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blender-archive/source/blender/blenlib/intern/math_matrix.c

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/*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
* All rights reserved.
*
* The Original Code is: some of this file.
*/
/** \file
* \ingroup bli
*/
#include <assert.h>
#include "BLI_math.h"
#include "BLI_strict_flags.h"
#include "eigen_capi.h"
/********************************* Init **************************************/
void zero_m2(float m[2][2])
{
memset(m, 0, sizeof(float[2][2]));
}
void zero_m3(float m[3][3])
{
memset(m, 0, sizeof(float[3][3]));
}
void zero_m4(float m[4][4])
{
memset(m, 0, sizeof(float[4][4]));
}
void unit_m2(float m[2][2])
{
m[0][0] = m[1][1] = 1.0f;
m[0][1] = 0.0f;
m[1][0] = 0.0f;
}
void unit_m3(float m[3][3])
{
m[0][0] = m[1][1] = m[2][2] = 1.0f;
m[0][1] = m[0][2] = 0.0f;
m[1][0] = m[1][2] = 0.0f;
m[2][0] = m[2][1] = 0.0f;
}
void unit_m4(float m[4][4])
{
m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f;
m[0][1] = m[0][2] = m[0][3] = 0.0f;
m[1][0] = m[1][2] = m[1][3] = 0.0f;
m[2][0] = m[2][1] = m[2][3] = 0.0f;
m[3][0] = m[3][1] = m[3][2] = 0.0f;
}
void copy_m2_m2(float m1[2][2], const float m2[2][2])
{
memcpy(m1, m2, sizeof(float[2][2]));
}
void copy_m3_m3(float m1[3][3], const float m2[3][3])
{
/* destination comes first: */
memcpy(m1, m2, sizeof(float[3][3]));
}
void copy_m4_m4(float m1[4][4], const float m2[4][4])
{
memcpy(m1, m2, sizeof(float[4][4]));
}
void copy_m3_m4(float m1[3][3], const float m2[4][4])
{
m1[0][0] = m2[0][0];
m1[0][1] = m2[0][1];
m1[0][2] = m2[0][2];
m1[1][0] = m2[1][0];
m1[1][1] = m2[1][1];
m1[1][2] = m2[1][2];
m1[2][0] = m2[2][0];
m1[2][1] = m2[2][1];
m1[2][2] = m2[2][2];
}
void copy_m4_m3(float m1[4][4], const float m2[3][3]) /* no clear */
{
m1[0][0] = m2[0][0];
m1[0][1] = m2[0][1];
m1[0][2] = m2[0][2];
m1[1][0] = m2[1][0];
m1[1][1] = m2[1][1];
m1[1][2] = m2[1][2];
m1[2][0] = m2[2][0];
m1[2][1] = m2[2][1];
m1[2][2] = m2[2][2];
/* Reevan's Bugfix */
m1[0][3] = 0.0f;
m1[1][3] = 0.0f;
m1[2][3] = 0.0f;
m1[3][0] = 0.0f;
m1[3][1] = 0.0f;
m1[3][2] = 0.0f;
m1[3][3] = 1.0f;
}
void copy_m3_m3d(float R[3][3], const double A[3][3])
{
/* Keep it stupid simple for better data flow in CPU. */
R[0][0] = (float)A[0][0];
R[0][1] = (float)A[0][1];
R[0][2] = (float)A[0][2];
R[1][0] = (float)A[1][0];
R[1][1] = (float)A[1][1];
R[1][2] = (float)A[1][2];
R[2][0] = (float)A[2][0];
R[2][1] = (float)A[2][1];
R[2][2] = (float)A[2][2];
}
void swap_m3m3(float m1[3][3], float m2[3][3])
{
float t;
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
t = m1[i][j];
m1[i][j] = m2[i][j];
m2[i][j] = t;
}
}
}
void swap_m4m4(float m1[4][4], float m2[4][4])
{
float t;
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
t = m1[i][j];
m1[i][j] = m2[i][j];
m2[i][j] = t;
}
}
}
/******************************** Arithmetic *********************************/
void mul_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4])
{
if (A == R) {
mul_m4_m4_post(R, B);
}
else if (B == R) {
mul_m4_m4_pre(R, A);
}
else {
mul_m4_m4m4_uniq(R, A, B);
}
}
void mul_m4_m4m4_uniq(float R[4][4], const float A[4][4], const float B[4][4])
{
BLI_assert(R != A && R != B);
/* matrix product: R[j][k] = A[j][i] . B[i][k] */
#ifdef __SSE2__
__m128 A0 = _mm_loadu_ps(A[0]);
__m128 A1 = _mm_loadu_ps(A[1]);
__m128 A2 = _mm_loadu_ps(A[2]);
__m128 A3 = _mm_loadu_ps(A[3]);
for (int i = 0; i < 4; i++) {
__m128 B0 = _mm_set1_ps(B[i][0]);
__m128 B1 = _mm_set1_ps(B[i][1]);
__m128 B2 = _mm_set1_ps(B[i][2]);
__m128 B3 = _mm_set1_ps(B[i][3]);
__m128 sum = _mm_add_ps(_mm_add_ps(_mm_mul_ps(B0, A0), _mm_mul_ps(B1, A1)),
_mm_add_ps(_mm_mul_ps(B2, A2), _mm_mul_ps(B3, A3)));
_mm_storeu_ps(R[i], sum);
}
#else
R[0][0] = B[0][0] * A[0][0] + B[0][1] * A[1][0] + B[0][2] * A[2][0] + B[0][3] * A[3][0];
R[0][1] = B[0][0] * A[0][1] + B[0][1] * A[1][1] + B[0][2] * A[2][1] + B[0][3] * A[3][1];
R[0][2] = B[0][0] * A[0][2] + B[0][1] * A[1][2] + B[0][2] * A[2][2] + B[0][3] * A[3][2];
R[0][3] = B[0][0] * A[0][3] + B[0][1] * A[1][3] + B[0][2] * A[2][3] + B[0][3] * A[3][3];
R[1][0] = B[1][0] * A[0][0] + B[1][1] * A[1][0] + B[1][2] * A[2][0] + B[1][3] * A[3][0];
R[1][1] = B[1][0] * A[0][1] + B[1][1] * A[1][1] + B[1][2] * A[2][1] + B[1][3] * A[3][1];
R[1][2] = B[1][0] * A[0][2] + B[1][1] * A[1][2] + B[1][2] * A[2][2] + B[1][3] * A[3][2];
R[1][3] = B[1][0] * A[0][3] + B[1][1] * A[1][3] + B[1][2] * A[2][3] + B[1][3] * A[3][3];
R[2][0] = B[2][0] * A[0][0] + B[2][1] * A[1][0] + B[2][2] * A[2][0] + B[2][3] * A[3][0];
R[2][1] = B[2][0] * A[0][1] + B[2][1] * A[1][1] + B[2][2] * A[2][1] + B[2][3] * A[3][1];
R[2][2] = B[2][0] * A[0][2] + B[2][1] * A[1][2] + B[2][2] * A[2][2] + B[2][3] * A[3][2];
R[2][3] = B[2][0] * A[0][3] + B[2][1] * A[1][3] + B[2][2] * A[2][3] + B[2][3] * A[3][3];
R[3][0] = B[3][0] * A[0][0] + B[3][1] * A[1][0] + B[3][2] * A[2][0] + B[3][3] * A[3][0];
R[3][1] = B[3][0] * A[0][1] + B[3][1] * A[1][1] + B[3][2] * A[2][1] + B[3][3] * A[3][1];
R[3][2] = B[3][0] * A[0][2] + B[3][1] * A[1][2] + B[3][2] * A[2][2] + B[3][3] * A[3][2];
R[3][3] = B[3][0] * A[0][3] + B[3][1] * A[1][3] + B[3][2] * A[2][3] + B[3][3] * A[3][3];
#endif
}
void mul_m4_m4_pre(float R[4][4], const float A[4][4])
{
BLI_assert(A != R);
float B[4][4];
copy_m4_m4(B, R);
mul_m4_m4m4_uniq(R, A, B);
}
void mul_m4_m4_post(float R[4][4], const float B[4][4])
{
BLI_assert(B != R);
float A[4][4];
copy_m4_m4(A, R);
mul_m4_m4m4_uniq(R, A, B);
}
void mul_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3])
{
if (A == R) {
mul_m3_m3_post(R, B);
}
else if (B == R) {
mul_m3_m3_pre(R, A);
}
else {
mul_m3_m3m3_uniq(R, A, B);
}
}
void mul_m3_m3_pre(float R[3][3], const float A[3][3])
{
BLI_assert(A != R);
float B[3][3];
copy_m3_m3(B, R);
mul_m3_m3m3_uniq(R, A, B);
}
void mul_m3_m3_post(float R[3][3], const float B[3][3])
{
BLI_assert(B != R);
float A[3][3];
copy_m3_m3(A, R);
mul_m3_m3m3_uniq(R, A, B);
}
void mul_m3_m3m3_uniq(float R[3][3], const float A[3][3], const float B[3][3])
{
BLI_assert(R != A && R != B);
R[0][0] = B[0][0] * A[0][0] + B[0][1] * A[1][0] + B[0][2] * A[2][0];
R[0][1] = B[0][0] * A[0][1] + B[0][1] * A[1][1] + B[0][2] * A[2][1];
R[0][2] = B[0][0] * A[0][2] + B[0][1] * A[1][2] + B[0][2] * A[2][2];
R[1][0] = B[1][0] * A[0][0] + B[1][1] * A[1][0] + B[1][2] * A[2][0];
R[1][1] = B[1][0] * A[0][1] + B[1][1] * A[1][1] + B[1][2] * A[2][1];
R[1][2] = B[1][0] * A[0][2] + B[1][1] * A[1][2] + B[1][2] * A[2][2];
R[2][0] = B[2][0] * A[0][0] + B[2][1] * A[1][0] + B[2][2] * A[2][0];
R[2][1] = B[2][0] * A[0][1] + B[2][1] * A[1][1] + B[2][2] * A[2][1];
R[2][2] = B[2][0] * A[0][2] + B[2][1] * A[1][2] + B[2][2] * A[2][2];
}
void mul_m4_m4m3(float m1[4][4], const float m3_[4][4], const float m2_[3][3])
{
float m2[3][3], m3[4][4];
/* copy so it works when m1 is the same pointer as m2 or m3 */
/* TODO: avoid copying when matrices are different */
copy_m3_m3(m2, m2_);
copy_m4_m4(m3, m3_);
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][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] * m3[2][2];
m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] * m3[2][0];
m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] * m3[2][1];
m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] * m3[2][2];
m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] * m3[2][0];
m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] * m3[2][1];
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 m2 */
void mul_m3_m3m4(float m1[3][3], const float m3_[3][3], const float m2_[4][4])
{
float m2[4][4], m3[3][3];
/* copy so it works when m1 is the same pointer as m2 or m3 */
/* TODO: avoid copying when matrices are different */
copy_m4_m4(m2, m2_);
copy_m3_m3(m3, m3_);
/* 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][1] = m2[0][0] * m3[0][1] + m2[0][1] * m3[1][1] + m2[0][2] * m3[2][1];
m1[0][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] * m3[2][2];
