| 1 |
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| 2 | #include <math.h>
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| 3 | #include <stdio.h>
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| 4 | #include "cr_matrix.h"
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| 5 | #include "cr_mem.h"
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| 6 |
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| 7 | #ifndef M_PI
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| 8 | #define M_PI 3.14159265358979323846
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| 9 | #endif
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| 10 |
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| 11 |
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| 12 | static const CRmatrix identity_matrix = {
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| 13 | 1.0, 0.0, 0.0, 0.0,
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| 14 | 0.0, 1.0, 0.0, 0.0,
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| 15 | 0.0, 0.0, 1.0, 0.0,
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| 16 | 0.0, 0.0, 0.0, 1.0
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| 17 | };
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| 18 |
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| 19 |
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| 20 | /*
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| 21 | * Initialize the given matrix to the identity.
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| 22 | */
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| 23 | void
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| 24 | crMatrixInit(CRmatrix *m)
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| 25 | {
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| 26 | *m = identity_matrix;
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| 27 | }
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| 28 |
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| 29 |
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| 30 | /*
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| 31 | * Parse a string of 16 floats to initialize a matrix (row major order).
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| 32 | * If there's a parsing error, initialize the matrix to the identity.
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| 33 | */
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| 34 | void
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| 35 | crMatrixInitFromString(CRmatrix *m, const char *s)
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| 36 | {
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| 37 | const char *fmt = "%f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f";
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| 38 | const char *fmtb = "[ %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f, %f ]";
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| 39 | int n = sscanf(s, (s[0] == '[' ? fmtb : fmt),
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| 40 | &m->m00, &m->m01, &m->m02, &m->m03,
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| 41 | &m->m10, &m->m11, &m->m12, &m->m13,
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| 42 | &m->m20, &m->m21, &m->m22, &m->m23,
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| 43 | &m->m30, &m->m31, &m->m32, &m->m33);
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| 44 | if (n != 16) {
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| 45 | /* insufficient parameters */
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| 46 | crMatrixInit(m);
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| 47 | }
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| 48 | }
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| 49 |
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| 50 |
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| 51 | /*
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| 52 | * Initialize a matrix from an array of 16 values.
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| 53 | */
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| 54 | void
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| 55 | crMatrixInitFromFloats(CRmatrix *m, const float *v)
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| 56 | {
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| 57 | m->m00 = v[0];
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| 58 | m->m01 = v[1];
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| 59 | m->m02 = v[2];
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| 60 | m->m03 = v[3];
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| 61 | m->m10 = v[4];
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| 62 | m->m11 = v[5];
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| 63 | m->m12 = v[6];
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| 64 | m->m13 = v[7];
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| 65 | m->m20 = v[8];
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| 66 | m->m21 = v[9];
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| 67 | m->m22 = v[10];
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| 68 | m->m23 = v[11];
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| 69 | m->m30 = v[12];
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| 70 | m->m31 = v[13];
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| 71 | m->m32 = v[14];
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| 72 | m->m33 = v[15];
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| 73 | }
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| 74 |
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| 75 |
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| 76 | void
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| 77 | crMatrixInitFromDoubles(CRmatrix *m, const double *v)
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| 78 | {
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| 79 | m->m00 = (float) v[0];
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| 80 | m->m01 = (float) v[1];
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| 81 | m->m02 = (float) v[2];
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| 82 | m->m03 = (float) v[3];
