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- removed the 'const' from arithb function declarations. it caused

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the myriad of warnings people complained about so long.

  after careful consulting & reading I could not find a good reason
  for this const stuff, apart from a sort-of comment to indicate
  this array (matrix) pointer cannot be changed. Well, doh! you
  should not do that with a float mat[][3] anyway!
This commit is contained in:
Ton Roosendaal
2003-07-02 13:37:03 +00:00
parent 123696724d
commit d8cc44417f
2 changed files with 215 additions and 216 deletions
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254
source/blender/blenlib/BLI_arithb.h
View File

@@ -101,19 +101,19 @@ extern "C" {
void void
CalcCent3f( CalcCent3f(
float *cent, const float *v1, const float *v2, const float *v3 float *cent, float *v1, float *v2, float *v3
); );
void void
CalcCent4f( CalcCent4f(
float *cent, const float *v1, float *cent, float *v1,
const float *v2, const float *v3, float *v2, float *v3,
const float *v4 float *v4
); );
void void
Crossf( Crossf(
float *c, const float *a, const float *b float *c, float *a, float *b
); );
/** /**
@@ -122,18 +122,18 @@ Crossf(
void void
EulToMat3( EulToMat3(
const float *eul, float *eul,
float mat[][3] float mat[][3]
); );
void void
EulToMat4( EulToMat4(
const float* eul, float* eul,
float mat[][4] float mat[][4]
); );
void void
Mat3ToEul( Mat3ToEul(
const float tmat[][3], float tmat[][3],
float *eul float *eul
); );
@@ -143,7 +143,7 @@ Mat3ToEul(
void void
QuatToEul( QuatToEul(
const float *quat, float *quat,
float *eul float *eul
); );
void void
@@ -153,8 +153,8 @@ QuatOne(
void void
QuatMul( QuatMul(
float *, float *,
const float *, float *,
const float * float *
); );
void void
NormalQuat( NormalQuat(
@@ -162,14 +162,14 @@ NormalQuat(
); );
void void
VecRotToQuat( VecRotToQuat(
const float *vec, float *vec,
float phi, float phi,
float *quat float *quat
); );
void void
QuatSub( QuatSub(
float *q, float *q,
const float *q1, float *q1,
float *q2 float *q2
); );
@@ -203,39 +203,39 @@ Mat4Transp(
int int
Mat4Invert( Mat4Invert(
float inverse[][4], float inverse[][4],
const float mat[][4] float mat[][4]
); );
void void
Mat4InvertSimp( Mat4InvertSimp(
float inverse[][4], float inverse[][4],
const float mat[][4] float mat[][4]
); );
void void
Mat4Inv( Mat4Inv(
float *m1, float *m1,
const float *m2 float *m2
); );
void void
Mat4InvGG( Mat4InvGG(
float out[][4], float out[][4],
const float in[][4] float in[][4]
); );
void void
Mat3CpyMat4( Mat3CpyMat4(
float m1[][3], float m1[][3],
const float m2[][4] float m2[][4]
); );
void void
Mat3Inv( Mat3Inv(
float m1[][3], float m1[][3],
const float m2[][3] float m2[][3]
); );
void void
Mat4CpyMat3( Mat4CpyMat3(
float m1[][4], float m1[][4],
const float m2[][3] float m2[][3]
); );
float float
@@ -252,56 +252,56 @@ Det3x3(
float float
Det4x4( Det4x4(
const float m[][4] float m[][4]
); );
void void
Mat4Adj( Mat4Adj(
float out[][4], float out[][4],
const float in[][4] float in[][4]
); );
void void
Mat3Adj( Mat3Adj(
float m1[][3], float m1[][3],
const float m[][3] float m[][3]
); );
void void
Mat4MulMat4( Mat4MulMat4(
float m1[][4], float m1[][4],
const float m2[][4], float m2[][4],
const float m3[][4] float m3[][4]
); );
void void
subMat4MulMat4( subMat4MulMat4(
float *m1, float *m1,
const float *m2, float *m2,
const float *m3 float *m3
); );
#ifndef TEST_ACTIVE #ifndef TEST_ACTIVE
void void
Mat3MulMat3( Mat3MulMat3(
float m1[][3], float m1[][3],
const float m3[][3], float m3[][3],
const float m2[][3] float m2[][3]
); );
#else #else
void void
Mat3MulMat3( Mat3MulMat3(
float *m1, float *m1,
const float *m3, float *m3,
const float *m2 float *m2
); );
#endif #endif
void void
Mat4MulMat34( Mat4MulMat34(
float (*m1)[4], float (*m1)[4],
const float (*m3)[3], float (*m3)[3],
const float (*m2)[4] float (*m2)[4]
); );
void void
Mat4CpyMat4( Mat4CpyMat4(
float m1[][4], float m1[][4],
const float m2[][4] float m2[][4]
); );
void void
Mat4SwapMat4( Mat4SwapMat4(
@@ -311,22 +311,22 @@ Mat4SwapMat4(
void void
Mat3CpyMat3( Mat3CpyMat3(
float m1[][3], float m1[][3],
const float m2[][3] float m2[][3]
); );
void void
Mat3MulSerie( Mat3MulSerie(
float answ[][3], float answ[][3],
const float m1[][3], const float m2[][3], const float m3[][3], float m1[][3], float m2[][3], float m3[][3],
const float m4[][3], const float m5[][3], const float m6[][3], float m4[][3], float m5[][3], float m6[][3],
const float m7[][3], const float m8[][3] float m7[][3], float m8[][3]
); );
void void
Mat4MulSerie( Mat4MulSerie(
float answ[][4], float answ[][4],
const float m1[][4], float m1[][4],
const float m2[][4], const float m3[][4], const float m4[][4], float m2[][4], float m3[][4], float m4[][4],
const float m5[][4], const float m6[][4], const float m7[][4], float m5[][4], float m6[][4], float m7[][4],
