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-rw-r--r--linmath.h284
1 files changed, 147 insertions, 137 deletions
diff --git a/linmath.h b/linmath.h
index 1dc2368..2a72c1c 100644
--- a/linmath.h
+++ b/linmath.h
@@ -2,7 +2,6 @@
#define LINMATH_H
#include <math.h>
-#include <string.h>
typedef float vec3[3];
static inline void vec3_add(vec3 r, vec3 a, vec3 b)
@@ -25,7 +24,7 @@ static inline void vec3_scale(vec3 r, vec3 v, float s)
}
static inline float vec3_mul_inner(vec3 a, vec3 b)
{
- float p = 0.;
+ float p = 0.f;
int i;
for(i=0; i<3; ++i)
p += b[i]*a[i];
@@ -33,21 +32,26 @@ static inline float vec3_mul_inner(vec3 a, vec3 b)
}
static inline void vec3_mul_cross(vec3 r, vec3 a, vec3 b)
{
- vec3 c;
- c[0] = a[1]*b[2] - a[2]*b[1];
- c[1] = a[2]*b[0] - a[0]*b[2];
- c[2] = a[0]*b[1] - a[1]*b[0];
- memcpy(r, c, sizeof(c));
+ r[0] = a[1]*b[2] - a[2]*b[1];
+ r[1] = a[2]*b[0] - a[0]*b[2];
+ r[2] = a[0]*b[1] - a[1]*b[0];
}
static inline float vec3_len(vec3 v)
{
- return sqrtf(vec3_mul_inner(v,v));
+ return sqrtf(vec3_mul_inner(v, v));
}
static inline void vec3_norm(vec3 r, vec3 v)
{
- float k = 1.0 / vec3_len(v);
+ float k = 1.f / vec3_len(v);
vec3_scale(r, v, k);
}
+static inline void vec3_reflect(vec3 r, vec3 v, vec3 n)
+{
+ float p = 2.f*vec3_mul_inner(v, n);
+ int i;
+ for(i=0;i<3;++i)
+ r[i] = v[i] - p*n[i];
+}
typedef float vec4[4];
static inline void vec4_add(vec4 r, vec4 a, vec4 b)
@@ -70,7 +74,7 @@ static inline void vec4_scale(vec4 r, vec4 v, float s)
}
static inline float vec4_mul_inner(vec4 a, vec4 b)
{
- float p = 0.;
+ float p = 0.f;
int i;
for(i=0; i<4; ++i)
p += b[i]*a[i];
@@ -78,39 +82,42 @@ static inline float vec4_mul_inner(vec4 a, vec4 b)
}
static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
{
- vec4 c;
- c[0] = a[1]*b[2] - a[2]*b[1];
- c[1] = a[2]*b[0] - a[0]*b[2];
- c[2] = a[0]*b[1] - a[1]*b[0];
- c[3] = 1.;
- memcpy(r, c, sizeof(c));
+ r[0] = a[1]*b[2] - a[2]*b[1];
+ r[1] = a[2]*b[0] - a[0]*b[2];
+ r[2] = a[0]*b[1] - a[1]*b[0];
+ r[3] = 1.f;
}
static inline float vec4_len(vec4 v)
{
- return sqrtf(vec4_mul_inner(v,v));
+ return sqrtf(vec4_mul_inner(v, v));
}
static inline void vec4_norm(vec4 r, vec4 v)
{
- float k = 1.0 / vec4_len(v);
+ float k = 1.f / vec4_len(v);
vec4_scale(r, v, k);
}
+static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
+{
+ float p = 2.f*vec4_mul_inner(v, n);
+ int i;
+ for(i=0;i<4;++i)
+ r[i] = v[i] - p*n[i];
+}
typedef vec4 mat4x4[4];
static inline void mat4x4_identity(mat4x4 M)
{
int i, j;
- for(j=0; j<4; ++j) for(i=0; i<4; ++i) {
- M[i][j] = i==j ? 1 : 0;
- }
+ for(i=0; i<4; ++i)
+ for(j=0; j<4; ++j)
+ M[i][j] = i==j ? 1.f : 0.f;
}
static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
{
int i, j;
- for(j=0; j<4; ++j) {
- for(i=0; i<4; ++i) {
+ for(i=0; i<4; ++i)
+ for(j=0; j<4; ++j)
M[i][j] = N[i][j];
- }
- }
}
static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