m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] * m3[2][0];
m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] * m3[2][1];
m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] * m3[2][2];
m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] * m3[2][0];
m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] * m3[2][1];
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 */
void mul_m3_m4m3(float m1[3][3], const float m3_[4][4], const float m2_[3][3])
{
float m2[3][3], m3[4][4];
/* copy so it works when m1 is the same pointer as m2 or m3 */
/* TODO: avoid copying when matrices are different */
copy_m3_m3(m2, m2_);
copy_m4_m4(m3, m3_);
/* 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][1] = m2[0][0] * m3[0][1] + m2[0][1] * m3[1][1] + m2[0][2] * m3[2][1];
m1[0][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] * m3[2][2];
m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] * m3[2][0];
m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] * m3[2][1];
m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] * m3[2][2];
m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] * m3[2][0];
m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] * m3[2][1];
m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] * m3[2][2];
}
void mul_m4_m3m4(float m1[4][4], const float m3_[3][3], const float m2_[4][4])
{
float m2[4][4], m3[3][3];
/* copy so it works when m1 is the same pointer as m2 or m3 */
/* TODO: avoid copying when matrices are different */
copy_m4_m4(m2, m2_);
copy_m3_m3(m3, m3_);
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][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] * m3[2][2];
m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] * m3[2][0];
m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] * m3[2][1];
m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] * m3[2][2];
m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] * m3[2][0];
m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] * m3[2][1];
m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] * m3[2][2];
}
void mul_m3_m4m4(float m1[3][3], const float m3[4][4], const float m2[4][4])
{
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][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] * m3[2][2];
m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] * m3[2][0];
m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] * m3[2][1];
m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] * m3[2][2];
m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] * m3[2][0];
m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] * m3[2][1];
m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] * m3[2][2];
}
/** \name Macro helpers for: mul_m3_series
* \{ */
void _va_mul_m3_series_3(float r[3][3], const float m1[3][3], const float m2[3][3])
{
mul_m3_m3m3(r, m1, m2);
}
void _va_mul_m3_series_4(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
}
void _va_mul_m3_series_5(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3],
const float m4[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
mul_m3_m3m3(r, r, m4);
}
void _va_mul_m3_series_6(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3],
const float m4[3][3],
const float m5[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
mul_m3_m3m3(r, r, m4);
mul_m3_m3m3(r, r, m5);
}
void _va_mul_m3_series_7(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3],
const float m4[3][3],
const float m5[3][3],
const float m6[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
mul_m3_m3m3(r, r, m4);
mul_m3_m3m3(r, r, m5);
mul_m3_m3m3(r, r, m6);
}
void _va_mul_m3_series_8(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3],
const float m4[3][3],
const float m5[3][3],
const float m6[3][3],
const float m7[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
mul_m3_m3m3(r, r, m4);
mul_m3_m3m3(r, r, m5);
mul_m3_m3m3(r, r, m6);
mul_m3_m3m3(r, r, m7);
}
void _va_mul_m3_series_9(float r[3][3],
const float m1[3][3],
const float m2[3][3],
const float m3[3][3],
const float m4[3][3],
const float m5[3][3],
const float m6[3][3],
const float m7[3][3],
const float m8[3][3])
{
mul_m3_m3m3(r, m1, m2);
mul_m3_m3m3(r, r, m3);
mul_m3_m3m3(r, r, m4);
mul_m3_m3m3(r, r, m5);
mul_m3_m3m3(r, r, m6);
mul_m3_m3m3(r, r, m7);
mul_m3_m3m3(r, r, m8);
}
/** \} */
/** \name Macro helpers for: mul_m4_series
* \{ */
void _va_mul_m4_series_3(float r[4][4], const float m1[4][4], const float m2[4][4])
{
mul_m4_m4m4(r, m1, m2);
}
void _va_mul_m4_series_4(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
}
void _va_mul_m4_series_5(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4],
const float m4[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
mul_m4_m4m4(r, r, m4);
}
void _va_mul_m4_series_6(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4],
const float m4[4][4],
const float m5[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
mul_m4_m4m4(r, r, m4);
mul_m4_m4m4(r, r, m5);
}
void _va_mul_m4_series_7(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4],
const float m4[4][4],
const float m5[4][4],
const float m6[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
mul_m4_m4m4(r, r, m4);
mul_m4_m4m4(r, r, m5);
mul_m4_m4m4(r, r, m6);
}
void _va_mul_m4_series_8(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4],
const float m4[4][4],
const float m5[4][4],
const float m6[4][4],
const float m7[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
mul_m4_m4m4(r, r, m4);
mul_m4_m4m4(r, r, m5);
mul_m4_m4m4(r, r, m6);
mul_m4_m4m4(r, r, m7);
}
void _va_mul_m4_series_9(float r[4][4],
const float m1[4][4],
const float m2[4][4],
const float m3[4][4],
const float m4[4][4],
const float m5[4][4],
const float m6[4][4],
const float m7[4][4],
const float m8[4][4])
{
mul_m4_m4m4(r, m1, m2);
mul_m4_m4m4(r, r, m3);
mul_m4_m4m4(r, r, m4);
mul_m4_m4m4(r, r, m5);
mul_m4_m4m4(r, r, m6);
mul_m4_m4m4(r, r, m7);
mul_m4_m4m4(r, r, m8);
}
/** \} */
void mul_v2_m3v2(float r[2], const float m[3][3], const float v[2])
{
float temp[3], warped[3];
copy_v2_v2(temp, v);
temp[2] = 1.0f;
mul_v3_m3v3(warped, m, temp);
r[0] = warped[0] / warped[2];
r[1] = warped[1] / warped[2];
}
void mul_m3_v2(const float m[3][3], float r[2])
{
mul_v2_m3v2(r, m, r);
}
void mul_m4_v3(const float mat[4][4], float vec[3])
{
const float x = vec[0];
const float y = vec[1];
vec[0] = x * mat[0][0] + y * mat[1][0] + mat[2][0] * vec[2] + mat[3][0];
vec[1] = x * mat[0][1] + y * mat[1][1] + mat[2][1] * vec[2] + mat[3][1];
vec[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2] + mat[3][2];
}
void mul_v3_m4v3(float r[3], const float mat[4][4], const float vec[3])
{
const float x = vec[0];
const float y = vec[1];
r[0] = x * mat[0][0] + y * mat[1][0] + mat[2][0] * vec[2] + mat[3][0];
r[1] = x * mat[0][1] + y * mat[1][1] + mat[2][1] * vec[2] + mat[3][1];
r[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2] + mat[3][2];
}
void mul_v2_m4v3(float r[2], const float mat[4][4], const float vec[3])
{
const float x = vec[0];
r[0] = x * mat[0][0] + vec[1] * mat[1][0] + mat[2][0] * vec[2] + mat[3][0];
r[1] = x * mat[0][1] + vec[1] * mat[1][1] + mat[2][1] * vec[2] + mat[3][1];
}
void mul_v2_m2v2(float r[2], const float mat[2][2], const float vec[2])
{
const float x = vec[0];
r[0] = mat[0][0] * x + mat[1][0] * vec[1];
r[1] = mat[0][1] * x + mat[1][1] * vec[1];
}
void mul_m2v2(const float mat[2][2], float vec[2])
{
mul_v2_m2v2(vec, mat, vec);
}
/** Same as #mul_m4_v3() but doesn't apply translation component. */
void mul_mat3_m4_v3(const float mat[4][4], float vec[3])
{
const float x = vec[0];
const float y = vec[1];
vec[0] = x * mat[0][0] + y * mat[1][0] + mat[2][0] * vec[2];
vec[1] = x * mat[0][1] + y * mat[1][1] + mat[2][1] * vec[2];
vec[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2];
}
void mul_v3_mat3_m4v3(float r[3], const float mat[4][4], const float vec[3])
{
const float x = vec[0];
const float y = vec[1];
r[0] = x * mat[0][0] + y * mat[1][0] + mat[2][0] * vec[2];