const float m8[][4] float m8[][4]
); );
void void
Mat4Clr( Mat4Clr(
@@ -342,27 +342,27 @@ Mat3One(
); );
void void
Mat4MulVec( Mat4MulVec(
const float mat[][4], float mat[][4],
int *vec int *vec
); );
void void
VecMat4MulVecfl( VecMat4MulVecfl(
float *in, float *in,
const float mat[][4], float mat[][4],
const float *vec float *vec
); );
void void
Mat4MulMat43( Mat4MulMat43(
float (*m1)[4], float (*m1)[4],
const float (*m3)[4], float (*m3)[4],
const float (*m2)[3] float (*m2)[3]
); );
void void
Mat3IsMat3MulMat4( Mat3IsMat3MulMat4(
float m1[][3], float m1[][3],
const float m2[][3], float m2[][3],
const float m3[][4] float m3[][4]
); );
void void
Mat4One( Mat4One(
@@ -370,39 +370,39 @@ Mat4One(
); );
void void
Mat4Mul3Vecfl( Mat4Mul3Vecfl(
const float mat[][4], float mat[][4],
float *vec float *vec
); );
void void
Mat4MulVec4fl( Mat4MulVec4fl(
const float mat[][4], float mat[][4],
float *vec float *vec
); );
void void
Mat3MulVec( Mat3MulVec(
const float mat[][3], float mat[][3],
int *vec int *vec
); );
void void
Mat4MulVecfl( Mat4MulVecfl(
const float mat[][4], float mat[][4],
float *vec float *vec
); );
void void
Mat4ToQuat( Mat4ToQuat(
const float m[][4], float m[][4],
float *q float *q
); );
void void
VecUpMat3old( VecUpMat3old(
const float *vec, float *vec,
float mat[][3], float mat[][3],
short axis short axis
); );
int int
FloatCompare( FloatCompare(
const float *v1, float *v1,
const float *v2, float *v2,
float limit float limit
); );
float float
@@ -411,24 +411,24 @@ Normalise(
); );
float float
CalcNormFloat( CalcNormFloat(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3, float *v3,
float *n float *n
); );
float float
CalcNormFloat4( CalcNormFloat4(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3, float *v3,
const float *v4, float *v4,
float *n float *n
); );
float float
VecLenf( VecLenf(
const float *v1, float *v1,
const float *v2 float *v2
); );
void void
VecMulf( VecMulf(
@@ -437,8 +437,8 @@ VecMulf(
); );
int int
VecCompare( VecCompare(
const float *v1, float *v1,
const float *v2, float *v2,
float limit float limit
); );
float float
@@ -466,20 +466,20 @@ sasqrt(
); );
float float
Inpf( Inpf(
const float *v1, float *v1,
const float *v2 float *v2
); );
void void
VecSubf( VecSubf(
float *v, float *v,
const float *v1, float *v1,
const float *v2 float *v2
); );
void void
VecAddf( VecAddf(
float *v, float *v,
const float *v1, float *v1,
const float *v2 float *v2
); );
void void
VecUpMat3( VecUpMat3(
@@ -489,50 +489,50 @@ VecUpMat3(
); );
float float
DistVL2Dfl( DistVL2Dfl(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3 float *v3
); );
float float
PdistVL2Dfl( PdistVL2Dfl(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3 float *v3
); );
float float
AreaF2Dfl( AreaF2Dfl(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3 float *v3
); );
float float
AreaQ3Dfl( AreaQ3Dfl(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3, float *v3,
const float *v4 float *v4
); );
float float
AreaT3Dfl( AreaT3Dfl(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3 float *v3
); );
float float
AreaPoly3Dfl( AreaPoly3Dfl(
int nr, int nr,
const float *verts, float *verts,
const float *normal float *normal
); );
void void
VecRotToMat3( VecRotToMat3(
const float *vec, float *vec,
float phi, float phi,
float mat[][3] float mat[][3]
); );
float * float *
vectoquat( vectoquat(
const float *vec, float *vec,
short axis, short axis,
short upflag short upflag
); );
@@ -580,29 +580,29 @@ cpack_to_rgb(
void void
EulToQuat( EulToQuat(
const float *eul, float *eul,
float *quat float *quat
); );
void void
Mat3MulVecfl( Mat3MulVecfl(
const float mat[][3], float mat[][3],
float *vec float *vec
); );
void void
Mat3MulVecd( Mat3MulVecd(
const float mat[][3], float mat[][3],
double *vec double *vec
); );
void void
Mat3TransMulVecfl( Mat3TransMulVecfl(
const float mat[][3], float mat[][3],
float *vec float *vec
); );
void void
VecStar( VecStar(
float mat[][3], float mat[][3],
const float *vec float *vec
); );
short short
EenheidsMat( EenheidsMat(
@@ -610,31 +610,31 @@ EenheidsMat(
); );
void void
printmatrix3( printmatrix3(
const char *str, const float m[][3] char *str, float m[][3]
); );
void void
QuatToMat3( QuatToMat3(
const float *q, float *q,
float m[][3] float m[][3]
); );
void void
QuatToMat4( QuatToMat4(
const float *q, float *q,
float m[][4] float m[][4]
); );
void void
QuatToSpher( QuatToSpher(
const float *quat, float *quat,
float *sph float *sph
); );
void void
Mat3ToSpher( Mat3ToSpher(
const float *mat, float *mat,
float *sph float *sph
); );
void void
Mat3ToQuat_is_ok( Mat3ToQuat_is_ok(
const float wmat[][3], float wmat[][3],
float *q float *q
); );
void void
@@ -660,53 +660,53 @@ Mat4Ortho(
void void
VecCopyf( VecCopyf(
float *v1, float *v1,
const float *v2 float *v2
); );
int int
VecLen( VecLen(
const int *v1, int *v1,
const int *v2 int *v2
); );