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| 83 | m->m10 = (float) v[4];
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| 84 | m->m11 = (float) v[5];
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| 85 | m->m12 = (float) v[6];
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| 86 | m->m13 = (float) v[7];
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| 87 | m->m20 = (float) v[8];
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| 88 | m->m21 = (float) v[9];
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| 89 | m->m22 = (float) v[10];
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| 90 | m->m23 = (float) v[11];
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| 91 | m->m30 = (float) v[12];
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| 92 | m->m31 = (float) v[13];
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| 93 | m->m32 = (float) v[14];
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| 94 | m->m33 = (float) v[15];
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| 95 | }
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| 96 |
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| 97 |
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| 98 | /* useful for debugging */
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| 99 | void
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| 100 | crMatrixPrint(const char *msg, const CRmatrix *m)
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| 101 | {
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| 102 | printf("%s\n", msg);
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| 103 | printf(" %f %f %f %f\n", m->m00, m->m10, m->m20, m->m30);
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| 104 | printf(" %f %f %f %f\n", m->m01, m->m11, m->m21, m->m31);
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| 105 | printf(" %f %f %f %f\n", m->m02, m->m12, m->m22, m->m32);
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| 106 | printf(" %f %f %f %f\n", m->m03, m->m13, m->m23, m->m33);
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| 107 | }
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| 108 |
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| 109 |
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| 110 | void
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| 111 | crMatrixGetFloats(float *values, const CRmatrix *m)
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| 112 | {
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| 113 | values[0] = m->m00;
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| 114 | values[1] = m->m01;
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| 115 | values[2] = m->m02;
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| 116 | values[3] = m->m03;
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| 117 | values[4] = m->m10;
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| 118 | values[5] = m->m11;
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| 119 | values[6] = m->m12;
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| 120 | values[7] = m->m13;
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| 121 | values[8] = m->m20;
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| 122 | values[9] = m->m21;
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| 123 | values[10] = m->m22;
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| 124 | values[11] = m->m23;
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| 125 | values[12] = m->m30;
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| 126 | values[13] = m->m31;
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| 127 | values[14] = m->m32;
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| 128 | values[15] = m->m33;
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| 129 | }
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| 130 |
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| 131 |
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| 132 | /* Return 1 if the matrices are equal, return 0 otherwise.
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| 133 | */
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| 134 | int
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| 135 | crMatrixIsEqual(const CRmatrix *m, const CRmatrix *n)
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| 136 | {
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| 137 | return crMemcmp(m, n, sizeof(CRmatrix)) == 0;
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| 138 | }
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| 139 |
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| 140 |
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| 141 | /*
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| 142 | * Test if matrix is identity
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| 143 | */
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| 144 | int
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| 145 | crMatrixIsIdentity(const CRmatrix *m)
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| 146 | {
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| 147 | return crMemcmp(m, &identity_matrix, sizeof(CRmatrix)) == 0;
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| 148 | }
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| 149 |
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| 150 |
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| 151 | /*
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| 152 | * Test if matrix is orthographic projection matrix.
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| 153 | */
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| 154 | int
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| 155 | crMatrixIsOrthographic(const CRmatrix *m)
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| 156 | {
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| 157 | return m->m33 != 0.0;
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| 158 | }
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| 159 |
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| 160 |
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| 161 | void
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| 162 | crMatrixCopy(CRmatrix *dest, const CRmatrix *src)
