109 lines
3.1 KiB
C
109 lines
3.1 KiB
C
/******************************************************************************
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Copyright (C) 2013 by Hugh Bailey <obs.jim@gmail.com>
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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******************************************************************************/
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#pragma once
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#include "vec3.h"
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#include "axisang.h"
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/* 3x4 Matrix */
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct matrix4;
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struct matrix3 {
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struct vec3 x;
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struct vec3 y;
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struct vec3 z;
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struct vec3 t;
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};
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static inline void matrix3_copy(struct matrix3 *dst, const struct matrix3 *m)
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{
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vec3_copy(&dst->x, &m->x);
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vec3_copy(&dst->y, &m->y);
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vec3_copy(&dst->z, &m->z);
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vec3_copy(&dst->t, &m->t);
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}
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static inline void matrix3_identity(struct matrix3 *dst)
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{
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vec3_zero(&dst->x);
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vec3_zero(&dst->y);
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vec3_zero(&dst->z);
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vec3_zero(&dst->t);
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dst->x.x = dst->y.y = dst->z.z = 1.0f;
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}
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EXPORT void matrix3_from_quat(struct matrix3 *dst, const struct quat *q);
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EXPORT void matrix3_from_axisang(struct matrix3 *dst,
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const struct axisang *aa);
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EXPORT void matrix3_from_matrix4(struct matrix3 *dst, const struct matrix4 *m);
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EXPORT void matrix3_mul(struct matrix3 *dst, const struct matrix3 *m1,
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const struct matrix3 *m2);
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static inline void matrix3_translate(struct matrix3 *dst,
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const struct matrix3 *m, const struct vec3 *v)
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{
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vec3_sub(&dst->t, &m->t, v);
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}
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EXPORT void matrix3_rotate(struct matrix3 *dst, const struct matrix3 *m,
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const struct quat *q);
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EXPORT void matrix3_rotate_aa(struct matrix3 *dst, const struct matrix3 *m,
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const struct axisang *aa);
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EXPORT void matrix3_scale(struct matrix3 *dst, const struct matrix3 *m,
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const struct vec3 *v);
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EXPORT void matrix3_transpose(struct matrix3 *dst, const struct matrix3 *m);
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EXPORT void matrix3_inv(struct matrix3 *dst, const struct matrix3 *m);
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EXPORT void matrix3_mirror(struct matrix3 *dst, const struct matrix3 *m,
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const struct plane *p);
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EXPORT void matrix3_mirrorv(struct matrix3 *dst, const struct matrix3 *m,
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const struct vec3 *v);
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static inline void matrix3_translate3f(struct matrix3 *dst,
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const struct matrix3 *m, float x, float y, float z)
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{
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struct vec3 v;
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vec3_set(&v, x, y, z);
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matrix3_translate(dst, m, &v);
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}
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static inline void matrix3_rotate_aa4f(struct matrix3 *dst,
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const struct matrix3 *m, float x, float y, float z, float rot)
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{
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struct axisang aa;
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axisang_set(&aa, x, y, z, rot);
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matrix3_rotate_aa(dst, m, &aa);
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}
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static inline void matrix3_scale3f(struct matrix3 *dst,
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const struct matrix3 *m, float x, float y, float z)
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{
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struct vec3 v;
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vec3_set(&v, x, y, z);
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matrix3_scale(dst, m, &v);
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}
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#ifdef __cplusplus
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}
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#endif
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