X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.c;h=4672861e45fa411e88d92786ed22ad4ceaccd948;hp=8b7f22bbe5a86c8d729ec79b7ecf992b2a53e9b8;hb=ed94238a0d022888f0e309b00d1f06ecbb497907;hpb=7653d161643a1e8ed9640d445a5a13d9248d4939 diff --git a/matrixlib.c b/matrixlib.c index 8b7f22bb..4672861e 100644 --- a/matrixlib.c +++ b/matrixlib.c @@ -1,5 +1,4 @@ -#include "quakedef.h" #include "matrixlib.h" #include @@ -37,30 +36,10 @@ void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in) out->m[1][0] = 0.0f; out->m[1][1] = 0.0f; out->m[1][2] = 0.0f; - out->m[1][3] = in->m[0][3]; + out->m[1][3] = in->m[1][3]; out->m[2][0] = 0.0f; out->m[2][1] = 0.0f; out->m[2][2] = 0.0f; - out->m[2][3] = in->m[0][3]; - out->m[3][0] = 0.0f; - out->m[3][1] = 0.0f; - out->m[3][2] = 0.0f; - out->m[3][3] = 1.0f; -} - -void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, const matrix3x4_t *in) -{ - out->m[0][0] = in->m[0][0]; - out->m[0][1] = in->m[0][1]; - out->m[0][2] = in->m[0][2]; - out->m[0][3] = in->m[0][3]; - out->m[1][0] = in->m[1][0]; - out->m[1][1] = in->m[1][1]; - out->m[1][2] = in->m[1][2]; - out->m[1][3] = in->m[1][3]; - out->m[2][0] = in->m[2][0]; - out->m[2][1] = in->m[2][1]; - out->m[2][2] = in->m[2][2]; out->m[2][3] = in->m[2][3]; out->m[3][0] = 0.0f; out->m[3][1] = 0.0f; @@ -147,15 +126,15 @@ void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1) // invert the rotation by transposing and multiplying by the squared // recipricol of the input matrix scale as described above - out->m[0][0] = in1->m[0][0] * scale; - out->m[0][1] = in1->m[1][0] * scale; - out->m[0][2] = in1->m[2][0] * scale; - out->m[1][0] = in1->m[0][1] * scale; - out->m[1][1] = in1->m[1][1] * scale; - out->m[1][2] = in1->m[2][1] * scale; - out->m[2][0] = in1->m[0][2] * scale; - out->m[2][1] = in1->m[1][2] * scale; - out->m[2][2] = in1->m[2][2] * scale; + out->m[0][0] = (float)(in1->m[0][0] * scale); + out->m[0][1] = (float)(in1->m[1][0] * scale); + out->m[0][2] = (float)(in1->m[2][0] * scale); + out->m[1][0] = (float)(in1->m[0][1] * scale); + out->m[1][1] = (float)(in1->m[1][1] * scale); + out->m[1][2] = (float)(in1->m[2][1] * scale); + out->m[2][0] = (float)(in1->m[0][2] * scale); + out->m[2][1] = (float)(in1->m[1][2] * scale); + out->m[2][2] = (float)(in1->m[2][2] * scale); // invert the translate out->m[0][3] = -(in1->m[0][3] * out->m[0][0] + in1->m[1][3] * out->m[0][1] + in1->m[2][3] * out->m[0][2]); @@ -215,14 +194,14 @@ void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, fl len = x*x+y*y+z*z; if (len != 0.0f) - len = 1.0f / sqrt(len); + len = 1.0f / (float)sqrt(len); x *= len; y *= len; z *= len; - angle *= -M_PI / 180.0; - c = cos(angle); - s = sin(angle); + angle *= (float)(-M_PI / 180.0); + c = (float)cos(angle); + s = (float)sin(angle); out->m[0][0]=x * x + c * (1 - x * x); out->m[0][1]=x * y * (1 - c) + z * s; @@ -295,17 +274,17 @@ void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z