124 lines
3.5 KiB
C
124 lines
3.5 KiB
C
/*
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matrix3.h
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3x3 Matrix functions
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Copyright (C) 2012 Bill Currie <bill@taniwha.org>
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Author: Bill Currie <bill@taniwha.org>
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Date: 2012/8/18
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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_matrix3_h
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#define __QF_math_matrix3_h
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/** \defgroup mathlib_matrix3 3x3 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 Mat3Copy(a, b) \
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do { \
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VectorCopy ((a) + 0, (b) + 0); \
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VectorCopy ((a) + 3, (b) + 3); \
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VectorCopy ((a) + 6, (b) + 6); \
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} while (0)
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#define Mat3Add(a, b, c) \
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do { \
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VectorAdd ((a) + 0, (b) + 0, (c) + 0); \
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VectorAdd ((a) + 3, (b) + 3, (c) + 3); \
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VectorAdd ((a) + 6, (b) + 6, (c) + 6); \
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} while (0)
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#define Mat3Subtract(a, b, c) \
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do { \
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VectorSubtract ((a) + 0, (b) + 0, (c) + 0); \
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VectorSubtract ((a) + 3, (b) + 3, (c) + 3); \
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VectorSubtract ((a) + 6, (b) + 6, (c) + 6); \
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} while (0)
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#define Mat3Scale(a, b, c) \
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do { \
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VectorScale ((a) + 0, (b), (c) + 0); \
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VectorScale ((a) + 3, (b), (c) + 3); \
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VectorScale ((a) + 6, (b), (c) + 6); \
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} while (0)
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#define Mat3CompMult(a, b, c) \
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do { \
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VectorCompMult ((a) + 0, (b) + 0, (c) + 0); \
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VectorCompMult ((a) + 3, (b) + 3, (c) + 3); \
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VectorCompMult ((a) + 6, (b) + 6, (c) + 6); \
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} while (0)
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#define Mat3Zero(a) \
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memset ((a), 0, 9 * sizeof (a)[0])
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#define Mat3Identity(a) \
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do { \
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Mat3Zero (a); \
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(a)[8] = (a)[4] = (a)[0] = 1; \
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} while (0)
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#define Mat3Expand(a) \
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VectorExpand ((a) + 0), \
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VectorExpand ((a) + 3), \
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VectorExpand ((a) + 6)
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#define Mat3Blend(m1,m2,b,m) \
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do { \
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VectorBlend ((m1) + 0, (m2) + 0, (b), (m) + 0); \
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VectorBlend ((m1) + 3, (m2) + 3, (b), (m) + 3); \
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VectorBlend ((m1) + 6, (m2) + 6, (b), (m) + 6); \
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} while (0)
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#define Mat3MultAdd(a,s,b,c) \
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do { \
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VectorMultAdd ((a) + 0, s, (b) + 0, (c) + 0); \
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VectorMultAdd ((a) + 3, s, (b) + 3, (c) + 3); \
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VectorMultAdd ((a) + 6, s, (b) + 6, (c) + 6); \
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} while (0)
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#define Mat3Trace(a) ((a)[0] + (a)[4] + (a)[8])
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#define Mat4toMat3(a, b) \
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do { \
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VectorCopy ((a) + 0, (b) + 0); \
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VectorCopy ((a) + 4, (b) + 3); \
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VectorCopy ((a) + 8, (b) + 6); \
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} while (0)
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void Mat3Init (const quat_t rot, const vec3_t scale, mat3_t mat);
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void Mat3Transpose (const mat3_t a, mat3_t b);
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vec_t Mat3Determinant (const mat3_t m) __attribute__((pure));
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int Mat3Inverse (const mat3_t a, mat3_t b);
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void Mat3Mult (const mat3_t a, const mat3_t b, mat3_t c);
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void Mat3MultVec (const mat3_t a, const vec3_t b, vec3_t c);
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void Mat3SymEigen (const mat3_t m, vec3_t e);
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/** Decompose a 3x3 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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and scale. Using the following sequence will give the same result as
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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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*/
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int Mat3Decompose (const mat4_t mat, quat_t rot, vec3_t shear, vec3_t scale);
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///@}
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#endif // __QF_math_matrix3_h
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