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annotate libs/vmath/matrix_c.c @ 51:fa5c52ea9d59

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author John Tsiombikas <nuclear@member.fsf.org>
date Fri, 17 Jan 2014 18:16:09 +0200
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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
nuclear@27 20 #include <stdio.h>
nuclear@27 21 #include "matrix.h"
nuclear@27 22 #include "vector.h"
nuclear@27 23 #include "quat.h"
nuclear@27 24
nuclear@27 25 void m3_to_m4(mat4_t dest, mat3_t src)
nuclear@27 26 {
nuclear@27 27 int i, j;
nuclear@27 28
nuclear@27 29 memset(dest, 0, sizeof(mat4_t));
nuclear@27 30 for(i=0; i<3; i++) {
nuclear@27 31 for(j=0; j<3; j++) {
nuclear@27 32 dest[i][j] = src[i][j];
nuclear@27 33 }
nuclear@27 34 }
nuclear@27 35 dest[3][3] = 1.0;
nuclear@27 36 }
nuclear@27 37
nuclear@27 38 void m3_print(FILE *fp, mat3_t m)
nuclear@27 39 {
nuclear@27 40 int i;
nuclear@27 41 for(i=0; i<3; i++) {
nuclear@27 42 fprintf(fp, "[ %12.5f %12.5f %12.5f ]\n", (float)m[i][0], (float)m[i][1], (float)m[i][2]);
nuclear@27 43 }
nuclear@27 44 }
nuclear@27 45
nuclear@27 46 /* C matrix 4x4 functions */
nuclear@27 47 void m4_to_m3(mat3_t dest, mat4_t src)
nuclear@27 48 {
nuclear@27 49 int i, j;
nuclear@27 50 for(i=0; i<3; i++) {
nuclear@27 51 for(j=0; j<3; j++) {
nuclear@27 52 dest[i][j] = src[i][j];
nuclear@27 53 }
nuclear@27 54 }
nuclear@27 55 }
nuclear@27 56
nuclear@27 57 void m4_set_translation(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 58 {
nuclear@27 59 m4_identity(m);
nuclear@27 60 m[0][3] = x;
nuclear@27 61 m[1][3] = y;
nuclear@27 62 m[2][3] = z;
nuclear@27 63 }
nuclear@27 64
nuclear@27 65 void m4_translate(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 66 {
nuclear@27 67 mat4_t tm;
nuclear@27 68 m4_set_translation(tm, x, y, z);
nuclear@27 69 m4_mult(m, m, tm);
nuclear@27 70 }
nuclear@27 71
nuclear@27 72 void m4_rotate(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 73 {
nuclear@27 74 m4_rotate_x(m, x);
nuclear@27 75 m4_rotate_y(m, y);
nuclear@27 76 m4_rotate_z(m, z);
nuclear@27 77 }
nuclear@27 78
nuclear@27 79 void m4_set_rotation_x(mat4_t m, scalar_t angle)
nuclear@27 80 {
nuclear@27 81 m4_identity(m);
nuclear@27 82 m[1][1] = cos(angle); m[1][2] = -sin(angle);
nuclear@27 83 m[2][1] = sin(angle); m[2][2] = cos(angle);
nuclear@27 84 }
nuclear@27 85
nuclear@27 86 void m4_rotate_x(mat4_t m, scalar_t angle)
nuclear@27 87 {
nuclear@27 88 mat4_t rm;
nuclear@27 89 m4_set_rotation_x(m, angle);
nuclear@27 90 m4_mult(m, m, rm);
nuclear@27 91 }
nuclear@27 92
nuclear@27 93 void m4_set_rotation_y(mat4_t m, scalar_t angle)
nuclear@27 94 {
nuclear@27 95 m4_identity(m);
nuclear@27 96 m[0][0] = cos(angle); m[0][2] = sin(angle);
nuclear@27 97 m[2][0] = -sin(angle); m[2][2] = cos(angle);
nuclear@27 98 }
nuclear@27 99
nuclear@27 100 void m4_rotate_y(mat4_t m, scalar_t angle)
nuclear@27 101 {
nuclear@27 102 mat4_t rm;
nuclear@27 103 m4_set_rotation_y(rm, angle);
nuclear@27 104 m4_mult(m, m, rm);
nuclear@27 105 }
nuclear@27 106
nuclear@27 107 void m4_set_rotation_z(mat4_t m, scalar_t angle)
nuclear@27 108 {
nuclear@27 109 m4_identity(m);
nuclear@27 110 m[0][0] = cos(angle); m[0][1] = -sin(angle);
nuclear@27 111 m[1][0] = sin(angle); m[1][1] = cos(angle);
nuclear@27 112 }
nuclear@27 113
nuclear@27 114 void m4_rotate_z(mat4_t m, scalar_t angle)
nuclear@27 115 {
nuclear@27 116 mat4_t rm;
nuclear@27 117 m4_set_rotation_z(rm, angle);
nuclear@27 118 m4_mult(m, m, rm);
nuclear@27 119 }
nuclear@27 120
nuclear@27 121 void m4_set_rotation_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 122 {
nuclear@27 123 scalar_t sina = sin(angle);
nuclear@27 124 scalar_t cosa = cos(angle);
nuclear@27 125 scalar_t one_minus_cosa = 1.0 - cosa;
nuclear@27 126 scalar_t nxsq = x * x;