r[1] = x * mat[0][1] + y * mat[1][1] + mat[2][1] * vec[2];
r[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2];
}
void mul_project_m4_v3(const float mat[4][4], float vec[3])
{
/* absolute value to not flip the frustum upside down behind the camera */
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
mul_m4_v3(mat, vec);
vec[0] /= w;
vec[1] /= w;
vec[2] /= w;
}
void mul_v3_project_m4_v3(float r[3], const float mat[4][4], const float vec[3])
{
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
mul_v3_m4v3(r, mat, vec);
r[0] /= w;
r[1] /= w;
r[2] /= w;
}
void mul_v2_project_m4_v3(float r[2], const float mat[4][4], const float vec[3])
{
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
mul_v2_m4v3(r, mat, vec);
r[0] /= w;
r[1] /= w;
}
void mul_v4_m4v4(float r[4], const float mat[4][4], const float v[4])
{
const float x = v[0];
const float y = v[1];
const float z = v[2];
r[0] = x * mat[0][0] + y * mat[1][0] + z * mat[2][0] + mat[3][0] * v[3];
r[1] = x * mat[0][1] + y * mat[1][1] + z * mat[2][1] + mat[3][1] * v[3];
r[2] = x * mat[0][2] + y * mat[1][2] + z * mat[2][2] + mat[3][2] * v[3];
r[3] = x * mat[0][3] + y * mat[1][3] + z * mat[2][3] + mat[3][3] * v[3];
}
void mul_m4_v4(const float mat[4][4], float r[4])
{
mul_v4_m4v4(r, mat, r);
}
void mul_v4d_m4v4d(double r[4], const float mat[4][4], const double v[4])
{
const double x = v[0];
const double y = v[1];
const double z = v[2];
r[0] = x * (double)mat[0][0] + y * (double)mat[1][0] + z * (double)mat[2][0] +
(double)mat[3][0] * v[3];
r[1] = x * (double)mat[0][1] + y * (double)mat[1][1] + z * (double)mat[2][1] +
(double)mat[3][1] * v[3];
r[2] = x * (double)mat[0][2] + y * (double)mat[1][2] + z * (double)mat[2][2] +
(double)mat[3][2] * v[3];
r[3] = x * (double)mat[0][3] + y * (double)mat[1][3] + z * (double)mat[2][3] +
(double)mat[3][3] * v[3];
}
void mul_m4_v4d(const float mat[4][4], double r[4])
{
mul_v4d_m4v4d(r, mat, r);
}
void mul_v4_m4v3(float r[4], const float M[4][4], const float v[3])
{
/* v has implicit w = 1.0f */
r[0] = v[0] * M[0][0] + v[1] * M[1][0] + M[2][0] * v[2] + M[3][0];
r[1] = v[0] * M[0][1] + v[1] * M[1][1] + M[2][1] * v[2] + M[3][1];
r[2] = v[0] * M[0][2] + v[1] * M[1][2] + M[2][2] * v[2] + M[3][2];
r[3] = v[0] * M[0][3] + v[1] * M[1][3] + M[2][3] * v[2] + M[3][3];
}
void mul_v3_m3v3(float r[3], const float M[3][3], const float a[3])
{
float t[3];
copy_v3_v3(t, a);
r[0] = M[0][0] * t[0] + M[1][0] * t[1] + M[2][0] * t[2];
r[1] = M[0][1] * t[0] + M[1][1] * t[1] + M[2][1] * t[2];
r[2] = M[0][2] * t[0] + M[1][2] * t[1] + M[2][2] * t[2];
}
void mul_v3_m3v3_db(double r[3], const double M[3][3], const double a[3])
{
double t[3];
copy_v3_v3_db(t, a);
r[0] = M[0][0] * t[0] + M[1][0] * t[1] + M[2][0] * t[2];
r[1] = M[0][1] * t[0] + M[1][1] * t[1] + M[2][1] * t[2];
r[2] = M[0][2] * t[0] + M[1][2] * t[1] + M[2][2] * t[2];
}
void mul_v2_m3v3(float r[2], const float M[3][3], const float a[3])
{
float t[3];
copy_v3_v3(t, a);
r[0] = M[0][0] * t[0] + M[1][0] * t[1] + M[2][0] * t[2];
r[1] = M[0][1] * t[0] + M[1][1] * t[1] + M[2][1] * t[2];
}
void mul_m3_v3(const float M[3][3], float r[3])
{
mul_v3_m3v3(r, M, (const float[3]){UNPACK3(r)});
}
void mul_m3_v3_db(const double M[3][3], double r[3])
{
mul_v3_m3v3_db(r, M, (const double[3]){UNPACK3(r)});
}
void mul_transposed_m3_v3(const float mat[3][3], float vec[3])
{
const float x = vec[0];
const float y = vec[1];
vec[0] = x * mat[0][0] + y * mat[0][1] + mat[0][2] * vec[2];
vec[1] = x * mat[1][0] + y * mat[1][1] + mat[1][2] * vec[2];
vec[2] = x * mat[2][0] + y * mat[2][1] + mat[2][2] * vec[2];
}
void mul_transposed_mat3_m4_v3(const float mat[4][4], float vec[3])
{
const float x = vec[0];
const float y = vec[1];
vec[0] = x * mat[0][0] + y * mat[0][1] + mat[0][2] * vec[2];
vec[1] = x * mat[1][0] + y * mat[1][1] + mat[1][2] * vec[2];
vec[2] = x * mat[2][0] + y * mat[2][1] + mat[2][2] * vec[2];
}
void mul_m3_fl(float m[3][3], float f)
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m[i][j] *= f;
}
}
}
void mul_m4_fl(float m[4][4], float f)
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
m[i][j] *= f;
}
}
}
void mul_mat3_m4_fl(float m[4][4], float f)
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m[i][j] *= f;
}
}
}
void negate_m3(float m[3][3])
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m[i][j] *= -1.0f;
}
}
}
void negate_mat3_m4(float m[4][4])
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m[i][j] *= -1.0f;
}
}
}
void negate_m4(float m[4][4])
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
m[i][j] *= -1.0f;
}
}
}
void mul_m3_v3_double(const float mat[3][3], double vec[3])
{
const double x = vec[0];
const double y = vec[1];
vec[0] = x * (double)mat[0][0] + y * (double)mat[1][0] + (double)mat[2][0] * vec[2];
vec[1] = x * (double)mat[0][1] + y * (double)mat[1][1] + (double)mat[2][1] * vec[2];
vec[2] = x * (double)mat[0][2] + y * (double)mat[1][2] + (double)mat[2][2] * vec[2];
}
void add_m3_m3m3(float m1[3][3], const float m2[3][3], const float m3[3][3])
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m1[i][j] = m2[i][j] + m3[i][j];
}
}
}
void add_m4_m4m4(float m1[4][4], const float m2[4][4], const float m3[4][4])
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
m1[i][j] = m2[i][j] + m3[i][j];
}
}
}
void madd_m3_m3m3fl(float m1[3][3], const float m2[3][3], const float m3[3][3], const float f)
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m1[i][j] = m2[i][j] + m3[i][j] * f;
}
}
}
void madd_m4_m4m4fl(float m1[4][4], const float m2[4][4], const float m3[4][4], const float f)
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
m1[i][j] = m2[i][j] + m3[i][j] * f;
}
}
}
void sub_m3_m3m3(float m1[3][3], const float m2[3][3], const float m3[3][3])
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
m1[i][j] = m2[i][j] - m3[i][j];
}
}
}
void sub_m4_m4m4(float m1[4][4], const float m2[4][4], const float m3[4][4])
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
m1[i][j] = m2[i][j] - m3[i][j];
}
}
}
float determinant_m3_array(const float m[3][3])
{
return (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][1] * m[1][2] - m[0][2] * m[1][1]));
}
float determinant_m4_mat3_array(const float m[4][4])
{
return (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][1] * m[1][2] - m[0][2] * m[1][1]));
}
bool invert_m3_ex(float m[3][3], const float epsilon)
{
float tmp[3][3];
const bool success = invert_m3_m3_ex(tmp, m, epsilon);
copy_m3_m3(m, tmp);
return success;
}
bool invert_m3_m3_ex(float m1[3][3], const float m2[3][3], const float epsilon)
{
float det;
int a, b;
bool success;
BLI_assert(epsilon >= 0.0f);
/* calc adjoint */
adjoint_m3_m3(m1, m2);
/* then determinant old matrix! */
det = determinant_m3_array(m2);
success = (fabsf(det) > epsilon);
if (LIKELY(det != 0.0f)) {
det = 1.0f / det;
for (a = 0; a < 3; a++) {
for (b = 0; b < 3; b++) {
m1[a][b] *= det;
}
}
}
return success;
}
bool invert_m3(float m[3][3])
{
float tmp[3][3];
const bool success = invert_m3_m3(tmp, m);
copy_m3_m3(m, tmp);
return success;
}
bool invert_m3_m3(float m1[3][3], const float m2[3][3])
{
float det;
int a, b;
bool success;
/* calc adjoint */
adjoint_m3_m3(m1, m2);
/* then determinant old matrix! */
det = determinant_m3_array(m2);
success = (det != 0.0f);
if (LIKELY(det != 0.0f)) {
det = 1.0f / det;
for (a = 0; a < 3; a++) {
for (b = 0; b < 3; b++) {
m1[a][b] *= det;
}
}
}
return success;
}
bool invert_m4(float m[4][4])
{
float tmp[4][4];
const bool success = invert_m4_m4(tmp, m);
copy_m4_m4(m, tmp);
return success;
}
/**
* Computes the inverse of mat and puts it in inverse.
* Uses Gaussian Elimination with partial (maximal column) pivoting.
* \return true on success (i.e. can always find a pivot) and false on failure.
* Mark Segal - 1992.
*
* \note this is less performant than #EIG_invert_m4_m4 (Eigen), but e.g.
* for non-invertible scale matrices, findinging a partial solution can
* be useful to have a valid local transform center, see T57767.
