dbf-halloween2015

annotate libs/vmath/matrix.inl @ 1:c3f5c32cb210

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barfed all the libraries in the source tree to make porting easier
author John Tsiombikas <nuclear@member.fsf.org>
date Sun, 01 Nov 2015 00:36:56 +0200
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nuclear@1 1 /*
nuclear@1 2 libvmath - a vector math library
nuclear@1 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@1 4
nuclear@1 5 This program is free software: you can redistribute it and/or modify
nuclear@1 6 it under the terms of the GNU Lesser General Public License as published
nuclear@1 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@1 8 (at your option) any later version.
nuclear@1 9
nuclear@1 10 This program is distributed in the hope that it will be useful,
nuclear@1 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@1 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@1 13 GNU Lesser General Public License for more details.
nuclear@1 14
nuclear@1 15 You should have received a copy of the GNU Lesser General Public License
nuclear@1 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@1 17 */
nuclear@1 18
nuclear@1 19 #include <string.h>
nuclear@1 20
nuclear@1 21 #ifdef __cplusplus
nuclear@1 22 extern "C" {
nuclear@1 23 #endif /* __cplusplus */
nuclear@1 24
nuclear@1 25 /* C matrix 3x3 functions */
nuclear@1 26 static inline void m3_identity(mat3_t m)
nuclear@1 27 {
nuclear@1 28 static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
nuclear@1 29 memcpy(m, id, sizeof id);
nuclear@1 30 }
nuclear@1 31
nuclear@1 32 static inline void m3_cons(mat3_t m,
nuclear@1 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@1 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@1 35 scalar_t m31, scalar_t m32, scalar_t m33)
nuclear@1 36 {
nuclear@1 37 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
nuclear@1 38 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
nuclear@1 39 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
nuclear@1 40 }
nuclear@1 41
nuclear@1 42 static inline void m3_copy(mat3_t dest, mat3_t src)
nuclear@1 43 {
nuclear@1 44 memcpy(dest, src, sizeof(mat3_t));
nuclear@1 45 }
nuclear@1 46
nuclear@1 47
nuclear@1 48 /* C matrix 4x4 functions */
nuclear@1 49 static inline void m4_identity(mat4_t m)
nuclear@1 50 {
nuclear@1 51 static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@1 52 memcpy(m, id, sizeof id);
nuclear@1 53 }
nuclear@1 54
nuclear@1 55 static inline void m4_cons(mat4_t m,
nuclear@1 56 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@1 57 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@1 58 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@1 59 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
nuclear@1 60 {
nuclear@1 61 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
nuclear@1 62 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
nuclear@1 63 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
nuclear@1 64 m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
nuclear@1 65 }
nuclear@1 66
nuclear@1 67 static inline void m4_copy(mat4_t dest, mat4_t src)
nuclear@1 68 {
nuclear@1 69 memcpy(dest, src, sizeof(mat4_t));
nuclear@1 70 }
nuclear@1 71
nuclear@1 72 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
