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#include "base/nebu_matrix.h"
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
vec4* vec4Transform(vec4* pOut, const vec4* pV, const matrix *pM) {
vec4 tmp;
tmp.v[0] = pM->m[0] * pV->v[0] + pM->m[4] * pV->v[1] +
pM->m[8] * pV->v[2] + pM->m[12] * pV->v[3];
tmp.v[1] = pM->m[1] * pV->v[0] + pM->m[5] * pV->v[1] +
pM->m[9] * pV->v[2] + pM->m[13] * pV->v[3];
tmp.v[2] = pM->m[2] * pV->v[0] + pM->m[6] * pV->v[1] +
pM->m[10] * pV->v[2] + pM->m[14] * pV->v[3];
tmp.v[3] = pM->m[3] * pV->v[0] + pM->m[7] * pV->v[1] +
pM->m[11] * pV->v[2] + pM->m[15] * pV->v[3];
memcpy(pOut, &tmp, sizeof(vec4));
return pOut;
}
matrix* matrixIdentity(matrix *pOut) {
memset(pOut, 0, sizeof(matrix));
pOut->m[0] = pOut->m[5] = pOut->m[10] = pOut->m[15] = 1;
return pOut;
}
float matrixCofactor(const matrix *pM, int cf_row, int cf_col) {
int row, col;
float prod[6] = { 1, 1, 1, -1, -1, -1 };
int r = 0;
float cf;
for(row = 0; row < 4; row++) {
if(row != cf_row) {
int c = 0;
for(col = 0; col < 4; col++) {
if(col != cf_col) {
prod[ ((c - r + 3) % 3) + 0 ] *= pM->m[ row + 4 * col ];
prod[ ((c + r + 0) % 3) + 3 ] *= pM->m[ row + 4 * col ];
c++;
}
}
r++;
}
}
cf = prod[0] + prod[1] + prod[2] + prod[3] + prod[4] + prod[5];
// printf("cf(%d,%d): %.3f\n", cf_row, cf_col, cf);
return cf;
}
float matrixDeterminant(const matrix *pM) {
float det =
+ pM->m[0] * matrixCofactor(pM, 0, 0)
- pM->m[4] * matrixCofactor(pM, 0, 1)
+ pM->m[8] * matrixCofactor(pM, 0, 2)
- pM->m[12] * matrixCofactor(pM, 0, 3);
return det;
}
matrix* matrixAdjoint(matrix *pOut, float* pDet, const matrix *pM) {
matrix tmp;
int col, row;
int sign = 1;
float det = 0;
for(row = 0; row < 4; row++) {
for(col = 0; col < 4; col++) {
float cf = matrixCofactor(pM, row, col);
// tmp.m[row + 4 * col] = sign * cf;
// warum hier zeile und spalte tauschen?
tmp.m[col + 4 * row] = sign * cf;
if(row == 0)
det += sign * cf * pM->m[col * 4];
sign *= -1;
}
sign *= -1; // warum hier nochmal wechseln?
}
if(pDet)
*pDet = det;
memcpy(pOut, &tmp, sizeof(matrix));
return pOut;
}
matrix* matrixInverse(matrix *pOut, float* pDet, const matrix *pM) {
matrix adjoint;
float det;
int i;
matrixAdjoint(&adjoint, &det, pM);
if(pDet)
*pDet = det;
if(det == 0)
return NULL;
for(i = 0; i < 16; i++) {
pOut->m[i] = adjoint.m[i] / det;
}
return pOut;
}
matrix* matrixMultiply(matrix *pOut, const matrix *pM1, const matrix *pM2) {
int row, col;
matrix tmp;
for(row = 0; row < 4; row++) {
for(col = 0; col < 4; col++) {
tmp.m[row + col * 4] =
pM1->m[row + 0] * pM2->m[ 0 + col * 4] +
pM1->m[row + 4] * pM2->m[ 1 + col * 4] +
pM1->m[row + 8] * pM2->m[ 2 + col * 4] +
pM1->m[row + 12] * pM2->m[ 3 + col * 4];
}
}
memcpy(pOut, &tmp, sizeof(matrix));
return pOut;
}
matrix* matrixTranspose(matrix *pOut, const matrix *pM) {
matrix tmp;
int i;
for(i = 0; i < 16; i++) {
tmp.m[i] = pM->m[ i / 4 + (i % 4) * 4 ];
}
memcpy(pOut, &tmp, sizeof(matrix));
return pOut;
}
void matrixPrint(matrix *m) {
int row, col;
printf("[ ");
for(row = 0; row < 4; row++) {
for(col = 0; col < 4; col++) {
printf("%.3f ", m->m[row + col * 4]);
}
printf("; \n");
}
printf(" ]\n");
}
matrix* matrixRotationAxis(matrix *pOut, float fAngle, const vec3 *vAxis)
{
float cosa = (float)cos(fAngle);
float sina = (float)sin(fAngle);
float x = vAxis->v[0], y = vAxis->v[1], z = vAxis->v[2];
float *m = pOut->m;
m[0] = cosa + (1 - cosa) * x * x;
m[1] = (1 - cosa) * x * y + sina * z;
m[2] = (1 - cosa) * x * z - sina * y;
m[3] = 0;
m[4] = (1 - cosa) * x * y - z * sina;
m[5] = cosa + (1 - cosa) * y * y;
m[6] = (1 - cosa) * y * z + x * sina;
m[7] = 0;
m[8] = (1 - cosa) * x * z + sina * y;
m[9] = (1 - cosa) * y * z - sina * x;
m[10] = cosa + (1 - cosa) * z * z;
m[11] = 0;
m[12] = 0;
m[13] = 0;
m[14] = 0;
m[15] = 1;
return pOut;
}
matrix* matrixTranslation(matrix *pOut, const vec3 *vTranslation)
{
float *m = pOut->m;
matrixIdentity(pOut);
m[12] = vTranslation->v[0];
m[13] = vTranslation->v[1];
m[14] = vTranslation->v[2];
return pOut;
}
matrix* matrixScale(matrix *pOut, const vec3 *vScale)
{
float *m = pOut->m;
memset(pOut, 0, sizeof(matrix));
m[0] = vScale->v[0];
m[5] = vScale->v[1];
m[10] = vScale->v[2];
m[15] = 1;
return pOut;
}
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