*/
bool invert_m4_m4_fallback(float inverse[4][4], const float mat[4][4])
{
if (EIG_invert_m4_m4(inverse, mat)) {
return true;
}
int i, j, k;
double temp;
float tempmat[4][4];
float max;
int maxj;
BLI_assert(inverse != mat);
/* Set inverse to identity */
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
inverse[i][j] = 0;
}
}
for (i = 0; i < 4; i++) {
inverse[i][i] = 1;
}
/* Copy original matrix so we don't mess it up */
for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
tempmat[i][j] = mat[i][j];
}
}
for (i = 0; i < 4; i++) {
/* Look for row with max pivot */
max = fabsf(tempmat[i][i]);
maxj = i;
for (j = i + 1; j < 4; j++) {
if (fabsf(tempmat[j][i]) > max) {
max = fabsf(tempmat[j][i]);
maxj = j;
}
}
/* Swap rows if necessary */
if (maxj != i) {
for (k = 0; k < 4; k++) {
SWAP(float, tempmat[i][k], tempmat[maxj][k]);
SWAP(float, inverse[i][k], inverse[maxj][k]);
}
}
if (UNLIKELY(tempmat[i][i] == 0.0f)) {
return false; /* No non-zero pivot */
}
temp = (double)tempmat[i][i];
for (k = 0; k < 4; k++) {
tempmat[i][k] = (float)((double)tempmat[i][k] / temp);
inverse[i][k] = (float)((double)inverse[i][k] / temp);
}
for (j = 0; j < 4; j++) {
if (j != i) {
temp = tempmat[j][i];
for (k = 0; k < 4; k++) {
tempmat[j][k] -= (float)((double)tempmat[i][k] * temp);
inverse[j][k] -= (float)((double)inverse[i][k] * temp);
}
}
}
}
return true;
}
bool invert_m4_m4(float inverse[4][4], const float mat[4][4])
{
/* Use optimized matrix inverse from Eigen, since performance
* impact of this function is significant in complex rigs. */
return EIG_invert_m4_m4(inverse, mat);
}
/****************************** Linear Algebra *******************************/
void transpose_m3(float mat[3][3])
{
float t;
t = mat[0][1];
mat[0][1] = mat[1][0];
mat[1][0] = t;
t = mat[0][2];
mat[0][2] = mat[2][0];
mat[2][0] = t;
t = mat[1][2];
mat[1][2] = mat[2][1];
mat[2][1] = t;
}
void transpose_m3_m3(float rmat[3][3], const float mat[3][3])
{
BLI_assert(rmat != mat);
rmat[0][0] = mat[0][0];
rmat[0][1] = mat[1][0];
rmat[0][2] = mat[2][0];
rmat[1][0] = mat[0][1];
rmat[1][1] = mat[1][1];
rmat[1][2] = mat[2][1];
rmat[2][0] = mat[0][2];
rmat[2][1] = mat[1][2];
rmat[2][2] = mat[2][2];
}
/* seems obscure but in-fact a common operation */
void transpose_m3_m4(float rmat[3][3], const float mat[4][4])
{
BLI_assert(&rmat[0][0] != &mat[0][0]);
rmat[0][0] = mat[0][0];
rmat[0][1] = mat[1][0];
rmat[0][2] = mat[2][0];
rmat[1][0] = mat[0][1];
rmat[1][1] = mat[1][1];
rmat[1][2] = mat[2][1];
rmat[2][0] = mat[0][2];
rmat[2][1] = mat[1][2];
rmat[2][2] = mat[2][2];
}
void transpose_m4(float mat[4][4])
{
float t;
t = mat[0][1];
mat[0][1] = mat[1][0];
mat[1][0] = t;
t = mat[0][2];
mat[0][2] = mat[2][0];
mat[2][0] = t;
t = mat[0][3];
mat[0][3] = mat[3][0];
mat[3][0] = t;
t = mat[1][2];
mat[1][2] = mat[2][1];
mat[2][1] = t;
t = mat[1][3];
mat[1][3] = mat[3][1];
mat[3][1] = t;
t = mat[2][3];
mat[2][3] = mat[3][2];
mat[3][2] = t;
}
void transpose_m4_m4(float rmat[4][4], const float mat[4][4])
{
BLI_assert(rmat != mat);
rmat[0][0] = mat[0][0];
rmat[0][1] = mat[1][0];
rmat[0][2] = mat[2][0];
rmat[0][3] = mat[3][0];
rmat[1][0] = mat[0][1];
rmat[1][1] = mat[1][1];
rmat[1][2] = mat[2][1];
rmat[1][3] = mat[3][1];
rmat[2][0] = mat[0][2];
rmat[2][1] = mat[1][2];
rmat[2][2] = mat[2][2];
rmat[2][3] = mat[3][2];
rmat[3][0] = mat[0][3];
rmat[3][1] = mat[1][3];
rmat[3][2] = mat[2][3];
rmat[3][3] = mat[3][3];
}
/* TODO: return bool */
int compare_m4m4(const float mat1[4][4], const float mat2[4][4], float limit)
{
if (compare_v4v4(mat1[0], mat2[0], limit)) {
if (compare_v4v4(mat1[1], mat2[1], limit)) {
if (compare_v4v4(mat1[2], mat2[2], limit)) {
if (compare_v4v4(mat1[3], mat2[3], limit)) {
return 1;
}
}
}
}
return 0;
}
/**
* Make an orthonormal matrix around the selected axis of the given matrix.
*
* \param axis: Axis to build the orthonormal basis around.
*/
void orthogonalize_m3(float mat[3][3], int axis)
{
float size[3];
mat3_to_size(size, mat);
normalize_v3(mat[axis]);
switch (axis) {
case 0:
if (dot_v3v3(mat[0], mat[1]) < 1) {
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
else {
float vec[3];
vec[0] = mat[0][1];
vec[1] = mat[0][2];
vec[2] = mat[0][0];
cross_v3_v3v3(mat[2], mat[0], vec);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
break;
case 1:
if (dot_v3v3(mat[1], mat[0]) < 1) {
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
}
else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
else {
float vec[3];
vec[0] = mat[1][1];
vec[1] = mat[1][2];
vec[2] = mat[1][0];
cross_v3_v3v3(mat[0], mat[1], vec);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
break;
case 2:
if (dot_v3v3(mat[2], mat[0]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
}
else if (dot_v3v3(mat[2], mat[1]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
else {
float vec[3];
vec[0] = mat[2][1];
vec[1] = mat[2][2];
vec[2] = mat[2][0];
cross_v3_v3v3(mat[0], vec, mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
break;
default:
BLI_assert(0);
break;
}
mul_v3_fl(mat[0], size[0]);
mul_v3_fl(mat[1], size[1]);
mul_v3_fl(mat[2], size[2]);
}
/**
* Make an orthonormal matrix around the selected axis of the given matrix.
*
* \param axis: Axis to build the orthonormal basis around.
*/
void orthogonalize_m4(float mat[4][4], int axis)
{
float size[3];
mat4_to_size(size, mat);
normalize_v3(mat[axis]);
switch (axis) {
case 0:
if (dot_v3v3(mat[0], mat[1]) < 1) {
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
else {
float vec[3];
vec[0] = mat[0][1];
vec[1] = mat[0][2];
vec[2] = mat[0][0];
cross_v3_v3v3(mat[2], mat[0], vec);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
break;
case 1:
if (dot_v3v3(mat[1], mat[0]) < 1) {
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
}
else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
else {
float vec[3];
vec[0] = mat[1][1];
vec[1] = mat[1][2];
vec[2] = mat[1][0];
cross_v3_v3v3(mat[0], mat[1], vec);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
}
break;
case 2:
if (dot_v3v3(mat[2], mat[0]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
}
else if (dot_v3v3(mat[2], mat[1]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
else {
float vec[3];
vec[0] = mat[2][1];
vec[1] = mat[2][2];
vec[2] = mat[2][0];
cross_v3_v3v3(mat[0], vec, mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
}
break;
default:
BLI_assert(0);
break;
}
mul_v3_fl(mat[0], size[0]);
mul_v3_fl(mat[1], size[1]);
mul_v3_fl(mat[2], size[2]);
}
bool is_orthogonal_m3(const float m[3][3])
{
int i, j;
for (i = 0; i < 3; i++) {
for (j = 0; j < i; j++) {
if (fabsf(dot_v3v3(m[i], m[j])) > 1e-5f) {
return false;
}
}
}
return true;
}
bool is_orthogonal_m4(const float m[4][4])
{
int i, j;
for (i = 0; i < 4; i++) {
for (j = 0; j < i; j++) {
if (fabsf(dot_v4v4(m[i], m[j])) > 1e-5f) {
return false;
}
}
}
return true;
}
bool is_orthonormal_m3(const float m[3][3])
{
if (is_orthogonal_m3(m)) {
int i;
for (i = 0; i < 3; i++) {
if (fabsf(dot_v3v3(m[i], m[i]) - 1) > 1e-5f) {
return false;
}
}
return true;
}
return false;
}
bool is_orthonormal_m4(const float m[4][4])
{
if (is_orthogonal_m4(m)) {
int i;
for (i = 0; i < 4; i++) {
if (fabsf(dot_v4v4(m[i], m[i]) - 1) > 1e-5f) {
return false;
}
}
return true;
}
return false;
}
bool is_uniform_scaled_m3(const float m[3][3])
{
const float eps = 1e-7f;
float t[3][3];
float l1, l2, l3, l4, l5, l6;
transpose_m3_m3(t, m);
l1 = len_squared_v3(m[0]);
l2 = len_squared_v3(m[1]);
l3 = len_squared_v3(m[2]);
l4 = len_squared_v3(t[0]);
l5 = len_squared_v3(t[1]);
l6 = len_squared_v3(t[2]);
if (fabsf(l2 - l1) <= eps && fabsf(l3 - l1) <= eps && fabsf(l4 - l1) <= eps &&
fabsf(l5 - l1) <= eps && fabsf(l6 - l1) <= eps) {
return true;
}
return false;
}
bool is_uniform_scaled_m4(const float m[4][4])
{
float t[3][3];
copy_m3_m4(t, m);
return is_uniform_scaled_m3(t);
}
void normalize_m3_ex(float mat[3][3], float r_scale[3])
