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annotate libs/vmath/matrix.inl @ 51:fa5c52ea9d59

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author John Tsiombikas <nuclear@member.fsf.org>
date Fri, 17 Jan 2014 18:16:09 +0200
parents 4deb0b12fe14
children
rev   line source
nuclear@27 1 /*
nuclear@27 2 libvmath - a vector math library
nuclear@27 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@27 4
nuclear@27 5 This program is free software: you can redistribute it and/or modify
nuclear@27 6 it under the terms of the GNU Lesser General Public License as published
nuclear@27 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@27 8 (at your option) any later version.
nuclear@27 9
nuclear@27 10 This program is distributed in the hope that it will be useful,
nuclear@27 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@27 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@27 13 GNU Lesser General Public License for more details.
nuclear@27 14
nuclear@27 15 You should have received a copy of the GNU Lesser General Public License
nuclear@27 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@27 17 */
nuclear@27 18
nuclear@27 19 #include <string.h>
nuclear@27 20
nuclear@27 21 #ifdef __cplusplus
nuclear@27 22 extern "C" {
nuclear@27 23 #endif /* __cplusplus */
nuclear@27 24
nuclear@27 25 /* C matrix 3x3 functions */
nuclear@28 26 static VMATH_INLINE void m3_identity(mat3_t m)
nuclear@27 27 {
nuclear@27 28 static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
nuclear@27 29 memcpy(m, id, sizeof id);
nuclear@27 30 }
nuclear@27 31
nuclear@28 32 static VMATH_INLINE void m3_cons(mat3_t m,
nuclear@27 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@27 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@27 35 scalar_t m31, scalar_t m32, scalar_t m33)
nuclear@27 36 {
nuclear@27 37 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
nuclear@27 38 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
nuclear@27 39 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
nuclear@27 40 }
nuclear@27 41
nuclear@28 42 static VMATH_INLINE void m3_copy(mat3_t dest, mat3_t src)
nuclear@27 43 {
nuclear@27 44 memcpy(dest, src, sizeof(mat3_t));
nuclear@27 45 }
nuclear@27 46
nuclear@27 47
nuclear@27 48 /* C matrix 4x4 functions */
nuclear@28 49 static VMATH_INLINE void m4_identity(mat4_t m)
nuclear@27 50 {
nuclear@27 51 static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@27 52 memcpy(m, id, sizeof id);
nuclear@27 53 }
nuclear@27 54
nuclear@28 55 static VMATH_INLINE void m4_cons(mat4_t m,
nuclear@27 56 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@27 57 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@27 58 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@27 59 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
nuclear@27 60 {
nuclear@27 61 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
nuclear@27 62 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
nuclear@27 63 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
nuclear@27 64 m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
nuclear@27 65 }
nuclear@27 66
nuclear@28 67 static VMATH_INLINE void m4_copy(mat4_t dest, mat4_t src)
nuclear@27 68 {
nuclear@27 69 memcpy(dest, src, sizeof(mat4_t));
nuclear@27 70 }
nuclear@27 71
nuclear@28 72 static VMATH_INLINE void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
nuclear@27 73 {
nuclear@27 74 mat4_t tmp;
nuclear@27 75
nuclear@27 76 /*
nuclear@27 77 int i, j;
nuclear@27 78 for(i=0; i<4; i++) {
nuclear@27 79 for(j=0; j<4; j++) {
nuclear@27 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@27 81 }
nuclear@27 82 }
nuclear@27 83 */
nuclear@27 84
nuclear@27 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@27 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@27 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@27 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@27 89
nuclear@27 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@27 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@27 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@27 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@27 94
nuclear@27 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@27 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@27 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@27 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@27 99
nuclear@27 100 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@27 101 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@27 102 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@27 103 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@27 104
nuclear@27 105 m4_copy(res, tmp);
nuclear@27 106 }
nuclear@27 107
nuclear@28 108 static VMATH_INLINE void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@27 109 {
nuclear@27 110 m[0][idx] = v.x;
nuclear@27 111 m[1][idx] = v.y;
nuclear@27 112 m[2][idx] = v.z;
nuclear@27 113 m[3][idx] = v.w;
nuclear@27 114 }
nuclear@27 115
nuclear@28 116 static VMATH_INLINE void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@27 117 {
nuclear@27 118 m[idx][0] = v.x;
nuclear@27 119 m[idx][1] = v.y;
nuclear@27 120 m[idx][2] = v.z;
nuclear@27 121 m[idx][3] = v.w;
nuclear@27 122 }
nuclear@27 123
nuclear@27 124 #ifdef __cplusplus
nuclear@27 125 } /* extern "C" */
nuclear@27 126
nuclear@27 127
nuclear@28 128 /* unrolled to hell and VMATH_INLINE */
nuclear@28 129 VMATH_INLINE Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2)
nuclear@27 130 {
nuclear@27 131 Matrix4x4 res;
nuclear@27 132
nuclear@27 133 /*
nuclear@27 134 for(i=0; i<4; i++) {
nuclear@27 135 for(j=0; j<4; j++) {
nuclear@27 136 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@27 137 }
nuclear@27 138 }
nuclear@27 139 */
nuclear@27 140
nuclear@27 141 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@27 142 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@27 143 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@27 144 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@27 145
nuclear@27 146 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@27 147 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@27 148 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@27 149 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@27 150
nuclear@27 151 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@27 152 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@27 153 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@27 154 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@27 155
nuclear@27 156 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@27 157 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@27 158 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@27 159 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@27 160
nuclear@27 161 return res;
nuclear@27 162 }
nuclear@27 163
nuclear@28 164 VMATH_INLINE void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2)
nuclear@27 165 {
nuclear@27 166 Matrix4x4 res = m1 * m2;
nuclear@27 167 m1 = res;
nuclear@27 168 }
nuclear@27 169
nuclear@27 170
nuclear@28 171 VMATH_INLINE scalar_t *Matrix3x3::operator [](int index)
nuclear@27 172 {
nuclear@27 173 return m[index];
nuclear@27 174 }
nuclear@27 175
nuclear@28 176 VMATH_INLINE const scalar_t *Matrix3x3::operator [](int index) const
nuclear@27 177 {
nuclear@27 178 return m[index];
nuclear@27 179 }
nuclear@27 180
nuclear@28 181 VMATH_INLINE void Matrix3x3::reset_identity()
nuclear@27 182 {
nuclear@27 183 *this = identity;
nuclear@27 184 }
nuclear@27 185
nuclear@28 186 VMATH_INLINE scalar_t *Matrix4x4::operator [](int index)
nuclear@27 187 {
nuclear@27 188 return m[index];
nuclear@27 189 }
nuclear@27 190
nuclear@28 191 VMATH_INLINE const scalar_t *Matrix4x4::operator [](int index) const
nuclear@27 192 {
nuclear@27 193 return m[index];
nuclear@27 194 }
nuclear@27 195
nuclear@28 196 VMATH_INLINE void Matrix4x4::reset_identity()
nuclear@27 197 {
nuclear@27 198 *this = identity;
nuclear@27 199 }
nuclear@27 200 #endif /* __cplusplus */