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| 163 | {
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| 164 | crMemcpy(dest, src, sizeof(CRmatrix));
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| 165 | }
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| 166 |
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| 167 |
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| 168 | /*
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| 169 | * Compute p = a * b
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| 170 | */
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| 171 | void
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| 172 | crMatrixMultiply(CRmatrix *p, const CRmatrix *a, const CRmatrix *b)
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| 173 | {
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| 174 | CRmatrix t; /* temporary result, in case p = a or p = b */
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| 175 | t.m00 = a->m00 * b->m00 + a->m10 * b->m01 + a->m20 * b->m02 + a->m30 * b->m03;
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| 176 | t.m01 = a->m01 * b->m00 + a->m11 * b->m01 + a->m21 * b->m02 + a->m31 * b->m03;
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| 177 | t.m02 = a->m02 * b->m00 + a->m12 * b->m01 + a->m22 * b->m02 + a->m32 * b->m03;
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| 178 | t.m03 = a->m03 * b->m00 + a->m13 * b->m01 + a->m23 * b->m02 + a->m33 * b->m03;
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| 179 | t.m10 = a->m00 * b->m10 + a->m10 * b->m11 + a->m20 * b->m12 + a->m30 * b->m13;
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| 180 | t.m11 = a->m01 * b->m10 + a->m11 * b->m11 + a->m21 * b->m12 + a->m31 * b->m13;
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| 181 | t.m12 = a->m02 * b->m10 + a->m12 * b->m11 + a->m22 * b->m12 + a->m32 * b->m13;
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| 182 | t.m13 = a->m03 * b->m10 + a->m13 * b->m11 + a->m23 * b->m12 + a->m33 * b->m13;
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| 183 | t.m20 = a->m00 * b->m20 + a->m10 * b->m21 + a->m20 * b->m22 + a->m30 * b->m23;
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| 184 | t.m21 = a->m01 * b->m20 + a->m11 * b->m21 + a->m21 * b->m22 + a->m31 * b->m23;
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| 185 | t.m22 = a->m02 * b->m20 + a->m12 * b->m21 + a->m22 * b->m22 + a->m32 * b->m23;
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| 186 | t.m23 = a->m03 * b->m20 + a->m13 * b->m21 + a->m23 * b->m22 + a->m33 * b->m23;
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| 187 | t.m30 = a->m00 * b->m30 + a->m10 * b->m31 + a->m20 * b->m32 + a->m30 * b->m33;
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| 188 | t.m31 = a->m01 * b->m30 + a->m11 * b->m31 + a->m21 * b->m32 + a->m31 * b->m33;
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| 189 | t.m32 = a->m02 * b->m30 + a->m12 * b->m31 + a->m22 * b->m32 + a->m32 * b->m33;
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| 190 | t.m33 = a->m03 * b->m30 + a->m13 * b->m31 + a->m23 * b->m32 + a->m33 * b->m33;
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| 191 | *p = t;
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| 192 | }
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| 193 |
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| 194 |
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| 195 | void
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| 196 | crMatrixTransformPointf(const CRmatrix *m, GLvectorf *p)
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| 197 | {
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| 198 | float x = p->x;
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| 199 | float y = p->y;
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| 200 | float z = p->z;
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| 201 | float w = p->w;
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| 202 |
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| 203 | p->x = m->m00*x + m->m10*y + m->m20*z + m->m30*w;
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| 204 | p->y = m->m01*x + m->m11*y + m->m21*z + m->m31*w;
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| 205 | p->z = m->m02*x + m->m12*y + m->m22*z + m->m32*w;
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| 206 | p->w = m->m03*x + m->m13*y + m->m23*z + m->m33*w;
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| 207 | }
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| 208 |
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| 209 |
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| 210 | void
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| 211 | crMatrixTransformPointd(const CRmatrix *m, GLvectord *p)
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| 212 | {
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| 213 | double x = p->x;
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| 214 | double y = p->y;
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| 215 | double z = p->z;
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| 216 | double w = p->w;
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| 217 |
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| 218 | p->x = (double) (m->m00*x + m->m10*y + m->m20*z + m->m30*w);
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| 219 | p->y = (double) (m->m01*x + m->m11*y + m->m21*z + m->m31*w);
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| 220 | p->z = (double) (m->m02*x + m->m12*y + m->m22*z + m->m32*w);
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| 221 | p->w = (double) (m->m03*x + m->m13*y + m->m23*z + m->m33*w);
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| 222 | }
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| 223 |
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| 224 |
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| 225 | void
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| 226 | crMatrixInvertTranspose(CRmatrix *inv, const CRmatrix *mat)
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| 227 | {
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| 228 | /* Taken from Pomegranate code, trans.c.