{
int i;
for (i = 0; i < 3; i++) {
r_scale[i] = normalize_v3(mat[i]);
}
}
void normalize_m3(float mat[3][3])
{
int i;
for (i = 0; i < 3; i++) {
normalize_v3(mat[i]);
}
}
void normalize_m3_m3_ex(float rmat[3][3], const float mat[3][3], float r_scale[3])
{
int i;
for (i = 0; i < 3; i++) {
r_scale[i] = normalize_v3_v3(rmat[i], mat[i]);
}
}
void normalize_m3_m3(float rmat[3][3], const float mat[3][3])
{
int i;
for (i = 0; i < 3; i++) {
normalize_v3_v3(rmat[i], mat[i]);
}
}
void normalize_m4_ex(float mat[4][4], float r_scale[3])
{
int i;
for (i = 0; i < 3; i++) {
r_scale[i] = normalize_v3(mat[i]);
if (r_scale[i] != 0.0f) {
mat[i][3] /= r_scale[i];
}
}
}
void normalize_m4(float mat[4][4])
{
int i;
for (i = 0; i < 3; i++) {
float len = normalize_v3(mat[i]);
if (len != 0.0f) {
mat[i][3] /= len;
}
}
}
void normalize_m4_m4_ex(float rmat[4][4], const float mat[4][4], float r_scale[3])
{
int i;
for (i = 0; i < 3; i++) {
r_scale[i] = normalize_v3_v3(rmat[i], mat[i]);
rmat[i][3] = (r_scale[i] != 0.0f) ? (mat[i][3] / r_scale[i]) : mat[i][3];
}
copy_v4_v4(rmat[3], mat[3]);
}
void normalize_m4_m4(float rmat[4][4], const float mat[4][4])
{
int i;
for (i = 0; i < 3; i++) {
float len = normalize_v3_v3(rmat[i], mat[i]);
rmat[i][3] = (len != 0.0f) ? (mat[i][3] / len) : mat[i][3];
}
copy_v4_v4(rmat[3], mat[3]);
}
void adjoint_m2_m2(float m1[2][2], const float m[2][2])
{
BLI_assert(m1 != m);
m1[0][0] = m[1][1];
m1[0][1] = -m[0][1];
m1[1][0] = -m[1][0];
m1[1][1] = m[0][0];
}
void adjoint_m3_m3(float m1[3][3], const float m[3][3])
{
BLI_assert(m1 != m);
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][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1];
m1[1][0] = -m[1][0] * m[2][2] + m[1][2] * m[2][0];
m1[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];
m1[1][2] = -m[0][0] * m[1][2] + m[0][2] * m[1][0];
m1[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0];
m1[2][1] = -m[0][0] * m[2][1] + m[0][1] * m[2][0];
m1[2][2] = m[0][0] * m[1][1] - m[0][1] * m[1][0];
}
void adjoint_m4_m4(float out[4][4], const float in[4][4]) /* out = ADJ(in) */
{
float a1, a2, a3, a4, b1, b2, b3, b4;
float c1, c2, c3, c4, d1, d2, d3, d4;
a1 = in[0][0];
b1 = in[0][1];
c1 = in[0][2];
d1 = in[0][3];
a2 = in[1][0];
b2 = in[1][1];
c2 = in[1][2];
d2 = in[1][3];
a3 = in[2][0];
b3 = in[2][1];
c3 = in[2][2];
d3 = in[2][3];
a4 = in[3][0];
b4 = in[3][1];
c4 = in[3][2];
d4 = in[3][3];
out[0][0] = determinant_m3(b2, b3, b4, c2, c3, c4, d2, d3, d4);
out[1][0] = -determinant_m3(a2, a3, a4, c2, c3, c4, d2, d3, d4);
out[2][0] = determinant_m3(a2, a3, a4, b2, b3, b4, d2, d3, d4);
out[3][0] = -determinant_m3(a2, a3, a4, b2, b3, b4, c2, c3, c4);
out[0][1] = -determinant_m3(b1, b3, b4, c1, c3, c4, d1, d3, d4);
out[1][1] = determinant_m3(a1, a3, a4, c1, c3, c4, d1, d3, d4);
out[2][1] = -determinant_m3(a1, a3, a4, b1, b3, b4, d1, d3, d4);
out[3][1] = determinant_m3(a1, a3, a4, b1, b3, b4, c1, c3, c4);
out[0][2] = determinant_m3(b1, b2, b4, c1, c2, c4, d1, d2, d4);
out[1][2] = -determinant_m3(a1, a2, a4, c1, c2, c4, d1, d2, d4);
out[2][2] = determinant_m3(a1, a2, a4, b1, b2, b4, d1, d2, d4);
out[3][2] = -determinant_m3(a1, a2, a4, b1, b2, b4, c1, c2, c4);
out[0][3] = -determinant_m3(b1, b2, b3, c1, c2, c3, d1, d2, d3);
out[1][3] = determinant_m3(a1, a2, a3, c1, c2, c3, d1, d2, d3);
out[2][3] = -determinant_m3(a1, a2, a3, b1, b2, b3, d1, d2, d3);
out[3][3] = determinant_m3(a1, a2, a3, b1, b2, b3, c1, c2, c3);
}
float determinant_m2(float a, float b, float c, float d)
{
return a * d - b * c;
}
float determinant_m3(
float a1, float a2, float a3, float b1, float b2, float b3, float c1, float c2, float c3)
{
float ans;
ans = (a1 * determinant_m2(b2, b3, c2, c3) - b1 * determinant_m2(a2, a3, c2, c3) +
c1 * determinant_m2(a2, a3, b2, b3));
return ans;
}
float determinant_m4(const float m[4][4])
{
float ans;
float a1, a2, a3, a4, b1, b2, b3, b4, c1, c2, c3, c4, d1, d2, d3, d4;
a1 = m[0][0];
b1 = m[0][1];
c1 = m[0][2];
d1 = m[0][3];
a2 = m[1][0];
b2 = m[1][1];
c2 = m[1][2];
d2 = m[1][3];
a3 = m[2][0];
b3 = m[2][1];
c3 = m[2][2];
d3 = m[2][3];
a4 = m[3][0];
b4 = m[3][1];
c4 = m[3][2];
d4 = m[3][3];
ans = (a1 * determinant_m3(b2, b3, b4, c2, c3, c4, d2, d3, d4) -
b1 * determinant_m3(a2, a3, a4, c2, c3, c4, d2, d3, d4) +
c1 * determinant_m3(a2, a3, a4, b2, b3, b4, d2, d3, d4) -
d1 * determinant_m3(a2, a3, a4, b2, b3, b4, c2, c3, c4));
return ans;
}
/****************************** Transformations ******************************/
void size_to_mat3(float mat[3][3], const float size[3])
{
mat[0][0] = size[0];
mat[0][1] = 0.0f;
mat[0][2] = 0.0f;
mat[1][1] = size[1];
mat[1][0] = 0.0f;
mat[1][2] = 0.0f;
mat[2][2] = size[2];
mat[2][1] = 0.0f;
mat[2][0] = 0.0f;
}
void size_to_mat4(float mat[4][4], const float size[3])
{
mat[0][0] = size[0];
mat[0][1] = 0.0f;
mat[0][2] = 0.0f;
mat[0][3] = 0.0f;
mat[1][0] = 0.0f;
mat[1][1] = size[1];
mat[1][2] = 0.0f;
mat[1][3] = 0.0f;
mat[2][0] = 0.0f;
mat[2][1] = 0.0f;
mat[2][2] = size[2];
mat[2][3] = 0.0f;
mat[3][0] = 0.0f;
mat[3][1] = 0.0f;
mat[3][2] = 0.0f;
mat[3][3] = 1.0f;
}
void mat3_to_size(float size[3], const float mat[3][3])
{
size[0] = len_v3(mat[0]);
size[1] = len_v3(mat[1]);
size[2] = len_v3(mat[2]);
}
void mat4_to_size(float size[3], const float mat[4][4])
{
size[0] = len_v3(mat[0]);
size[1] = len_v3(mat[1]);
size[2] = len_v3(mat[2]);
}
/**
* This computes the overall volume scale factor of a transformation matrix.
* For an orthogonal matrix, it is the product of all three scale values.
* Returns a negative value if the transform is flipped by negative scale.
*/
float mat3_to_volume_scale(const float mat[3][3])
{
return determinant_m3_array(mat);
}
float mat4_to_volume_scale(const float mat[4][4])
{
return determinant_m4_mat3_array(mat);
}
/**
* This gets the average scale of a matrix, only use when your scaling
* data that has no idea of scale axis, examples are bone-envelope-radius
* and curve radius.
*/
float mat3_to_scale(const float mat[3][3])
{
/* unit length vector */
float unit_vec[3];
copy_v3_fl(unit_vec, (float)M_SQRT1_3);
mul_m3_v3(mat, unit_vec);
return len_v3(unit_vec);
}
float mat4_to_scale(const float mat[4][4])
{
/* unit length vector */
float unit_vec[3];
copy_v3_fl(unit_vec, (float)M_SQRT1_3);
mul_mat3_m4_v3(mat, unit_vec);
return len_v3(unit_vec);
}
/** Return 2D scale (in XY plane) of given mat4. */
float mat4_to_xy_scale(const float M[4][4])
{
/* unit length vector in xy plane */
float unit_vec[3] = {(float)M_SQRT1_2, (float)M_SQRT1_2, 0.0f};
mul_mat3_m4_v3(M, unit_vec);
return len_v3(unit_vec);
}
void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3])
{
/* keep rot as a 3x3 matrix, the caller can convert into a quat or euler */
size[0] = normalize_v3_v3(rot[0], mat3[0]);
size[1] = normalize_v3_v3(rot[1], mat3[1]);
size[2] = normalize_v3_v3(rot[2], mat3[2]);
if (UNLIKELY(is_negative_m3(rot))) {
negate_m3(rot);
negate_v3(size);
}
}
void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], const float wmat[4][4])
{
float mat3[3][3]; /* wmat -> 3x3 */
copy_m3_m4(mat3, wmat);
mat3_to_rot_size(rot, size, mat3);
/* location */
copy_v3_v3(loc, wmat[3]);
}
void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4])
{
float mat3[3][3];
float mat3_n[3][3]; /* normalized mat3 */
copy_m3_m4(mat3, wmat);
normalize_m3_m3(mat3_n, mat3);
/* so scale doesn't interfere with rotation [#24291] */
/* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */
if (is_negative_m3(mat3)) {
negate_m3(mat3_n);
}
mat3_normalized_to_quat(quat, mat3_n);
copy_v3_v3(loc, wmat[3]);
}
void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4])
{
float rot[3][3];
mat4_to_loc_rot_size(loc, rot, size, wmat);
mat3_normalized_to_quat(quat, rot);
}
/**
* Right polar decomposition:
* M = UP
*
* U is the 'rotation'-like component, the closest orthogonal matrix to M.