{
@@ -127,13 +134,9 @@ static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
{
int i, j;
- mat4x4 R;
- for(j=0; j<4; ++j) {
- for(i=0; i<4; ++i) {
- R[i][j] = N[j][i];
- }
- }
- memcpy(M, R, sizeof(R));
+ for(j=0; j<4; ++j)
+ for(i=0; i<4; ++i)
+ M[i][j] = N[j][i];
}
static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
{
@@ -162,26 +165,20 @@ static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, floa
static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
{
int k, r, c;
- mat4x4 R;
- for(r=0; r<4; ++r) for(c=0; c<4; ++c) {
- R[c][r] = 0;
- for(k=0; k<4; ++k) {
- R[c][r] += a[k][r] * b[c][k];
- }
+ for(c=0; c<4; ++c) for(r=0; r<4; ++r) {
+ M[c][r] = 0.f;
+ for(k=0; k<4; ++k)
+ M[c][r] += a[k][r] * b[c][k];
}
- memcpy(M, R, sizeof(R));
}
static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
{
- vec4 r_;
int i, j;
for(j=0; j<4; ++j) {
- r_[j] = 0.;
- for(i=0; i<4; ++i) {
- r_[j] += M[i][j] * v[i];
- }
+ r[j] = 0.f;
+ for(i=0; i<4; ++i)
+ r[j] += M[i][j] * v[i];
}
- memcpy(r, r_, sizeof(r_));
}
static inline void mat4x4_translate(mat4x4 T, float x, float y, float z)
{
@@ -203,9 +200,8 @@ static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z
static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
{
int i, j;
- for(i=0; i<4; ++i) for(j=0; j<4; ++j) {
- M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.;
- }
+ for(i=0; i<4; ++i) for(j=0; j<4; ++j)
+ M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
}
static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
{
@@ -219,10 +215,10 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
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, 0}
+ { 0.f, u[2], -u[1], 0.f},
+ {-u[2], 0.f, u[0], 0.f},
+ { u[1], -u[0], 0.f, 0.f},
+ { 0.f, 0.f, 0.f, 0.f}
};
mat4x4_scale(S, S, s);
@@ -235,7 +231,7 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
mat4x4_add(T, T, C);
mat4x4_add(T, T, S);
- T[3][3] = 1.;
+ T[3][3] = 1.f;
mat4x4_mul(R, M, T);
}
}
@@ -244,10 +240,10 @@ static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
- {1, 0, 0, 0},
- {0, c, s, 0},
- {0,-s, c, 0},
- {0, 0, 0, 1}
+ {1.f, 0.f, 0.f, 0.f},
+ {0.f, c, s, 0.f},
+ {0.f, -s, c, 0.f},
+ {0.f, 0.f, 0.f, 1.f}
};
mat4x4_mul(Q, M, R);
}
@@ -256,10 +252,10 @@ static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
- { c, 0, s, 0},
- { 0, 1, 0, 0},
- {-s, 0, c, 0},
- { 0, 0, 0, 1}
+ { c, 0.f, s, 0.f},
+ { 0.f, 1.f, 0.f, 0.f},
+ { -s, 0.f, c, 0.f},
+ { 0.f, 0.f, 0.f, 1.f}
};
mat4x4_mul(Q, M, R);
}
@@ -268,69 +264,85 @@ static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
- { c, s, 0, 0},
- {-s, c, 0, 0},
- { 0, 0, 1, 0},
- { 0, 0, 0, 1}
+ { c, s, 0.f, 0.f},
+ { -s, c, 0.f, 0.f},
+ { 0.f, 0.f, 1.f, 0.f},
+ { 0.f, 0.f, 0.f, 1.f}
};
mat4x4_mul(Q, M, R);
}
static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
{
- /* TODO: Implement a Gauss-Jordan elimination or an iterative Jacobian */
