From 50ed4019c084ff1496b8d1b0407e715e9586e7aa Mon Sep 17 00:00:00 2001 From: Wolfgang Draxinger Date: Wed, 30 Oct 2019 15:55:32 +0100 Subject: merged, no conflicts --- linmath.h | 474 +++++++++++++++++++++++++------------------------------------- 1 file changed, 190 insertions(+), 284 deletions(-) diff --git a/linmath.h b/linmath.h index c1c3ab5..70b15a4 100644 --- a/linmath.h +++ b/linmath.h @@ -1,29 +1,42 @@ #ifndef LINMATH_H #define LINMATH_H +#if __STDC_VERSION__ < 199901L +# ifndef inline +# if defined(_MSC_VER) +# define inline __inline +# elif defined(__GNUC__) +# define inline __inline__ +# else +# define inline +# endif +# endif +#endif + #include +#include #define LINMATH_H_DEFINE_VEC(n) \ typedef float vec##n[n]; \ -static inline void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \ +static inline void vec##n##_add(vec##n r, vec##n a, vec##n b) \ { \ int i; \ for(i=0; ib[i] ? a[i] : b[i]; \ } -LINMATH_H_DEFINE_VEC(2) -LINMATH_H_DEFINE_VEC(3) -LINMATH_H_DEFINE_VEC(4) - -static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b) -{ - r[0] = a[1]*b[2] - a[2]*b[1]; - r[1] = a[2]*b[0] - a[0]*b[2]; - r[2] = a[0]*b[1] - a[1]*b[0]; -} +LINMATH_H_DEFINE_VEC(2); +LINMATH_H_DEFINE_VEC(3); +LINMATH_H_DEFINE_VEC(4); -static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n) +static inline void vec3_mul_cross(vec3 r, vec3 a, vec3 b) { - float p = 2.f*vec3_mul_inner(v, n); - int i; - for(i=0;i<3;++i) - r[i] = v[i] - p*n[i]; + vec3 c; + c[0] = a[1]*b[2] - a[2]*b[1]; + c[1] = a[2]*b[0] - a[0]*b[2]; + c[2] = a[0]*b[1] - a[1]*b[0]; + memcpy(r, c, sizeof(c)); } static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b) { - r[0] = a[1]*b[2] - a[2]*b[1]; - r[1] = a[2]*b[0] - a[0]*b[2]; - r[2] = a[0]*b[1] - a[1]*b[0]; - r[3] = 1.f; -} - -static inline void vec4_reflect(vec4 r, vec4 v, vec4 n) -{ - float p = 2.f*vec4_mul_inner(v, n); - int i; - for(i=0;i<4;++i) - r[i] = v[i] - p*n[i]; + vec4 c; + c[0] = a[1]*b[2] - a[2]*b[1]; + c[1] = a[2]*b[0] - a[0]*b[2]; + c[2] = a[0]*b[1] - a[1]*b[0]; + c[3] = 1.; + memcpy(r, c, sizeof(c)); } typedef vec4 mat4x4[4]; static inline void mat4x4_identity(mat4x4 M) { int i, j; - for(i=0; i<4; ++i) - for(j=0; j<4; ++j) - M[i][j] = i==j ? 1.f : 0.f; + for(j=0; j<4; ++j) for(i=0; i<4; ++i) { + M[i][j] = i==j ? 1 : 0; + } } static inline void mat4x4_dup(mat4x4 M, mat4x4 N) { int i, j; - for(i=0; i<4; ++i) - for(j=0; j<4; ++j) + for(j=0; j<4; ++j) { + for(i=0; i<4; ++i) { M[i][j] = N[i][j]; -} -static inline void mat4x4_row(vec4 r, mat4x4 M, int i) -{ - int k; - for(k=0; k<4; ++k) - r[k] = M[k][i]; -} -static inline void mat4x4_col(vec4 r, mat4x4 M, int i) -{ - int k; - for(k=0; k<4; ++k) - r[k] = M[i][k]; -} -static inline void mat4x4_transpose(mat4x4 M, mat4x4 N) -{ - int i, j; - for(j=0; j<4; ++j) - for(i=0; i<4; ++i) - M[i][j] = N[j][i]; + } + } } static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b) { @@ -142,33 +114,33 @@ static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k) } static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z) { - int i; vec4_scale(M[0], a[0], x); vec4_scale(M[1], a[1], y); vec4_scale(M[2], a[2], z); - for(i = 0; i < 4; ++i) { - M[3][i] = a[3][i]; - } } static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b) { - mat4x4 temp; int k, r, c; - for(c=0; c<4; ++c) for(r=0; r<4; ++r) { - temp[c][r] = 0.f; - for(k=0; k<4; ++k) - temp[c][r] += a[k][r] * b[c][k]; + mat4x4 R; + for(r=0; r<4; ++r) for(c=0; c<4; ++c) { + R[c][r] = 0; + for(k=0; k<4; ++k) { + R[c][r] += a[k][r] * b[c][k]; + } } - mat4x4_dup(M, temp); + memcpy(M, R, sizeof(R)); } static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v) { + vec4 r_; int i, j; for(j=0; j<4; ++j) { - r[j] = 0.f; - for(i=0; i<4; ++i) - r[j] += M[i][j] * v[i]; + r_[j] = 0.; + for(i=0; i<4; ++i) { + r_[j] += M[i][j] * v[i]; + } } + memcpy(r, r_, sizeof(r_)); } static inline void mat4x4_translate(mat4x4 T, float x, float y, float z) { @@ -177,21 +149,12 @@ static inline void mat4x4_translate(mat4x4 T, float x, float y, float z) T[3][1] = y; T[3][2] = z; } -static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z) -{ - vec4 t = {x, y, z, 0}; - vec4 r; - int i; - for (i = 0; i < 4; ++i) { - mat4x4_row(r, M, i); - M[3][i] += vec4_mul_inner(r, t); - } -} static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b) { int i, j; - for(i=0; i<4; ++i) for(j=0; j<4; ++j) - M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f; + for(i=0; i<4; ++i) for(j=0; j<4; ++j) { + M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.; + } } static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle) { @@ -232,10 +195,10 @@ static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle) float s = sinf(angle); float c = cosf(angle); mat4x4 R = { - {1.f, 0.f, 0.f, 0.f}, - {0.f, c, s, 0.f}, - {0.f, -s, c, 0.f}, - {0.f, 0.f, 0.f, 1.f} + {1, 0, 0, 0}, + {0, c, s, 0}, + {0,-s, c, 0}, + {0, 0, 0, 1} }; mat4x4_mul(Q, M, R); } @@ -244,10 +207,10 @@ static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle) float s = sinf(angle); float c = cosf(angle); mat4x4 R = { - { c, 0.f, s, 0.f}, - { 0.f, 1.f, 0.f, 0.f}, - { -s, 0.f, c, 0.f}, - { 0.f, 0.f, 0.f, 1.f} + { c, 0, s, 0}, + { 0, 1, 0, 0}, + {-s, 0, c, 0}, + { 0, 0, 0, 1} }; mat4x4_mul(Q, M, R); } @@ -256,53 +219,59 @@ static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle) float s = sinf(angle); float c = cosf(angle); mat4x4 R = { - { c, s, 0.f, 0.f}, - { -s, c, 0.f, 0.f}, - { 0.f, 0.f, 1.f, 0.f}, - { 0.f, 0.f, 0.f, 1.f} + { c, s, 0, 0}, + {-s, c, 0, 0}, + { 0, 0, 1, 0}, + { 0, 0, 0, 1} }; mat4x4_mul(Q, M, R); } +static inline void mat4x4_row(vec4 r, mat4x4 M, int i) +{ + int k; + for(k=0; k<4; ++k) + r[k] = M[k][i]; +} +static inline void mat4x4_col(vec4 