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/* $Id$ */
/*
libg3d - 3D object loading library
Copyright (C) 2005-2009 Markus Dahms <mad@automagically.de>
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include <string.h>
#include <math.h>
#include <glib.h>
#include <g3d/vector.h>
EAPI
gboolean g3d_matrix_identity(G3DMatrix *matrix)
{
static G3DMatrix identity[16] = {
1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0 };
memcpy(matrix, identity, sizeof(G3DMatrix) * 16);
return TRUE;
}
EAPI
gboolean g3d_matrix_multiply(G3DMatrix *m1, G3DMatrix *m2, G3DMatrix *rm)
{
guint32 i, j;
G3DMatrix matrix[16];
for(i = 0; i < 4; i ++)
for(j = 0; j < 4; j ++)
#if 0
matrix[i * 4 + j] =
m2[0 * 4 + j] * m1[i * 4 + 0] +
m2[1 * 4 + j] * m1[i * 4 + 1] +
m2[2 * 4 + j] * m1[i * 4 + 2] +
m2[3 * 4 + j] * m1[i * 4 + 3];
#else
matrix[j * 4 + i] =
m2[j * 4 + 0] * m1[0 * 4 + i] +
m2[j * 4 + 1] * m1[1 * 4 + i] +
m2[j * 4 + 2] * m1[2 * 4 + i] +
m2[j * 4 + 3] * m1[3 * 4 + i];
#endif
memcpy(rm, matrix, 16 * sizeof(G3DMatrix));
return TRUE;
}
EAPI
gboolean g3d_matrix_rotate(G3DFloat angle, G3DVector ax, G3DVector ay,
G3DVector az, G3DMatrix *rm)
{
g3d_vector_unify(&ax, &ay, &az);
g3d_matrix_identity(rm);
#if 0
rm[0 * 4 + 0] = cos(angle) + (ax * ax) * (1 - cos(angle));
rm[0 * 4 + 1] = ax * ay * (1 - cos(angle)) - az * sin(angle);
rm[0 * 4 + 2] = ax * az * (1 - cos(angle)) + ay * sin(angle);
rm[1 * 4 + 0] = ay * ax * (1 - cos(angle)) + az * sin(angle);
rm[1 * 4 + 1] = cos(angle) + (ay * ay) * (1 - cos(angle));
rm[1 * 4 + 2] = ay * az * (1 - cos(angle)) - ax * sin(angle);
rm[2 * 4 + 0] = az * ax * (1 - cos(angle)) - ay * sin(angle);
rm[2 * 4 + 1] = az * ay * (1 - cos(angle)) + ax * sin(angle);
rm[2 * 4 + 2] = cos(angle) + (az * az) * (1 - cos(angle));
#else
rm[0 * 4 + 0] = cos(angle) + (ax * ax) * (1 - cos(angle));
rm[1 * 4 + 0] = ax * ay * (1 - cos(angle)) - az * sin(angle);
rm[2 * 4 + 0] = ax * az * (1 - cos(angle)) + ay * sin(angle);
rm[0 * 4 + 1] = ay * ax * (1 - cos(angle)) + az * sin(angle);
rm[1 * 4 + 1] = cos(angle) + (ay * ay) * (1 - cos(angle));
rm[2 * 4 + 1] = ay * az * (1 - cos(angle)) - ax * sin(angle);
rm[0 * 4 + 2] = az * ax * (1 - cos(angle)) - ay * sin(angle);
rm[1 * 4 + 2] = az * ay * (1 - cos(angle)) + ax * sin(angle);
rm[2 * 4 + 2] = cos(angle) + (az * az) * (1 - cos(angle));
#endif
return TRUE;
}
EAPI
gboolean g3d_matrix_rotate_xyz(G3DFloat rx, G3DFloat ry, G3DFloat rz,
G3DMatrix *rm)
{
G3DMatrix matrix[16];
g3d_matrix_identity(rm);
g3d_matrix_rotate(rx, 1.0, 0.0, 0.0, matrix);
g3d_matrix_multiply(matrix, rm, rm);
g3d_matrix_rotate(ry, 0.0, 1.0, 0.0, matrix);
g3d_matrix_multiply(matrix, rm, rm);
g3d_matrix_rotate(rz, 0.0, 0.0, 1.0, matrix);