- mat4x4 R;
- R[0][0] = M[1][1]*(M[2][2]*M[3][3] - M[2][3]*M[3][2]) - M[2][1]*(M[1][2]*M[3][3] - M[1][3]*M[3][2]) - M[3][1]*(M[1][3]*M[2][2] - M[1][2]*M[2][3]);
- R[0][1] = M[0][1]*(M[2][3]*M[3][2] - M[2][2]*M[3][3]) - M[2][1]*(M[0][3]*M[3][2] - M[0][2]*M[3][3]) - M[3][1]*(M[0][2]*M[2][3] - M[0][3]*M[2][2]);
- R[0][2] = M[0][1]*(M[1][2]*M[3][3] - M[1][3]*M[3][2]) - M[1][1]*(M[0][2]*M[3][3] - M[0][3]*M[3][2]) - M[3][1]*(M[0][3]*M[1][2] - M[0][2]*M[1][3]);
- R[0][3] = M[0][1]*(M[1][3]*M[2][2] - M[1][2]*M[2][3]) - M[1][1]*(M[0][3]*M[2][2] - M[0][2]*M[2][3]) - M[2][1]*(M[0][2]*M[1][3] - M[0][3]*M[1][2]);
-
- R[1][0] = M[1][0]*(M[2][3]*M[3][2] - M[2][2]*M[3][3]) - M[2][0]*(M[1][3]*M[3][2] - M[1][2]*M[3][3]) - M[3][0]*(M[1][2]*M[2][3] - M[1][3]*M[2][2]);
- R[1][1] = M[0][0]*(M[2][2]*M[3][3] - M[2][3]*M[3][2]) - M[2][0]*(M[0][2]*M[3][3] - M[0][3]*M[3][2]) - M[3][0]*(M[0][3]*M[2][2] - M[0][2]*M[2][3]);
- R[1][2] = M[0][0]*(M[1][3]*M[3][2] - M[1][2]*M[3][3]) - M[1][0]*(M[0][3]*M[3][2] - M[0][2]*M[3][3]) - M[3][0]*(M[0][2]*M[1][3] - M[0][3]*M[1][2]);
- R[1][3] = M[0][0]*(M[1][2]*M[2][3] - M[1][3]*M[2][2]) - M[1][0]*(M[0][2]*M[2][3] - M[0][3]*M[2][2]) - M[2][0]*(M[0][3]*M[1][2] - M[0][2]*M[1][3]);
-
- R[2][0] = M[1][0]*(M[2][1]*M[3][3] - M[2][3]*M[3][1]) - M[2][0]*(M[1][1]*M[3][3] - M[1][3]*M[3][1]) - M[3][0]*(M[1][3]*M[2][1] - M[1][1]*M[2][3]);
- R[2][1] = M[0][0]*(M[2][3]*M[3][1] - M[2][1]*M[3][3]) - M[2][0]*(M[0][3]*M[3][1] - M[0][1]*M[3][3]) - M[3][0]*(M[0][1]*M[2][3] - M[0][3]*M[2][1]);
- R[2][2] = M[0][0]*(M[1][1]*M[3][3] - M[1][3]*M[3][1]) - M[1][0]*(M[0][1]*M[3][3] - M[0][3]*M[3][1]) - M[3][0]*(M[0][3]*M[1][1] - M[0][1]*M[1][3]);
- R[2][3] = M[0][0]*(M[1][3]*M[2][1] - M[1][1]*M[2][3]) - M[1][0]*(M[0][3]*M[2][1] - M[0][1]*M[2][3]) - M[2][0]*(M[0][1]*M[1][3] - M[0][3]*M[1][1]);
-
- R[3][0] = M[1][0]*(M[2][2]*M[3][1] - M[2][1]*M[3][2]) - M[2][0]*(M[1][2]*M[3][1] - M[1][1]*M[3][2]) - M[3][0]*(M[1][1]*M[2][2] - M[1][2]*M[2][1]);
- R[3][1] = M[0][0]*(M[2][1]*M[3][2] - M[2][2]*M[3][1]) - M[2][0]*(M[0][1]*M[3][2] - M[0][2]*M[3][1]) - M[3][0]*(M[0][2]*M[2][1] - M[0][1]*M[2][2]);
- R[3][2] = M[0][0]*(M[1][2]*M[3][1] - M[1][1]*M[3][2]) - M[1][0]*(M[0][2]*M[3][1] - M[0][1]*M[3][2]) - M[3][0]*(M[0][1]*M[1][2] - M[0][2]*M[1][1]);
- R[3][3] = M[0][0]*(M[1][1]*M[2][2] - M[1][2]*M[2][1]) - M[1][0]*(M[0][1]*M[2][2] - M[0][2]*M[2][1]) - M[2][0]*(M[0][2]*M[1][1] - M[0][1]*M[1][2]);
- memcpy(T, R, sizeof(R));
+ float s[6];
+ float c[6];
+ s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1];
+ s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2];
+ s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3];
+ s[3] = M[0][1]*M[1][2] - M[1][1]*M[0][2];
+ s[4] = M[0][1]*M[1][3] - M[1][1]*M[0][3];
+ s[5] = M[0][2]*M[1][3] - M[1][2]*M[0][3];
+
+ c[0] = M[2][0]*M[3][1] - M[3][0]*M[2][1];
+ c[1] = M[2][0]*M[3][2] - M[3][0]*M[2][2];
+ c[2] = M[2][0]*M[3][3] - M[3][0]*M[2][3];
