286 lines
6.9 KiB
C
286 lines
6.9 KiB
C
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/******************************************************************************
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Copyright (C) 2013 by Hugh Bailey <obs.jim@gmail.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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******************************************************************************/
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#include "math-defs.h"
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#include "matrix4.h"
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#include "matrix3.h"
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#include "quat.h"
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void matrix4_from_matrix3(struct matrix4 *dst, const struct matrix3 *m)
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{
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dst->x.m = m->x.m;
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dst->y.m = m->y.m;
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dst->z.m = m->z.m;
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dst->t.m = m->t.m;
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dst->t.w = 1.0f;
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}
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void matrix4_from_quat(struct matrix4 *dst, const struct quat *q)
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{
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float norm = quat_dot(q, q);
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float s = (norm > 0.0f) ? (2.0f/norm) : 0.0f;
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float xx = q->x * q->x * s;
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float yy = q->y * q->y * s;
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float zz = q->z * q->z * s;
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float xy = q->x * q->y * s;
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float xz = q->x * q->z * s;
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float yz = q->y * q->z * s;
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float wx = q->w * q->x * s;
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float wy = q->w * q->y * s;
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float wz = q->w * q->z * s;
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vec4_set(&dst->x, 1.0f - (yy + zz), xy + wz, xz - wy, 0.0f);
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vec4_set(&dst->y, xy - wz, 1.0f - (xx + zz), yz + wx, 0.0f);
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vec4_set(&dst->z, xz + wy, yz - wx, 1.0f - (xx + yy), 0.0f);
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vec4_set(&dst->t, 0.0f, 0.0f, 0.0f, 1.0f);
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}
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void matrix4_from_axisang(struct matrix4 *dst, const struct axisang *aa)
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{
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struct quat q;
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quat_from_axisang(&q, aa);
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matrix4_from_quat(dst, &q);
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}
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void matrix4_mul(struct matrix4 *dst, const struct matrix4 *m1,
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const struct matrix4 *m2)
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{
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const struct vec4 *m1v = (const struct vec4*)m1;
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const float *m2f = (const float*)m2;
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struct vec4 out[4];
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int i, j;
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for (i = 0; i < 4; i++) {
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for (j=0; j<4; j++) {
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struct vec4 temp;
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vec4_set(&temp, m2f[j], m2f[j+4], m2f[j+8], m2f[j+12]);
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out[i].ptr[j] = vec4_dot(&m1v[i], &temp);
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}
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}
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matrix4_copy(dst, (struct matrix4*)out);
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}
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static inline void get_3x3_submatrix(float *dst, const struct matrix4 *m,
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int i, int j)
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{
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const float *mf = (const float *)m;
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int ti, tj, idst, jdst;
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for (ti = 0; ti < 4; ti++) {
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if (ti < i)
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idst = ti;
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else if (ti > i)
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idst = ti-1;
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else
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continue;
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for (tj = 0; tj < 4; tj++) {
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if (tj < j)
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jdst = tj;
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else if (tj > j)
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jdst = tj-1;
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else
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continue;
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dst[(idst*3) + jdst] = mf[(ti*4) + tj];
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}
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}
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}
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static inline float get_3x3_determinant(const float *m)
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{
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return (m[0] * ((m[4]*m[8]) - (m[7]*m[5]))) -
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(m[1] * ((m[3]*m[8]) - (m[6]*m[5]))) +
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(m[2] * ((m[3]*m[7]) - (m[6]*m[4])));
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}
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float matrix4_determinant(const struct matrix4 *m)
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{
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const float *mf = (const float *)m;
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float det, result = 0.0f, i = 1.0f;
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float m3x3[9];
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int n;
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for (n = 0; n < 4; n++, i *= -1.0f) {
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get_3x3_submatrix(m3x3, m, 0, n);
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det = get_3x3_determinant(m3x3);
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result += mf[n] * det * i;
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}
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return result;
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}
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void matrix4_translate3v(struct matrix4 *dst, const struct matrix4 *m,
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const struct vec3 *v)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, 1.0f, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, 1.0f, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, 1.0f, 0.0f);
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vec4_from_vec3(&temp.t, v);
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matrix4_mul(dst, m, &temp);
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}
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void matrix4_translate4v(struct matrix4 *dst, const struct matrix4 *m,
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const struct vec4 *v)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, 1.0f, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, 1.0f, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, 1.0f, 0.0f);
