109 lines
3.1 KiB
C
109 lines
3.1 KiB
C
|
/******************************************************************************
|
||
|
|
Copyright (C) 2013 by Hugh Bailey <obs.jim@gmail.com>
|
||
|
|
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 2 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
******************************************************************************/
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include "vec3.h"
|
||
|
|
#include "axisang.h"
|
||
|
|
|
||
|
|
/* 3x4 Matrix */
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
extern "C" {
|
||
|
|
#endif
|
||
|
|
|
||
|
|
struct matrix4;
|
||
|
|
|
||
|
|
struct matrix3 {
|
||
|
|
struct vec3 x;
|
||
|
|
struct vec3 y;
|
||
|
|
struct vec3 z;
|
||
|
|
struct vec3 t;
|
||
|
|
};
|
||
|
|
|
||
|
|
static inline void matrix3_copy(struct matrix3 *dst, const struct matrix3 *m)
|
||
|
|
{
|
||
|
|
vec3_copy(&dst->x, &m->x);
|
||
|
|
vec3_copy(&dst->y, &m->y);
|
||
|
|
vec3_copy(&dst->z, &m->z);
|
||
|
|
vec3_copy(&dst->t, &m->t);
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline void matrix3_identity(struct matrix3 *dst)
|
||
|
|
{
|
||
|
|
vec3_zero(&dst->x);
|
||
|
|
vec3_zero(&dst->y);
|
||
|
|
vec3_zero(&dst->z);
|
||
|
|
vec3_zero(&dst->t);
|
||
|
|
dst->x.x = dst->y.y = dst->z.z = 1.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
EXPORT void matrix3_from_quat(struct matrix3 *dst, const struct quat *q);
|
||
|
|
EXPORT void matrix3_from_axisang(struct matrix3 *dst,
|
||
|
|
const struct axisang *aa);
|
||
|
|
EXPORT void matrix3_from_matrix4(struct matrix3 *dst, const struct matrix4 *m);
|
||
|
|
|
||
|
|
EXPORT void matrix3_mul(struct matrix3 *dst, const struct matrix3 *m1,
|
||
|
|
const struct matrix3 *m2);
|
||
|
|
static inline void matrix3_translate(struct matrix3 *dst,
|
||
|
|
const struct matrix3 *m, const struct vec3 *v)
|
||
|
|
{
|
||
|
|
vec3_sub(&dst->t, &m->t, v);
|
||
|
|
}
|
||
|
|
|
||
|
|
EXPORT void matrix3_rotate(struct matrix3 *dst, const struct matrix3 *m,
|
||
|
|
const struct quat *q);
|
||
|
|
EXPORT void matrix3_rotate_aa(struct matrix3 *dst, const struct matrix3 *m,
|
||
|
|
const struct axisang *aa);
|
||
|
|
EXPORT void matrix3_scale(struct matrix3 *dst, const struct matrix3 *m,
|
||
|
|
const struct vec3 *v);
|
||
|
|
EXPORT void matrix3_transpose(struct matrix3 *dst, const struct matrix3 *m);
|
||
|
|
EXPORT void matrix3_inv(struct matrix3 *dst, const struct matrix3 *m);
|
||
|
|
|
||
|
|
EXPORT void matrix3_mirror(struct matrix3 *dst, const struct matrix3 *m,
|
||
|
|
const struct plane *p);
|
||
|
|
EXPORT void matrix3_mirrorv(struct matrix3 *dst, const struct matrix3 *m,
|
||
|
|
const struct vec3 *v);
|
||
|
|
|
||
|
|
static inline void matrix3_translate3f(struct matrix3 *dst,
|
||
|
|
const struct matrix3 *m, float x, float y, float z)
|
||
|
|
{
|
||
|
|
struct vec3 v;
|
||
|
|
vec3_set(&v, x, y, z);
|
||
|
|
matrix3_translate(dst, m, &v);
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline void matrix3_rotate_aa4f(struct matrix3 *dst,
|
||
|
|
const struct matrix3 *m, float x, float y, float z, float rot)
|
||
|
|
{
|
||
|
|
struct axisang aa;
|
||
|
|
axisang_set(&aa, x, y, z, rot);
|
||
|
|
matrix3_rotate_aa(dst, m, &aa);
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline void matrix3_scale3f(struct matrix3 *dst,
|
||
|
|
const struct matrix3 *m, float x, float y, float z)
|
||
|
|
{
|
||
|
|
struct vec3 v;
|
||
|
|
vec3_set(&v, x, y, z);
|
||
|
|
matrix3_scale(dst, m, &v);
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef __cplusplus
|
||
|
|
}
|
||
|
|
#endif
|