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authorTomasz Kramkowski <tk@the-tk.com>2018-03-27 18:26:28 +0100
committerTomasz Kramkowski <tk@the-tk.com>2018-03-28 00:18:53 +0100
commit813216d03f41018b9c46b8a0e6eb648e0a704dc1 (patch)
treef6077ae76fe187c4315157d1977de6e32b3388ad
parent42c47b5e4670a7e87fb7cee43f1a068456ec473d (diff)
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linmath: more cleanup
-rw-r--r--linmath.h107
1 files changed, 69 insertions, 38 deletions
diff --git a/linmath.h b/linmath.h
index 8d9ff8c..ffbe7cc 100644
--- a/linmath.h
+++ b/linmath.h
@@ -93,43 +93,51 @@ static inline void mat4x4_identity(mat4x4 M)
for (int j = 0; j < 4; ++j)
M[i][j] = i == j ? 1.0f : 0.0f;
}
+
static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
{
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
M[i][j] = N[i][j];
}
+
static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
{
for (int k = 0; k < 4; ++k)
r[k] = M[k][i];
}
+
static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
{
for (int k = 0; k < 4; ++k)
r[k] = M[i][k];
}
+
static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
{
for (int j = 0; j < 4; ++j)
for (int i = 0; i < 4; ++i)
M[i][j] = N[j][i];
}
+
static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
{
for (int i = 0; i < 4; ++i)
vec4_add(M[i], a[i], b[i]);
}
+
static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
{
for (int i = 0; i < 4; ++i)
vec4_sub(M[i], a[i], b[i]);
}
+
static inline void mat4x4_scale(mat4x4 M, mat4x4 a, lm_elem k)
{
for (int i = 0; i < 4; ++i)
vec4_scale(M[i], a[i], k);
}
+
static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, lm_elem x, lm_elem y, lm_elem z)
{
vec4_scale(M[0], a[0], x);
@@ -138,6 +146,7 @@ static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, lm_elem x, lm_elem y,
for (int i = 0; i < 4; ++i)
M[3][i] = a[3][i];
}
+
static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
{
mat4x4 temp;
@@ -150,6 +159,7 @@ static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
}
mat4x4_dup(M, temp);
}
+
static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
{
for (int j = 0; j < 4; ++j) {
@@ -158,6 +168,7 @@ static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
r[j] += M[i][j] * v[i];
}
}
+
static inline void mat4x4_translate(mat4x4 T, lm_elem x, lm_elem y, lm_elem z)
{
mat4x4_identity(T);
@@ -165,6 +176,7 @@ static inline void mat4x4_translate(mat4x4 T, lm_elem x, lm_elem y, lm_elem z)
T[3][1] = y;
T[3][2] = z;
}
+
static inline void mat4x4_translate_in_place(mat4x4 M, lm_elem x, lm_elem y, lm_elem z)
{
vec4 t = {x, y, z, 0};
@@ -174,82 +186,89 @@ static inline void mat4x4_translate_in_place(mat4x4 M, lm_elem x, lm_elem y, lm_
M[3][i] += vec4_mul_inner(r, t);
}
}
+
static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
{
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
M[i][j] = i < 3 && j < 3 ? a[i] * b[j] : 0.0f;
}
+
static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, lm_elem x, lm_elem y, lm_elem z, lm_elem angle)
{
lm_elem s = sinf(angle);
lm_elem c = cosf(angle);
vec3 u = {x, y, z};
- if (vec3_len(u) > 1e-4) {
- vec3_norm(u, u);
- mat4x4 T;
- mat4x4_from_vec3_mul_outer(T, u, u);
+ if (vec3_len(u) <= 1e-4) {
+ mat4x4_dup(R, M);
+ return;
+ }
- mat4x4 S = {
- { 0, u[2], -u[1], 0},
- {-u[2], 0, u[0], 0},
- { u[1], -u[0], 0, 0},
- { 0, 0, 0, 0}
- };
- mat4x4_scale(S, S, s);
+ vec3_norm(u, u);
+ mat4x4 T;
+ mat4x4_from_vec3_mul_outer(T, u, u);
- mat4x4 C;
- mat4x4_identity(C);
- mat4x4_sub(C, C, T);
+ mat4x4 S = {
+ { 0, u[2], -u[1], 0 },
+ { -u[2], 0, u[0], 0 },
+ { u[1], -u[0], 0, 0 },
+ { 0, 0, 0, 0 }
+ };
+ mat4x4_scale(S, S, s);
- mat4x4_scale(C, C, c);
+ mat4x4 C;
+ mat4x4_identity(C);
+ mat4x4_sub(C, C, T);
- mat4x4_add(T, T, C);
- mat4x4_add(T, T, S);
+ mat4x4_scale(C, C, c);
- T[3][3] = 1.;
- mat4x4_mul(R, M, T);
- } else {
- mat4x4_dup(R, M);
- }
+ mat4x4_add(T, T, C);
+ mat4x4_add(T, T, S);
+
+ T[3][3] = 1.;
+ mat4x4_mul(R, M, T);
}
+
static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, lm_elem angle)
{
lm_elem s = sinf(angle);