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| 229 | * Note: We have our data structures reversed
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| 230 | */
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| 231 | const float m00 = mat->m00;
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| 232 | const float m01 = mat->m10;
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| 233 | const float m02 = mat->m20;
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| 234 | const float m03 = mat->m30;
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| 235 |
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| 236 | const float m10 = mat->m01;
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| 237 | const float m11 = mat->m11;
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| 238 | const float m12 = mat->m21;
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| 239 | const float m13 = mat->m31;
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| 240 |
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| 241 | const float m20 = mat->m02;
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| 242 | const float m21 = mat->m12;
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| 243 | const float m22 = mat->m22;
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| 244 | const float m23 = mat->m32;
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| 245 |
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| 246 | const float m30 = mat->m03;
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| 247 | const float m31 = mat->m13;
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| 248 | const float m32 = mat->m23;
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| 249 | const float m33 = mat->m33;
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| 250 |
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| 251 | #define det3x3(a1, a2, a3, b1, b2, b3, c1, c2, c3) \
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| 252 | (a1 * (b2 * c3 - b3 * c2) + \
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| 253 | b1 * (c2 * a3 - a2 * c3) + \
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| 254 | c1 * (a2 * b3 - a3 * b2))
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| 255 |
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| 256 | const float cof00 = det3x3( m11, m12, m13,
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| 257 | m21, m22, m23,
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| 258 | m31, m32, m33 );
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| 259 |
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| 260 | const float cof01 = -det3x3( m12, m13, m10,
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| 261 | m22, m23, m20,
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| 262 | m32, m33, m30 );
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| 263 |
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| 264 | const float cof02 = det3x3( m13, m10, m11,
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| 265 | m23, m20, m21,
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| 266 | m33, m30, m31 );
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| 267 |
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| 268 | const float cof03 = -det3x3( m10, m11, m12,
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| 269 | m20, m21, m22,
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| 270 | m30, m31, m32 );
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| 271 |
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| 272 |
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| 273 | const float inv_det = 1.0f / ( m00 * cof00 + m01 * cof01 +
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| 274 | m02 * cof02 + m03 * cof03 );
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| 275 |
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| 276 |
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| 277 | const float cof10 = -det3x3( m21, m22, m23,
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| 278 | m31, m32, m33,
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| 279 | m01, m02, m03 );
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| 280 |
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| 281 | const float cof11 = det3x3( m22, m23, m20,
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| 282 | m32, m33, m30,
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| 283 | m02, m03, m00 );
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| 284 |
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| 285 | const float cof12 = -det3x3( m23, m20, m21,
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| 286 | m33, m30, m31,
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| 287 | m03, m00, m01 );
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| 288 |
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| 289 | const float cof13 = det3x3( m20, m21, m22,
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| 290 | m30, m31, m32,
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| 291 | m00, m01, m02 );
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| 292 |
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| 293 |
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| 294 |
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| 295 | const float cof20 = det3x3( m31, m32, m33,
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| 296 | m01, m02, m03,
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| 297 | m11, m12, m13 );
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| 298 |
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| 299 | const float cof21 = -det3x3( m32, m33, m30,
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| 300 | m02, m03, m00,
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| 301 | m12, m13, m10 );
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| 302 |
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| 303 | const float cof22 = det3x3( m33, m30, m31,
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| 304 | m03, m00, m01,
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| 305 | m13, m10, m11 );
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| 306 |
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| 307 | const float cof23 = -det3x3( m30, m31, m32,
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| 308 | m00, m01, m02,
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| 309 | m10, m11, m12 );
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| 310 |
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| 311 |
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| 312 | const float cof30 = -det3x3( m01, m02, m03,
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| 313 | m11, m12, m13,
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| 314 | m21, m22, m23 );
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| 315 |
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| 316 | const float cof31 = det3x3( m02, m03, m00,
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| 317 | m12, m13, m10,
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| 318 | m22, m23, m20 );
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| 319 |
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| 320 | const float cof32 = -det3x3( m03, m00, m01,
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| 321 | m13, m10, m11,
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| 322 | m23, m20, m21 );
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| 323 |
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| 324 | const float cof33 = det3x3( m00, m01, m02,
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| 325 | m10, m11, m12,
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| 326 | m20, m21, m22 );
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| 327 |
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| 328 | #undef det3x3
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| 329 |
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| 330 | /* Perform transpose in asignment */
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| 331 |
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| 332 | inv->m00 = cof00 * inv_det; inv->m10 = cof01 * inv_det;
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| 333 | inv->m20 = cof02 * inv_det; inv->m30 = cof03 * inv_det;
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| 334 |
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| 335 | inv->m01 = cof10 * inv_det; inv->m11 = cof11 * inv_det;
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| 336 | inv->m21 = cof12 * inv_det; inv->m31 = cof13 * inv_det;
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| 337 |
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| 338 | inv->m02 = cof20 * inv_det; inv->m12 = cof21 * inv_det;
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| 339 | inv->m22 = cof22 * inv_det; inv->m32 = cof23 * inv_det;
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| 340 |
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| 341 | inv->m03 = cof30 * inv_det; inv->m13 = cof31 * inv_det;
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| 342 | inv->m23 = cof32 * inv_det; inv->m33 = cof33 * inv_det;
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| 343 | }
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| 344 |
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| 345 | void
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| 346 | crMatrixTranspose(CRmatrix *t, const CRmatrix *m)
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| 347 | {
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| 348 | CRmatrix c;
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| 349 |
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| 350 | c.m00 = m->m00; c.m10 = m->m01; c.m20 = m->m02; c.m30 = m->m03;
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| 351 | c.m01 = m->m10; c.m11 = m->m11; c.m21 = m->m12; c.m31 = m->m13;
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| 352 | c.m02 = m->m20; c.m12 = m->m21; c.m22 = m->m22; c.m32 = m->m23;
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| 353 | c.m03 = m->m30; c.m13 = m->m31; c.m23 = m->m32; c.m33 = m->m33;
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| 354 |
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| 355 | *t = c;
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| 356 | }
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| 357 |
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| 358 | /*
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| 359 | * Apply a translation to the given matrix.
