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annotate libs/vmath/matrix.inl @ 39:ff055bff6a15

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author John Tsiombikas <nuclear@mutantstargoat.com>
date Sun, 11 Sep 2011 09:03:18 +0300
parents fb4c9641059f
children
rev   line source
nuclear@39 1 /*
nuclear@39 2 libvmath - a vector math library
nuclear@39 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@39 4
nuclear@39 5 This program is free software: you can redistribute it and/or modify
nuclear@39 6 it under the terms of the GNU Lesser General Public License as published
nuclear@39 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@39 8 (at your option) any later version.
nuclear@39 9
nuclear@39 10 This program is distributed in the hope that it will be useful,
nuclear@39 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@39 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@39 13 GNU Lesser General Public License for more details.
nuclear@39 14
nuclear@39 15 You should have received a copy of the GNU Lesser General Public License
nuclear@39 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@39 17 */
nuclear@39 18
nuclear@29 19 #include <string.h>
nuclear@29 20
nuclear@29 21 #ifdef __cplusplus
nuclear@29 22 extern "C" {
nuclear@29 23 #endif /* __cplusplus */
nuclear@29 24
nuclear@29 25 /* C matrix 3x3 functions */
nuclear@29 26 static inline void m3_identity(mat3_t m)
nuclear@29 27 {
nuclear@29 28 static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
nuclear@29 29 memcpy(m, id, sizeof id);
nuclear@29 30 }
nuclear@29 31
nuclear@29 32 static inline void m3_cons(mat3_t m,
nuclear@29 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@29 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@29 35 scalar_t m31, scalar_t m32, scalar_t m33)
nuclear@29 36 {
nuclear@29 37 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
nuclear@29 38 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
nuclear@29 39 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
nuclear@29 40 }
nuclear@29 41
nuclear@29 42 static inline void m3_copy(mat3_t dest, mat3_t src)
nuclear@29 43 {
nuclear@29 44 memcpy(dest, src, sizeof(mat3_t));
nuclear@29 45 }
nuclear@29 46
nuclear@29 47
nuclear@29 48 /* C matrix 4x4 functions */
nuclear@29 49 static inline void m4_identity(mat4_t m)
nuclear@29 50 {
nuclear@29 51 static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@29 52 memcpy(m, id, sizeof id);
nuclear@29 53 }
nuclear@29 54
nuclear@29 55 static inline void m4_cons(mat4_t m,
nuclear@29 56 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@29 57 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@29 58 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@29 59 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
nuclear@29 60 {
nuclear@29 61 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
nuclear@29 62 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
nuclear@29 63 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
nuclear@29 64 m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
nuclear@29 65 }
nuclear@29 66
nuclear@29 67 static inline void m4_copy(mat4_t dest, mat4_t src)
nuclear@29 68 {
nuclear@29 69 memcpy(dest, src, sizeof(mat4_t));
nuclear@29 70 }
nuclear@29 71
nuclear@29 72 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
nuclear@29 73 {
nuclear@29 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@29 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@29 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@29 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@29 78
nuclear@29 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@29 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@29 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@29 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@29 83
nuclear@29 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@29 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@29 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@29 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@29 88
nuclear@29 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@29 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@29 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@29 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@29 93 }
nuclear@29 94
nuclear@29 95 static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@29 96 {
nuclear@29 97 m[0][idx] = v.x;
nuclear@29 98 m[1][idx] = v.y;
nuclear@29 99 m[2][idx] = v.z;
nuclear@29 100 m[3][idx] = v.w;
nuclear@29 101 }
nuclear@29 102
nuclear@29 103 static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@29 104 {
nuclear@29 105 m[idx][0] = v.x;
nuclear@29 106 m[idx][1] = v.y;
nuclear@29 107 m[idx][2] = v.z;
nuclear@29 108 m[idx][3] = v.w;
nuclear@29 109 }
nuclear@29 110
nuclear@29 111 #ifdef __cplusplus
nuclear@29 112 } /* extern "C" */
nuclear@29 113
nuclear@29 114
nuclear@29 115 /* unrolled to hell and inline */
nuclear@29 116 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
nuclear@29 117 Matrix4x4 res;
nuclear@29 118
nuclear@29 119 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@29 120 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@29 121 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@29 122 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@29 123
nuclear@29 124 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@29 125 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@29 126 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@29 127 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@29 128
nuclear@29 129 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@29 130 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@29 131 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@29 132 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@29 133
nuclear@29 134 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@29 135 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@29 136 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@29 137 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@29 138
nuclear@29 139 return res;
nuclear@29 140 }
nuclear@29 141
nuclear@29 142 inline scalar_t *Matrix3x3::operator [](int index) {
nuclear@29 143 return m[index];
nuclear@29 144 }
nuclear@29 145
nuclear@29 146 inline const scalar_t *Matrix3x3::operator [](int index) const {
nuclear@29 147 return m[index];
nuclear@29 148 }
nuclear@29 149
nuclear@29 150 inline void Matrix3x3::reset_identity() {
nuclear@29 151 memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
nuclear@29 152 }
nuclear@29 153
nuclear@29 154 inline scalar_t *Matrix4x4::operator [](int index) {
nuclear@29 155 return m[index];
nuclear@29 156 }
nuclear@29 157
nuclear@29 158 inline const scalar_t *Matrix4x4::operator [](int index) const {
nuclear@29 159 return m[index];
nuclear@29 160 }
nuclear@29 161
nuclear@29 162 inline void Matrix4x4::reset_identity() {
nuclear@29 163 memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
nuclear@29 164 }
nuclear@29 165 #endif /* __cplusplus */