* P is the 'scaling'-like component, defined in U space.
*
* See https://en.wikipedia.org/wiki/Polar_decomposition for more.
*/
#ifndef MATH_STANDALONE
void mat3_polar_decompose(const float mat3[3][3], float r_U[3][3], float r_P[3][3])
{
/* From svd decomposition (M = WSV*), we have:
* U = WV*
* P = VSV*
*/
float W[3][3], S[3][3], V[3][3], Vt[3][3];
float sval[3];
BLI_svd_m3(mat3, W, sval, V);
size_to_mat3(S, sval);
transpose_m3_m3(Vt, V);
mul_m3_m3m3(r_U, W, Vt);
mul_m3_series(r_P, V, S, Vt);
}
#endif
void scale_m3_fl(float m[3][3], float scale)
{
m[0][0] = m[1][1] = m[2][2] = scale;
m[0][1] = m[0][2] = 0.0;
m[1][0] = m[1][2] = 0.0;
m[2][0] = m[2][1] = 0.0;
}
void scale_m4_fl(float m[4][4], float scale)
{
m[0][0] = m[1][1] = m[2][2] = scale;
m[3][3] = 1.0;
m[0][1] = m[0][2] = m[0][3] = 0.0;
m[1][0] = m[1][2] = m[1][3] = 0.0;
m[2][0] = m[2][1] = m[2][3] = 0.0;
m[3][0] = m[3][1] = m[3][2] = 0.0;
}
void translate_m4(float mat[4][4], float Tx, float Ty, float Tz)
{
mat[3][0] += (Tx * mat[0][0] + Ty * mat[1][0] + Tz * mat[2][0]);
mat[3][1] += (Tx * mat[0][1] + Ty * mat[1][1] + Tz * mat[2][1]);
mat[3][2] += (Tx * mat[0][2] + Ty * mat[1][2] + Tz * mat[2][2]);
}
/* TODO: enum for axis? */
/**
* Rotate a matrix in-place.
*
* \note To create a new rotation matrix see:
* #axis_angle_to_mat4_single, #axis_angle_to_mat3_single, #angle_to_mat2
* (axis & angle args are compatible).
*/
void rotate_m4(float mat[4][4], const char axis, const float angle)
{
const float angle_cos = cosf(angle);
const float angle_sin = sinf(angle);
assert(axis >= 'X' && axis <= 'Z');
switch (axis) {
case 'X':
for (int col = 0; col < 4; col++) {
float temp = angle_cos * mat[1][col] + angle_sin * mat[2][col];
mat[2][col] = -angle_sin * mat[1][col] + angle_cos * mat[2][col];
mat[1][col] = temp;
}
break;
case 'Y':
for (int col = 0; col < 4; col++) {
float temp = angle_cos * mat[0][col] - angle_sin * mat[2][col];
mat[2][col] = angle_sin * mat[0][col] + angle_cos * mat[2][col];
mat[0][col] = temp;
}
break;
case 'Z':
for (int col = 0; col < 4; col++) {
float temp = angle_cos * mat[0][col] + angle_sin * mat[1][col];
mat[1][col] = -angle_sin * mat[0][col] + angle_cos * mat[1][col];
mat[0][col] = temp;
}
break;
default:
BLI_assert(0);
break;
}
}
/**
* Scale or rotate around a pivot point,
* a convenience function to avoid having to do inline.
*
* Since its common to make a scale/rotation matrix that pivots around an arbitrary point.
*
* Typical use case is to make 3x3 matrix, copy to 4x4, then pass to this function.
*/
void transform_pivot_set_m4(float mat[4][4], const float pivot[3])
{
float tmat[4][4];
unit_m4(tmat);
copy_v3_v3(tmat[3], pivot);
mul_m4_m4m4(mat, tmat, mat);
/* invert the matrix */
negate_v3(tmat[3]);
mul_m4_m4m4(mat, mat, tmat);
}
void blend_m3_m3m3(float out[3][3],
const float dst[3][3],
const float src[3][3],
const float srcweight)
{
float srot[3][3], drot[3][3];
float squat[4], dquat[4], fquat[4];
float sscale[3], dscale[3], fsize[3];
float rmat[3][3], smat[3][3];
mat3_to_rot_size(drot, dscale, dst);
mat3_to_rot_size(srot, sscale, src);
mat3_normalized_to_quat(dquat, drot);
mat3_normalized_to_quat(squat, srot);
/* do blending */
interp_qt_qtqt(fquat, dquat, squat, srcweight);
interp_v3_v3v3(fsize, dscale, sscale, srcweight);
/* compose new matrix */
quat_to_mat3(rmat, fquat);
size_to_mat3(smat, fsize);
mul_m3_m3m3(out, rmat, smat);
}
void blend_m4_m4m4(float out[4][4],
const float dst[4][4],
const float src[4][4],
const float srcweight)
{
float sloc[3], dloc[3], floc[3];
float srot[3][3], drot[3][3];
float squat[4], dquat[4], fquat[4];
float sscale[3], dscale[3], fsize[3];
mat4_to_loc_rot_size(dloc, drot, dscale, dst);
mat4_to_loc_rot_size(sloc, srot, sscale, src);
mat3_normalized_to_quat(dquat, drot);
mat3_normalized_to_quat(squat, srot);
/* do blending */
interp_v3_v3v3(floc, dloc, sloc, srcweight);
interp_qt_qtqt(fquat, dquat, squat, srcweight);
interp_v3_v3v3(fsize, dscale, sscale, srcweight);
/* compose new matrix */
loc_quat_size_to_mat4(out, floc, fquat, fsize);
}
/* for builds without Eigen */
#ifndef MATH_STANDALONE
/**
* A polar-decomposition-based interpolation between matrix A and matrix B.
*
* \note This code is about five times slower as the 'naive' interpolation done by #blend_m3_m3m3
* (it typically remains below 2 usec on an average i74700,
* while #blend_m3_m3m3 remains below 0.4 usec).
* However, it gives expected results even with non-uniformly scaled matrices,
* see T46418 for an example.
*
* Based on "Matrix Animation and Polar Decomposition", by Ken Shoemake & Tom Duff
*
* \param R: Resulting interpolated matrix.
* \param A: Input matrix which is totally effective with `t = 0.0`.
* \param B: Input matrix which is totally effective with `t = 1.0`.
* \param t: Interpolation factor.
*/
void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t)
{
/* 'Rotation' component ('U' part of polar decomposition,
* the closest orthogonal matrix to M3 rot/scale
* transformation matrix), spherically interpolated. */
float U_A[3][3], U_B[3][3], U[3][3];
float quat_A[4], quat_B[4], quat[4];
/* 'Scaling' component ('P' part of polar decomposition, i.e. scaling in U-defined space),
* linearly interpolated. */
float P_A[3][3], P_B[3][3], P[3][3];
int i;
mat3_polar_decompose(A, U_A, P_A);
mat3_polar_decompose(B, U_B, P_B);
mat3_to_quat(quat_A, U_A);
mat3_to_quat(quat_B, U_B);
interp_qt_qtqt(quat, quat_A, quat_B, t);
quat_to_mat3(U, quat);
for (i = 0; i < 3; i++) {
interp_v3_v3v3(P[i], P_A[i], P_B[i], t);
}
/* And we reconstruct rot/scale matrix from interpolated polar components */
mul_m3_m3m3(R, U, P);
}
/**
* Complete transform matrix interpolation,
* based on polar-decomposition-based interpolation from #interp_m3_m3m3.
*
* \param R: Resulting interpolated matrix.
* \param A: Input matrix which is totally effective with `t = 0.0`.
* \param B: Input matrix which is totally effective with `t = 1.0`.
* \param t: Interpolation factor.
*/
void interp_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t)
{
float A3[3][3], B3[3][3], R3[3][3];
/* Location component, linearly interpolated. */
float loc_A[3], loc_B[3], loc[3];
copy_v3_v3(loc_A, A[3]);
copy_v3_v3(loc_B, B[3]);
interp_v3_v3v3(loc, loc_A, loc_B, t);
copy_m3_m4(A3, A);
copy_m3_m4(B3, B);
interp_m3_m3m3(R3, A3, B3, t);
copy_m4_m3(R, R3);
copy_v3_v3(R[3], loc);
}
#endif /* MATH_STANDALONE */
bool is_negative_m3(const float mat[3][3])
{
float vec[3];
cross_v3_v3v3(vec, mat[0], mat[1]);
return (dot_v3v3(vec, mat[2]) < 0.0f);
}
bool is_negative_m4(const float mat[4][4])
{
float vec[3];
cross_v3_v3v3(vec, mat[0], mat[1]);
return (dot_v3v3(vec, mat[2]) < 0.0f);
}
bool is_zero_m3(const float mat[3][3])
{
return (is_zero_v3(mat[0]) && is_zero_v3(mat[1]) && is_zero_v3(mat[2]));
}
bool is_zero_m4(const float mat[4][4])
{
return (is_zero_v4(mat[0]) && is_zero_v4(mat[1]) && is_zero_v4(mat[2]) && is_zero_v4(mat[3]));
}
bool equals_m3m3(const float mat1[3][3], const float mat2[3][3])
{
return (equals_v3v3(mat1[0], mat2[0]) && equals_v3v3(mat1[1], mat2[1]) &&
equals_v3v3(mat1[2], mat2[2]));
}
bool equals_m4m4(const float mat1[4][4], const float mat2[4][4])
{
return (equals_v4v4(mat1[0], mat2[0]) && equals_v4v4(mat1[1], mat2[1]) &&
equals_v4v4(mat1[2], mat2[2]) && equals_v4v4(mat1[3], mat2[3]));
}
/**
* Make a 4x4 matrix out of 3 transform components.