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| 360 | */
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| 361 | void
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| 362 | crMatrixTranslate(CRmatrix *m, float x, float y, float z)
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| 363 | {
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| 364 | m->m30 = m->m00 * x + m->m10 * y + m->m20 * z + m->m30;
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| 365 | m->m31 = m->m01 * x + m->m11 * y + m->m21 * z + m->m31;
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| 366 | m->m32 = m->m02 * x + m->m12 * y + m->m22 * z + m->m32;
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| 367 | m->m33 = m->m03 * x + m->m13 * y + m->m23 * z + m->m33;
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| 368 | }
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| 369 |
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| 370 |
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| 371 | /*
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| 372 | * Apply a rotation to the given matrix.
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| 373 | */
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| 374 | void
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| 375 | crMatrixRotate(CRmatrix *m, float angle, float x, float y, float z)
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| 376 | {
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| 377 | const float c = (float) cos(angle * M_PI / 180.0f);
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| 378 | const float one_minus_c = 1.0f - c;
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| 379 | const float s = (float) sin(angle * M_PI / 180.0f);
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| 380 | const float v_len = (float) sqrt (x*x + y*y + z*z);
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| 381 | float x_one_minus_c;
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| 382 | float y_one_minus_c;
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| 383 | float z_one_minus_c;
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| 384 | CRmatrix rot;
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| 385 |
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| 386 | /* Begin/end Checking and flushing will be done by MultMatrix. */
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| 387 |
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| 388 | if (v_len == 0.0f)
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| 389 | return;
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| 390 |
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| 391 | /* Normalize the vector */
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| 392 | if (v_len != 1.0f) {
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| 393 | x /= v_len;
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| 394 | y /= v_len;
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| 395 | z /= v_len;
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| 396 | }
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| 397 | /* compute some common values */
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| 398 | x_one_minus_c = x * one_minus_c;
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| 399 | y_one_minus_c = y * one_minus_c;
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| 400 | z_one_minus_c = z * one_minus_c;
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| 401 | /* Generate the terms of the rotation matrix
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| 402 | ** from pg 325 OGL 1.1 Blue Book.
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| 403 | */
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| 404 | rot.m00 = x * x_one_minus_c + c;
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| 405 | rot.m01 = x * y_one_minus_c + z * s;
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| 406 | rot.m02 = x * z_one_minus_c - y * s;
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| 407 | rot.m03 = 0.0f;
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| 408 | rot.m10 = y * x_one_minus_c - z * s;
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| 409 | rot.m11 = y * y_one_minus_c + c;
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| 410 | rot.m12 = y * z_one_minus_c + x * s;
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| 411 | rot.m13 = 0.0f;
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| 412 | rot.m20 = z * x_one_minus_c + y * s;
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| 413 | rot.m21 = z * y_one_minus_c - x * s;
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| 414 | rot.m22 = z * z_one_minus_c + c;
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| 415 | rot.m23 = 0.0f;
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| 416 | rot.m30 = 0.0f;
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| 417 | rot.m31 = 0.0f;
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| 418 | rot.m32 = 0.0f;
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| 419 | rot.m33 = 1.0f;
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| 420 | crMatrixMultiply(m, m, &rot);
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| 421 | }
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| 422 |
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| 423 |
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| 424 | /*
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| 425 | * Apply a scale to the given matrix.