lm_elem c = cosf(angle);
mat4x4 R = {
- {1.0f, 0.0f, 0.0f, 0.0f},
- {0.0f, c, s, 0.0f},
- {0.0f, -s, c, 0.0f},
- {0.0f, 0.0f, 0.0f, 1.0f}
+ { 1.0f, 0.0f, 0.0f, 0.0f },
+ { 0.0f, c, s, 0.0f },
+ { 0.0f, -s, c, 0.0f },
+ { 0.0f, 0.0f, 0.0f, 1.0f }
};
mat4x4_mul(Q, M, R);
}
+
static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, lm_elem angle)
{
lm_elem s = sinf(angle);
lm_elem c = cosf(angle);
mat4x4 R = {
- { c, 0.0f, s, 0.0f},
- { 0.0f, 1.0f, 0.0f, 0.0f},
- { -s, 0.0f, c, 0.0f},
- { 0.0f, 0.0f, 0.0f, 1.0f}
+ { c, 0.0f, s, 0.0f },
+ { 0.0f, 1.0f, 0.0f, 0.0f },
+ { -s, 0.0f, c, 0.0f },
+ { 0.0f, 0.0f, 0.0f, 1.0f }
};
mat4x4_mul(Q, M, R);
}
+
static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, lm_elem angle)
{
lm_elem s = sinf(angle);
lm_elem c = cosf(angle);
mat4x4 R = {
- { c, s, 0.0f, 0.0f},
- { -s, c, 0.0f, 0.0f},
- { 0.0f, 0.0f, 1.0f, 0.0f},
- { 0.0f, 0.0f, 0.0f, 1.0f}
+ { c, s, 0.0f, 0.0f },
+ { -s, c, 0.0f, 0.0f },
+ { 0.0f, 0.0f, 1.0f, 0.0f },
+ { 0.0f, 0.0f, 0.0f, 1.0f }
};
mat4x4_mul(Q, M, R);
}
+
static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
{
lm_elem s[6];
@@ -293,10 +312,11 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
}
+
static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
{
mat4x4_dup(R, M);
- lm_elem s = 1.;
+ lm_elem s;
vec3 h;
vec3_norm(R[2], R[2]);
@@ -333,6 +353,7 @@ static inline void mat4x4_frustum(mat4x4 M, lm_elem l, lm_elem r, lm_elem b, lm_
M[3][2] = -2.0f * (f * n)/(f-n);
M[3][0] = M[3][1] = M[3][3] = 0.0f;
}
+
static inline void mat4x4_ortho(mat4x4 M, lm_elem l, lm_elem r, lm_elem b, lm_elem t, lm_elem n, lm_elem f)
{
M[0][0] = 2.0f/(r-l);
@@ -349,6 +370,7 @@ static inline void mat4x4_ortho(mat4x4 M, lm_elem l, lm_elem r, lm_elem b, lm_el
M[3][2] = -(f+n)/(f-n);
M[3][3] = 1.0f;
}
+
static inline void mat4x4_perspective(mat4x4 m, lm_elem y_fov, lm_elem aspect, lm_elem n, lm_elem f)
{
lm_elem const a = 1.0f / tan(y_fov / 2.0f);
@@ -373,6 +395,7 @@ static inline void mat4x4_perspective(mat4x4 m, lm_elem y_fov, lm_elem aspect, l
m[3][2] = -((2.0f * f * n) / (f - n));
m[3][3] = 0.0f;
}
+
static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
{
/* Adapted from Android's OpenGL Matrix.java. */
@@ -421,16 +444,19 @@ static inline void quat_identity(quat q)
q[0] = q[1] = q[2] = 0.0f;
q[3] = 1.0f;
}
+
static inline void quat_add(quat r, quat a, quat b)
{
for (int i = 0; i < 4; ++i)
r[i] = a[i] + b[i];
}
+
static inline void quat_sub(quat r, quat a, quat b)
{
for (int i = 0; i < 4; ++i)
r[i] = a[i] - b[i];
}
+
static inline void quat_mul(quat r, quat p, quat q)
{
vec3 w;
@@ -441,11 +467,13 @@ static inline void quat_mul(quat r, quat p, quat q)
vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
}
+
static inline void quat_scale(quat r, quat v, lm_elem s)
{
for (int i = 0; i < 4; ++i)
r[i] = v[i] * s;
}
+
static inline lm_elem quat_inner_product(quat a, quat b)
{
lm_elem p = 0.0f;
@@ -453,12 +481,14 @@ static inline lm_elem quat_inner_product(quat a, quat b)
p += b[i]*a[i];
return p;
}
+
static inline void quat_conj(quat r, quat q)
{
for (int i = 0; i < 3; ++i)
r[i] = -q[i];
r[3] = q[3];
}
+
static inline void quat_rotate(quat r, lm_elem angle, vec3 axis) {
vec3 v;
vec3_scale(v, axis, sinf(angle / 2));
@@ -466,13 +496,14 @@ static inline void quat_rotate(quat r, lm_elem angle, vec3 axis) {
r[i] = v[i];
r[3] = cosf(angle / 2);
}
+
#define quat_norm vec4_norm
static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
{
/*
* Method by Fabian 'ryg' Giessen (of Farbrausch)
-t = 2 * cross(q.xyz, v)
-v' = v + q.w * t + cross(q.xyz, t)
+ * t = 2 * cross(q.xyz, v)
+ * v' = v + q.w * t + cross(q.xyz, t)
*/
vec3 t;
vec3 q_xyz = { q[0], q[1], q[2] };
@@ -487,6 +518,7 @@ v' = v + q.w * t + cross(q.xyz, t)
vec3_add(r, v, t);
vec3_add(r, r, u);
}
+
static inline void mat4x4_from_quat(mat4x4 M, quat q)
{
lm_elem a = q[3];
@@ -532,7 +564,6 @@ static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
static inline void quat_from_mat4x4(quat q, mat4x4 M)
{
lm_elem r = 0.0f;
- int i;
int perm[] = { 0, 1, 2, 0, 1 };
int *p = perm;