r, mat4x4 M, int i) +{ + int k; + for(k=0; k<4; ++k) + r[k] = M[i][k]; +} +static inline void mat4x4_transpose(mat4x4 M, mat4x4 N) +{ + int i, j; + mat4x4 R; + for(j=0; j<4; ++j) { + for(i=0; i<4; ++i) { + R[i][j] = N[j][i]; + } + } + memcpy(M, R, sizeof(R)); +} static inline void mat4x4_invert(mat4x4 T, mat4x4 M) { - float s[6]; - float c[6]; - s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1]; - s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2]; - s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3]; - s[3] = M[0][1]*M[1][2] - M[1][1]*M[0][2]; - s[4] = M[0][1]*M[1][3] - M[1][1]*M[0][3]; - s[5] = M[0][2]*M[1][3] - M[1][2]*M[0][3]; - - c[0] = M[2][0]*M[3][1] - M[3][0]*M[2][1]; - c[1] = M[2][0]*M[3][2] - M[3][0]*M[2][2]; - c[2] = M[2][0]*M[3][3] - M[3][0]*M[2][3]; - c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2]; - c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3]; - c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3]; - - /* Assumes it is invertible */ - float idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] ); - - T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet; - T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet; - T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet; - T[0][3] = (-M[2][1] * s[5] + M[2][2] * s[4] - M[2][3] * s[3]) * idet; - - T[1][0] = (-M[1][0] * c[5] + M[1][2] * c[2] - M[1][3] * c[1]) * idet; - T[1][1] = ( M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet; - T[1][2] = (-M[3][0] * s[5] + M[3][2] * s[2] - M[3][3] * s[1]) * idet; - T[1][3] = ( M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet; - - T[2][0] = ( M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet; - T[2][1] = (-M[0][0] * c[4] + M[0][1] * c[2] - M[0][3] * c[0]) * idet; - T[2][2] = ( M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet; - T[2][3] = (-M[2][0] * s[4] + M[2][1] * s[2] - M[2][3] * s[0]) * idet; - - T[3][0] = (-M[1][0] * c[3] + M[1][1] * c[1] - M[1][2] * c[0]) * idet; - T[3][1] = ( M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet; - T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet; - T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet; + mat4x4 R; + R[0][0] = M[1][1]*(M[2][2]*M[3][3] - M[2][3]*M[3][2]) - M[2][1]*(M[1][2]*M[3][3] - M[1][3]*M[3][2]) - M[3][1]*(M[1][3]*M[2][2] - M[1][2]*M[2][3]); + R[0][1] = M[0][1]*(M[2][3]*M[3][2] - M[2][2]*M[3][3]) - M[2][1]*(M[0][3]*M[3][2] - M[0][2]*M[3][3]) - M[3][1]*(M[0][2]*M[2][3] - M[0][3]*M[2][2]); + R[0][2] = M[0][1]*(M[1][2]*M[3][3] - M[1][3]*M[3][2]) - M[1][1]*(M[0][2]*M[3][3] - M[0][3]*M[3][2]) - M[3][1]*(M[0][3]*M[1][2] - M[0][2]*M[1][3]); + R[0][3] = M[0][1]*(M[1][3]*M[2][2] - M[1][2]*M[2][3]) - M[1][1]*(M[0][3]*M[2][2] - M[0][2]*M[2][3]) - M[2][1]*(M[0][2]*M[1][3] - M[0][3]*M[1][2]); + + R[1][0] = M[1][0]*(M[2][3]*M[3][2] - M[2][2]*M[3][3]) - M[2][0]*(M[