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annotate prototype/vmath/matrix_c.c @ 1:96de911d05d4

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started a rough prototype
author John Tsiombikas <nuclear@mutantstargoat.com>
date Thu, 28 Jun 2012 06:05:50 +0300
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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
nuclear@1 20 #include <stdio.h>
nuclear@1 21 #include "matrix.h"
nuclear@1 22 #include "vector.h"
nuclear@1 23 #include "quat.h"
nuclear@1 24
nuclear@1 25 void m3_to_m4(mat4_t dest, mat3_t src)
nuclear@1 26 {
nuclear@1 27 int i, j;
nuclear@1 28
nuclear@1 29 memset(dest, 0, sizeof(mat4_t));
nuclear@1 30 for(i=0; i<3; i++) {
nuclear@1 31 for(j=0; j<3; j++) {
nuclear@1 32 dest[i][j] = src[i][j];
nuclear@1 33 }
nuclear@1 34 }
nuclear@1 35 dest[3][3] = 1.0;
nuclear@1 36 }
nuclear@1 37
nuclear@1 38 void m3_print(FILE *fp, mat3_t m)
nuclear@1 39 {
nuclear@1 40 int i;
nuclear@1 41 for(i=0; i<3; i++) {
nuclear@1 42 fprintf(fp, "[ %12.5f %12.5f %12.5f ]\n", (float)m[i][0], (float)m[i][1], (float)m[i][2]);
nuclear@1 43 }
nuclear@1 44 }
nuclear@1 45
nuclear@1 46 /* C matrix 4x4 functions */
nuclear@1 47 void m4_to_m3(mat3_t dest, mat4_t src)
nuclear@1 48 {
nuclear@1 49 int i, j;
nuclear@1 50 for(i=0; i<3; i++) {
nuclear@1 51 for(j=0; j<3; j++) {
nuclear@1 52 dest[i][j] = src[i][j];
nuclear@1 53 }
nuclear@1 54 }
nuclear@1 55 }
nuclear@1 56
nuclear@1 57 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 58 {
nuclear@1 59 mat4_t tm;
nuclear@1 60 m4_identity(tm);
nuclear@1 61 tm[0][3] = x;
nuclear@1 62 tm[1][3] = y;
nuclear@1 63 tm[2][3] = z;
nuclear@1 64 m4_mult(m, m, tm);
nuclear@1 65 }
nuclear@1 66
nuclear@1 67 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 68 {
nuclear@1 69 m4_rotate_x(m, x);
nuclear@1 70 m4_rotate_y(m, y);
nuclear@1 71 m4_rotate_z(m, z);
nuclear@1 72 }
nuclear@1 73
nuclear@1 74 void m4_rotate_x(mat4_t m, scalar_t angle)
nuclear@1 75 {
nuclear@1 76 mat4_t rm;
nuclear@1 77 m4_identity(rm);
nuclear@1 78 rm[1][1] = cos(angle); rm[1][2] = -sin(angle);
nuclear@1 79 rm[2][1] = sin(angle); rm[2][2] = cos(angle);
nuclear@1 80 m4_mult(m, m, rm);
nuclear@1 81 }
nuclear@1 82
nuclear@1 83 void m4_rotate_y(mat4_t m, scalar_t angle)
nuclear@1 84 {
nuclear@1 85 mat4_t rm;
nuclear@1 86 m4_identity(rm);
nuclear@1 87 rm[0][0] = cos(angle); rm[0][2] = sin(angle);
nuclear@1 88 rm[2][0] = -sin(angle); rm[2][2] = cos(angle);
nuclear@1 89 m4_mult(m, m, rm);
nuclear@1 90 }
nuclear@1 91
nuclear@1 92 void m4_rotate_z(mat4_t m, scalar_t angle)
nuclear@1 93 {
nuclear@1 94 mat4_t rm;
nuclear@1 95 m4_identity(rm);
nuclear@1 96 rm[0][0] = cos(angle); rm[0][1] = -sin(angle);
nuclear@1 97 rm[1][0] = sin(angle); rm[1][1] = cos(angle);
nuclear@1 98 m4_mult(m, m, rm);
nuclear@1 99 }
nuclear@1 100
nuclear@1 101 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 102 {
nuclear@1 103 mat4_t xform;
nuclear@1 104 scalar_t sina = sin(angle);
nuclear@1 105 scalar_t cosa = cos(angle);
nuclear@1 106 scalar_t one_minus_cosa = 1.0 - cosa;
nuclear@1 107 scalar_t nxsq = x * x;
nuclear@1 108 scalar_t nysq = y * y;
nuclear@1 109 scalar_t nzsq = z * z;
nuclear@1 110
nuclear@1 111 m4_identity(xform);
nuclear@1 112 xform[0][0] = nxsq + (1.0 - nxsq) * cosa;
nuclear@1 113 xform[0][1] = x * y * one_minus_cosa - z * sina;
nuclear@1 114 xform[0][2] = x * z * one_minus_cosa + y * sina;