void void
CalcNormShort( CalcNormShort(
const short *v1, short *v1,
const short *v2, short *v2,
const short *v3, short *v3,
float *n float *n
) /* is ook uitprodukt */; ) /* is ook uitprodukt */;
void void
CalcNormLong( CalcNormLong(
const int* v1, int* v1,
const int*v2, int*v2,
const int*v3, int*v3,
float *n float *n
); );
void void
MinMax3( MinMax3(
float *min, float *min,
float *max, float *max,
const float *vec float *vec
); );
void void
Mat3ToEuln( Mat3ToEuln(
const float tmat[][3], float tmat[][3],
float *eul float *eul
); );
void void
SizeToMat3( SizeToMat3(
const float *size, float *size,
float mat[][3] float mat[][3]
); );
void void
printmatrix4( printmatrix4(
const char *str, char *str,
const float m[][4] float m[][4]
); );
/* uit Sig.Proc.85 pag 253 */ /* uit Sig.Proc.85 pag 253 */
void void
Mat3ToQuat( Mat3ToQuat(
const float wmat[][3], float wmat[][3],
float *q float *q
); );
void void
@@ -718,7 +718,7 @@ i_translate(
); );
void void
i_multmatrix( i_multmatrix(
const float icand[][4], float icand[][4],
float Vm[][4] float Vm[][4]
); );
void void
@@ -729,21 +729,21 @@ i_rotate(
); );
void void
VecMidf( VecMidf(
float *v, const float *v1, const float *v2 float *v, float *v1, float *v2
); );
void void
Mat3ToSize( Mat3ToSize(
const float mat[][3], float *size float mat[][3], float *size
); );
void void
Mat4ToSize( Mat4ToSize(
const float mat[][4], float *size float mat[][4], float *size
); );
void void
triatoquat( triatoquat(
const float *v1, float *v1,
const float *v2, float *v2,
const float *v3, float *quat float *v3, float *quat
); );
void void
MinMaxRGB( MinMaxRGB(

177
source/blender/blenlib/intern/arithb.c
View File

@@ -107,14 +107,14 @@ float Normalise(float *n)
return d; return d;
} }
void Crossf(float *c, const float *a, const float *b) void Crossf(float *c, float *a, float *b)
{ {
c[0] = a[1] * b[2] - a[2] * b[1]; c[0] = a[1] * b[2] - a[2] * b[1];
c[1] = a[2] * b[0] - a[0] * b[2]; c[1] = a[2] * b[0] - a[0] * b[2];
c[2] = a[0] * b[1] - a[1] * b[0]; c[2] = a[0] * b[1] - a[1] * b[0];
} }
float Inpf(const float *v1, const float *v2) float Inpf( float *v1, float *v2)
{ {
return v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2]; return v1[0]*v2[0]+v1[1]*v2[1]+v1[2]*v2[2];
} }
@@ -170,7 +170,7 @@ void Mat4Transp(float mat[][4])
* Mark Segal - 1992 * Mark Segal - 1992
*/ */
int Mat4Invert(float inverse[][4], const float mat[][4]) int Mat4Invert(float inverse[][4], float mat[][4])
{ {
int i, j, k; int i, j, k;
double temp; double temp;
@@ -228,7 +228,7 @@ int Mat4Invert(float inverse[][4], const float mat[][4])
return 1; return 1;
} }
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
void Mat4InvertSimp(float inverse[][4], const float mat[][4]) void Mat4InvertSimp(float inverse[][4], float mat[][4])
{ {
/* only for Matrices that have a rotation */ /* only for Matrices that have a rotation */
/* based at GG IV pag 205 */ /* based at GG IV pag 205 */
@@ -263,7 +263,7 @@ void Mat4InvertSimp(float inverse[][4], const float mat[][4])
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
/* this seems to be unused.. */ /* this seems to be unused.. */
void Mat4Inv(float *m1, const float *m2) void Mat4Inv(float *m1, float *m2)
{ {
/* This gets me into trouble: */ /* This gets me into trouble: */
@@ -302,7 +302,7 @@ float Det3x3(float a1, float a2, float a3,
return ans; return ans;
} }
float Det4x4(const float m[][4]) float Det4x4(float m[][4])
{ {
float ans; float ans;
float a1,a2,a3,a4,b1,b2,b3,b4,c1,c2,c3,c4,d1,d2,d3,d4; float a1,a2,a3,a4,b1,b2,b3,b4,c1,c2,c3,c4,d1,d2,d3,d4;
@@ -336,7 +336,7 @@ float Det4x4(const float m[][4])
} }
void Mat4Adj(float out[][4], const float in[][4]) /* out = ADJ(in) */ void Mat4Adj(float out[][4], float in[][4]) /* out = ADJ(in) */
{ {
float a1, a2, a3, a4, b1, b2, b3, b4; float a1, a2, a3, a4, b1, b2, b3, b4;
float c1, c2, c3, c4, d1, d2, d3, d4; float c1, c2, c3, c4, d1, d2, d3, d4;
@@ -383,7 +383,7 @@ void Mat4Adj(float out[][4], const float in[][4]) /* out = ADJ(in) */
out[3][3] = Det3x3( a1, a2, a3, b1, b2, b3, c1, c2, c3); out[3][3] = Det3x3( a1, a2, a3, b1, b2, b3, c1, c2, c3);
} }
void Mat4InvGG(float out[][4], const float in[][4]) /* from Graphic Gems I, out= INV(in) */ void Mat4InvGG(float out[][4], float in[][4]) /* from Graphic Gems I, out= INV(in) */
{ {
int i, j; int i, j;
float det; float det;
@@ -408,7 +408,7 @@ void Mat4InvGG(float out[][4], const float in[][4]) /* from Graphic Gems I, out=
} }
void Mat3Inv(float m1[][3], const float m2[][3]) void Mat3Inv(float m1[][3], float m2[][3])
{ {
short a,b; short a,b;
float det; float det;
@@ -430,7 +430,7 @@ void Mat3Inv(float m1[][3], const float m2[][3])
} }
} }
void Mat3Adj(float m1[][3], const float m[][3]) void Mat3Adj(float m1[][3], float m[][3])
{ {
m1[0][0]=m[1][1]*m[2][2]-m[1][2]*m[2][1]; m1[0][0]=m[1][1]*m[2][2]-m[1][2]*m[2][1];
