144 lines
4 KiB
C
144 lines
4 KiB
C
/******************************************************************************
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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 <string.h>
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#include "matrix3.h"
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#include "matrix4.h"
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#include "plane.h"
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#include "quat.h"
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void matrix3_from_quat(struct matrix3 *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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vec3_set(&dst->x, 1.0f - (yy + zz), xy + wz, xz - wy);
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vec3_set(&dst->y, xy - wz, 1.0f - (xx + zz), yz + wx);
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vec3_set(&dst->z, xz + wy, yz - wx, 1.0f - (xx + yy));
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vec3_zero(&dst->t);
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}
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void matrix3_from_axisang(struct matrix3 *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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matrix3_from_quat(dst, &q);
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}
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void matrix3_from_matrix4(struct matrix3 *dst, const struct matrix4 *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->x.w = 0.0f;
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dst->y.w = 0.0f;
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dst->z.w = 0.0f;
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dst->t.w = 0.0f;
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}
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void matrix3_mul(struct matrix3 *dst, const struct matrix3 *m1,
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const struct matrix3 *m2)
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{
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if (dst == m2) {
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struct matrix3 temp;
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vec3_rotate(&temp.x, &m1->x, m2);
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vec3_rotate(&temp.y, &m1->y, m2);
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vec3_rotate(&temp.z, &m1->z, m2);
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vec3_transform3x4(&temp.t, &m1->t, m2);
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matrix3_copy(dst, &temp);
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} else {
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vec3_rotate(&dst->x, &m1->x, m2);
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vec3_rotate(&dst->y, &m1->y, m2);
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vec3_rotate(&dst->z, &m1->z, m2);
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vec3_transform3x4(&dst->t, &m1->t, m2);
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}
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}
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void matrix3_rotate(struct matrix3 *dst, const struct matrix3 *m,
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const struct quat *q)
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{
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struct matrix3 temp;
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matrix3_from_quat(&temp, q);
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matrix3_mul(dst, m, &temp);
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}
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void matrix3_rotate_aa(struct matrix3 *dst, const struct matrix3 *m,
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const struct axisang *aa)
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{
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struct matrix3 temp;
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matrix3_from_axisang(&temp, aa);
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matrix3_mul(dst, m, &temp);
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}
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void matrix3_scale(struct matrix3 *dst, const struct matrix3 *m,
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const struct vec3 *v)
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{
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vec3_mul(&dst->x, &m->x, v);
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vec3_mul(&dst->y, &m->y, v);
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vec3_mul(&dst->z, &m->z, v);
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vec3_mul(&dst->t, &m->t, v);
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}
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void matrix3_transpose(struct matrix3 *dst, const struct matrix3 *m)
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{
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__m128 tmp1, tmp2;
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vec3_rotate(&dst->t, &m->t, m);
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vec3_neg(&dst->t, &dst->t);
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tmp1 = _mm_movelh_ps(m->x.m, m->y.m);
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tmp2 = _mm_movehl_ps(m->y.m, m->x.m);
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dst->x.m = _mm_shuffle_ps(tmp1, m->z.m, _MM_SHUFFLE(3, 0, 2, 0));
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dst->y.m = _mm_shuffle_ps(tmp1, m->z.m, _MM_SHUFFLE(3, 1, 3, 1));
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dst->z.m = _mm_shuffle_ps(tmp2, m->z.m, _MM_SHUFFLE(3, 2, 2, 0));
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}
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void matrix3_inv(struct matrix3 *dst, const struct matrix3 *m)
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{
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struct matrix4 m4;
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matrix4_from_matrix3(&m4, m);
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matrix4_inv((struct matrix4 *)dst, &m4);
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dst->t.w = 0.0f;
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}
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void matrix3_mirror(struct matrix3 *dst, const struct matrix3 *m,
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const struct plane *p)
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{
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vec3_mirrorv(&dst->x, &m->x, &p->dir);
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vec3_mirrorv(&dst->y, &m->y, &p->dir);
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vec3_mirrorv(&dst->z, &m->z, &p->dir);
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vec3_mirror(&dst->t, &m->t, p);
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}
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void matrix3_mirrorv(struct matrix3 *dst, const struct matrix3 *m,
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const struct vec3 *v)
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{
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vec3_mirrorv(&dst->x, &m->x, v);
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vec3_mirrorv(&dst->y, &m->y, v);
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vec3_mirrorv(&dst->z, &m->z, v);
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vec3_mirrorv(&dst->t, &m->t, v);
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}
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