1][3]*M[3][2] - M[1][2]*M[3][3]) - M[3][0]*(M[1][2]*M[2][3] - M[1][3]*M[2][2]); + R[1][1] = M[0][0]*(M[2][2]*M[3][3] - M[2][3]*M[3][2]) - M[2][0]*(M[0][2]*M[3][3] - M[0][3]*M[3][2]) - M[3][0]*(M[0][3]*M[2][2] - M[0][2]*M[2][3]); + R[1][2] = M[0][0]*(M[1][3]*M[3][2] - M[1][2]*M[3][3]) - M[1][0]*(M[0][3]*M[3][2] - M[0][2]*M[3][3]) - M[3][0]*(M[0][2]*M[1][3] - M[0][3]*M[1][2]); + R[1][3] = M[0][0]*(M[1][2]*M[2][3] - M[1][3]*M[2][2]) - M[1][0]*(M[0][2]*M[2][3] - M[0][3]*M[2][2]) - M[2][0]*(M[0][3]*M[1][2] - M[0][2]*M[1][3]); + + R[2][0] = M[1][0]*(M[2][1]*M[3][3] - M[2][3]*M[3][1]) - M[2][0]*(M[1][1]*M[3][3] - M[1][3]*M[3][1]) - M[3][0]*(M[1][3]*M[2][1] - M[1][1]*M[2][3]); + R[2][1] = M[0][0]*(M[2][3]*M[3][1] - M[2][1]*M[3][3]) - M[2][0]*(M[0][3]*M[3][1] - M[0][1]*M[3][3]) - M[3][0]*(M[0][1]*M[2][3] - M[0][3]*M[2][1]); + R[2][2] = M[0][0]*(M[1][1]*M[3][3] - M[1][3]*M[3][1]) - M[1][0]*(M[0][1]*M[3][3] - M[0][3]*M[3][1]) - M[3][0]*(M[0][3]*M[1][1] - M[0][1]*M[1][3]); + R[2][3] = M[0][0]*(M[1][3]*M[2][1] - M[1][1]*M[2][3]) - M[1][0]*(M[0][3]*M[2][1] - M[0][1]*M[2][3]) - M[2][0]*(M[0][1]*M[1][3] - M[0][3]*M[1][1]); + + R[3][0] = M[1][0]*(M[2][2]*M[3][1] - M[2][1]*M[3][2]) - M[2][0]*(M[1][2]*M[3][1] - M[1][1]*M[3][2]) - M[3][0]*(M[1][1]*M[2][2] - M[1][2]*M[2][1]); + R[3][1] = M[0][0]*(M[2][1]*M[3][2] - M[2][2]*M[3][1]) - M[2][0]*(M[0][1]*M[3][2] - M[0][2]*M[3][1]) - M[3][0]*(M[0][2]*M[2][1] - M[0][1]*M[2][2]); + R[3][2] = M[0][0]*(M[1][2]*M[3][1] - M[1][1]*M[3][2]) - M[1][0]*(M[0][2]*M[3][1] - M[0][1]*M[3][2]) - M[3][0]*(M[0][1]*M[1][2] - M[0][2]*M[1][1]); + R[3][3] = 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][2]*M[1][1] - M[0][1]*M[1][2]); + memcpy(T, R, 16*sizeof(float)); } static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M) { @@ -330,109 +299,42 @@ static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M) static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f) { - M[0][0] = 2.f*n/(r-l); - M[0][1] = M[0][2] = M[0][3] = 0.f; + M[0][0] = 2.*n/(r-l); + M[0][1] = M[0][2] = M[0][3] = 0.; M[1][1] = 2.*n/(t-b); - M[1][0] = M[1][2] = M[1][3] = 0.f; + M[1][0] = M[1][2] = M[1][3] = 0.; M[2][0] = (r+l)/(r-l); M[2][1] = (t+b)/(t-b); M[2][2] = -(f+n)/(f-n); - M[2][3] = -1.f; + M[2][3] = -1; - M[3][2] = -2.f*(f*n)/(f-n); - M[3][0] = M[3][1] = M[3][3] = 0.f; + M[3][2] = -2.*(f*n)/(f-n); + M[3][0] = M[3][1] = M[3][3] = 0.; } static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f) { - M[0][0] = 2.f/(r-l); - M[0][1] = M[0][2] = M[0][3] = 0.f; + M[0][0] = 2./(r-l); + M[0][1] = M[0][2] = M[0][3] = 0.; - M[1][1] = 2.f/(t-b); - M[1][0] = M[1][2] = M[1][3] = 0.f; + M[1][1] = 2./(t-b); + M[1][0] = M[1][2] = M[1][3] = 0.; - M[2][2] = -2.f/(f-n); - M[2][0] = M[2][1] = M[2][3] = 0.f; - - M[3][0] = -(r+l)/(r-l); - M[3][1] = -(t+b)/(t-b); - M[3][2] = -(f+n)/(f-n); - M[3][3] = 