nuclear@1 115 xform[1][0] = x * y * one_minus_cosa + z * sina;
nuclear@1 116 xform[1][1] = nysq + (1.0 - nysq) * cosa;
nuclear@1 117 xform[1][2] = y * z * one_minus_cosa - x * sina;
nuclear@1 118 xform[2][0] = x * z * one_minus_cosa - y * sina;
nuclear@1 119 xform[2][1] = y * z * one_minus_cosa + x * sina;
nuclear@1 120 xform[2][2] = nzsq + (1.0 - nzsq) * cosa;
nuclear@1 121
nuclear@1 122 m4_mult(m, m, xform);
nuclear@1 123 }
nuclear@1 124
nuclear@1 125 void m4_rotate_quat(mat4_t m, quat_t q)
nuclear@1 126 {
nuclear@1 127 mat4_t rm;
nuclear@1 128 quat_to_mat4(rm, q);
nuclear@1 129 m4_mult(m, m, rm);
nuclear@1 130 }
nuclear@1 131
nuclear@1 132 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@1 133 {
nuclear@1 134 mat4_t sm;
nuclear@1 135 m4_identity(sm);
nuclear@1 136 sm[0][0] = x;
nuclear@1 137 sm[1][1] = y;
nuclear@1 138 sm[2][2] = z;
nuclear@1 139 m4_mult(m, m, sm);
nuclear@1 140 }
nuclear@1 141
nuclear@1 142 void m4_transpose(mat4_t res, mat4_t m)
nuclear@1 143 {
nuclear@1 144 int i, j;
nuclear@1 145 mat4_t tmp;
nuclear@1 146 m4_copy(tmp, m);
nuclear@1 147
nuclear@1 148 for(i=0; i<4; i++) {
nuclear@1 149 for(j=0; j<4; j++) {
nuclear@1 150 res[i][j] = tmp[j][i];
nuclear@1 151 }
nuclear@1 152 }
nuclear@1 153 }
nuclear@1 154
nuclear@1 155 scalar_t m4_determinant(mat4_t m)
nuclear@1 156 {
nuclear@1 157 scalar_t det11 = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 158 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@1 159 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@1 160
nuclear@1 161 scalar_t det12 = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 162 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 163 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@1 164
nuclear@1 165 scalar_t det13 = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@1 166 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 167 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 168
nuclear@1 169 scalar_t det14 = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@1 170 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@1 171 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 172
nuclear@1 173 return m[0][0] * det11 - m[0][1] * det12 + m[0][2] * det13 - m[0][3] * det14;
nuclear@1 174 }
nuclear@1 175
nuclear@1 176 void m4_adjoint(mat4_t res, mat4_t m)
nuclear@1 177 {
nuclear@1 178 int i, j;
nuclear@1 179 mat4_t coef;
nuclear@1 180
nuclear@1 181 coef[0][0] = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 182 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@1 183 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@1 184 coef[0][1] = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 185 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 186 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@1 187 coef[0][2] = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@1 188 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 189 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 190 coef[0][3] = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@1 191 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@1 192 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 193
