diff options
| -rw-r--r-- | README | 2 | ||||
| -rw-r--r-- | linmath.h | 48 |
2 files changed, 24 insertions, 26 deletions
@@ -7,6 +7,6 @@ vec4 -- 4 element vector of floats (4th component used for homogenous computatio mat4x4 -- 4 by 4 elements matrix, computations are done in column major order quat -- quaternion -The types are deliberately names like the types in GLSL. In fact they are meant to +The types are deliberately named like the types in GLSL. In fact they are meant to be used for the client side computations and passing to same typed GLSL uniforms. @@ -1,9 +1,3 @@ -/* This program is free software. It comes without any warranty, to - * the extent permitted by applicable law. You can redistribute it - * and/or modify it under the terms of the Do What The Fuck You Want - * To Public License, Version 2, as published by Sam Hocevar. See - * http://sam.zoy.org/wtfpl/COPYING for more details. */ - #ifndef LINMATH_H #define LINMATH_H @@ -130,17 +124,17 @@ static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b) for(i=0; i<4; ++i) vec4_sub(M[i], a[i], b[i]); } -static inline void mat4x4_scale_isotropic(mat4x4 M, mat4x4 a, float k) +static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k) { int i; for(i=0; i<4; ++i) vec4_scale(M[i], a[i], k); } -static inline void mat4x4_scale(mat4x4 R, mat4x4 M, float sx, float sy, float sz) +static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z) { - vec4_scale(R[0], M[0], sx); - vec4_scale(R[1], M[1], sy); - vec4_scale(R[2], M[2], sz); + vec4_scale(M[0], a[0], x); + vec4_scale(M[1], a[1], y); + vec4_scale(M[2], a[2], z); } static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b) { @@ -180,7 +174,7 @@ static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b) M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.; } } -static inline void mat4x4_rotate(mat4x4 Q, mat4x4 M, float x, float y, float z, float angle) +static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle) { float s = sinf(angle); float c = cosf(angle); @@ -189,23 +183,27 @@ static inline void mat4x4_rotate(mat4x4 Q, mat4x4 M, float x, float y, float z, { mat4x4 T; + mat4x4_from_vec3_mul_outer(T, u, u); + mat4x4 S = { { 0, u[2], -u[1], 0}, {-u[2], 0, u[0], 0}, { u[1], -u[0], 0, 0}, - { 0, 0, 0, 1} + { 0, 0, 0, 0} }; - mat4x4_scale_isotropic(S, S, s); + mat4x4_scale(S, S, s); + + mat4x4 C; + mat4x4_identity(C); + mat4x4_sub(C, C, T); + + mat4x4_scale(C, C, c); - mat4x4 R; - mat4x4_from_vec3_mul_outer(R, u, u); - mat4x4_identity(T); - mat4x4_sub(T, T, Q); - T[3][3] = 0.; - mat4x4_scale_isotropic(T, T, c); + mat4x4_add(T, T, C); + mat4x4_add(T, T, S); - mat4x4_add(R, R, T); - mat4x4_add(Q, R, S); + T[3][3] = 1.; + mat4x4_mul(R, M, T); } } static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle) @@ -318,9 +316,9 @@ static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, fl M[2][2] = -2./(f-n); M[2][0] = M[2][1] = M[2][3] = 0.; - M[3][0] = (r+l)/(r-l); - M[3][1] = (t+b)/(t-b); - M[3][2] = (f+n)/(f-n); + M[3][0] = -(r+l)/(r-l); + M[3][1] = -(t+b)/(t-b); + M[3][2] = -(f+n)/(f-n); M[3][3] = 1.; } |