+ c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2];
+ c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3];
+ c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3];
+
+ /* Assumes it is invertible */
+ float idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] );
+
+ T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
+ T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet;
+ T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
+ T[0][3] = (-M[2][1] * s[5] + M[2][2] * s[4] - M[2][3] * s[3]) * idet;
+
+ T[1][0] = (-M[1][0] * c[5] + M[1][2] * c[2] - M[1][3] * c[1]) * idet;
+ T[1][1] = ( M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet;
+ T[1][2] = (-M[3][0] * s[5] + M[3][2] * s[2] - M[3][3] * s[1]) * idet;
+ T[1][3] = ( M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet;
+
+ T[2][0] = ( M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet;
+ T[2][1] = (-M[0][0] * c[4] + M[0][1] * c[2] - M[0][3] * c[0]) * idet;
+ T[2][2] = ( M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet;
+ T[2][3] = (-M[2][0] * s[4] + M[2][1] * s[2] - M[2][3] * s[0]) * idet;
+
+ T[3][0] = (-M[1][0] * c[3] + M[1][1] * c[1] - M[1][2] * c[0]) * idet;
+ T[3][1] = ( M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet;
+ 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_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
- M[0][0] = 2.*n/(r-l);
- M[0][1] = M[0][2] = M[0][3] = 0.;
+ M[0][0] = 2.f*n/(r-l);
+ M[0][1] = M[0][2] = M[0][3] = 0.f;
M[1][1] = 2.*n/(t-b);
- M[1][0] = M[1][2] = M[1][3] = 0.;
+ M[1][0] = M[1][2] = M[1][3] = 0.f;
M[2][0] = (r+l)/(r-l);
M[2][1] = (t+b)/(t-b);
M[2][2] = -(f+n)/(f-n);
- M[2][3] = -1;
+ M[2][3] = -1.f;
- M[3][2] = -2.*(f*n)/(f-n);
- M[3][0] = M[3][1] = M[3][3] = 0.;
+ M[3][2] = -2.f*(f*n)/(f-n);
+ M[3][0] = M[3][1] = M[3][3] = 0.f;
}
static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
- M[0][0] = 2./(r-l);
- M[0][1] = M[0][2] = M[0][3] = 0.;
+ M[0][0] = 2.f/(r-l);
+ M[0][1] = M[0][2] = M[0][3] = 0.f;
- M[1][1] = 2./(t-b);
- M[1][0] = M[1][2] = M[1][3] = 0.;
+ M[1][1] = 2.f/(t-b);
+ M[1][0] = M[1][2] = M[1][3] = 0.f;
- M[2][2] = -2./(f-n);
- M[2][0] = M[2][1] = M[2][3] = 0.;
+ M[2][2] = -2.f/(f-n);
+ M[2][0] = M[2][1] = M[2][3] = 0.f;
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.;
+ M[3][3] = 1.f;
}
static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
{
@@ -380,22 +392,22 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
m[0][0] = s[0];
m[0][1] = t[0];
m[0][2] = -f[0];
- m[0][3] = 0.f;
+ m[0][3] = 0.f;
m[1][0] = s[1];
m[1][1] = t[1];
m[1][2] = -f[1];
- m[1][3] = 0.f;
+ m[1][3] = 0.f;
m[2][0] = s[2];
m[2][1] = t[2];
m[2][2] = -f[2];
- m[2][3] = 0.f;
+ m[2][3] = 0.f;
- m[3][0] = 0.f;
- m[3][1] = 0.f;
- m[3][2] = 0.f;
- m[3][3] = 1.f;
+ m[3][0] = 0.f;
+ m[3][1] = 0.f;
+ m[3][2] = 0.f;
+ m[3][3] = 1.f;
mat4x4_translate_in_place(m, -eye[0], -eye[1], -eye[2]);