1.f; -} -static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f) -{ - /* NOTE: Degrees are an unhandy unit to work with. - * linmath.h uses radians for everything! */ - float const a = 1.f / tan(y_fov / 2.f); - - m[0][0] = a / aspect; - m[0][1] = 0.f; - m[0][2] = 0.f; - m[0][3] = 0.f; - - m[1][0] = 0.f; - m[1][1] = a; - m[1][2] = 0.f; - m[1][3] = 0.f; - - m[2][0] = 0.f; - m[2][1] = 0.f; - m[2][2] = -((f + n) / (f - n)); - m[2][3] = -1.f; - - m[3][0] = 0.f; - m[3][1] = 0.f; - m[3][2] = -((2.f * f * n) / (f - n)); - m[3][3] = 0.f; -} -static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up) -{ - /* Adapted from Android's OpenGL Matrix.java. */ - /* See the OpenGL GLUT documentation for gluLookAt for a description */ - /* of the algorithm. We implement it in a straightforward way: */ - - /* TODO: The negation of of can be spared by swapping the order of - * operands in the following cross products in the right way. */ - vec3 f; - vec3_sub(f, center, eye); - vec3_norm(f, f); + M[2][2] = -2./(f-n); + M[2][0] = M[2][1] = M[2][3] = 0.; - vec3 s; - vec3_mul_cross(s, f, up); - vec3_norm(s, s); - - vec3 t; - vec3_mul_cross(t, s, f); - - m[0][0] = s[0]; - m[0][1] = t[0]; - m[0][2] = -f[0]; - m[0][3] = 0.f; - - m[1][0] = s[1]; - m[1][1] = t[1]; - m[1][2] = -f[1]; - m[1][3] = 0.f; - - m[2][0] = s[2]; - m[2][1] = t[2]; - m[2][2] = -f[2]; - m[2][3] = 0.f; - - m[3][0] = 0.f; - m[3][1] = 0.f; - m[3][2] = 0.f; - m[3][3] = 1.f; - - mat4x4_translate_in_place(m, -eye[0], -eye[1], -eye[2]); + M[3][0] = (r+l)/(r-l); + M[3][1] = (t+b)/(t-b); + M[3][2] = (f+n)/(f-n); + M[3][3] = 1.; } typedef float quat[4]; static inline void quat_identity(quat q) { - q[0] = q[1] = q[2] = 0.f; - q[3] = 1.f; + q[0] = q[1] = q[2] = 0.; + q[3] = 1.; } static inline void quat_add(quat r, quat a, quat b) { @@ -464,7 +366,7 @@ static inline void quat_scale(quat r, quat v, float s) } static inline float quat_inner_product(quat a, quat b) { - float p = 0.f; + float p = 0.; int i; for(i=0; i<4; ++i) p += b[i]*a[i]; @@ -477,34 +379,17 @@ static inline void quat_conj(quat r, quat q) r[i] = -q[i]; r[3] = q[3]; } -static inline void quat_rotate(quat r, float angle, vec3 axis) { - vec3 v; - vec3_scale(v, axis, sinf(angle / 2)); - int i; - for(i=0; i<3; ++i) - r[i] = v[i]; - r[3] = cosf(angle / 2); -} -#define quat_norm vec4_norm +static inline void quat_norm(quat r, quat v) { vec4_norm(r, v); } static inline void quat_mul_vec3(vec3 r, quat q, vec3 v) { -/* - * Method by Fabian 'ryg' Giessen (of Farbrausch) -t = 2 * cross(q.xyz, v) -v' = v + q.w * t + cross(q.xyz, t) - */ - vec3 t; - vec3 q_xyz = {q[0], q[1], q[2]}; - vec3 u = {q[0], q[1], q[2]}; + quat q_; + quat v_ = {v[0], v[1], v[2], 0.