nuclear@1 73 {
nuclear@1 74 mat4_t tmp;
nuclear@1 75
nuclear@1 76 /*
nuclear@1 77 int i, j;
nuclear@1 78 for(i=0; i<4; i++) {
nuclear@1 79 for(j=0; j<4; j++) {
nuclear@1 80 tmp[i][j] = m1[i][0] * m2[0][j] + m1[i][1] * m2[1][j] + m1[i][2] * m2[2][j] + m1[i][3] * m2[3][j];
nuclear@1 81 }
nuclear@1 82 }
nuclear@1 83 */
nuclear@1 84
nuclear@1 85 tmp[0][0] = m1[0][0] * m2[0][0] + m1[0][1] * m2[1][0] + m1[0][2] * m2[2][0] + m1[0][3] * m2[3][0];
nuclear@1 86 tmp[0][1] = m1[0][0] * m2[0][1] + m1[0][1] * m2[1][1] + m1[0][2] * m2[2][1] + m1[0][3] * m2[3][1];
nuclear@1 87 tmp[0][2] = m1[0][0] * m2[0][2] + m1[0][1] * m2[1][2] + m1[0][2] * m2[2][2] + m1[0][3] * m2[3][2];
nuclear@1 88 tmp[0][3] = m1[0][0] * m2[0][3] + m1[0][1] * m2[1][3] + m1[0][2] * m2[2][3] + m1[0][3] * m2[3][3];
nuclear@1 89
nuclear@1 90 tmp[1][0] = m1[1][0] * m2[0][0] + m1[1][1] * m2[1][0] + m1[1][2] * m2[2][0] + m1[1][3] * m2[3][0];
nuclear@1 91 tmp[1][1] = m1[1][0] * m2[0][1] + m1[1][1] * m2[1][1] + m1[1][2] * m2[2][1] + m1[1][3] * m2[3][1];
nuclear@1 92 tmp[1][2] = m1[1][0] * m2[0][2] + m1[1][1] * m2[1][2] + m1[1][2] * m2[2][2] + m1[1][3] * m2[3][2];
nuclear@1 93 tmp[1][3] = m1[1][0] * m2[0][3] + m1[1][1] * m2[1][3] + m1[1][2] * m2[2][3] + m1[1][3] * m2[3][3];
nuclear@1 94
nuclear@1 95 tmp[2][0] = m1[2][0] * m2[0][0] + m1[2][1] * m2[1][0] + m1[2][2] * m2[2][0] + m1[2][3] * m2[3][0];
nuclear@1 96 tmp[2][1] = m1[2][0] * m2[0][1] + m1[2][1] * m2[1][1] + m1[2][2] * m2[2][1] + m1[2][3] * m2[3][1];
nuclear@1 97 tmp[2][2] = m1[2][0] * m2[0][2] + m1[2][1] * m2[1][2] + m1[2][2] * m2[2][2] + m1[2][3] * m2[3][2];
nuclear@1 98 tmp[2][3] = m1[2][0] * m2[0][3] + m1[2][1] * m2[1][3] + m1[2][2] * m2[2][3] + m1[2][3] * m2[3][3];
nuclear@1 99
nuclear@1 100 tmp[3][0] = m1[3][0] * m2[0][0] + m1[3][1] * m2[1][0] + m1[3][2] * m2[2][0] + m1[3][3] * m2[3][0];
nuclear@1 101 tmp[3][1] = m1[3][0] * m2[0][1] + m1[3][1] * m2[1][1] + m1[3][2] * m2[2][1] + m1[3][3] * m2[3][1];
nuclear@1 102 tmp[3][2] = m1[3][0] * m2[0][2] + m1[3][1] * m2[1][2] + m1[3][2] * m2[2][2] + m1[3][3] * m2[3][2];
nuclear@1 103 tmp[3][3] = m1[3][0] * m2[0][3] + m1[3][1] * m2[1][3] + m1[3][2] * m2[2][3] + m1[3][3] * m2[3][3];
nuclear@1 104
nuclear@1 105 m4_copy(res, tmp);
nuclear@1 106 }
nuclear@1 107
nuclear@1 108 static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@1 109 {
nuclear@1 110 m[0][idx] = v.x;
nuclear@1 111 m[1][idx] = v.y;
nuclear@1 112 m[2][idx] = v.z;
nuclear@1 113 m[3][idx] = v.w;
nuclear@1 114 }
nuclear@1 115
nuclear@1 116 static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@1 117 {
nuclear@1 118 m[idx][0] = v.x;
nuclear@1 119 m[idx][1] = v.y;
nuclear@1 120 m[idx][2] = v.z;
nuclear@1 121 m[idx][3] = v.w;
nuclear@1 122 }
nuclear@1 123
nuclear@1 124 #ifdef __cplusplus
nuclear@1 125 } /* extern "C" */
nuclear@1 126
nuclear@1 127
nuclear@1 128 /* unrolled to hell and inline */
nuclear@1 129 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2)
nuclear@1 130 {
nuclear@1 131 Matrix4x4 res;
nuclear@1 132
nuclear@1 133 /*
nuclear@1 134 for(i=0; i<4; i++) {
nuclear@1 135 for(j=0; j<4; j++) {
nuclear@1 136 res.m[i][j] = m1.m[i][0] * m2.m[0][j] + m1.m[i][1] * m2.m[1][j] + m1.m[i][2] * m2.m[2][j] + m1.m[i][3] * m2.m[3][j];
nuclear@1 137 }
nuclear@1 138 }
nuclear@1 139 */
nuclear@1 140