angle = roll * (M_PI*2 / 360); sr = sin(angle); cr = cos(angle); - out->m[0][0] = (cp*cy) * scale; - out->m[0][1] = (sr*sp*cy+cr*-sy) * scale; - out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale; + out->m[0][0] = (float)((cp*cy) * scale); + out->m[0][1] = (float)((sr*sp*cy+cr*-sy) * scale); + out->m[0][2] = (float)((cr*sp*cy+-sr*-sy) * scale); out->m[0][3] = x; - out->m[1][0] = (cp*sy) * scale; - out->m[1][1] = (sr*sp*sy+cr*cy) * scale; - out->m[1][2] = (cr*sp*sy+-sr*cy) * scale; + out->m[1][0] = (float)((cp*sy) * scale); + out->m[1][1] = (float)((sr*sp*sy+cr*cy) * scale); + out->m[1][2] = (float)((cr*sp*sy+-sr*cy) * scale); out->m[1][3] = y; - out->m[2][0] = (-sp) * scale; - out->m[2][1] = (sr*cp) * scale; - out->m[2][2] = (cr*cp) * scale; + out->m[2][0] = (float)((-sp) * scale); + out->m[2][1] = (float)((sr*cp) * scale); + out->m[2][2] = (float)((cr*cp) * scale); out->m[2][3] = z; out->m[3][0] = 0; out->m[3][1] = 0; @@ -420,362 +399,3 @@ void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z) Matrix4x4_Concat(out, &base, &temp); } -void Matrix4x4_Print (const matrix4x4_t *in) -{ - Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n" - , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3] - , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3] - , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3] - , in->m[3][0], in->m[3][1], in->m[3][2], in->m[3][3]); -} - - - - - - - -void Matrix3x4_Copy (matrix3x4_t *out, const matrix3x4_t *in) -{ - *out = *in; -} - -void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, const matrix3x4_t *in) -{ - out->m[0][0] = in->m[0][0]; - out->m[0][1] = in->m[0][1]; - out->m[0][2] = in->m[0][2]; - out->m[0][3] = 0.0f; - out->m[1][0] = in->m[1][0]; - out->m[1][1] = in->m[1][1]; - out->m[1][2] = in->m[1][2]; - out->m[1][3] = 0.0f; - out->m[2][0] = in->m[2][0]; - out->m[2][1] = in->m[2][1]; - out->m[2][2] = in->m[2][2]; - out->m[2][3] = 0.0f; -} - -void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in) -{ - out->m[0][0] = 0.0f; - out->m[0][1] = 0.0f; - out->m[0][2] = 0.0f; - out->m[0][3] = in->m[0][3]; - out->m[1][0] = 0.0f; - out->m[1][1] = 0.0f; - out->m[1][2] = 0.0f; - out->m[1][3] = in->m[0][3]; - out->m[2][0] = 0.0f; - out->m[2][1] = 0.0f; - out->m[2][2] = 0.0f; - out->m[2][3] = in->m[0][3]; -} - -void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, const matrix4x4_t *in) -{ - out->m[0][0] = in->m[0][0]; - out->m[0][1] = in->m[0][1]; - out->m[0][2] = in->m[0][2]; - out->m[0][3] = in->m[0][3]; - out->m[1][0] = in->m[1][0]; - out->m[1][1] = in->m[1][1]; - out->m[1][2] = in->m[1][2]; - out->m[1][3] = in->m[1][3]; - out->m[2][0] = in->m[2][0]; - out->m[2][1] = in->m[2][1]; - out->m[2][2] = in->m[2][2]; - out->m[2][3] = in->m[2][3]; -} - -void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2) -{ - out->m[0][0] = in1->m[0][0] * in2->m[0][0] + in1->m[0][1] * in2->m[1][0] + in1->m[0][2] * in2->m[2][0]; - out->m[0][1] = in1->m[0][0] * in2->m[0][1] + in1->m[0][1] * in2->m[1][1] + in1->m[0][2] * in2->m[2][1]; - out->m[0][2] = in1->m[0][0] * in2->m[0][2] + in1->m[0][1] * in2->m[1][2] + in1->m[0][2] * in2->m[2][2]; - out->m[0][3] = in1->m[0][0] * in2->m[0][3] + in1->m[0][1] * in2->m[1][3] + in1->m[0][2] * in2->m[2][3] + in1->m[0][3]; - out->m[1][0] = in1->m[1][0] * in2->m[0][0] + in1->m[1][1] * in2->m[1][0] + in1->m[1][2] * in2->m[2][0]; - out->m[1][1] = in1->m[1][0] * in2->m[0][1] + in1->m[1][1] * in2->m[1][1] + in1->m[1][2] * in2->m[2][1]; - out->m[1][2] = in1->m[1][0] * in2->m[0][2] + in1->m[1][1] * in2->m[1][2] + in1->m[1][2] * in2->m[2][2]; - out->m[1][3] = in1->m[1][0] * in2->m[0][3] + in1->m[1][1] * in2->m[1][3] + in1->m[1][2] * in2->m[2][3] + in1->m[1][3]; - out->m[2][0] = in1->m[2][0] * in2->m[0][0] + in1->m[2][1] * in2->m[1][0] + in1->m[2][2] * in2->m[2][0]; - out->m[2][1] = in1->m[2][0] * in2->m[0][1] + in1->m[2][1] * in2->m[1][1] + in1->m[2][2] * in2->m[2][1]; - out->m[2][2] = in1->m[2][0] * in2->m[0][2] + in1->m[2][1] * in2->m[1][2] + in1->m[2][2] * in2->m[2][2]; - out->m[2][3] = in1->m[2][0] * in2->m[0][3] + in1->m[2][1] * in2->m[1][3] + in1->m[2][2] * in2->m[2][3] + in1->m[2][3]; -} - -void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1) -{ - out->m[0][0] = in1->m[0][0]; - out->m[0][1] = in1->m[1][0]; - out->m[0][2] = in1->m[2][0]; - out->m[0][3] = 0.0f; - out->m[1][0] = in1->m[0][1]; - out->m[1][1] = in1->m[1][1]; - out->m[1][2] = in1->m[2][1]; - out->m[1][3] = 0.0f; - out->m[2][0] = in1->m[0][2]; - out->m[2][1] = in1->m[1][2]; - out->m[2][2] = in1->m[2][2]; - out->m[2][3] = 0.0f; -} - -void Matrix3x4_Invert_Simple (matrix3x4_t *out, const matrix3x4_t *in1) -{ - // we only support uniform scaling, so assume the first row is enough - // (note the lack of sqrt here, because we're trying to undo the scaling, - // this means multiplying by the inverse scale twice - squaring it, which - // makes the sqrt a waste of time) -#if 1 - double scale = 1.0 / (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2]); -#else - double scale = 3.0 / sqrt - (in1->m[0][0] * in1->m[0][0] + in1->m[0][1] * in1->m[0][1] + in1->m[0][2] * in1->m[0][2] - + in1->m[1][0] * in1->m[1][0] + in1->m[1][1] * in1->m[1][1] + in1->m[1][2] * in1->m[1][2] - + in1->m[2][0] * in1->m[2][0] + in1->m[2][1] * in1->m[2][1] + in1->m[2][2] * in1->m[2][2]); - scale *= scale; -#endif - - // invert the rotation by transposing and multiplying by the squared - // recipricol of the input matrix scale as described above - out->m[0][0] = in1->m[0][0] * scale; - out->m[0][1] = in1->m[1][0] * scale; - out->m[0][2] = in1->m[2][0] * scale; - out->m[1][0] = in1->m[0][1] * scale; - out->m[1][1] = in1->m[1][1] * scale; - out->m[1][2] = in1->m[2][1] * scale; - out->m[2][0] = in1->m[0][2] * scale; - out->m[2][1] = in1->m[1][2] * scale; - out->m[2][2] = in1->m[2][2] * scale; - - // invert