle);
+ float invca = 1.0f - ca;
+ float xsq = x * x;
+ float ysq = y * y;
+ float zsq = z * z;
+
+ cgm_mzero(m);
m[15] = 1.0f;
+
+ m[0] = xsq + (1.0f - xsq) * ca;
+ m[4] = x * y * invca - z * sa;
+ m[8] = x * z * invca + y * sa;
+
+ m[1] = x * y * invca + z * sa;
+ m[5] = ysq + (1.0f - ysq) * ca;
+ m[9] = y * z * invca - x * sa;
+
+ m[2] = x * z * invca - y * sa;
+ m[6] = y * z * invca + x * sa;
+ m[10] = zsq + (1.0f - zsq) * ca;
+}
+
+static inline void cgm_mrotation_euler(float *m, float a, float b, float c, int mode)
+{
+ /* this array must match the EulerMode enum */
+ static const int axis[][3] = {
+ {0, 1, 2}, {0, 2, 1},
+ {1, 0, 2}, {1, 2, 0},
+ {2, 0, 1}, {2, 1, 0},
+ {2, 0, 2}, {2, 1, 2},
+ {1, 0, 1}, {1, 2, 1},
+ {0, 1, 0}, {0, 2, 0}
+ };
+
+ float ma[16], mb[16];
+ cgm_mrotation_axis(ma, axis[mode][0], a);
+ cgm_mrotation_axis(mb, axis[mode][1], b);
+ cgm_mrotation_axis(m, axis[mode][2], c);
+ cgm_mmul(m, mb);
+ cgm_mmul(m, ma);
+}
+
+static inline void cgm_mtranslate(float *m, float x, float y, float z)
+{
+ float tm[16];
+ cgm_mtranslation(tm, x, y, z);
+ cgm_mmul(m, tm);
+}
+
+static inline void cgm_mscale(float *m, float sx, float sy, float sz)
+{
+ float sm[16];
+ cgm_mscaling(sm, sx, sy, sz);
+ cgm_mmul(m, sm);
+}
+
+static inline void cgm_mrotate_x(float *m, float angle)
+{
+ float rm[16];
+ cgm_mrotation_x(rm, angle);
+ cgm_mmul(m, rm);
+}
+
+static inline void cgm_mrotate_y(float *m, float angle)
+{
+ float rm[16];
+ cgm_mrotation_y(rm, angle);
+ cgm_mmul(m, rm);
+}
+
+static inline void cgm_mrotate_z(float *m, float angle)
+{
+ float rm[16];
+ cgm_mrotation_z(rm, angle);
+ cgm_mmul(m, rm);
}
+
+static inline void cgm_mrotate_axis(float *m, int idx, float angle)
+{
+ float rm[16];
+ cgm_mrotation_axis(rm, idx, angle);
+ cgm_mmul(m, rm);
+}
+
+static inline void cgm_mrotate(float *m, float angle, float x, float y, float z)
+{
+ float rm[16];
+ cgm_mrotation(rm, angle, x, y, z);
+ cgm_mmul(m, rm);
+}
+
+static inline void cgm_mrotate_euler(float *m, float a, float b, float c, int mode)
+{
+ float rm[16];
+ cgm_mrotation_euler(rm, a, b, c, mode);
+ cgm_mmul(m, rm);
+}
+
+
+static inline void cgm_mpretranslate(float *m, float x, float y, float z)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mtranslation(m, x, y, z);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprescale(float *m, float sx, float sy, float sz)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mscaling(m, sx, sy, sz);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate_x(float *m, float angle)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation_x(m, angle);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate_y(float *m, float angle)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation_y(m, angle);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate_z(float *m, float angle)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation_z(m, angle);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate_axis(float *m, int idx, float angle)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation_axis(m, idx, angle);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate(float *m, float angle, float x, float y, float z)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation(m, angle, x, y, z);
+ cgm_mmul(m, tmp);
+}
+
+static inline void cgm_mprerotate_euler(float *m, float a, float b, float c, int mode)
+{
+ float tmp[16];
+ cgm_mcopy(tmp, m);
+ cgm_mrotation_euler(m, a, b, c, mode);
+ cgm_mmul(m, tmp);
+}
+
+
+static inline void cgm_mget_translation(const float *m, cgm_vec3 *res)
+{
+ res->x = m[12];
+ res->y = m[13];
+ res->z = m[14];
+}
+
+/* Algorithm in Ken Shoemake's article in 1987 SIGGRAPH course notes
+ * article "Quaternion Calculus and Fast Animation".