nuclear@1 194 coef[1][0] = (m[0][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 195 (m[0][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@1 196 (m[0][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@1 197 coef[1][1] = (m[0][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@1 198 (m[0][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 199 (m[0][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@1 200 coef[1][2] = (m[0][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@1 201 (m[0][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@1 202 (m[0][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 203 coef[1][3] = (m[0][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@1 204 (m[0][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@1 205 (m[0][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@1 206
nuclear@1 207 coef[2][0] = (m[0][1] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@1 208 (m[0][2] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) +
nuclear@1 209 (m[0][3] * (m[1][1] * m[3][2] - m[3][1] * m[1][2]));
nuclear@1 210 coef[2][1] = (m[0][0] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@1 211 (m[0][2] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@1 212 (m[0][3] * (m[1][0] * m[3][2] - m[3][0] * m[1][2]));
nuclear@1 213 coef[2][2] = (m[0][0] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) -
nuclear@1 214 (m[0][1] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@1 215 (m[0][3] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@1 216 coef[2][3] = (m[0][0] * (m[1][1] * m[3][2] - m[3][1] * m[1][2])) -
nuclear@1 217 (m[0][1] * (m[1][0] * m[3][2] - m[3][0] * m[1][2])) +
nuclear@1 218 (m[0][2] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@1 219
nuclear@1 220 coef[3][0] = (m[0][1] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@1 221 (m[0][2] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) +
nuclear@1 222 (m[0][3] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]));
nuclear@1 223 coef[3][1] = (m[0][0] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@1 224 (m[0][2] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@1 225 (m[0][3] * (m[1][0] * m[2][2] - m[2][0] * m[1][2]));
nuclear@1 226 coef[3][2] = (m[0][0] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) -
nuclear@1 227 (m[0][1] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@1 228 (m[0][3] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@1 229 coef[3][3] = (m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])) -
nuclear@1 230 (m[0][1] * (m[1][0] * m[2][2] - m[2][0] * m[1][2])) +
nuclear@1 231 (m[0][2] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@1 232
nuclear@1 233 m4_transpose(res, coef);
nuclear@1 234
nuclear@1 235 for(i=0; i<4; i++) {
nuclear@1 236 for(j=0; j<4; j++) {
nuclear@1 237 res[i][j] = j % 2 ? -res[i][j] : res[i][j];
nuclear@1 238 if(i % 2) res[i][j] = -res[i][j];
nuclear@1 239 }
nuclear@1 240 }
nuclear@1 241 }
nuclear@1 242
nuclear@1 243 void m4_inverse(mat4_t res, mat4_t m)
nuclear@1 244 {
nuclear@1 245 int i, j;
nuclear@1 246 mat4_t adj;
nuclear@1 247 scalar_t det;
nuclear@1 248
nuclear@1 249 m4_adjoint(adj, m);
nuclear@1 250 det = m4_determinant(m);
nuclear@1 251
nuclear@1 252 for(i=0; i<4; i++) {
nuclear@1 253 for(j=0; j<4; j++) {
nuclear@1 254 res[i][j] = adj[i][j] / det;
nuclear@1 255 }
nuclear@1 256 }
nuclear@1 257 }
nuclear@1 258
nuclear@1 259 void m4_print(FILE *fp, mat4_t m)
nuclear@1 260 {
nuclear@1 261 int i;
nuclear@1 262 for(i=0; i<4; i++) {
nuclear@1 263 fprintf(fp, "[ %12.5f %12.5f %12.5f %12.5f ]\n", (float)m[i][0], (float)m[i][1], (float)m[i][2], (float)m[i][3]);
nuclear@1 264 }
nuclear@1 265 }