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vec4_copy(&temp.t, v);
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matrix4_mul(dst, m, &temp);
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}
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void matrix4_rotate(struct matrix4 *dst, const struct matrix4 *m,
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const struct quat *q)
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{
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struct matrix4 temp;
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matrix4_from_quat(&temp, q);
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matrix4_mul(dst, m, &temp);
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}
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void matrix4_rotate_aa(struct matrix4 *dst, const struct matrix4 *m,
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const struct axisang *aa)
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{
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struct matrix4 temp;
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matrix4_from_axisang(&temp, aa);
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matrix4_mul(dst, m, &temp);
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}
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void matrix4_scale(struct matrix4 *dst, const struct matrix4 *m,
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const struct vec3 *v)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, v->x, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, v->y, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, v->z, 0.0f);
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vec4_set(&temp.t, 0.0f, 0.0f, 0.0f, 1.0f);
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matrix4_mul(dst, m, &temp);
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}
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void matrix4_translate3v_i(struct matrix4 *dst, const struct vec3 *v,
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const struct matrix4 *m)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, 1.0f, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, 1.0f, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, 1.0f, 0.0f);
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vec4_from_vec3(&temp.t, v);
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matrix4_mul(dst, &temp, m);
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}
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void matrix4_translate4v_i(struct matrix4 *dst, const struct vec4 *v,
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const struct matrix4 *m)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, 1.0f, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, 1.0f, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, 1.0f, 0.0f);
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vec4_copy(&temp.t, v);
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matrix4_mul(dst, &temp, m);
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}
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void matrix4_rotate_i(struct matrix4 *dst, const struct quat *q,
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const struct matrix4 *m)
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{
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struct matrix4 temp;
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matrix4_from_quat(&temp, q);
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matrix4_mul(dst, &temp, m);
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}
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void matrix4_rotate_aa_i(struct matrix4 *dst, const struct axisang *aa,
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const struct matrix4 *m)
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{
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struct matrix4 temp;
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matrix4_from_axisang(&temp, aa);
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matrix4_mul(dst, &temp, m);
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}
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void matrix4_scale_i(struct matrix4 *dst, const struct vec3 *v,
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const struct matrix4 *m)
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{
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struct matrix4 temp;
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vec4_set(&temp.x, v->x, 0.0f, 0.0f, 0.0f);
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vec4_set(&temp.y, 0.0f, v->y, 0.0f, 0.0f);
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vec4_set(&temp.z, 0.0f, 0.0f, v->z, 0.0f);
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vec4_set(&temp.t, 0.0f, 0.0f, 0.0f, 1.0f);
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matrix4_mul(dst, &temp, m);
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}
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bool matrix4_inv(struct matrix4 *dst, const struct matrix4 *m)
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{
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struct vec4 *dstv = (struct vec4 *)dst;
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float det = matrix4_determinant(m);
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float m3x3[9];
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int i, j, sign;
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if (dst == m) {
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struct matrix4 temp = *m;
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return matrix4_inv(dst, &temp);
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}
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dstv = (struct vec4 *)dst;
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det = matrix4_determinant(m);
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if (fabs(det) < 0.0005f)
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return false;
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for (i = 0; i < 4; i++) {
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for (j = 0; j < 4; j++) {
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sign = 1 - ((i+j) % 2) * 2;
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get_3x3_submatrix(m3x3, m, i, j);
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dstv[j].ptr[i] = get_3x3_determinant(m3x3) *
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(float)sign / det;
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}
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}
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return true;
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}
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void matrix4_transpose(struct matrix4 *dst, const struct matrix4 *m)
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{
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struct matrix4 temp;
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/* TODO: Add SSE */
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temp.x.x = m->x.x;
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temp.x.y = m->y.x;
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temp.x.z = m->z.x;
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temp.x.w = m->t.x;
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temp.y.x = m->x.y;
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temp.y.y = m->y.y;
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temp.y.z = m->z.y;
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temp.y.w = m->t.y;
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temp.z.x = m->x.z;
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temp.z.y = m->y.z;
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temp.z.z = m->z.z;
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temp.z.w = m->t.z;
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temp.t.x = m->x.w;
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temp.t.y = m->y.w;
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temp.t.z = m->z.w;
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temp.t.w = m->t.w;
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matrix4_copy(dst, &temp);
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}
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