Kent Mein
d0e346d544
#ifdef HAVE_CONFIG_H #include <config.h> #endif Just need to finish cpp files now :) Kent -- mein@cs.umn.edu
446 lines
13 KiB
C
446 lines
13 KiB
C
/*
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*
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* Some matrix operations.
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*
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* Always use
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* - vector with x components : float x[3], int x[3], etc
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*
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* $Id$
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*
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* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
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*
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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. The Blender
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* Foundation also sells licenses for use in proprietary software under
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* the Blender License. See http://www.blender.org/BL/ for information
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* about this.
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*
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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. See the
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* GNU General Public License for more details.
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*
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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 the Free Software Foundation,
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* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL/BL DUAL LICENSE BLOCK *****
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*/
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/* ------------------------------------------------------------------------- */
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#include <string.h>
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#include "MTC_matrixops.h"
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#include "MTC_vectorops.h"
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/* ------------------------------------------------------------------------- */
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#ifdef HAVE_CONFIG_H
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#include <config.h>
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#endif
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#ifdef WIN32
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#include "BLI_winstuff.h"
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#endif
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#ifdef __sun__
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#include <strings.h>
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#endif
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#define ABS(x) ((x) < 0 ? -(x) : (x))
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#define SWAP(type, a, b) { type sw_ap; sw_ap=(a); (a)=(b); (b)=sw_ap; }
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void MTC_Mat4CpyMat4(float m1[][4], float m2[][4])
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{
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memcpy(m1, m2, 4*4*sizeof(float));
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4MulSerie(float answ[][4],
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float m1[][4], float m2[][4], float m3[][4],
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float m4[][4], float m5[][4], float m6[][4],
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float m7[][4], float m8[][4])
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{
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float temp[4][4];
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if(m1==0 || m2==0) return;
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MTC_Mat4MulMat4(answ, m2, m1);
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if(m3) {
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MTC_Mat4MulMat4(temp, m3, answ);
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if(m4) {
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MTC_Mat4MulMat4(answ, m4, temp);
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if(m5) {
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MTC_Mat4MulMat4(temp, m5, answ);
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if(m6) {
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MTC_Mat4MulMat4(answ, m6, temp);
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if(m7) {
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MTC_Mat4MulMat4(temp, m7, answ);
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if(m8) {
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MTC_Mat4MulMat4(answ, m8, temp);
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}
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else MTC_Mat4CpyMat4(answ, temp);
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}
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}
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else MTC_Mat4CpyMat4(answ, temp);
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}
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}
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else MTC_Mat4CpyMat4(answ, temp);
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}
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4MulMat4(float m1[][4], float m2[][4], float m3[][4])
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{
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/* matrix product: c[j][k] = a[j][i].b[i][k] */
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m1[0][0] = m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0] + m2[0][3]*m3[3][0];
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m1[0][1] = m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1] + m2[0][3]*m3[3][1];
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m1[0][2] = m2[0][0]*m3[0][2] + m2[0][1]*m3[1][2] + m2[0][2]*m3[2][2] + m2[0][3]*m3[3][2];
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m1[0][3] = m2[0][0]*m3[0][3] + m2[0][1]*m3[1][3] + m2[0][2]*m3[2][3] + m2[0][3]*m3[3][3];
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m1[1][0] = m2[1][0]*m3[0][0] + m2[1][1]*m3[1][0] + m2[1][2]*m3[2][0] + m2[1][3]*m3[3][0];
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m1[1][1] = m2[1][0]*m3[0][1] + m2[1][1]*m3[1][1] + m2[1][2]*m3[2][1] + m2[1][3]*m3[3][1];
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m1[1][2] = m2[1][0]*m3[0][2] + m2[1][1]*m3[1][2] + m2[1][2]*m3[2][2] + m2[1][3]*m3[3][2];
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m1[1][3] = m2[1][0]*m3[0][3] + m2[1][1]*m3[1][3] + m2[1][2]*m3[2][3] + m2[1][3]*m3[3][3];
