nuclear@2: /*
nuclear@2: libvmath - a vector math library
nuclear@2: Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
nuclear@2: 
nuclear@2: This program is free software: you can redistribute it and/or modify
nuclear@2: it under the terms of the GNU Lesser General Public License as published
nuclear@2: by the Free Software Foundation, either version 3 of the License, or
nuclear@2: (at your option) any later version.
nuclear@2: 
nuclear@2: This program is distributed in the hope that it will be useful,
nuclear@2: but WITHOUT ANY WARRANTY; without even the implied warranty of
nuclear@2: MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
nuclear@2: GNU Lesser General Public License for more details.
nuclear@2: 
nuclear@2: You should have received a copy of the GNU Lesser General Public License
nuclear@2: along with this program.  If not, see <http://www.gnu.org/licenses/>.
nuclear@2: */
nuclear@2: 
nuclear@2: #include <string.h>
nuclear@2: 
nuclear@2: #ifdef __cplusplus
nuclear@2: extern "C" {
nuclear@2: #endif	/* __cplusplus */
nuclear@2: 
nuclear@2: /* C matrix 3x3 functions */
nuclear@2: static inline void m3_identity(mat3_t m)
nuclear@2: {
nuclear@2: 	static const mat3_t id = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
nuclear@2: 	memcpy(m, id, sizeof id);
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m3_cons(mat3_t m,
nuclear@2: 		scalar_t m11, scalar_t m12, scalar_t m13,
nuclear@2: 		scalar_t m21, scalar_t m22, scalar_t m23,
nuclear@2: 		scalar_t m31, scalar_t m32, scalar_t m33)
nuclear@2: {
nuclear@2: 	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
nuclear@2: 	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
nuclear@2: 	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m3_copy(mat3_t dest, mat3_t src)
nuclear@2: {
nuclear@2: 	memcpy(dest, src, sizeof(mat3_t));
nuclear@2: }
nuclear@2: 
nuclear@2: 
nuclear@2: /* C matrix 4x4 functions */
nuclear@2: static inline void m4_identity(mat4_t m)
nuclear@2: {
nuclear@2: 	static const mat4_t id = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
nuclear@2: 	memcpy(m, id, sizeof id);
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m4_cons(mat4_t m,
nuclear@2: 		scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
nuclear@2: 		scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
nuclear@2: 		scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
nuclear@2: 		scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44)
nuclear@2: {
nuclear@2: 	m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
nuclear@2: 	m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
nuclear@2: 	m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
nuclear@2: 	m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m4_copy(mat4_t dest, mat4_t src)
nuclear@2: {
nuclear@2: 	memcpy(dest, src, sizeof(mat4_t));
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m4_mult(mat4_t res, mat4_t m1, mat4_t m2)
nuclear@2: {
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: }
nuclear@2: 
nuclear@2: static inline void m4_set_column(mat4_t m, vec4_t v, int idx)
nuclear@2: {
nuclear@2: 	m[0][idx] = v.x;
nuclear@2: 	m[1][idx] = v.y;
nuclear@2: 	m[2][idx] = v.z;
nuclear@2: 	m[3][idx] = v.w;
nuclear@2: }
nuclear@2: 
nuclear@2: static inline void m4_set_row(mat4_t m, vec4_t v, int idx)
nuclear@2: {
nuclear@2: 	m[idx][0] = v.x;
nuclear@2: 	m[idx][1] = v.y;
nuclear@2: 	m[idx][2] = v.z;
nuclear@2: 	m[idx][3] = v.w;
nuclear@2: }
nuclear@2: 
nuclear@2: #ifdef __cplusplus
nuclear@2: }	/* extern "C" */
nuclear@2: 
nuclear@2: 
nuclear@2: /* unrolled to hell and inline */
nuclear@2: inline Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
nuclear@2: 	Matrix4x4 res;
nuclear@2: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	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: 	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: 	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: 	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: 
nuclear@2: 	return res;
nuclear@2: }
nuclear@2: 
nuclear@2: inline scalar_t *Matrix3x3::operator [](int index) {
nuclear@2: 	return m[index];
nuclear@2: }
nuclear@2: 
nuclear@2: inline const scalar_t *Matrix3x3::operator [](int index) const {
nuclear@2: 	return m[index];
nuclear@2: }
nuclear@2: 
nuclear@2: inline void Matrix3x3::reset_identity() {
nuclear@2: 	memcpy(this->m, identity.m, 9 * sizeof(scalar_t));
nuclear@2: }
nuclear@2: 
nuclear@2: inline scalar_t *Matrix4x4::operator [](int index) {
nuclear@2: 	return m[index];
nuclear@2: }
nuclear@2: 
nuclear@2: inline const scalar_t *Matrix4x4::operator [](int index) const {
nuclear@2: 	return m[index];
nuclear@2: }
nuclear@2: 
nuclear@2: inline void Matrix4x4::reset_identity() {
nuclear@2: 	memcpy(this->m, identity.m, 16 * sizeof(scalar_t));
nuclear@2: }
nuclear@2: #endif	/* __cplusplus */