m1[0][1]= -m[0][1]*m[2][2]+m[0][2]*m[2][1]; m1[0][1]= -m[0][1]*m[2][2]+m[0][2]*m[2][1];
@@ -445,7 +445,7 @@ void Mat3Adj(float m1[][3], const float m[][3])
m1[2][2]=m[0][0]*m[1][1]-m[0][1]*m[1][0]; m1[2][2]=m[0][0]*m[1][1]-m[0][1]*m[1][0];
} }
void Mat4MulMat4(float m1[][4], const float m2[][4], const float m3[][4]) void Mat4MulMat4(float m1[][4], float m2[][4], float m3[][4])
{ {
/* matrix product: m1[j][k] = m2[j][i].m3[i][k] */ /* matrix product: m1[j][k] = m2[j][i].m3[i][k] */
@@ -471,7 +471,7 @@ void Mat4MulMat4(float m1[][4], const float m2[][4], const float m3[][4])
} }
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
void subMat4MulMat4(float *m1, const float *m2, const float *m3) void subMat4MulMat4(float *m1, float *m2, float *m3)
{ {
m1[0]= m2[0]*m3[0] + m2[1]*m3[4] + m2[2]*m3[8]; m1[0]= m2[0]*m3[0] + m2[1]*m3[4] + m2[2]*m3[8];
@@ -494,9 +494,9 @@ void subMat4MulMat4(float *m1, const float *m2, const float *m3)
#endif #endif
#ifndef TEST_ACTIVE #ifndef TEST_ACTIVE
void Mat3MulMat3(float m1[][3], const float m3[][3], const float m2[][3]) void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3])
#else #else
void Mat3MulMat3(float *m1, const float *m3, const float *m2) void Mat3MulMat3(float *m1, float *m3, float *m2)
#endif #endif
{ {
/* m1[i][j] = m2[i][k]*m3[k][j], args are flipped! */ /* m1[i][j] = m2[i][k]*m3[k][j], args are flipped! */
@@ -529,7 +529,7 @@ void Mat3MulMat3(float *m1, const float *m3, const float *m2)
#endif #endif
} /* end of void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3]) */ } /* end of void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3]) */
void Mat4MulMat43(float (*m1)[4], const float (*m3)[4], const float (*m2)[3]) void Mat4MulMat43(float (*m1)[4], float (*m3)[4], float (*m2)[3])
{ {
m1[0][0]= m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0]; m1[0][0]= m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0];
m1[0][1]= m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1]; m1[0][1]= m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1];
@@ -542,7 +542,7 @@ void Mat4MulMat43(float (*m1)[4], const float (*m3)[4], const float (*m2)[3])
m1[2][2]= m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2]; m1[2][2]= m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2];
} }
/* m1 = m2 * m3, ignore the elements on the 4th row/column of m3*/ /* m1 = m2 * m3, ignore the elements on the 4th row/column of m3*/
void Mat3IsMat3MulMat4(float m1[][3], const float m2[][3], const float m3[][4]) void Mat3IsMat3MulMat4(float m1[][3], float m2[][3], float m3[][4])
{ {
/* m1[i][j] = m2[i][k] * m3[k][j] */ /* m1[i][j] = m2[i][k] * m3[k][j] */
m1[0][0] = m2[0][0] * m3[0][0] + m2[0][1] * m3[1][0] +m2[0][2] * m3[2][0]; m1[0][0] = m2[0][0] * m3[0][0] + m2[0][1] * m3[1][0] +m2[0][2] * m3[2][0];
@@ -560,7 +560,7 @@ void Mat3IsMat3MulMat4(float m1[][3], const float m2[][3], const float m3[][4])
void Mat4MulMat34(float (*m1)[4], const float (*m3)[3], const float (*m2)[4]) void Mat4MulMat34(float (*m1)[4], float (*m3)[3], float (*m2)[4])
{ {
m1[0][0]= m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0]; m1[0][0]= m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0];
m1[0][1]= m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1]; m1[0][1]= m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1];
@@ -573,7 +573,7 @@ void Mat4MulMat34(float (*m1)[4], const float (*m3)[3], const float (*m2)[4])
m1[2][2]= m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2]; m1[2][2]= m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2];
} }
void Mat4CpyMat4(float m1[][4], const float m2[][4]) void Mat4CpyMat4(float m1[][4], float m2[][4])
{ {
memcpy(m1, m2, 4*4*sizeof(float)); memcpy(m1, m2, 4*4*sizeof(float));
} }
@@ -596,9 +596,9 @@ typedef float Mat3Row[3];
typedef float Mat4Row[4]; typedef float Mat4Row[4];
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
void Mat3CpyMat4(float *m1p, const float *m2p) void Mat3CpyMat4(float *m1p, float *m2p)
#else #else
void Mat3CpyMat4(float m1[][3], const float m2[][4]) void Mat3CpyMat4(float m1[][3], float m2[][4])
#endif #endif
{ {
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
@@ -627,7 +627,7 @@ void Mat3CpyMat4(float m1[][3], const float m2[][4])
/* Butched. See .h for comment */ /* Butched. See .h for comment */
/* void Mat4CpyMat3(float m1[][4], float m2[][3]) */ /* void Mat4CpyMat3(float m1[][4], float m2[][3]) */
#ifdef TEST_ACTIVE #ifdef TEST_ACTIVE
void Mat4CpyMat3(float* m1, const float *m2) void Mat4CpyMat3(float* m1, float *m2)
{ {
int i; int i;
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
@@ -643,7 +643,7 @@ void Mat4CpyMat3(float* m1, const float *m2)
} }
#else #else
void Mat4CpyMat3(float m1[][4], const float m2[][3]) /* no clear */ void Mat4CpyMat3(float m1[][4], float m2[][3]) /* no clear */
{ {
m1[0][0]= m2[0][0]; m1[0][0]= m2[0][0];
m1[0][1]= m2[0][1]; m1[0][1]= m2[0][1];