nuclear@27 127 scalar_t nysq = y * y;
nuclear@27 128 scalar_t nzsq = z * z;
nuclear@27 129
nuclear@27 130 m[0][0] = nxsq + (1.0 - nxsq) * cosa;
nuclear@27 131 m[0][1] = x * y * one_minus_cosa - z * sina;
nuclear@27 132 m[0][2] = x * z * one_minus_cosa + y * sina;
nuclear@27 133 m[1][0] = x * y * one_minus_cosa + z * sina;
nuclear@27 134 m[1][1] = nysq + (1.0 - nysq) * cosa;
nuclear@27 135 m[1][2] = y * z * one_minus_cosa - x * sina;
nuclear@27 136 m[2][0] = x * z * one_minus_cosa - y * sina;
nuclear@27 137 m[2][1] = y * z * one_minus_cosa + x * sina;
nuclear@27 138 m[2][2] = nzsq + (1.0 - nzsq) * cosa;
nuclear@27 139
nuclear@27 140 /* the rest are identity */
nuclear@27 141 m[3][0] = m[3][1] = m[3][2] = m[0][3] = m[1][3] = m[2][3] = 0.0;
nuclear@27 142 m[3][3] = 1.0;
nuclear@27 143 }
nuclear@27 144
nuclear@27 145 void m4_rotate_axis(mat4_t m, scalar_t angle, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 146 {
nuclear@27 147 mat4_t xform;
nuclear@27 148 m4_set_rotation_axis(xform, angle, x, y, z);
nuclear@27 149 m4_mult(m, m, xform);
nuclear@27 150 }
nuclear@27 151
nuclear@27 152 void m4_rotate_quat(mat4_t m, quat_t q)
nuclear@27 153 {
nuclear@27 154 mat4_t rm;
nuclear@27 155 quat_to_mat4(rm, q);
nuclear@27 156 m4_mult(m, m, rm);
nuclear@27 157 }
nuclear@27 158
nuclear@27 159 void m4_scale(mat4_t m, scalar_t x, scalar_t y, scalar_t z)
nuclear@27 160 {
nuclear@27 161 mat4_t sm;
nuclear@27 162 m4_identity(sm);
nuclear@27 163 sm[0][0] = x;
nuclear@27 164 sm[1][1] = y;
nuclear@27 165 sm[2][2] = z;
nuclear@27 166 m4_mult(m, m, sm);
nuclear@27 167 }
nuclear@27 168
nuclear@27 169 void m4_transpose(mat4_t res, mat4_t m)
nuclear@27 170 {
nuclear@27 171 int i, j;
nuclear@27 172 mat4_t tmp;
nuclear@27 173 m4_copy(tmp, m);
nuclear@27 174
nuclear@27 175 for(i=0; i<4; i++) {
nuclear@27 176 for(j=0; j<4; j++) {
nuclear@27 177 res[i][j] = tmp[j][i];
nuclear@27 178 }
nuclear@27 179 }
nuclear@27 180 }
nuclear@27 181
nuclear@27 182 scalar_t m4_determinant(mat4_t m)
nuclear@27 183 {
nuclear@27 184 scalar_t det11 = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 185 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@27 186 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@27 187
nuclear@27 188 scalar_t det12 = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 189 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 190 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@27 191
nuclear@27 192 scalar_t det13 = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@27 193 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 194 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 195
nuclear@27 196 scalar_t det14 = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@27 197 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@27 198 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 199
nuclear@27 200 return m[0][0] * det11 - m[0][1] * det12 + m[0][2] * det13 - m[0][3] * det14;
nuclear@27 201 }
nuclear@27 202
nuclear@27 203 void m4_adjoint(mat4_t res, mat4_t m)
nuclear@27 204 {
nuclear@27 205 int i, j;
nuclear@27 206 mat4_t coef;
nuclear@27 207
nuclear@27 208 coef[0][0] = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 209 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@27 210 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@27 211 coef[0][1] = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 212 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 213 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@27 214 coef[0][2] = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@27 215 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 216 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 217 coef[0][3] = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@27 218 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@27 219 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 220
