1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/libs/vmath/matrix.inl	Thu Sep 08 08:31:15 2011 +0300
     1.3 @@ -0,0 +1,147 @@
     1.4 +#include <string.h>
     1.5 +
     1.6 +#ifdef __cplusplus
     1.7 +extern "C" {
     1.8 +#endif	/* __cplusplus */
     1.9 +
    1.10 +/* C matrix 3x3 functions */
    1.11 +static inline void m3_identity(mat3_t m)
    1.12 +{
    1.13 +	static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    1.14 +	memcpy(m, id, sizeof id);
    1.15 +}
    1.16 +
    1.17 +static inline void m3_cons(mat3_t m,
    1.18 +		scalar_t m11, scalar_t m12, scalar_t m13,
    1.19 +		scalar_t m21, scalar_t m22, scalar_t m23,
    1.20 +		scalar_t m31, scalar_t m32, scalar_t m33)
    1.21 +{
    1.22 +	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
    1.23 +	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
    1.24 +	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
    1.25 +}
    1.26 +
    1.27 +static inline void m3_copy(mat3_t dest, mat3_t src)
    1.28 +{
    1.29 +	memcpy(dest, src, sizeof(mat3_t));
    1.30 +}
    1.31 +
    1.32 +
    1.33 +/* C matrix 4x4 functions */
    1.34 +static inline void m4_identity(mat4_t m)
    1.35 +{
    1.36 +	static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
    1.37 +	memcpy(m, id, sizeof id);
    1.38 +}
    1.39 +
    1.40 +static inline void m4_cons(mat4_t m,
    1.41 +		scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
    1.42 +		scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
    1.43 +		scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
    1.44 +		scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
    1.45 +{
    1.46 +	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
    1.47 +	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
    1.48 +	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
    1.49 +	m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
    1.50 +}
    1.51 +
    1.52 +static inline void m4_copy(mat4_t dest, mat4_t src)
    1.53 +{
    1.54 +	memcpy(dest, src, sizeof(mat4_t));
    1.55 +}
    1.56 +
    1.57 +static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
    1.58 +{
    1.59 +	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];
    1.60 +	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];
    1.61 +	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];
    1.62 +	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];
    1.63 +
    1.64 +	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];
    1.65 +	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];
    1.66 +	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];
    1.67 +	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];
    1.68 +
    1.69 +	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];
    1.70 +	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];
    1.71 +	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];
    1.72 +	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];
    1.73 +
    1.74 +	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];
    1.75 +	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];
    1.76 +	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];
    1.77 +	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];
    1.78 +}
    1.79 +
    1.80 +static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
    1.81 +{
    1.82 +	m[0][idx] = v.x;
    1.83 +	m[1][idx] = v.y;
    1.84 +	m[2][idx] = v.z;
    1.85 +	m[3][idx] = v.w;
    1.86 +}
    1.87 +
    1.88 +static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
    1.89 +{
    1.90 +	m[idx][0] = v.x;
    1.91 +	m[idx][1] = v.y;
    1.92 +	m[idx][2] = v.z;
    1.93 +	m[idx][3] = v.w;
    1.94 +}
    1.95 +
    1.96 +#ifdef __cplusplus
    1.97 +}	/* extern "C" */
    1.98 +
    1.99 +
   1.100 +/* unrolled to hell and inline */
   1.101 +inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
   1.102 +	Matrix4x4 res;
   1.103 +
   1.104 +	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];
   1.105 +	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];
   1.106 +	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];
   1.107 +	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];
   1.108 +
   1.109 +	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];
   1.110 +	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];
   1.111 +	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];
   1.112 +	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];
   1.113 +
   1.114 +	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];
   1.115 +	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];
   1.116 +	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];
   1.117 +	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];
   1.118 +
   1.119 +	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];
   1.120 +	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];
   1.121 +	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];
   1.122 +	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];
   1.123 +
   1.124 +	return res;
   1.125 +}
   1.126 +
   1.127 +inline scalar_t *Matrix3x3::operator [](int index) {
   1.128 +	return m[index];
   1.129 +}
   1.130 +
   1.131 +inline const scalar_t *Matrix3x3::operator [](int index) const {
   1.132 +	return m[index];
   1.133 +}
   1.134 +
   1.135 +inline void Matrix3x3::reset_identity() {
   1.136 +	memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
   1.137 +}
   1.138 +
   1.139 +inline scalar_t *Matrix4x4::operator [](int index) {
   1.140 +	return m[index];
   1.141 +}
   1.142 +
   1.143 +inline const scalar_t *Matrix4x4::operator [](int index) const {
   1.144 +	return m[index];
   1.145 +}
   1.146 +
   1.147 +inline void Matrix4x4::reset_identity() {
   1.148 +	memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
   1.149 +}
   1.150 +#endif	/* __cplusplus */