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author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 27 Oct 2012 01:59:39 +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 #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 res[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 75 res[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 76 res[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 77 res[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 78
nuclear@1 79 res[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 80 res[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 81 res[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 82 res[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 83
nuclear@1 84 res[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 85 res[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 86 res[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 87 res[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 88
nuclear@1 89 res[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 90 res[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 91 res[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 92 res[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 93 }
nuclear@1 94
nuclear@1 95 static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@1 96 {
nuclear@1 97 m[0][idx] = v.x;
nuclear@1 98 m[1][idx] = v.y;
nuclear@1 99 m[2][idx] = v.z;
nuclear@1 100 m[3][idx] = v.w;
nuclear@1 101 }
nuclear@1 102
nuclear@1 103 static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@1 104 {
nuclear@1 105 m[idx][0] = v.x;
nuclear@1 106 m[idx][1] = v.y;
nuclear@1 107 m[idx][2] = v.z;
nuclear@1 108 m[idx][3] = v.w;
nuclear@1 109 }
nuclear@1 110
nuclear@1 111 #ifdef __cplusplus
nuclear@1 112 } /* extern "C" */
nuclear@1 113
nuclear@1 114
nuclear@1 115 /* unrolled to hell and inline */
nuclear@1 116 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
nuclear@1 117 Matrix4x4 res;
nuclear@1 118
nuclear@1 119 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@1 120 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@1 121 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@1 122 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@1 123
nuclear@1 124 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@1 125 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@1 126 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@1 127 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@1 128
nuclear@1 129 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@1 130 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@1 131 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@1 132 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@1 133
nuclear@1 134 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@1 135 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@1 136 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@1 137 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@1 138
nuclear@1 139 return res;
nuclear@1 140 }
nuclear@1 141
nuclear@1 142 inline scalar_t *Matrix3x3::operator [](int index) {
nuclear@1 143 return m[index];
nuclear@1 144 }
nuclear@1 145
nuclear@1 146 inline const scalar_t *Matrix3x3::operator [](int index) const {
nuclear@1 147 return m[index];
nuclear@1 148 }
nuclear@1 149
nuclear@1 150 inline void Matrix3x3::reset_identity() {
nuclear@1 151 memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
nuclear@1 152 }
nuclear@1 153
nuclear@1 154 inline scalar_t *Matrix4x4::operator [](int index) {
nuclear@1 155 return m[index];
nuclear@1 156 }
nuclear@1 157
nuclear@1 158 inline const scalar_t *Matrix4x4::operator [](int index) const {
nuclear@1 159 return m[index];
nuclear@1 160 }
nuclear@1 161
nuclear@1 162 inline void Matrix4x4::reset_identity() {
nuclear@1 163 memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
nuclear@1 164 }
nuclear@1 165 #endif /* __cplusplus */