nuclear@27 221 coef[1][0] = (m[0][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 222 (m[0][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@27 223 (m[0][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@27 224 coef[1][1] = (m[0][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@27 225 (m[0][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 226 (m[0][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@27 227 coef[1][2] = (m[0][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@27 228 (m[0][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@27 229 (m[0][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 230 coef[1][3] = (m[0][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@27 231 (m[0][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@27 232 (m[0][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@27 233
nuclear@27 234 coef[2][0] = (m[0][1] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@27 235 (m[0][2] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) +
nuclear@27 236 (m[0][3] * (m[1][1] * m[3][2] - m[3][1] * m[1][2]));
nuclear@27 237 coef[2][1] = (m[0][0] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@27 238 (m[0][2] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@27 239 (m[0][3] * (m[1][0] * m[3][2] - m[3][0] * m[1][2]));
nuclear@27 240 coef[2][2] = (m[0][0] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) -
nuclear@27 241 (m[0][1] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@27 242 (m[0][3] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@27 243 coef[2][3] = (m[0][0] * (m[1][1] * m[3][2] - m[3][1] * m[1][2])) -
nuclear@27 244 (m[0][1] * (m[1][0] * m[3][2] - m[3][0] * m[1][2])) +
nuclear@27 245 (m[0][2] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@27 246
nuclear@27 247 coef[3][0] = (m[0][1] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@27 248 (m[0][2] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) +
nuclear@27 249 (m[0][3] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]));
nuclear@27 250 coef[3][1] = (m[0][0] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@27 251 (m[0][2] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@27 252 (m[0][3] * (m[1][0] * m[2][2] - m[2][0] * m[1][2]));
nuclear@27 253 coef[3][2] = (m[0][0] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) -
nuclear@27 254 (m[0][1] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@27 255 (m[0][3] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@27 256 coef[3][3] = (m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])) -
nuclear@27 257 (m[0][1] * (m[1][0] * m[2][2] - m[2][0] * m[1][2])) +
nuclear@27 258 (m[0][2] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@27 259
nuclear@27 260 m4_transpose(res, coef);
nuclear@27 261
nuclear@27 262 for(i=0; i<4; i++) {
nuclear@27 263 for(j=0; j<4; j++) {
nuclear@27 264 res[i][j] = j % 2 ? -res[i][j] : res[i][j];
nuclear@27 265 if(i % 2) res[i][j] = -res[i][j];
nuclear@27 266 }
nuclear@27 267 }
nuclear@27 268 }
nuclear@27 269
nuclear@27 270 void m4_inverse(mat4_t res, mat4_t m)
nuclear@27 271 {
nuclear@27 272 int i, j;
nuclear@27 273 mat4_t adj;
nuclear@27 274 scalar_t det;
nuclear@27 275
nuclear@27 276 m4_adjoint(adj, m);
nuclear@27 277 det = m4_determinant(m);
nuclear@27 278
nuclear@27 279 for(i=0; i<4; i++) {
nuclear@27 280 for(j=0; j<4; j++) {
nuclear@27 281 res[i][j] = adj[i][j] / det;
nuclear@27 282 }
nuclear@27 283 }
nuclear@27 284 }
nuclear@27 285
nuclear@27 286 void m4_print(FILE *fp, mat4_t m)
nuclear@27 287 {
nuclear@27 288 int i;
nuclear@27 289 for(i=0; i<4; i++) {
nuclear@27 290 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@27 291 }
nuclear@27 292 }