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annotate libs/vmath/matrix.inl @ 15:7bd4264bf74a

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author John Tsiombikas <nuclear@member.fsf.org>
date Wed, 30 Sep 2015 04:41:21 +0300
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nuclear@2 1 /*
nuclear@2 2 libvmath - a vector math library
nuclear@2 3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@2 4
nuclear@2 5 This program is free software: you can redistribute it and/or modify
nuclear@2 6 it under the terms of the GNU Lesser General Public License as published
nuclear@2 7 by the Free Software Foundation, either version 3 of the License, or
nuclear@2 8 (at your option) any later version.
nuclear@2 9
nuclear@2 10 This program is distributed in the hope that it will be useful,
nuclear@2 11 but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@2 12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
nuclear@2 13 GNU Lesser General Public License for more details.
nuclear@2 14
nuclear@2 15 You should have received a copy of the GNU Lesser General Public License
nuclear@2 16 along with this program. If not, see <http://www.gnu.org/licenses/>.
nuclear@2 17 */
nuclear@2 18
nuclear@2 19 #include <string.h>
nuclear@2 20
nuclear@2 21 #ifdef __cplusplus
nuclear@2 22 extern "C" {
nuclear@2 23 #endif /* __cplusplus */
nuclear@2 24
nuclear@2 25 /* C matrix 3x3 functions */
nuclear@2 26 static inline void m3_identity(mat3_t m)
nuclear@2 27 {
nuclear@2 28 static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
nuclear@2 29 memcpy(m, id, sizeof id);
nuclear@2 30 }
nuclear@2 31
nuclear@2 32 static inline void m3_cons(mat3_t m,
nuclear@2 33 scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@2 34 scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@2 35 scalar_t m31, scalar_t m32, scalar_t m33)
nuclear@2 36 {
nuclear@2 37 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
nuclear@2 38 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
nuclear@2 39 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
nuclear@2 40 }
nuclear@2 41
nuclear@2 42 static inline void m3_copy(mat3_t dest, mat3_t src)
nuclear@2 43 {
nuclear@2 44 memcpy(dest, src, sizeof(mat3_t));
nuclear@2 45 }
nuclear@2 46
nuclear@2 47
nuclear@2 48 /* C matrix 4x4 functions */
nuclear@2 49 static inline void m4_identity(mat4_t m)
nuclear@2 50 {
nuclear@2 51 static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@2 52 memcpy(m, id, sizeof id);
nuclear@2 53 }
nuclear@2 54
nuclear@2 55 static inline void m4_cons(mat4_t m,
nuclear@2 56 scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@2 57 scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@2 58 scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@2 59 scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
nuclear@2 60 {
nuclear@2 61 m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
nuclear@2 62 m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
nuclear@2 63 m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
nuclear@2 64 m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
nuclear@2 65 }
nuclear@2 66
nuclear@2 67 static inline void m4_copy(mat4_t dest, mat4_t src)
nuclear@2 68 {
nuclear@2 69 memcpy(dest, src, sizeof(mat4_t));
nuclear@2 70 }
nuclear@2 71
nuclear@2 72 static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
nuclear@2 73 {
nuclear@2 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@2 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@2 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@2 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@2 78
nuclear@2 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@2 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@2 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@2 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@2 83
nuclear@2 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@2 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@2 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@2 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@2 88
nuclear@2 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@2 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@2 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@2 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@2 93 }
nuclear@2 94
nuclear@2 95 static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@2 96 {
nuclear@2 97 m[0][idx] = v.x;
nuclear@2 98 m[1][idx] = v.y;
nuclear@2 99 m[2][idx] = v.z;
nuclear@2 100 m[3][idx] = v.w;
nuclear@2 101 }
nuclear@2 102
nuclear@2 103 static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@2 104 {
nuclear@2 105 m[idx][0] = v.x;
nuclear@2 106 m[idx][1] = v.y;
nuclear@2 107 m[idx][2] = v.z;
nuclear@2 108 m[idx][3] = v.w;
nuclear@2 109 }
nuclear@2 110
nuclear@2 111 #ifdef __cplusplus
nuclear@2 112 } /* extern "C" */
nuclear@2 113
nuclear@2 114
nuclear@2 115 /* unrolled to hell and inline */
nuclear@2 116 inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
nuclear@2 117 Matrix4x4 res;
nuclear@2 118
nuclear@2 119 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@2 120 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@2 121 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@2 122 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@2 123
nuclear@2 124 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@2 125 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@2 126 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@2 127 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@2 128
nuclear@2 129 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@2 130 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@2 131 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@2 132 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@2 133
nuclear@2 134 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@2 135 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@2 136 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@2 137 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@2 138
nuclear@2 139 return res;
nuclear@2 140 }
nuclear@2 141
nuclear@2 142 inline scalar_t *Matrix3x3::operator [](int index) {
nuclear@2 143 return m[index];
nuclear@2 144 }
nuclear@2 145
nuclear@2 146 inline const scalar_t *Matrix3x3::operator [](int index) const {
nuclear@2 147 return m[index];
nuclear@2 148 }
nuclear@2 149
nuclear@2 150 inline void Matrix3x3::reset_identity() {
nuclear@2 151 memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
nuclear@2 152 }
nuclear@2 153
nuclear@2 154 inline scalar_t *Matrix4x4::operator [](int index) {
nuclear@2 155 return m[index];
nuclear@2 156 }
nuclear@2 157
nuclear@2 158 inline const scalar_t *Matrix4x4::operator [](int index) const {
nuclear@2 159 return m[index];
nuclear@2 160 }
nuclear@2 161
nuclear@2 162 inline void Matrix4x4::reset_identity() {
nuclear@2 163 memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
nuclear@2 164 }
nuclear@2 165 #endif /* __cplusplus */