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m1[2][0] = m2[2][0]*m3[0][0] + m2[2][1]*m3[1][0] + m2[2][2]*m3[2][0] + m2[2][3]*m3[3][0];
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m1[2][1] = m2[2][0]*m3[0][1] + m2[2][1]*m3[1][1] + m2[2][2]*m3[2][1] + m2[2][3]*m3[3][1];
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m1[2][2] = m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2] + m2[2][3]*m3[3][2];
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m1[2][3] = m2[2][0]*m3[0][3] + m2[2][1]*m3[1][3] + m2[2][2]*m3[2][3] + m2[2][3]*m3[3][3];
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m1[3][0] = m2[3][0]*m3[0][0] + m2[3][1]*m3[1][0] + m2[3][2]*m3[2][0] + m2[3][3]*m3[3][0];
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m1[3][1] = m2[3][0]*m3[0][1] + m2[3][1]*m3[1][1] + m2[3][2]*m3[2][1] + m2[3][3]*m3[3][1];
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m1[3][2] = m2[3][0]*m3[0][2] + m2[3][1]*m3[1][2] + m2[3][2]*m3[2][2] + m2[3][3]*m3[3][2];
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m1[3][3] = m2[3][0]*m3[0][3] + m2[3][1]*m3[1][3] + m2[3][2]*m3[2][3] + m2[3][3]*m3[3][3];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4MulVecfl(float mat[][4], float *vec)
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{
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float x,y;
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x=vec[0];
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y=vec[1];
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vec[0]=x*mat[0][0] + y*mat[1][0] + mat[2][0]*vec[2] + mat[3][0];
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vec[1]=x*mat[0][1] + y*mat[1][1] + mat[2][1]*vec[2] + mat[3][1];
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vec[2]=x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2] + mat[3][2];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3MulVecfl(float mat[][3], float *vec)
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{
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float x,y;
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x=vec[0];
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y=vec[1];
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vec[0]= x*mat[0][0] + y*mat[1][0] + mat[2][0]*vec[2];
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vec[1]= x*mat[0][1] + y*mat[1][1] + mat[2][1]*vec[2];
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vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2];
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}
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/* ------------------------------------------------------------------------- */
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int MTC_Mat4Invert(float inverse[][4], float mat[][4])
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{
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int i, j, k;
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double temp;
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float tempmat[4][4];
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float max;
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int maxj;
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/* Set inverse to identity */
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for (i=0; i<4; i++)
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for (j=0; j<4; j++)
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inverse[i][j] = 0;
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for (i=0; i<4; i++)
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inverse[i][i] = 1;
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/* Copy original matrix so we don't mess it up */
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for(i = 0; i < 4; i++)
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for(j = 0; j <4; j++)
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tempmat[i][j] = mat[i][j];
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for(i = 0; i < 4; i++) {
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/* Look for row with max pivot */
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max = ABS(tempmat[i][i]);
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maxj = i;
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for(j = i + 1; j < 4; j++) {
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if(ABS(tempmat[j][i]) > max) {
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max = ABS(tempmat[j][i]);
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maxj = j;
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}
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}
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/* Swap rows if necessary */
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if (maxj != i) {
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for( k = 0; k < 4; k++) {
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SWAP(float, tempmat[i][k], tempmat[maxj][k]);
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SWAP(float, inverse[i][k], inverse[maxj][k]);
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}
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}
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temp = tempmat[i][i];
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if (temp == 0)
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return 0; /* No non-zero pivot */
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for(k = 0; k < 4; k++) {
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tempmat[i][k] /= temp;
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inverse[i][k] /= temp;
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}
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for(j = 0; j < 4; j++) {
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if(j != i) {
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temp = tempmat[j][i];
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for(k = 0; k < 4; k++) {
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tempmat[j][k] -= tempmat[i][k]*temp;
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inverse[j][k] -= inverse[i][k]*temp;
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}
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}
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}
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}
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return 1;
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3CpyMat4(float m1[][3], float m2[][4])
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{
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m1[0][0]= m2[0][0];
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m1[0][1]= m2[0][1];
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m1[0][2]= m2[0][2];
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m1[1][0]= m2[1][0];