@@ -671,16 +671,16 @@ void Mat4CpyMat3(float m1[][4], const float m2[][3]) /* no clear */
} }
#endif #endif
void Mat3CpyMat3(float m1[][3], const float m2[][3]) void Mat3CpyMat3(float m1[][3], float m2[][3])
{ {
/* destination comes first: */ /* destination comes first: */
memcpy(&m1[0], &m2[0], 9*sizeof(float)); memcpy(&m1[0], &m2[0], 9*sizeof(float));
} }
void Mat3MulSerie(float answ[][3], void Mat3MulSerie(float answ[][3],
const float m1[][3], const float m2[][3], const float m3[][3], float m1[][3], float m2[][3], float m3[][3],
const float m4[][3], const float m5[][3], const float m6[][3], float m4[][3], float m5[][3], float m6[][3],
const float m7[][3], const float m8[][3]) float m7[][3], float m8[][3])
{ {
float temp[3][3]; float temp[3][3];
@@ -711,10 +711,10 @@ void Mat3MulSerie(float answ[][3],
} }
} }
void Mat4MulSerie(float answ[][4], const float m1[][4], void Mat4MulSerie(float answ[][4], float m1[][4],
const float m2[][4], const float m3[][4], const float m4[][4], float m2[][4], float m3[][4], float m4[][4],
const float m5[][4], const float m6[][4], const float m7[][4], float m5[][4], float m6[][4], float m7[][4],
const float m8[][4]) float m8[][4])
{ {
float temp[4][4]; float temp[4][4];
@@ -775,7 +775,7 @@ void Mat3One(float m[][3])
m[2][0]= m[2][1]= 0.0; m[2][0]= m[2][1]= 0.0;
} }
void Mat4MulVec(const float mat[][4], int *vec) void Mat4MulVec( float mat[][4], int *vec)
{ {
int x,y; int x,y;
@@ -786,7 +786,7 @@ void Mat4MulVec(const float mat[][4], int *vec)
vec[2]=(int)(x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2]); vec[2]=(int)(x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2]);
} }
void Mat4MulVecfl(const float mat[][4], float *vec) void Mat4MulVecfl( float mat[][4], float *vec)
{ {
float x,y; float x,y;
@@ -797,7 +797,7 @@ void Mat4MulVecfl(const float mat[][4], float *vec)
vec[2]=x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2]; vec[2]=x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2];
} }
void VecMat4MulVecfl(float *in, const float mat[][4], const float *vec) void VecMat4MulVecfl(float *in, float mat[][4], float *vec)
{ {
float x,y; float x,y;
@@ -808,7 +808,7 @@ void VecMat4MulVecfl(float *in, const float mat[][4], const float *vec)
in[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2]; in[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2];
} }
void Mat4Mul3Vecfl(const float mat[][4], float *vec) void Mat4Mul3Vecfl( float mat[][4], float *vec)
{ {
float x,y; float x,y;
@@ -819,7 +819,7 @@ void Mat4Mul3Vecfl(const float mat[][4], float *vec)
vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2]; vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2];
} }
void Mat4MulVec4fl(const float mat[][4], float *vec) void Mat4MulVec4fl( float mat[][4], float *vec)
{ {
float x,y,z; float x,y,z;
@@ -832,7 +832,7 @@ void Mat4MulVec4fl(const float mat[][4], float *vec)
vec[3]=x*mat[0][3] + y*mat[1][3] + z*mat[2][3] + mat[3][3]*vec[3]; vec[3]=x*mat[0][3] + y*mat[1][3] + z*mat[2][3] + mat[3][3]*vec[3];
} }
void Mat3MulVec(const float mat[][3], int *vec) void Mat3MulVec( float mat[][3], int *vec)
{ {
int x,y; int x,y;
@@ -843,7 +843,7 @@ void Mat3MulVec(const float mat[][3], int *vec)
vec[2]= (int)(x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2]); vec[2]= (int)(x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2]);
} }
void Mat3MulVecfl(const float mat[][3], float *vec) void Mat3MulVecfl( float mat[][3], float *vec)
{ {
float x,y; float x,y;
@@ -854,7 +854,7 @@ void Mat3MulVecfl(const float mat[][3], float *vec)
vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2]; vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2];
} }
void Mat3MulVecd(const float mat[][3], double *vec) void Mat3MulVecd( float mat[][3], double *vec)
{ {
double x,y; double x,y;
@@ -865,7 +865,7 @@ void Mat3MulVecd(const float mat[][3], double *vec)
vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2]; vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2];
} }
void Mat3TransMulVecfl(const float mat[][3], float *vec) void Mat3TransMulVecfl( float mat[][3], float *vec)
{ {
float x,y; float x,y;
@@ -903,7 +903,7 @@ void Mat4MulFloat3(float *m, float f) /* only scale component */
} }
} }
void VecStar(float mat[][3], const float *vec) void VecStar(float mat[][3], float *vec)
{ {
mat[0][0]= mat[1][1]= mat[2][2]= 0.0; mat[0][0]= mat[1][1]= mat[2][2]= 0.0;
@@ -927,7 +927,7 @@ short EenheidsMat(float mat[][3])
} }
#endif #endif
int FloatCompare(const float *v1, const float *v2, float limit) int FloatCompare( float *v1, float *v2, float limit)
{ {
if( fabs(v1[0]-v2[0])<limit ) { if( fabs(v1[0]-v2[0])<limit ) {
@@ -938,7 +938,7 @@ int FloatCompare(const float *v1, const float *v2, float limit)
return 0; return 0;
} }
void printmatrix4(const char *str, const float m[][4]) void printmatrix4( char *str, float m[][4])
{ {
printf("%s\n", str); printf("%s\n", str);