* Matrices are made in the order: `scale * rot * loc`
*
* TODO: need to have a version that allows for rotation order...
*/
void loc_eul_size_to_mat4(float mat[4][4],
const float loc[3],
const float eul[3],
const float size[3])
{
float rmat[3][3], smat[3][3], tmat[3][3];
/* initialize new matrix */
unit_m4(mat);
/* make rotation + scaling part */
eul_to_mat3(rmat, eul);
size_to_mat3(smat, size);
mul_m3_m3m3(tmat, rmat, smat);
/* copy rot/scale part to output matrix*/
copy_m4_m3(mat, tmat);
/* copy location to matrix */
mat[3][0] = loc[0];
mat[3][1] = loc[1];
mat[3][2] = loc[2];
}
/**
* Make a 4x4 matrix out of 3 transform components.
* Matrices are made in the order: `scale * rot * loc`
*/
void loc_eulO_size_to_mat4(float mat[4][4],
const float loc[3],
const float eul[3],
const float size[3],
const short rotOrder)
{
float rmat[3][3], smat[3][3], tmat[3][3];
/* initialize new matrix */
unit_m4(mat);
/* make rotation + scaling part */
eulO_to_mat3(rmat, eul, rotOrder);
size_to_mat3(smat, size);
mul_m3_m3m3(tmat, rmat, smat);
/* copy rot/scale part to output matrix*/
copy_m4_m3(mat, tmat);
/* copy location to matrix */
mat[3][0] = loc[0];
mat[3][1] = loc[1];
mat[3][2] = loc[2];
}
/**
* Make a 4x4 matrix out of 3 transform components.
* Matrices are made in the order: `scale * rot * loc`
*/
void loc_quat_size_to_mat4(float mat[4][4],
const float loc[3],
const float quat[4],
const float size[3])
{
float rmat[3][3], smat[3][3], tmat[3][3];
/* initialize new matrix */
unit_m4(mat);
/* make rotation + scaling part */
quat_to_mat3(rmat, quat);
size_to_mat3(smat, size);
mul_m3_m3m3(tmat, rmat, smat);
/* copy rot/scale part to output matrix*/
copy_m4_m3(mat, tmat);
/* copy location to matrix */
mat[3][0] = loc[0];
mat[3][1] = loc[1];
mat[3][2] = loc[2];
}
void loc_axisangle_size_to_mat4(float mat[4][4],
const float loc[3],
const float axis[3],
const float angle,
const float size[3])
{
float q[4];
axis_angle_to_quat(q, axis, angle);
loc_quat_size_to_mat4(mat, loc, q, size);
}
/*********************************** Other ***********************************/
void print_m3(const char *str, const float m[3][3])
{
printf("%s\n", str);
printf("%f %f %f\n", m[0][0], m[1][0], m[2][0]);
printf("%f %f %f\n", m[0][1], m[1][1], m[2][1]);
printf("%f %f %f\n", m[0][2], m[1][2], m[2][2]);
printf("\n");
}
void print_m4(const char *str, const float m[4][4])
{
printf("%s\n", str);
printf("%f %f %f %f\n", m[0][0], m[1][0], m[2][0], m[3][0]);
printf("%f %f %f %f\n", m[0][1], m[1][1], m[2][1], m[3][1]);
printf("%f %f %f %f\n", m[0][2], m[1][2], m[2][2], m[3][2]);
printf("%f %f %f %f\n", m[0][3], m[1][3], m[2][3], m[3][3]);
printf("\n");
}
/*********************************** SVD ************************************
* from TNT matrix library
*
* Compute the Single Value Decomposition of an arbitrary matrix A
* That is compute the 3 matrices U,W,V with U column orthogonal (m,n)
* ,W a diagonal matrix and V an orthogonal square matrix s.t.
* A = U.W.Vt. From this decomposition it is trivial to compute the
* (pseudo-inverse) of A as Ainv = V.Winv.tranpose(U).
*/
void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
{
float A[4][4];
float work1[4], work2[4];
int m = 4;
int n = 4;
int maxiter = 200;
int nu = min_ii(m, n);
float *work = work1;
float *e = work2;
float eps;
int i = 0, j = 0, k = 0, p, pp, iter;
/* Reduce A to bidiagonal form, storing the diagonal elements
* in s and the super-diagonal elements in e. */
int nct = min_ii(m - 1, n);
int nrt = max_ii(0, min_ii(n - 2, m));
copy_m4_m4(A, A_);
zero_m4(U);
zero_v4(s);
for (k = 0; k < max_ii(nct, nrt); k++) {
if (k < nct) {
/* Compute the transformation for the k-th column and
* place the k-th diagonal in s[k].
* Compute 2-norm of k-th column without under/overflow. */
s[k] = 0;
for (i = k; i < m; i++) {
s[k] = hypotf(s[k], A[i][k]);
}
if (s[k] != 0.0f) {
float invsk;
if (A[k][k] < 0.0f) {
s[k] = -s[k];
}
invsk = 1.0f / s[k];
for (i = k; i < m; i++) {
A[i][k] *= invsk;
}
A[k][k] += 1.0f;
}
s[k] = -s[k];
}
for (j = k + 1; j < n; j++) {
if ((k < nct) && (s[k] != 0.0f)) {
/* Apply the transformation. */
float t = 0;
for (i = k; i < m; i++) {
t += A[i][k] * A[i][j];
}
t = -t / A[k][k];
for (i = k; i < m; i++) {
A[i][j] += t * A[i][k];
}
}
/* Place the k-th row of A into e for the */
/* subsequent calculation of the row transformation. */
e[j] = A[k][j];
}
if (k < nct) {
/* Place the transformation in U for subsequent back
* multiplication. */
for (i = k; i < m; i++) {
U[i][k] = A[i][k];
}
}
if (k < nrt) {
/* Compute the k-th row transformation and place the
* k-th super-diagonal in e[k].
* Compute 2-norm without under/overflow. */
e[k] = 0;
for (i = k + 1; i < n; i++) {
e[k] = hypotf(e[k], e[i]);
}
if (e[k] != 0.0f) {
float invek;
if (e[k + 1] < 0.0f) {
e[k] = -e[k];
}
invek = 1.0f / e[k];
for (i = k + 1; i < n; i++) {
e[i] *= invek;
}
e[k + 1] += 1.0f;
}
e[k] = -e[k];
if ((k + 1 < m) & (e[k] != 0.0f)) {
float invek1;
/* Apply the transformation. */
for (i = k + 1; i < m; i++) {
work[i] = 0.0f;
}
for (j = k + 1; j < n; j++) {
for (i = k + 1; i < m; i++) {
work[i] += e[j] * A[i][j];
}
}
invek1 = 1.0f / e[k + 1];
for (j = k + 1; j < n; j++) {
float t = -e[j] * invek1;
for (i = k + 1; i < m; i++) {
A[i][j] += t * work[i];
}
}
}
/* Place the transformation in V for subsequent
* back multiplication. */
for (i = k + 1; i < n; i++) {
V[i][k] = e[i];
}
}
}
/* Set up the final bidiagonal matrix or order p. */
p = min_ii(n, m + 1);
if (nct < n) {
s[nct] = A[nct][nct];
}
if (m < p) {
s[p - 1] = 0.0f;
}
if (nrt + 1 < p) {
e[nrt] = A[nrt][p - 1];
}
e[p - 1] = 0.0f;
/* If required, generate U. */
for (j = nct; j < nu; j++) {
for (i = 0; i < m; i++) {
U[i][j] = 0.0f;
}
U[j][j] = 1.0f;
}
for (k = nct - 1; k >= 0; k--) {
if (s[k] != 0.0f) {
for (j = k + 1; j < nu; j++) {
float t = 0;
for (i = k; i < m; i++) {
t += U[i][k] * U[i][j];
}
t = -t / U[k][k];
for (i = k; i < m; i++) {
U[i][j] += t * U[i][k];
}
}
for (i = k; i < m; i++) {
U[i][k] = -U[i][k];
}
U[k][k] = 1.0f + U[k][k];
for (i = 0; i < k - 1; i++) {
U[i][k] = 0.0f;
}
}
else {
for (i = 0; i < m; i++) {
U[i][k] = 0.0f;
}
U[k][k] = 1.0f;
}
}
/* If required, generate V. */
for (k = n - 1; k >= 0; k--) {
if ((k < nrt) & (e[k] != 0.0f)) {
for (j = k + 1; j < nu; j++) {
float t = 0;
for (i = k + 1; i < n; i++) {
t += V[i][k] * V[i][j];
}
t = -t / V[k + 1][k];
for (i = k + 1; i < n; i++) {
V[i][j] += t * V[i][k];
}
}
}
for (i = 0; i < n; i++) {
V[i][k] = 0.0f;
}
V[k][k] = 1.0f;
}
/* Main iteration loop for the singular values. */
pp = p - 1;
iter = 0;
eps = powf(2.0f, -52.0f);
while (p > 0) {
int kase = 0;
/* Test for maximum iterations to avoid infinite loop */
if (maxiter == 0) {
break;
}
maxiter--;
/* This section of the program inspects for
* negligible elements in the s and e arrays. On
* completion the variables kase and k are set as follows.
*
* kase = 1: if s(p) and e[k - 1] are negligible and k<p
* kase = 2: if s(k) is negligible and k<p
* kase = 3: if e[k - 1] is negligible, k<p, and
* s(k), ..., s(p) are not negligible (qr step).