g3d_matrix_multiply(matrix, rm, rm);
return TRUE;
}
EAPI
gboolean g3d_matrix_translate(G3DVector x, G3DVector y, G3DVector z,
G3DMatrix *rm)
{
guint32 i;
#if 0
for(i = 0; i < 4; i ++)
rm[i * 4 + 3] =
rm[i * 4 + 0] * x +
rm[i * 4 + 1] * y +
rm[i * 4 + 2] * z +
rm[i * 4 + 3];
#else
for(i = 0; i < 4; i ++)
rm[3 * 4 + i] =
rm[0 * 4 + i] * x +
rm[1 * 4 + i] * y +
rm[2 * 4 + i] * z +
rm[3 * 4 + i];
#endif
return TRUE;
}
EAPI
gboolean g3d_matrix_scale(G3DVector x, G3DVector y, G3DVector z, G3DMatrix *rm)
{
G3DMatrix sm[16];
g3d_matrix_identity(sm);
sm[0] = x;
sm[5] = y;
sm[10] = z;
g3d_matrix_multiply(rm, sm, rm);
return TRUE;
}
EAPI
gboolean g3d_matrix_transpose(G3DMatrix *matrix)
{
G3DMatrix tmp[16];
gint32 i, j;
memcpy(tmp, matrix, 16 * sizeof(G3DMatrix));
for(i = 0; i < 4; i ++)
for(j = 0; j < 4; j ++)
matrix[i * 4 + j] = tmp[j * 4 + i];
return TRUE;
}
static G3DFloat det2x2(G3DFloat a1, G3DFloat a2, G3DFloat b1, G3DFloat b2)
{
return a1 * b2 - a2 * b1;
}
static G3DFloat det3x3(G3DFloat a1, G3DFloat a2, G3DFloat a3,
G3DFloat b1, G3DFloat b2, G3DFloat b3,
G3DFloat c1, G3DFloat c2, G3DFloat c3)
{
return
a1 * det2x2(b2, b3, c2, c3) -
b1 * det2x2(a2, a3, c2, c3) +
c1 * det2x2(a2, a3, b2, b3);
}
EAPI
G3DFloat g3d_matrix_determinant(G3DMatrix *matrix)
{
G3DFloat a1, a2, a3, a4;
G3DFloat b1, b2, b3, b4;
G3DFloat c1, c2, c3, c4;
G3DFloat d1, d2, d3, d4;
#if 0
a1 = matrix[0 * 4 + 0];
a2 = matrix[0 * 4 + 1];
a3 = matrix[0 * 4 + 2];
a4 = matrix[0 * 4 + 3];
b1 = matrix[1 * 4 + 0];
b2 = matrix[1 * 4 + 1];
b3 = matrix[1 * 4 + 2];
b4 = matrix[1 * 4 + 3];
c1 = matrix[2 * 4 + 0];
c2 = matrix[2 * 4 + 1];
c3 = matrix[2 * 4 + 2];
c4 = matrix[2 * 4 + 3];
d1 = matrix[3 * 4 + 0];
d2 = matrix[3 * 4 + 1];
d3 = matrix[3 * 4 + 2];
d4 = matrix[3 * 4 + 3];
#else
a1 = matrix[0 * 4 + 0];
b1 = matrix[0 * 4 + 1];
c1 = matrix[0 * 4 + 2];
d1 = matrix[0 * 4 + 3];
a2 = matrix[1 * 4 + 0];
b2 = matrix[1 * 4 + 1];
c2 = matrix[1 * 4 + 2];
d2 = matrix[1 * 4 + 3];
a3 = matrix[2 * 4 + 0];
b3 = matrix[2 * 4 + 1];
c3 = matrix[2 * 4 + 2];
d3 = matrix[2 * 4 + 3];
a4 = matrix[3 * 4 + 0];
b4 = matrix[3 * 4 + 1];
c4 = matrix[3 * 4 + 2];
d4 = matrix[3 * 4 + 3];
#endif
return
a1 * det3x3(b2, b3, b4, c2, c3, c4, d2, d3, d4) -
b1 * det3x3(a2, a3, a4, c2, c3, c4, d2, d3, d4) +
c1 * det3x3(a2, a3, a4, b2, b3, b4, d2, d3, d4) -
d1 * det3x3(a2, a3, a4, b2, b3, b4, c2, c3, c4);
}
gboolean g3d_matrix_dump(G3DMatrix *matrix)
{
#if DEBUG > 0
gint32 row;
for(row = 0; row < 4; row ++)
{
g_debug("[Matrix] % 2.2f % 2.2f % 2.2f % 2.2f",
matrix[0 * 4 + row], matrix[1 * 4 + row],
matrix[2 * 4 + row], matrix[3 * 4 + row]);
}
return TRUE;
#else
return FALSE;
#endif
}
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