printf("%f %f %f %f\n",m[0][0],m[0][1],m[0][2],m[0][3]); printf("%f %f %f %f\n",m[0][0],m[0][1],m[0][2],m[0][3]);
@@ -949,7 +949,7 @@ void printmatrix4(const char *str, const float m[][4])
} }
void printmatrix3(const char *str, const float m[][3]) void printmatrix3( char *str, float m[][3])
{ {
printf("%s\n", str); printf("%s\n", str);
printf("%f %f %f\n",m[0][0],m[0][1],m[0][2]); printf("%f %f %f\n",m[0][0],m[0][1],m[0][2]);
@@ -962,7 +962,7 @@ void printmatrix3(const char *str, const float m[][3])
/* **************** QUATERNIONS ********** */ /* **************** QUATERNIONS ********** */
void QuatMul(float *q, const float *q1, const float *q2) void QuatMul(float *q, float *q1, float *q2)
{ {
float t0,t1,t2; float t0,t1,t2;
@@ -975,7 +975,7 @@ void QuatMul(float *q, const float *q1, const float *q2)
q[2]=t2; q[2]=t2;
} }
void QuatSub(float *q, const float *q1, float *q2) void QuatSub(float *q, float *q1, float *q2)
{ {
q2[0]= -q2[0]; q2[0]= -q2[0];
QuatMul(q, q1, q2); QuatMul(q, q1, q2);
@@ -983,7 +983,7 @@ void QuatSub(float *q, const float *q1, float *q2)
} }
void QuatToMat3(const float *q, float m[][3]) void QuatToMat3( float *q, float m[][3])
{ {
double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc; double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc;
@@ -1016,7 +1016,7 @@ void QuatToMat3(const float *q, float m[][3])
} }
void QuatToMat4(const float *q, float m[][4]) void QuatToMat4( float *q, float m[][4])
{ {
double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc; double q0, q1, q2, q3, qda,qdb,qdc,qaa,qab,qac,qbb,qbc,qcc;
@@ -1054,7 +1054,7 @@ void QuatToMat4(const float *q, float m[][4])
m[3][3]= 1.0f; m[3][3]= 1.0f;
} }
void Mat3ToQuat(const float wmat[][3], float *q) /* from Sig.Proc.85 pag 253 */ void Mat3ToQuat( float wmat[][3], float *q) /* from Sig.Proc.85 pag 253 */
{ {
double tr, s; double tr, s;
float mat[3][3]; float mat[3][3];
@@ -1101,7 +1101,7 @@ void Mat3ToQuat(const float wmat[][3], float *q) /* from Sig.Proc.85 pag 253 */
NormalQuat(q); NormalQuat(q);
} }
void Mat3ToQuat_is_ok(const float wmat[][3], float *q) void Mat3ToQuat_is_ok( float wmat[][3], float *q)
{ {
float mat[3][3], matr[3][3], matn[3][3], q1[4], q2[4], hoek, si, co, nor[3]; float mat[3][3], matr[3][3], matn[3][3], q1[4], q2[4], hoek, si, co, nor[3];
@@ -1145,7 +1145,7 @@ void Mat3ToQuat_is_ok(const float wmat[][3], float *q)
} }
void Mat4ToQuat(const float m[][4], float *q) void Mat4ToQuat( float m[][4], float *q)
{ {
float mat[3][3]; float mat[3][3];
@@ -1176,7 +1176,7 @@ void NormalQuat(float *q)
} }
} }
float *vectoquat(const float *vec, short axis, short upflag) float *vectoquat( float *vec, short axis, short upflag)
{ {
static float q1[4]; static float q1[4];
float q2[4], nor[3], *fp, mat[3][3], hoek, si, co, x2, y2, z2, len1; float q2[4], nor[3], *fp, mat[3][3], hoek, si, co, x2, y2, z2, len1;
@@ -1274,7 +1274,7 @@ float *vectoquat(const float *vec, short axis, short upflag)
return(q1); return(q1);
} }
void VecUpMat3old(const float *vec, float mat[][3], short axis) void VecUpMat3old( float *vec, float mat[][3], short axis)
{ {
float inp, up[3]; float inp, up[3];
short cox = 0, coy = 0, coz = 0; short cox = 0, coy = 0, coz = 0;
@@ -1429,7 +1429,7 @@ void i_translate(float Tx, float Ty, float Tz, float mat[][4])
mat[3][2] += (Tx*mat[0][2] + Ty*mat[1][2] + Tz*mat[2][2]); mat[3][2] += (Tx*mat[0][2] + Ty*mat[1][2] + Tz*mat[2][2]);
} }
void i_multmatrix(const float icand[][4], float Vm[][4]) void i_multmatrix( float icand[][4], float Vm[][4])
{ {
int row, col; int row, col;
float temp[4][4]; float temp[4][4];
@@ -1575,7 +1575,7 @@ void Mat4Ortho(float mat[][4])
if(len!=0.0) mat[2][3]/= len; if(len!=0.0) mat[2][3]/= len;
} }
void VecCopyf(float *v1, const float *v2) void VecCopyf(float *v1, float *v2)
{ {
v1[0]= v2[0]; v1[0]= v2[0];
@@ -1583,7 +1583,7 @@ void VecCopyf(float *v1, const float *v2)
v1[2]= v2[2]; v1[2]= v2[2];
} }
int VecLen(const int *v1, const int *v2) int VecLen( int *v1, int *v2)
{ {
float x,y,z; float x,y,z;
@@ -1593,7 +1593,7 @@ int VecLen(const int *v1, const int *v2)
return (int)floor(sqrt(x*x+y*y+z*z)); return (int)floor(sqrt(x*x+y*y+z*z));
} }
float VecLenf(const float *v1, const float *v2) float VecLenf( float *v1, float *v2)
{ {
float x,y,z; float x,y,z;
@@ -1603,21 +1603,21 @@ float VecLenf(const float *v1, const float *v2)
return (float)sqrt(x*x+y*y+z*z); return (float)sqrt(x*x+y*y+z*z);
} }
void VecAddf(float *v, const float *v1, const float *v2) void VecAddf(float *v, float *v1, float *v2)
{ {
v[0]= v1[0]+ v2[0]; v[0]= v1[0]+ v2[0];
v[1]= v1[1]+ v2[1]; v[1]= v1[1]+ v2[1];
v[2]= v1[2]+ v2[2]; v[2]= v1[2]+ v2[2];
} }
void VecSubf(float *v, const float *v1, const float *v2) void VecSubf(float *v, float *v1, float *v2)
{ {
v[0]= v1[0]- v2[0]; v[0]= v1[0]- v2[0];
v[1]= v1[1]- v2[1]; v[1]= v1[1]- v2[1];
v[2]= v1[2]- v2[2]; v[2]= v1[2]- v2[2];