* kase = 4: if e(p - 1) is negligible (convergence). */
for (k = p - 2; k >= -1; k--) {
if (k == -1) {
break;
}
if (fabsf(e[k]) <= eps * (fabsf(s[k]) + fabsf(s[k + 1]))) {
e[k] = 0.0f;
break;
}
}
if (k == p - 2) {
kase = 4;
}
else {
int ks;
for (ks = p - 1; ks >= k; ks--) {
float t;
if (ks == k) {
break;
}
t = (ks != p ? fabsf(e[ks]) : 0.f) + (ks != k + 1 ? fabsf(e[ks - 1]) : 0.0f);
if (fabsf(s[ks]) <= eps * t) {
s[ks] = 0.0f;
break;
}
}
if (ks == k) {
kase = 3;
}
else if (ks == p - 1) {
kase = 1;
}
else {
kase = 2;
k = ks;
}
}
k++;
/* Perform the task indicated by kase. */
switch (kase) {
/* Deflate negligible s(p). */
case 1: {
float f = e[p - 2];
e[p - 2] = 0.0f;
for (j = p - 2; j >= k; j--) {
float t = hypotf(s[j], f);
float invt = 1.0f / t;
float cs = s[j] * invt;
float sn = f * invt;
s[j] = t;
if (j != k) {
f = -sn * e[j - 1];
e[j - 1] = cs * e[j - 1];
}
for (i = 0; i < n; i++) {
t = cs * V[i][j] + sn * V[i][p - 1];
V[i][p - 1] = -sn * V[i][j] + cs * V[i][p - 1];
V[i][j] = t;
}
}
break;
}
/* Split at negligible s(k). */
case 2: {
float f = e[k - 1];
e[k - 1] = 0.0f;
for (j = k; j < p; j++) {
float t = hypotf(s[j], f);
float invt = 1.0f / t;
float cs = s[j] * invt;
float sn = f * invt;
s[j] = t;
f = -sn * e[j];
e[j] = cs * e[j];
for (i = 0; i < m; i++) {
t = cs * U[i][j] + sn * U[i][k - 1];
U[i][k - 1] = -sn * U[i][j] + cs * U[i][k - 1];
U[i][j] = t;
}
}
break;
}
/* Perform one qr step. */
case 3: {
/* Calculate the shift. */
float scale = max_ff(
max_ff(max_ff(max_ff(fabsf(s[p - 1]), fabsf(s[p - 2])), fabsf(e[p - 2])), fabsf(s[k])),
fabsf(e[k]));
float invscale = 1.0f / scale;
float sp = s[p - 1] * invscale;
float spm1 = s[p - 2] * invscale;
float epm1 = e[p - 2] * invscale;
float sk = s[k] * invscale;
float ek = e[k] * invscale;
float b = ((spm1 + sp) * (spm1 - sp) + epm1 * epm1) * 0.5f;
float c = (sp * epm1) * (sp * epm1);
float shift = 0.0f;
float f, g;
if ((b != 0.0f) || (c != 0.0f)) {
shift = sqrtf(b * b + c);
if (b < 0.0f) {
shift = -shift;
}
shift = c / (b + shift);
}
f = (sk + sp) * (sk - sp) + shift;
g = sk * ek;
/* Chase zeros. */
for (j = k; j < p - 1; j++) {
float t = hypotf(f, g);
/* division by zero checks added to avoid NaN (brecht) */
float cs = (t == 0.0f) ? 0.0f : f / t;
float sn = (t == 0.0f) ? 0.0f : g / t;
if (j != k) {
e[j - 1] = t;
}
f = cs * s[j] + sn * e[j];
e[j] = cs * e[j] - sn * s[j];
g = sn * s[j + 1];
s[j + 1] = cs * s[j + 1];
for (i = 0; i < n; i++) {
t = cs * V[i][j] + sn * V[i][j + 1];
V[i][j + 1] = -sn * V[i][j] + cs * V[i][j + 1];
V[i][j] = t;
}
t = hypotf(f, g);
/* division by zero checks added to avoid NaN (brecht) */
cs = (t == 0.0f) ? 0.0f : f / t;
sn = (t == 0.0f) ? 0.0f : g / t;
s[j] = t;
f = cs * e[j] + sn * s[j + 1];
s[j + 1] = -sn * e[j] + cs * s[j + 1];
g = sn * e[j + 1];
e[j + 1] = cs * e[j + 1];
if (j < m - 1) {
for (i = 0; i < m; i++) {
t = cs * U[i][j] + sn * U[i][j + 1];
U[i][j + 1] = -sn * U[i][j] + cs * U[i][j + 1];
U[i][j] = t;
}
}
}
e[p - 2] = f;
iter = iter + 1;
break;
}
/* Convergence. */
case 4: {
/* Make the singular values positive. */
if (s[k] <= 0.0f) {
s[k] = (s[k] < 0.0f ? -s[k] : 0.0f);
for (i = 0; i <= pp; i++) {
V[i][k] = -V[i][k];
}
}
/* Order the singular values. */
while (k < pp) {
float t;
if (s[k] >= s[k + 1]) {
break;
}
t = s[k];
s[k] = s[k + 1];
s[k + 1] = t;
if (k < n - 1) {
for (i = 0; i < n; i++) {
t = V[i][k + 1];
V[i][k + 1] = V[i][k];
V[i][k] = t;
}
}
if (k < m - 1) {
for (i = 0; i < m; i++) {
t = U[i][k + 1];
U[i][k + 1] = U[i][k];
U[i][k] = t;
}
}
k++;
}
iter = 0;
p--;
break;
}
}
}
}
void pseudoinverse_m4_m4(float Ainv[4][4], const float A_[4][4], float epsilon)
{
/* compute Moore-Penrose pseudo inverse of matrix, singular values
* below epsilon are ignored for stability (truncated SVD) */
float A[4][4], V[4][4], W[4], Wm[4][4], U[4][4];
int i;
transpose_m4_m4(A, A_);
svd_m4(V, W, U, A);
transpose_m4(U);
transpose_m4(V);
zero_m4(Wm);
for (i = 0; i < 4; i++) {
Wm[i][i] = (W[i] < epsilon) ? 0.0f : 1.0f / W[i];
}
transpose_m4(V);
mul_m4_series(Ainv, U, Wm, V);
}
void pseudoinverse_m3_m3(float Ainv[3][3], const float A[3][3], float epsilon)
{
/* try regular inverse when possible, otherwise fall back to slow svd */
if (!invert_m3_m3(Ainv, A)) {
float tmp[4][4], tmpinv[4][4];
copy_m4_m3(tmp, A);
pseudoinverse_m4_m4(tmpinv, tmp, epsilon);
copy_m3_m4(Ainv, tmpinv);
}
}
bool has_zero_axis_m4(const float matrix[4][4])
{
return len_squared_v3(matrix[0]) < FLT_EPSILON || len_squared_v3(matrix[1]) < FLT_EPSILON ||
len_squared_v3(matrix[2]) < FLT_EPSILON;
}
void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4])
{
if (!invert_m4_m4(Ainv, A)) {
float Atemp[4][4];
copy_m4_m4(Atemp, A);
/* Matrix is degenerate (e.g. 0 scale on some axis), ideally we should
* never be in this situation, but try to invert it anyway with tweak.
*/
Atemp[0][0] += 1e-8f;
Atemp[1][1] += 1e-8f;
Atemp[2][2] += 1e-8f;
if (!invert_m4_m4(Ainv, Atemp)) {
unit_m4(Ainv);
}
}
}
/**
* #SpaceTransform struct encapsulates all needed data to convert between two coordinate spaces
* (where conversion can be represented by a matrix multiplication).
*
* A SpaceTransform is initialized using:
* - #BLI_SPACE_TRANSFORM_SETUP(&data, ob1, ob2)
*
* After that the following calls can be used:
* - Converts a coordinate in ob1 space to the corresponding ob2 space:
* #BLI_space_transform_apply(&data, co);
* - Converts a coordinate in ob2 space to the corresponding ob1 space:
* #BLI_space_transform_invert(&data, co);
*
* Same concept as #BLI_space_transform_apply and #BLI_space_transform_invert,
* but no is normalized after conversion (and not translated at all!):
* - #BLI_space_transform_apply_normal(&data, no);
* - #BLI_space_transform_invert_normal(&data, no);
*/
/**
* Global-invariant transform.
*
* This defines a matrix transforming a point in local space to a point in target space
* such that its global coordinates remain unchanged.
*
* In other words, if we have a global point P with local coordinates (x, y, z)
* and global coordinates (X, Y, Z),
* this defines a transform matrix TM such that (x', y', z') = TM * (x, y, z)
* where (x', y', z') are the coordinates of P' in target space
* such that it keeps (X, Y, Z) coordinates in global space.
*/
void BLI_space_transform_from_matrices(SpaceTransform *data,
const float local[4][4],
const float target[4][4])
{
float itarget[4][4];
invert_m4_m4(itarget, target);
mul_m4_m4m4(data->local2target, itarget, local);
invert_m4_m4(data->target2local, data->local2target);
}
/**
* Local-invariant transform.
*
* This defines a matrix transforming a point in global space
* such that its local coordinates (from local space to target space) remain unchanged.
*
* In other words, if we have a local point p with local coordinates (x, y, z)
* and global coordinates (X, Y, Z),
* this defines a transform matrix TM such that (X', Y', Z') = TM * (X, Y, Z)
* where (X', Y', Z') are the coordinates of p' in global space
* such that it keeps (x, y, z) coordinates in target space.
*/
void BLI_space_transform_global_from_matrices(SpaceTransform *data,
const float local[4][4],
const float target[4][4])
{
float ilocal[4][4];
invert_m4_m4(ilocal, local);
mul_m4_m4m4(data->local2target, target, ilocal);
invert_m4_m4(data->target2local, data->local2target);
}
void BLI_space_transform_apply(const SpaceTransform *data, float co[3])
{
mul_v3_m4v3(co, ((SpaceTransform *)data)->local2target, co);
}
void BLI_space_transform_invert(const SpaceTransform *data, float co[3])
{
mul_v3_m4v3(co, ((SpaceTransform *)data)->target2local, co);
}
void BLI_space_transform_apply_normal(const SpaceTransform *data, float no[3])
{
mul_mat3_m4_v3(((SpaceTransform *)data)->local2target, no);
normalize_v3(no);
}
void BLI_space_transform_invert_normal(const SpaceTransform *data, float no[3])
{
mul_mat3_m4_v3(((SpaceTransform *)data)->target2local, no);
normalize_v3(no);
}
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