the translate - out->m[0][3] = -(in1->m[0][3] * out->m[0][0] + in1->m[1][3] * out->m[0][1] + in1->m[2][3] * out->m[0][2]); - out->m[1][3] = -(in1->m[0][3] * out->m[1][0] + in1->m[1][3] * out->m[1][1] + in1->m[2][3] * out->m[1][2]); - out->m[2][3] = -(in1->m[0][3] * out->m[2][0] + in1->m[1][3] * out->m[2][1] + in1->m[2][3] * out->m[2][2]); -} - - -void Matrix3x4_CreateIdentity (matrix3x4_t *out) -{ - out->m[0][0]=1.0f; - out->m[0][1]=0.0f; - out->m[0][2]=0.0f; - out->m[0][3]=0.0f; - out->m[1][0]=0.0f; - out->m[1][1]=1.0f; - out->m[1][2]=0.0f; - out->m[1][3]=0.0f; - out->m[2][0]=0.0f; - out->m[2][1]=0.0f; - out->m[2][2]=1.0f; - out->m[2][3]=0.0f; -} - -void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z) -{ - out->m[0][0]=1.0f; - out->m[0][1]=0.0f; - out->m[0][2]=0.0f; - out->m[0][3]=x; - out->m[1][0]=0.0f; - out->m[1][1]=1.0f; - out->m[1][2]=0.0f; - out->m[1][3]=y; - out->m[2][0]=0.0f; - out->m[2][1]=0.0f; - out->m[2][2]=1.0f; - out->m[2][3]=z; -} - -void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z) -{ - float len, c, s; - - len = x*x+y*y+z*z; - if (len != 0.0f) - len = 1.0f / sqrt(len); - x *= len; - y *= len; - z *= len; - - angle *= M_PI / 180.0; - c = cos(angle); - s = sin(angle); - - out->m[0][0]=x * x + c * (1 - x * x); - out->m[0][1]=x * y * (1 - c) + z * s; - out->m[0][2]=z * x * (1 - c) - y * s; - out->m[0][3]=0.0f; - out->m[1][0]=x * y * (1 - c) - z * s; - out->m[1][1]=y * y + c * (1 - y * y); - out->m[1][2]=y * z * (1 - c) + x * s; - out->m[1][3]=0.0f; - out->m[2][0]=z * x * (1 - c) + y * s; - out->m[2][1]=y * z * (1 - c) - x * s; - out->m[2][2]=z * z + c * (1 - z * z); - out->m[2][3]=0.0f; -} - -void Matrix3x4_CreateScale (matrix3x4_t *out, float x) -{ - out->m[0][0]=x; - out->m[0][1]=0.0f; - out->m[0][2]=0.0f; - out->m[0][3]=0.0f; - out->m[1][0]=0.0f; - out->m[1][1]=x; - out->m[1][2]=0.0f; - out->m[1][3]=0.0f; - out->m[2][0]=0.0f; - out->m[2][1]=0.0f; - out->m[2][2]=x; - out->m[2][3]=0.0f; -} - -void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z) -{ - out->m[0][0]=x; - out->m[0][1]=0.0f; - out->m[0][2]=0.0f; - out->m[0][3]=0.0f; - out->m[1][0]=0.0f; - out->m[1][1]=y; - out->m[1][2]=0.0f; - out->m[1][3]=0.0f; - out->m[2][0]=0.0f; - out->m[2][1]=0.0f; - out->m[2][2]=z; - out->m[2][3]=0.0f; -} - -void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale) -{ - double angle, sr, sp, sy, cr, cp, cy; - - angle = yaw * (M_PI*2 / 360); - sy = sin(angle); - cy = cos(angle); - angle = pitch * (M_PI*2 / 360); - sp = sin(angle); - cp = cos(angle); - angle = roll * (M_PI*2 / 360); - sr = sin(angle); - cr = cos(angle); - out->m[0][0] = (cp*cy) * scale; - out->m[0][1] = (sr*sp*cy+cr*-sy) * scale; - out->m[0][2] = (cr*sp*cy+-sr*-sy) * scale; - out->m[0][3] = x; - out->m[1][0] = (cp*sy) * scale; - out->m[1][1] = (sr*sp*sy+cr*cy) * scale; - out->m[1][2] = (cr*sp*sy+-sr*cy) * scale; - out->m[1][3] = y; - out->m[2][0] = (-sp) * scale; - out->m[2][1] = (sr*cp) * scale; - out->m[2][2] = (cr*cp) * scale; - out->m[2][3] = z; -} - -void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]) -{ - vx[0] = in->m[0][0]; - vx[1] = in->m[1][0]; - vx[2] = in->m[2][0]; - vy[0] = in->m[0][1]; - vy[1] = in->m[1][1]; - vy[2] = in->m[2][1]; - vz[0] = in->m[0][2]; - vz[1] = in->m[1][2]; - vz[2] = in->m[2][2]; - t[0] = in->m[0][3]; - t[1] = in->m[1][3]; - t[2] = in->m[2][3]; -} - -void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]) -{ - out->m[0][0] = vx[0]; - out->m[0][1] = vy[0]; - out->m[0][2] = vz[0]; - out->m[0][3] = t[0]; - out->m[1][0] = vx[1]; - out->m[1][1] = vy[1]; - out->m[1][2] = vz[1]; - out->m[1][3] = t[1]; - out->m[2][0] = vx[2]; - out->m[2][1] = vy[2]; - out->m[2][2] = vz[2]; - out->m[2][3] = t[2]; -} - -void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3]) -{ - out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3]; - out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3]; - out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3]; -} - -/* -void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3]) -{ - float t[3]; - t[0] = v[0] - in->m[0][3]; - t[1] = v[1] - in->m[1][3]; - t[2] = v[2] - in->m[2][3]; - out[0] = t[0] * in->m[0][0] + t[1] * in->m[1][0] + t[2] * in->m[2][0]; - out[1] = t[0] * in->m[0][1] + t[1] * in->m[1][1] + t[2] * in->m[2][1]; - out[2] = t[0] * in->m[0][2] + t[1] * in->m[1][2] + t[2] * in->m[2][2]; -} -*/ - -void Matrix3x4_Transform3x3 (const matrix3x4_t *in, const float v[3], float out[3]) -{ - out[0] = v[0] * in->m[0][0] + v[1] * in->m[0][1] + v[2] * in->m[0][2] + in->m[0][3]; - out[1] = v[0] * in->m[1][0] + v[1] * in->m[1][1] + v[2] * in->m[1][2] + in->m[1][3]; - out[2] = v[0] * in->m[2][0] + v[1] * in->m[2][1] + v[2] * in->m[2][2] + in->m[2][3]; -} - - -// FIXME: optimize -void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z) -{ - matrix3x4_t base, temp; - base = *out; - Matrix3x4_CreateTranslate(&temp, x, y, z); - Matrix3x4_Concat(out, &base, &temp); -} - -// FIXME: optimize -void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z) -{ - matrix3x4_t base, temp; - base = *out; - Matrix3x4_CreateRotate(&temp, angle, x, y, z); - Matrix3x4_Concat(out, &base, &temp); -} - -// FIXME: optimize -void Matrix3x4_ConcatScale (matrix3x4_t *out, float x) -{ - matrix3x4_t base, temp; - base = *out; - Matrix3x4_CreateScale(&temp, x); - Matrix3x4_Concat(out, &base, &temp); -} - -// FIXME: optimize -void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z) -{ - matrix3x4_t base, temp; - base = *out; - Matrix3x4_CreateScale3(&temp, x, y, z); - Matrix3x4_Concat(out, &base, &temp); -} - -void Matrix3x4_Print (const matrix3x4_t *in) -{ - Con_Printf("%f %f %f %f\n%f %f %f %f\n%f %f %f %f\n" - , in->m[0][0], in->m[0][1], in->m[0][2], in->m[0][3] - , in->m[1][0], in->m[1][1], in->m[1][2], in->m[1][3] - , in->m[2][0], in->m[2][1], in->m[2][2], in->m[2][3]); -} -