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135 lines
3.9 KiB
C
135 lines
3.9 KiB
C
/*
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matrix4.h
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4x4 Matrix functions
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Copyright (C) 2011 Bill Currie <bill@taniwha.org>
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Author: Bill Currie <bill@taniwha.org>
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Date: 2011/12/30
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (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.
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See the 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, write to:
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Free Software Foundation, Inc.
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59 Temple Place - Suite 330
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Boston, MA 02111-1307, USA
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*/
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#ifndef __QF_math_matrix4_h
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#define __QF_math_matrix4_h
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/** \defgroup mathlib_matrix4 4x4 matrix functions
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\ingroup utils
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*/
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///@{
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#include "QF/qtypes.h"
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#define Mat4Copy(a, b) \
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do { \
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QuatCopy ((a) + 0, (b) + 0); \
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QuatCopy ((a) + 4, (b) + 4); \
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QuatCopy ((a) + 8, (b) + 8); \
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QuatCopy ((a) + 12, (b) + 12); \
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} while (0)
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#define Mat4Add(a, b, c) \
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do { \
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QuatAdd ((a) + 0, (b) + 0, (c) + 0); \
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QuatAdd ((a) + 4, (b) + 4, (c) + 4); \
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QuatAdd ((a) + 8, (b) + 8, (c) + 8); \
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QuatAdd ((a) + 12, (b) + 12, (c) + 12); \
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} while (0)
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#define Mat4Subtract(a, b, c) \
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do { \
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QuatSubtract ((a) + 0, (b) + 0, (c) + 0); \
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QuatSubtract ((a) + 4, (b) + 4, (c) + 4); \
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QuatSubtract ((a) + 8, (b) + 8, (c) + 8); \
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QuatSubtract ((a) + 12, (b) + 12, (c) + 12); \
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} while (0)
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#define Mat4Scale(a, b, c) \
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do { \
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QuatScale ((a) + 0, (b), (c) + 0); \
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QuatScale ((a) + 4, (b), (c) + 4); \
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QuatScale ((a) + 8, (b), (c) + 8); \
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QuatScale ((a) + 12, (b), (c) + 12); \
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} while (0)
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#define Mat4CompMult(a, b, c) \
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do { \
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QuatCompMult ((a) + 0, (b) + 0, (c) + 0); \
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QuatCompMult ((a) + 4, (b) + 4, (c) + 4); \
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QuatCompMult ((a) + 8, (b) + 8, (c) + 8); \
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QuatCompMult ((a) + 12, (b) + 12, (c) + 12); \
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} while (0)
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#define Mat4Zero(a) \
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memset ((a), 0, 16 * sizeof (a)[0])
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#define Mat4Identity(a) \
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do { \
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Mat4Zero (a); \
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(a)[15] = (a)[10] = (a)[5] = (a)[0] = 1; \
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} while (0)
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#define Mat4Expand(a) \
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QuatExpand ((a) + 0), \
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QuatExpand ((a) + 4), \
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QuatExpand ((a) + 8), \
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QuatExpand ((a) + 12)
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#define Mat4Blend(m1,m2,b,m) \
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do { \
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QuatBlend ((m1) + 0, (m2) + 0, (b), (m) + 0); \
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QuatBlend ((m1) + 4, (m2) + 4, (b), (m) + 4); \
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QuatBlend ((m1) + 8, (m2) + 8, (b), (m) + 8); \
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QuatBlend ((m1) + 12, (m2) + 12, (b), (m) + 12); \
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} while (0)
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#define Mat4MultAdd(a,s,b,c) \
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do { \
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QuatMultAdd ((a) + 0, s, (b) + 0, (c) + 0); \
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QuatMultAdd ((a) + 4, s, (b) + 4, (c) + 4); \
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QuatMultAdd ((a) + 8, s, (b) + 8, (c) + 8); \
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QuatMultAdd ((a) + 12, s, (b) + 12, (c) + 12); \
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} while (0)
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#define Mat4Trace(a) ((a)[0] + (a)[5] + (a)[10] + (a)[15])
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#define Mat3toMat4(a, b) \
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do { \
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VectorCopy ((a) + 0, (b) + 0); (b)[3] = 0; \
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VectorCopy ((a) + 3, (b) + 4); (b)[7] = 0; \
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VectorCopy ((a) + 6, (b) + 8); (b)[11] = 0; \
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QuatZero ((b) + 12); \
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} while (0)
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void Mat4Init (const quat_t rot, const vec3_t scale, const vec3_t trans,
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mat4_t mat);
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void Mat4Transpose (const mat4_t a, mat4_t b);
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int Mat4Inverse (const mat4_t a, mat4_t b);
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void Mat4Mult (const mat4_t a, const mat4_t b, mat4_t c);
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void Mat4MultVec (const mat4_t a, const vec3_t b, vec3_t c);
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void Mat4as3MultVec (const mat4_t a, const vec3_t b, vec3_t c);
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/** Decompose a 4x4 column major matrix into its component transformations.
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This gives the matrix's rotation as a quaternion, shear (XY, XZ, YZ),
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scale, and translation. Using the following sequence will give the
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same result as multiplying \a v by \a mat.
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QuatMultVec (rot, v, v);
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VectorShear (shear, v, v);
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VectorCompMult (scale, v, v);
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VectorAdd (trans, v, v);
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*/
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int Mat4Decompose (const mat4_t mat, quat_t rot, vec3_t shear, vec3_t scale,
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vec3_t trans);
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///@}
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#endif // __QF_math_matrix4_h
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