}; - vec3_mul_cross(t, q_xyz, v); - vec3_scale(t, t, 2); - - vec3_mul_cross(u, q_xyz, t); - vec3_scale(t, t, q[3]); - - vec3_add(r, v, t); - vec3_add(r, r, u); + quat_conj(q_, q); + quat_norm(q_, q_); + quat_mul(q_, v_, q_); + quat_mul(q_, q, q_); + memcpy(r, q_, 3*sizeof(float)); } static inline void mat4x4_from_quat(mat4x4 M, quat q) { @@ -518,38 +403,35 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q) float d2 = d*d; M[0][0] = a2 + b2 - c2 - d2; - M[0][1] = 2.f*(b*c + a*d); - M[0][2] = 2.f*(b*d - a*c); - M[0][3] = 0.f; + M[0][1] = 2*(b*c + a*d); + M[0][2] = 2*(b*d - a*c); + M[0][3] = 0.; M[1][0] = 2*(b*c - a*d); M[1][1] = a2 - b2 + c2 - d2; - M[1][2] = 2.f*(c*d + a*b); - M[1][3] = 0.f; + M[1][2] = 2*(c*d + a*b); + M[1][3] = 0.; - M[2][0] = 2.f*(b*d + a*c); - M[2][1] = 2.f*(c*d - a*b); + M[2][0] = 2*(b*d + a*c); + M[2][1] = 2*(c*d - a*b); M[2][2] = a2 - b2 - c2 + d2; - M[2][3] = 0.f; + M[2][3] = 0.; - M[3][0] = M[3][1] = M[3][2] = 0.f; - M[3][3] = 1.f; + M[3][0] = M[3][1] = M[3][2] = 0.; + M[3][3] = 1.; } - -static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q) +static inline void mat4x4_mul_quat(mat4x4 R, mat4x4 M, quat q) { -/* XXX: The way this is written only works for othogonal matrices. */ -/* TODO: Take care of non-orthogonal case. */ - quat_mul_vec3(R[0], q, M[0]); - quat_mul_vec3(R[1], q, M[1]); - quat_mul_vec3(R[2], q, M[2]); + quat_mul_vec3(R[0], M[0], q); + quat_mul_vec3(R[1], M[1], q); + quat_mul_vec3(R[2], M[2], q); - R[3][0] = R[3][1] = R[3][2] = 0.f; - R[3][3] = 1.f; + R[3][0] = R[3][1] = R[3][2] = 0.; + R[3][3] = 1.; } static inline void quat_from_mat4x4(quat q, mat4x4 M) { - float r=0.f; + float r=0.; int i; int perm[] = { 0, 1, 2, 0, 1 }; @@ -563,18 +445,42 @@ static inline void quat_from_mat4x4(quat q, mat4x4 M) p = &perm[i]; } - r = sqrtf(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] ); + r = sqrtf(1. + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] ); - if(r < 1e-6) { - q[0] = 1.f; - q[1] = q[2] = q[3] = 0.f; - return; + q[0] = r/2.; + q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.*r); + q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.*r); + q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.*r); +} + +static inline void mat4x4_arcball(mat4x4 R, mat4x4 M, vec2 _a, vec2 _b, float s) +{ + vec2 a; memcpy(a, _a, sizeof(a)); + vec2 b; memcpy(b, _b, sizeof(b)); + + float z_a = 0.; + float z_b = 0.; + + if(vec2_len(a) < 1.) { + z_a = sqrtf(1. - vec2_mul_inner(a, a)); + } else { + vec2_norm(a, a); } - q[0] = r/2.f; - q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.f*r); - q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.f*r); - q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r); + if(vec2_len(b) < 1.) { + z_b = sqrtf(1. - vec2_mul_inner(b, b)); + } else { + vec2_norm(b, b); + } + + vec3 a_ = {a[0], a[1], z_a}; + vec3 b_ = {b[0], b[1], z_b}; + + vec3 c_; + vec3_mul_cross(c_, a_, b_); + + float const angle = acos(vec3_mul_inner(a_, b_)) * s; + mat4x4_rotate(R, M, c_[0], c_[1], c_[2], angle); } #endif -- cgit v1.2.3