nuclear@1 141 res.m[0][0] = m1.m[0][0] * m2.m[0][0] + m1.m[0][1] * m2.m[1][0] + m1.m[0][2] * m2.m[2][0] + m1.m[0][3] * m2.m[3][0];
nuclear@1 142 res.m[0][1] = m1.m[0][0] * m2.m[0][1] + m1.m[0][1] * m2.m[1][1] + m1.m[0][2] * m2.m[2][1] + m1.m[0][3] * m2.m[3][1];
nuclear@1 143 res.m[0][2] = m1.m[0][0] * m2.m[0][2] + m1.m[0][1] * m2.m[1][2] + m1.m[0][2] * m2.m[2][2] + m1.m[0][3] * m2.m[3][2];
nuclear@1 144 res.m[0][3] = m1.m[0][0] * m2.m[0][3] + m1.m[0][1] * m2.m[1][3] + m1.m[0][2] * m2.m[2][3] + m1.m[0][3] * m2.m[3][3];
nuclear@1 145
nuclear@1 146 res.m[1][0] = m1.m[1][0] * m2.m[0][0] + m1.m[1][1] * m2.m[1][0] + m1.m[1][2] * m2.m[2][0] + m1.m[1][3] * m2.m[3][0];
nuclear@1 147 res.m[1][1] = m1.m[1][0] * m2.m[0][1] + m1.m[1][1] * m2.m[1][1] + m1.m[1][2] * m2.m[2][1] + m1.m[1][3] * m2.m[3][1];
nuclear@1 148 res.m[1][2] = m1.m[1][0] * m2.m[0][2] + m1.m[1][1] * m2.m[1][2] + m1.m[1][2] * m2.m[2][2] + m1.m[1][3] * m2.m[3][2];
nuclear@1 149 res.m[1][3] = m1.m[1][0] * m2.m[0][3] + m1.m[1][1] * m2.m[1][3] + m1.m[1][2] * m2.m[2][3] + m1.m[1][3] * m2.m[3][3];
nuclear@1 150
nuclear@1 151 res.m[2][0] = m1.m[2][0] * m2.m[0][0] + m1.m[2][1] * m2.m[1][0] + m1.m[2][2] * m2.m[2][0] + m1.m[2][3] * m2.m[3][0];
nuclear@1 152 res.m[2][1] = m1.m[2][0] * m2.m[0][1] + m1.m[2][1] * m2.m[1][1] + m1.m[2][2] * m2.m[2][1] + m1.m[2][3] * m2.m[3][1];
nuclear@1 153 res.m[2][2] = m1.m[2][0] * m2.m[0][2] + m1.m[2][1] * m2.m[1][2] + m1.m[2][2] * m2.m[2][2] + m1.m[2][3] * m2.m[3][2];
nuclear@1 154 res.m[2][3] = m1.m[2][0] * m2.m[0][3] + m1.m[2][1] * m2.m[1][3] + m1.m[2][2] * m2.m[2][3] + m1.m[2][3] * m2.m[3][3];
nuclear@1 155
nuclear@1 156 res.m[3][0] = m1.m[3][0] * m2.m[0][0] + m1.m[3][1] * m2.m[1][0] + m1.m[3][2] * m2.m[2][0] + m1.m[3][3] * m2.m[3][0];
nuclear@1 157 res.m[3][1] = m1.m[3][0] * m2.m[0][1] + m1.m[3][1] * m2.m[1][1] + m1.m[3][2] * m2.m[2][1] + m1.m[3][3] * m2.m[3][1];
nuclear@1 158 res.m[3][2] = m1.m[3][0] * m2.m[0][2] + m1.m[3][1] * m2.m[1][2] + m1.m[3][2] * m2.m[2][2] + m1.m[3][3] * m2.m[3][2];
nuclear@1 159 res.m[3][3] = m1.m[3][0] * m2.m[0][3] + m1.m[3][1] * m2.m[1][3] + m1.m[3][2] * m2.m[2][3] + m1.m[3][3] * m2.m[3][3];
nuclear@1 160
nuclear@1 161 return res;
nuclear@1 162 }
nuclear@1 163
nuclear@1 164 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2)
nuclear@1 165 {
nuclear@1 166 Matrix4x4 res = m1 * m2;
nuclear@1 167 m1 = res;
nuclear@1 168 }
nuclear@1 169
nuclear@1 170
nuclear@1 171 inline scalar_t *Matrix3x3::operator [](int index)
nuclear@1 172 {
nuclear@1 173 return m[index];
nuclear@1 174 }
nuclear@1 175
nuclear@1 176 inline const scalar_t *Matrix3x3::operator [](int index) const
nuclear@1 177 {
nuclear@1 178 return m[index];
nuclear@1 179 }
nuclear@1 180
nuclear@1 181 inline void Matrix3x3::reset_identity()
nuclear@1 182 {
nuclear@1 183 *this = identity;
nuclear@1 184 }
nuclear@1 185
nuclear@1 186 inline scalar_t *Matrix4x4::operator [](int index)
nuclear@1 187 {
nuclear@1 188 return m[index];
nuclear@1 189 }
nuclear@1 190
nuclear@1 191 inline const scalar_t *Matrix4x4::operator [](int index) const
nuclear@1 192 {
nuclear@1 193 return m[index];
nuclear@1 194 }
nuclear@1 195
nuclear@1 196 inline void Matrix4x4::reset_identity()
nuclear@1 197 {
nuclear@1 198 *this = identity;
nuclear@1 199 }
nuclear@1 200 #endif /* __cplusplus */