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