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m1[1][1]= m2[1][1];
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m1[1][2]= m2[1][2];
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m1[2][0]= m2[2][0];
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m1[2][1]= m2[2][1];
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m1[2][2]= m2[2][2];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3CpyMat3(float m1[][3], float m2[][3])
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{
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memcpy(m1, m2, 3*3*sizeof(float));
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}
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/* ------------------------------------------------------------------------- */
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/* void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3]) */
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void MTC_Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3])
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{
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/* be careful about this rewrite... */
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/* m1[i][j] = m2[i][k]*m3[k][j], args are flipped! */
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m1[0][0]= m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0];
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m1[0][1]= m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1];
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m1[0][2]= m2[0][0]*m3[0][2] + m2[0][1]*m3[1][2] + m2[0][2]*m3[2][2];
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m1[1][0]= m2[1][0]*m3[0][0] + m2[1][1]*m3[1][0] + m2[1][2]*m3[2][0];
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m1[1][1]= m2[1][0]*m3[0][1] + m2[1][1]*m3[1][1] + m2[1][2]*m3[2][1];
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m1[1][2]= m2[1][0]*m3[0][2] + m2[1][1]*m3[1][2] + m2[1][2]*m3[2][2];
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m1[2][0]= m2[2][0]*m3[0][0] + m2[2][1]*m3[1][0] + m2[2][2]*m3[2][0];
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m1[2][1]= m2[2][0]*m3[0][1] + m2[2][1]*m3[1][1] + m2[2][2]*m3[2][1];
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m1[2][2]= m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2];
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/* m1[0]= m2[0]*m3[0] + m2[1]*m3[3] + m2[2]*m3[6]; */
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/* m1[1]= m2[0]*m3[1] + m2[1]*m3[4] + m2[2]*m3[7]; */
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/* m1[2]= m2[0]*m3[2] + m2[1]*m3[5] + m2[2]*m3[8]; */
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/* m1+=3; */
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/* m2+=3; */
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/* m1[0]= m2[0]*m3[0] + m2[1]*m3[3] + m2[2]*m3[6]; */
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/* m1[1]= m2[0]*m3[1] + m2[1]*m3[4] + m2[2]*m3[7]; */
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/* m1[2]= m2[0]*m3[2] + m2[1]*m3[5] + m2[2]*m3[8]; */
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/* m1+=3; */
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/* m2+=3; */
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/* m1[0]= m2[0]*m3[0] + m2[1]*m3[3] + m2[2]*m3[6]; */
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/* m1[1]= m2[0]*m3[1] + m2[1]*m3[4] + m2[2]*m3[7]; */
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/* m1[2]= m2[0]*m3[2] + m2[1]*m3[5] + m2[2]*m3[8]; */
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} /* end of void Mat3MulMat3(float m1[][3], float m3[][3], float m2[][3]) */
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4Ortho(float mat[][4])
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{
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float len;
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len= MTC_normalise3DF(mat[0]);
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if(len!=0.0) mat[0][3]/= len;
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len= MTC_normalise3DF(mat[1]);
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if(len!=0.0) mat[1][3]/= len;
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len= MTC_normalise3DF(mat[2]);
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if(len!=0.0) mat[2][3]/= len;
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4Mul3Vecfl(float mat[][4], float *vec)
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{
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float x,y;
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/* vec = mat^T dot vec !!! or vec a row, then vec = vec dot mat*/
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x= vec[0];
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y= vec[1];
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vec[0]= x*mat[0][0] + y*mat[1][0] + mat[2][0]*vec[2];
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vec[1]= x*mat[0][1] + y*mat[1][1] + mat[2][1]*vec[2];
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vec[2]= x*mat[0][2] + y*mat[1][2] + mat[2][2]*vec[2];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4One(float m[][4])
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{
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m[0][0]= m[1][1]= m[2][2]= m[3][3]= 1.0;
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m[0][1]= m[0][2]= m[0][3]= 0.0;
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m[1][0]= m[1][2]= m[1][3]= 0.0;
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m[2][0]= m[2][1]= m[2][3]= 0.0;
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m[3][0]= m[3][1]= m[3][2]= 0.0;
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}
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/* ------------------------------------------------------------------------- */
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/* Result is a 3-vector!*/
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void MTC_Mat3MulVecd(float mat[][3], double *vec)
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{
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double x,y;
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/* vec = mat^T dot vec !!! or vec a row, then vec = vec dot mat*/
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x=vec[0];
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y=vec[1];
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vec[0]= x * mat[0][0] + y * mat[1][0] + mat[2][0] * vec[2];
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vec[1]= x * mat[0][1] + y * mat[1][1] + mat[2][1] * vec[2];
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vec[2]= x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3Inv(float m1[][3], float m2[][3])
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{
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short a,b;