+ * adapted from: http://www.geometrictools.com/LibMathematics/Algebra/Wm5Quaternion.inl
+ */
+static inline void cgm_mget_rotation(const float *m, cgm_quat *res)
+{
+ static const int next[3] = {1, 2, 0};
+ float quat[4];
+ int i, j, k;
+
+ float trace = m[0] + m[5] + m[10];
+ float root;
+
+ if(trace > 0.0f) {
+ // |w| > 1/2
+ root = sqrt(trace + 1.0f); // 2w
+ res->w = 0.5f * root;
+ root = 0.5f / root; // 1 / 4w
+ res->x = (m[6] - m[9]) * root;
+ res->y = (m[8] - m[2]) * root;
+ res->z = (m[1] - m[4]) * root;
+ } else {
+ // |w| <= 1/2
+ i = 0;
+ if(m[5] > m[0]) {
+ i = 1;
+ }
+ if(m[10] > m[i * 4 + i]) {
+ i = 2;
+ }
+ j = next[i];
+ k = next[j];
+
+ root = sqrt(m[i * 4 + i] - m[j * 4 + j] - m[k * 4 + k] + 1.0f);
+ quat[i + 1] = 0.5f * root;
+ root = 0.5f / root;
+ quat[0] = (m[j + 4 + k] - m[k * 4 + j]) * root;
+ quat[j + 1] = (m[i * 4 + j] - m[j * 4 + i]) * root;
+ quat[k + 1] = (m[i * 4 + k] - m[k * 4 + i]) * root;
+ res->w = quat[0];
+ res->x = quat[1];
+ res->y = quat[2];
+ res->z = quat[3];
+ }
+}
+
+static inline void cgm_mget_scaling(const float *m, cgm_vec3 *res)
+{
+ res->x = sqrt(m[0] * m[0] + m[4] * m[4] + m[8] * m[8]);
+ res->y = sqrt(m[1] * m[1] + m[5] * m[5] + m[9] * m[9]);
+ res->z = sqrt(m[2] * m[2] + m[6] * m[6] + m[10] * m[10]);
+}
+
+static inline void cgm_mget_frustum_plane(const float *m, int p, cgm_vec4 *res)
+{
+ int row = p >> 1;
+ const float *rowptr = m + row * 4;
+
+ if((p & 1) == 0) {
+ res->x = m[12] + rowptr[0];
+ res->y = m[13] + rowptr[1];
+ res->z = m[14] + rowptr[2];
+ res->w = m[15] + rowptr[3];
+ } else {
+ res->x = m[12] - rowptr[0];
+ res->y = m[13] - rowptr[1];
+ res->z = m[14] - rowptr[2];
+ res->w = m[15] - rowptr[3];
+ }
+}
+
+static inline void cgm_mlookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
+ const cgm_vec3 *up)
+{
+ float rot[16], trans[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);
+
+
+ rot[0] = right.x;
+ /* TODO cont. */
+}
+
+static inline void cgm_minv_lookat(float *m, const cgm_vec3 *pos, const cgm_vec3 *targ,
+ const cgm_vec3 *up);
+
+static inline void cgm_mortho(float *m, float left, float right, float bot, float top,
+ float znear, float zfar);
+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);
+
+static inline void cgm_mmirror(float *m, float a, float b, float c, float d);
+
projects / gph-cmath / blobdiff