} }
void VecMidf(float *v, const float *v1, const float *v2) void VecMidf(float *v, float *v1, float *v2)
{ {
v[0]= 0.5f*(v1[0]+ v2[0]); v[0]= 0.5f*(v1[0]+ v2[0]);
v[1]= 0.5f*(v1[1]+ v2[1]); v[1]= 0.5f*(v1[1]+ v2[1]);
@@ -1632,7 +1632,7 @@ void VecMulf(float *v1, float f)
v1[2]*= f; v1[2]*= f;
} }
int VecCompare(const float *v1, const float *v2, float limit) int VecCompare( float *v1, float *v2, float limit)
{ {
if( fabs(v1[0]-v2[0])<limit ) if( fabs(v1[0]-v2[0])<limit )
if( fabs(v1[1]-v2[1])<limit ) if( fabs(v1[1]-v2[1])<limit )
@@ -1640,7 +1640,7 @@ int VecCompare(const float *v1, const float *v2, float limit)
return 0; return 0;
} }
void CalcNormShort(const short *v1, const short *v2, const short *v3, float *n) /* is also cross product */ void CalcNormShort( short *v1, short *v2, short *v3, float *n) /* is also cross product */
{ {
float n1[3],n2[3]; float n1[3],n2[3];
@@ -1656,7 +1656,7 @@ void CalcNormShort(const short *v1, const short *v2, const short *v3, float *n)
Normalise(n); Normalise(n);
} }
void CalcNormLong(const int* v1, const int*v2, const int*v3, float *n) void CalcNormLong( int* v1, int*v2, int*v3, float *n)
{ {
float n1[3],n2[3]; float n1[3],n2[3];
@@ -1672,7 +1672,7 @@ void CalcNormLong(const int* v1, const int*v2, const int*v3, float *n)
Normalise(n); Normalise(n);
} }
float CalcNormFloat(const float *v1, const float *v2, const float *v3, float *n) float CalcNormFloat( float *v1, float *v2, float *v3, float *n)
{ {
float n1[3],n2[3]; float n1[3],n2[3];
@@ -1688,7 +1688,7 @@ float CalcNormFloat(const float *v1, const float *v2, const float *v3, float *n)
return Normalise(n); return Normalise(n);
} }
float CalcNormFloat4(const float *v1, const float *v2, const float *v3, const float *v4, float *n) float CalcNormFloat4( float *v1, float *v2, float *v3, float *v4, float *n)
{ {
/* real cross! */ /* real cross! */
float n1[3],n2[3]; float n1[3],n2[3];
@@ -1709,7 +1709,7 @@ float CalcNormFloat4(const float *v1, const float *v2, const float *v3, const fl
} }
void CalcCent3f(float *cent, const float *v1, const float *v2, const float *v3) void CalcCent3f(float *cent, float *v1, float *v2, float *v3)
{ {
cent[0]= 0.33333f*(v1[0]+v2[0]+v3[0]); cent[0]= 0.33333f*(v1[0]+v2[0]+v3[0]);
@@ -1717,7 +1717,7 @@ void CalcCent3f(float *cent, const float *v1, const float *v2, const float *v3)
cent[2]= 0.33333f*(v1[2]+v2[2]+v3[2]); cent[2]= 0.33333f*(v1[2]+v2[2]+v3[2]);
} }
void CalcCent4f(float *cent, const float *v1, const float *v2, const float *v3, const float *v4) void CalcCent4f(float *cent, float *v1, float *v2, float *v3, float *v4)
{ {
cent[0]= 0.25f*(v1[0]+v2[0]+v3[0]+v4[0]); cent[0]= 0.25f*(v1[0]+v2[0]+v3[0]+v4[0]);
@@ -1741,7 +1741,7 @@ double Sqrt3d(double d)
/* distance v1 to line v2-v3 */ /* distance v1 to line v2-v3 */
/* using Hesse formula, NO LINE PIECE! */ /* using Hesse formula, NO LINE PIECE! */
float DistVL2Dfl(const float *v1,const float *v2,const float *v3) { float DistVL2Dfl( float *v1, float *v2, float *v3) {
float a[2],deler; float a[2],deler;
a[0]= v2[1]-v3[1]; a[0]= v2[1]-v3[1];
@@ -1754,7 +1754,7 @@ float DistVL2Dfl(const float *v1,const float *v2,const float *v3) {
} }
/* distance v1 to line-piece v2-v3 */ /* distance v1 to line-piece v2-v3 */
float PdistVL2Dfl(const float *v1,const float *v2,const float *v3) float PdistVL2Dfl( float *v1, float *v2, float *v3)
{ {
float labda, rc[2], pt[2], len; float labda, rc[2], pt[2], len;
@@ -1786,13 +1786,13 @@ float PdistVL2Dfl(const float *v1,const float *v2,const float *v3)
return (float)sqrt(rc[0]*rc[0]+ rc[1]*rc[1]); return (float)sqrt(rc[0]*rc[0]+ rc[1]*rc[1]);
} }
float AreaF2Dfl(const float *v1,const float *v2,const float *v3) float AreaF2Dfl( float *v1, float *v2, float *v3)
{ {
return (float)(0.5*fabs( (v1[0]-v2[0])*(v2[1]-v3[1]) + (v1[1]-v2[1])*(v3[0]-v2[0]) )); return (float)(0.5*fabs( (v1[0]-v2[0])*(v2[1]-v3[1]) + (v1[1]-v2[1])*(v3[0]-v2[0]) ));
} }
float AreaQ3Dfl(const float *v1,const float *v2,const float *v3, const float *v4) /* only convex Quadrilaterals */ float AreaQ3Dfl( float *v1, float *v2, float *v3, float *v4) /* only convex Quadrilaterals */
{ {
float len, vec1[3], vec2[3], n[3]; float len, vec1[3], vec2[3], n[3];
@@ -1809,7 +1809,7 @@ float AreaQ3Dfl(const float *v1,const float *v2,const float *v3, const float *v4
return (len/2.0f); return (len/2.0f);
} }
float AreaT3Dfl(const float *v1,const float *v2,const float *v3) /* Triangles */ float AreaT3Dfl( float *v1, float *v2, float *v3) /* Triangles */
{ {
float len, vec1[3], vec2[3], n[3]; float len, vec1[3], vec2[3], n[3];
@@ -1825,10 +1825,10 @@ float AreaT3Dfl(const float *v1,const float *v2,const float *v3) /* Triangles *
#define MAX3(x,y,z) MAX2( MAX2((x),(y)) , (z) ) #define MAX3(x,y,z) MAX2( MAX2((x),(y)) , (z) )
float AreaPoly3Dfl(int nr, const float *verts, const float *normal) float AreaPoly3Dfl(int nr, float *verts, float *normal)