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float det;
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/* eerst adjoint */
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MTC_Mat3Adj(m1,m2);
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/* dan det oude mat! */
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det= m2[0][0]* (m2[1][1]*m2[2][2] - m2[1][2]*m2[2][1])
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-m2[1][0]* (m2[0][1]*m2[2][2] - m2[0][2]*m2[2][1])
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+m2[2][0]* (m2[0][1]*m2[1][2] - m2[0][2]*m2[1][1]);
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if(det==0) det=1;
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det= 1/det;
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for(a=0;a<3;a++) {
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for(b=0;b<3;b++) {
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m1[a][b]*=det;
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}
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}
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3Adj(float m1[][3], float m[][3])
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{
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m1[0][0]=m[1][1]*m[2][2]-m[1][2]*m[2][1];
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m1[0][1]= -m[0][1]*m[2][2]+m[0][2]*m[2][1];
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m1[0][2]=m[0][1]*m[1][2]-m[0][2]*m[1][1];
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m1[1][0]= -m[1][0]*m[2][2]+m[1][2]*m[2][0];
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m1[1][1]=m[0][0]*m[2][2]-m[0][2]*m[2][0];
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m1[1][2]= -m[0][0]*m[1][2]+m[0][2]*m[1][0];
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m1[2][0]=m[1][0]*m[2][1]-m[1][1]*m[2][0];
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m1[2][1]= -m[0][0]*m[2][1]+m[0][1]*m[2][0];
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m1[2][2]=m[0][0]*m[1][1]-m[0][1]*m[1][0];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat3One(float m[][3])
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{
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m[0][0]= m[1][1]= m[2][2]= 1.0;
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m[0][1]= m[0][2]= 0.0;
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m[1][0]= m[1][2]= 0.0;
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m[2][0]= m[2][1]= 0.0;
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4SwapMat4(float m1[][4], float m2[][4])
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{
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float t;
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int i, j;
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for(i = 0; i < 4; i++) {
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for (j = 0; j < 4; j++) {
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t = m1[i][j];
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m1[i][j] = m2[i][j];
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m2[i][j] = t;
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}
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}
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4MulVec4fl(float mat[][4], float *vec)
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{
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float x,y,z;
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x = vec[0];
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y = vec[1];
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z = vec[2];
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vec[0] = x*mat[0][0] + y*mat[1][0] + z*mat[2][0] + mat[3][0]*vec[3];
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vec[1] = x*mat[0][1] + y*mat[1][1] + z*mat[2][1] + mat[3][1]*vec[3];
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vec[2] = x*mat[0][2] + y*mat[1][2] + z*mat[2][2] + mat[3][2]*vec[3];
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vec[3] = x*mat[0][3] + y*mat[1][3] + z*mat[2][3] + mat[3][3]*vec[3];
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}
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/* ------------------------------------------------------------------------- */
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void MTC_Mat4CpyMat3nc(float m1[][4], float m2[][3]) /* no clear */
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{
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m1[0][0]= m2[0][0];
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m1[0][1]= m2[0][1];
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m1[0][2]= m2[0][2];
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m1[1][0]= m2[1][0];
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m1[1][1]= m2[1][1];
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m1[1][2]= m2[1][2];
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m1[2][0]= m2[2][0];
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m1[2][1]= m2[2][1];
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m1[2][2]= m2[2][2];
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}
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/* ------------------------------------------------------------------------- */
|
|
|
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void MTC_Mat4MulMat33(float m1[][3], float m2[][4], float m3[][3])
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{
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|
/* m1_i_j = m2_i_k * m3_k_j ? */
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|
|
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m1[0][0] = m2[0][0]*m3[0][0] + m2[0][1]*m3[1][0] + m2[0][2]*m3[2][0];
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m1[0][1] = m2[0][0]*m3[0][1] + m2[0][1]*m3[1][1] + m2[0][2]*m3[2][1];
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m1[0][2] = m2[0][0]*m3[0][2] + m2[0][1]*m3[1][2] + m2[0][2]*m3[2][2];
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|
|
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m1[1][0] = m2[1][0]*m3[0][0] + m2[1][1]*m3[1][0] + m2[1][2]*m3[2][0];
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m1[1][1] = m2[1][0]*m3[0][1] + m2[1][1]*m3[1][1] + m2[1][2]*m3[2][1];
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m1[1][2] = m2[1][0]*m3[0][2] + m2[1][1]*m3[1][2] + m2[1][2]*m3[2][2];
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|
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m1[2][0] = m2[2][0]*m3[0][0] + m2[2][1]*m3[1][0] + m2[2][2]*m3[2][0];
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|
m1[2][1] = m2[2][0]*m3[0][1] + m2[2][1]*m3[1][1] + m2[2][2]*m3[2][1];
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|
m1[2][2] = m2[2][0]*m3[0][2] + m2[2][1]*m3[1][2] + m2[2][2]*m3[2][2];
|
|
|
|
}
|
|
|
|
/* ------------------------------------------------------------------------- */
|
|
|
|
/* eof */
|