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| 426 | */
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| 427 | void
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| 428 | crMatrixScale(CRmatrix *m, float x, float y, float z)
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| 429 | {
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| 430 | m->m00 *= x;
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| 431 | m->m01 *= x;
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| 432 | m->m02 *= x;
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| 433 | m->m03 *= x;
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| 434 | m->m10 *= y;
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| 435 | m->m11 *= y;
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| 436 | m->m12 *= y;
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| 437 | m->m13 *= y;
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| 438 | m->m20 *= z;
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| 439 | m->m21 *= z;
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| 440 | m->m22 *= z;
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| 441 | m->m23 *= z;
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| 442 | }
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| 443 |
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| 444 |
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| 445 | /*
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| 446 | * Make a projection matrix from frustum parameters.
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| 447 | */
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| 448 | void
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| 449 | crMatrixFrustum(CRmatrix *m,
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| 450 | float left, float right,
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| 451 | float bottom, float top,
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| 452 | float zNear, float zFar)
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| 453 | {
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| 454 | CRmatrix f;
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| 455 |
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| 456 | f.m00 = (2.0f * zNear) / (right - left);
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| 457 | f.m01 = 0.0;
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| 458 | f.m02 = 0.0;
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| 459 | f.m03 = 0.0;
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| 460 |
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| 461 | f.m10 = 0.0;
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| 462 | f.m11 = (2.0f * zNear) / (top - bottom);
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| 463 | f.m12 = 0.0;
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| 464 | f.m13 = 0.0;
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| 465 |
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| 466 | f.m20 = (right + left) / (right - left);
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| 467 | f.m21 = (top + bottom) / (top - bottom);
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| 468 | f.m22 = (-zNear - zFar) / (zFar - zNear);
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| 469 | f.m23 = -1.0;
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| 470 |
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| 471 | f.m30 = 0.0;
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| 472 | f.m31 = 0.0;
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|---|
| 473 | f.m32 = (2.0f * zFar * zNear) / (zNear - zFar);
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| 474 | f.m33 = 0.0;
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| 475 |
|
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| 476 | crMatrixMultiply(m, m, &f);
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| 477 | }
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|---|
| 478 |
|
|---|
| 479 |
|
|---|
| 480 | void
|
|---|
| 481 | crMatrixOrtho(CRmatrix *m,
|
|---|
| 482 | float left, float right,
|
|---|
| 483 | float bottom, float top,
|
|---|
| 484 | float znear, float zfar)
|
|---|
| 485 | {
|
|---|
| 486 | CRmatrix ortho;
|
|---|
| 487 |
|
|---|
| 488 | ortho.m00 = 2.0f / (right - left);
|
|---|
| 489 | ortho.m01 = 0.0;
|
|---|
| 490 | ortho.m02 = 0.0;
|
|---|
| 491 | ortho.m03 = 0.0;
|
|---|
| 492 |
|
|---|
| 493 | ortho.m10 = 0.0;
|
|---|
| 494 | ortho.m11 = 2.0f / (top - bottom);
|
|---|
| 495 | ortho.m12 = 0.0;
|
|---|
| 496 | ortho.m13 = 0.0;
|
|---|
| 497 |
|
|---|
| 498 | ortho.m20 = 0.0;
|
|---|
| 499 | ortho.m21 = 0.0;
|
|---|
| 500 | ortho.m22 = -2.0f / (zfar - znear);
|
|---|
| 501 | ortho.m23 = 0.0;
|
|---|
| 502 |
|
|---|
| 503 | ortho.m30 = -(right + left) / (right - left);
|
|---|
| 504 | ortho.m31 = -(top + bottom) / (top - bottom);
|
|---|
| 505 | ortho.m32= -(zfar + znear) / (zfar - znear);
|
|---|
| 506 | ortho.m33 = 1.0;
|
|---|
| 507 |
|
|---|
| 508 | crMatrixMultiply(m, m, &ortho);
|
|---|
| 509 | }
|
|---|
| 510 |
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