{ {
float x, y, z, area, max; float x, y, z, area, max;
const float *cur, *prev; float *cur, *prev;
int a, px=0, py=1; int a, px=0, py=1;
/* first: find dominant axis: 0==X, 1==Y, 2==Z */ /* first: find dominant axis: 0==X, 1==Y, 2==Z */
@@ -1855,7 +1855,7 @@ float AreaPoly3Dfl(int nr, const float *verts, const float *normal)
return (float)fabs(0.5*area/max); return (float)fabs(0.5*area/max);
} }
void MinMax3(float *min, float *max, const float *vec) void MinMax3(float *min, float *max, float *vec)
{ {
if(min[0]>vec[0]) min[0]= vec[0]; if(min[0]>vec[0]) min[0]= vec[0];
if(min[1]>vec[1]) min[1]= vec[1]; if(min[1]>vec[1]) min[1]= vec[1];
@@ -1868,7 +1868,7 @@ void MinMax3(float *min, float *max, const float *vec)
/* ************ EULER *************** */ /* ************ EULER *************** */
void EulToMat3(const float *eul, float mat[][3]) void EulToMat3( float *eul, float mat[][3])
{ {
double ci, cj, ch, si, sj, sh, cc, cs, sc, ss; double ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
@@ -1895,7 +1895,7 @@ void EulToMat3(const float *eul, float mat[][3])
} }
void EulToMat4(const float *eul,float mat[][4]) void EulToMat4( float *eul,float mat[][4])
{ {
double ci, cj, ch, si, sj, sh, cc, cs, sc, ss; double ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
@@ -1926,8 +1926,7 @@ void EulToMat4(const float *eul,float mat[][4])
} }
void Mat3ToEul( void Mat3ToEul(float tmat[][3], float *eul
const float tmat[][3], float *eul
){ ){
float cy, quat[4], mat[3][3]; float cy, quat[4], mat[3][3];
@@ -1949,7 +1948,7 @@ void Mat3ToEul(
} }
} }
void Mat3ToEuln(const float tmat[][3], float *eul) void Mat3ToEuln( float tmat[][3], float *eul)
{ {
float sin1, cos1, sin2, cos2, sin3, cos3; float sin1, cos1, sin2, cos2, sin3, cos3;
@@ -1976,7 +1975,7 @@ void Mat3ToEuln(const float tmat[][3], float *eul)
} }
void QuatToEul(const float *quat, float *eul) void QuatToEul( float *quat, float *eul)
{ {
float mat[3][3]; float mat[3][3];
@@ -1984,7 +1983,7 @@ void QuatToEul(const float *quat, float *eul)
Mat3ToEul(mat, eul); Mat3ToEul(mat, eul);
} }
void QuatToSpher(const float *quat, float *sph) void QuatToSpher( float *quat, float *sph)
/* Not working 100% yet I don't think... */ /* Not working 100% yet I don't think... */
{ {
float tx, ty, tz; float tx, ty, tz;
@@ -2023,7 +2022,7 @@ void QuatToSpher(const float *quat, float *sph)
sph[2] = (float)(acos(cos_theta) * 2.0) ; sph[2] = (float)(acos(cos_theta) * 2.0) ;
} }
void Mat3ToSpher (const float *mat3, float *sph) void Mat3ToSpher ( float *mat3, float *sph)
{ {
float quat[4]; float quat[4];
@@ -2032,7 +2031,7 @@ void Mat3ToSpher (const float *mat3, float *sph)
} }
void EulToQuat(const float *eul, float *quat) void EulToQuat( float *eul, float *quat)
{ {
float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss; float ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
@@ -2047,7 +2046,7 @@ void EulToQuat(const float *eul, float *quat)
quat[3] = cj*cs - sj*sc; quat[3] = cj*cs - sj*sc;
} }
void VecRotToMat3(const float *vec, float phi, float mat[][3]) void VecRotToMat3( float *vec, float phi, float mat[][3])
{ {
/* rotation of phi radials around vec */ /* rotation of phi radials around vec */
float vx, vx2, vy, vy2, vz, vz2, co, si; float vx, vx2, vy, vy2, vz, vz2, co, si;
@@ -2073,7 +2072,7 @@ void VecRotToMat3(const float *vec, float phi, float mat[][3])
} }
void VecRotToQuat(const float *vec, float phi, float *quat) void VecRotToQuat( float *vec, float phi, float *quat)
{ {
/* rotation of phi radials around vec */ /* rotation of phi radials around vec */
float si; float si;
@@ -2114,7 +2113,7 @@ void euler_rot(float *beul, float ang, char axis)
void SizeToMat3(const float *size, float mat[][3]) void SizeToMat3( float *size, float mat[][3])
{ {
mat[0][0]= size[0]; mat[0][0]= size[0];
mat[0][1]= 0.0; mat[0][1]= 0.0;
@@ -2127,7 +2126,7 @@ void SizeToMat3(const float *size, float mat[][3])
mat[2][0]= 0.0; mat[2][0]= 0.0;
} }
void Mat3ToSize(const float mat[][3], float *size) void Mat3ToSize( float mat[][3], float *size)
{ {
float vec[3]; float vec[3];
@@ -2141,7 +2140,7 @@ void Mat3ToSize(const float mat[][3], float *size)
} }
void Mat4ToSize(const float mat[][4], float *size) void Mat4ToSize( float mat[][4], float *size)
{ {
float vec[3]; float vec[3];
@@ -2156,7 +2155,7 @@ void Mat4ToSize(const float mat[][4], float *size)
/* ************* SPECIALS ******************* */ /* ************* SPECIALS ******************* */
void triatoquat(const float *v1, const float *v2, const float *v3, float *quat) void triatoquat( float *v1, float *v2, float *v3, float *quat)
{ {
/* imaginary x-axis, y-axis triangle is being rotated */ /* imaginary x-axis, y-axis triangle is being rotated */
float vec[3], q1[4], q2[4], n[3], si, co, hoek, mat[3][3], imat[3][3]; float vec[3], q1[4], q2[4], n[3], si, co, hoek, mat[3][3], imat[3][3];