}
@@ -403,8 +415,8 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
typedef float quat[4];
static inline void quat_identity(quat q)
{
- q[0] = q[1] = q[2] = 0.;
- q[3] = 1.;
+ q[0] = q[1] = q[2] = 0.f;
+ q[3] = 1.f;
}
static inline void quat_add(quat r, quat a, quat b)
{
@@ -436,7 +448,7 @@ static inline void quat_scale(quat r, quat v, float s)
}
static inline float quat_inner_product(quat a, quat b)
{
- float p = 0.;
+ float p = 0.f;
int i;
for(i=0; i<4; ++i)
p += b[i]*a[i];
@@ -452,14 +464,12 @@ static inline void quat_conj(quat r, quat q)
#define quat_norm vec4_norm
static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
{
- quat q_;
- quat v_ = {v[0], v[1], v[2], 0.};
+ quat v_ = {v[0], v[1], v[2], 0.f};
- quat_conj(q_, q);
- quat_norm(q_, q_);
- quat_mul(q_, v_, q_);
- quat_mul(q_, q, q_);
- memcpy(r, q_, sizeof(q_));
+ quat_conj(r, q);
+ quat_norm(r, r);
+ quat_mul(r, v_, r);
+ quat_mul(r, q, r);
}
static inline void mat4x4_from_quat(mat4x4 M, quat q)
{
@@ -473,22 +483,22 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q)
float d2 = d*d;
M[0][0] = a2 + b2 - c2 - d2;
- M[0][1] = 2*(b*c + a*d);
- M[0][2] = 2*(b*d - a*c);
- M[0][3] = 0.;
+ M[0][1] = 2.f*(b*c + a*d);
+ M[0][2] = 2.f*(b*d - a*c);
+ M[0][3] = 0.f;
M[1][0] = 2*(b*c - a*d);
M[1][1] = a2 - b2 + c2 - d2;
- M[1][2] = 2*(c*d + a*b);
- M[1][3] = 0.;
+ M[1][2] = 2.f*(c*d + a*b);
+ M[1][3] = 0.f;
- M[2][0] = 2*(b*d + a*c);
- M[2][1] = 2*(c*d - a*b);
+ M[2][0] = 2.f*(b*d + a*c);
+ M[2][1] = 2.f*(c*d - a*b);
M[2][2] = a2 - b2 - c2 + d2;
- M[2][3] = 0.;
+ M[2][3] = 0.f;
- M[3][0] = M[3][1] = M[3][2] = 0.;
- M[3][3] = 1.;
+ M[3][0] = M[3][1] = M[3][2] = 0.f;
+ M[3][3] = 1.f;
}
static inline void mat4x4_mul_quat(mat4x4 R, mat4x4 M, quat q)
{
@@ -496,12 +506,12 @@ static inline void mat4x4_mul_quat(mat4x4 R, mat4x4 M, quat q)
quat_mul_vec3(R[1], M[1], q);
quat_mul_vec3(R[2], M[2], q);
- R[3][0] = R[3][1] = R[3][2] = 0.;
- R[3][3] = 1.;
+ R[3][0] = R[3][1] = R[3][2] = 0.f;
+ R[3][3] = 1.f;
}
static inline void quat_from_mat4x4(quat q, mat4x4 M)
{
- float r=0.;
+ float r=0.f;
int i;
int perm[] = { 0, 1, 2, 0, 1 };
@@ -515,18 +525,18 @@ static inline void quat_from_mat4x4(quat q, mat4x4 M)
p = &perm[i];
}
- r = sqrtf(1. + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] );
+ r = sqrtf(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] );
if(r < 1e-6) {
- q[0] = 1.;
- q[1] = q[2] = q[3] = 0.;
+ q[0] = 1.f;
+ q[1] = q[2] = q[3] = 0.f;
return;
}
- q[0] = r/2.;
- q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.*r);
- q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.*r);
- q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.*r);
+ q[0] = r/2.f;
+ q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.f*r);
+ q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.f*r);
+ q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
}
#endif