Bullet Collision Detection & Physics Library
gim_linear_math.h
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1#ifndef GIM_LINEAR_H_INCLUDED
2#define GIM_LINEAR_H_INCLUDED
3
8/*
9-----------------------------------------------------------------------------
10This source file is part of GIMPACT Library.
11
12For the latest info, see http://gimpact.sourceforge.net/
13
14Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
15email: projectileman@yahoo.com
16
17 This library is free software; you can redistribute it and/or
18 modify it under the terms of EITHER:
19 (1) The GNU Lesser General Public License as published by the Free
20 Software Foundation; either version 2.1 of the License, or (at
21 your option) any later version. The text of the GNU Lesser
22 General Public License is included with this library in the
23 file GIMPACT-LICENSE-LGPL.TXT.
24 (2) The BSD-style license that is included with this library in
25 the file GIMPACT-LICENSE-BSD.TXT.
26 (3) The zlib/libpng license that is included with this library in
27 the file GIMPACT-LICENSE-ZLIB.TXT.
28
29 This library is distributed in the hope that it will be useful,
30 but WITHOUT ANY WARRANTY; without even the implied warranty of
31 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
32 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
33
34-----------------------------------------------------------------------------
35*/
36
37#include "gim_math.h"
38#include "gim_geom_types.h"
39
41#define VEC_ZERO_2(a) \
42 { \
43 (a)[0] = (a)[1] = 0.0f; \
44 }
45
47#define VEC_ZERO(a) \
48 { \
49 (a)[0] = (a)[1] = (a)[2] = 0.0f; \
50 }
51
53#define VEC_ZERO_4(a) \
54 { \
55 (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
56 }
57
59#define VEC_COPY_2(b, a) \
60 { \
61 (b)[0] = (a)[0]; \
62 (b)[1] = (a)[1]; \
63 }
64
66#define VEC_COPY(b, a) \
67 { \
68 (b)[0] = (a)[0]; \
69 (b)[1] = (a)[1]; \
70 (b)[2] = (a)[2]; \
71 }
72
74#define VEC_COPY_4(b, a) \
75 { \
76 (b)[0] = (a)[0]; \
77 (b)[1] = (a)[1]; \
78 (b)[2] = (a)[2]; \
79 (b)[3] = (a)[3]; \
80 }
81
83#define VEC_SWAP(b, a) \
84 { \
85 GIM_SWAP_NUMBERS((b)[0], (a)[0]); \
86 GIM_SWAP_NUMBERS((b)[1], (a)[1]); \
87 GIM_SWAP_NUMBERS((b)[2], (a)[2]); \
88 }
89
91#define VEC_DIFF_2(v21, v2, v1) \
92 { \
93 (v21)[0] = (v2)[0] - (v1)[0]; \
94 (v21)[1] = (v2)[1] - (v1)[1]; \
95 }
96
98#define VEC_DIFF(v21, v2, v1) \
99 { \
100 (v21)[0] = (v2)[0] - (v1)[0]; \
101 (v21)[1] = (v2)[1] - (v1)[1]; \
102 (v21)[2] = (v2)[2] - (v1)[2]; \
103 }
104
106#define VEC_DIFF_4(v21, v2, v1) \
107 { \
108 (v21)[0] = (v2)[0] - (v1)[0]; \
109 (v21)[1] = (v2)[1] - (v1)[1]; \
110 (v21)[2] = (v2)[2] - (v1)[2]; \
111 (v21)[3] = (v2)[3] - (v1)[3]; \
112 }
113
115#define VEC_SUM_2(v21, v2, v1) \
116 { \
117 (v21)[0] = (v2)[0] + (v1)[0]; \
118 (v21)[1] = (v2)[1] + (v1)[1]; \
119 }
120
122#define VEC_SUM(v21, v2, v1) \
123 { \
124 (v21)[0] = (v2)[0] + (v1)[0]; \
125 (v21)[1] = (v2)[1] + (v1)[1]; \
126 (v21)[2] = (v2)[2] + (v1)[2]; \
127 }
128
130#define VEC_SUM_4(v21, v2, v1) \
131 { \
132 (v21)[0] = (v2)[0] + (v1)[0]; \
133 (v21)[1] = (v2)[1] + (v1)[1]; \
134 (v21)[2] = (v2)[2] + (v1)[2]; \
135 (v21)[3] = (v2)[3] + (v1)[3]; \
136 }
137
139#define VEC_SCALE_2(c, a, b) \
140 { \
141 (c)[0] = (a) * (b)[0]; \
142 (c)[1] = (a) * (b)[1]; \
143 }
144
146#define VEC_SCALE(c, a, b) \
147 { \
148 (c)[0] = (a) * (b)[0]; \
149 (c)[1] = (a) * (b)[1]; \
150 (c)[2] = (a) * (b)[2]; \
151 }
152
154#define VEC_SCALE_4(c, a, b) \
155 { \
156 (c)[0] = (a) * (b)[0]; \
157 (c)[1] = (a) * (b)[1]; \
158 (c)[2] = (a) * (b)[2]; \
159 (c)[3] = (a) * (b)[3]; \
160 }
161
163#define VEC_ACCUM_2(c, a, b) \
164 { \
165 (c)[0] += (a) * (b)[0]; \
166 (c)[1] += (a) * (b)[1]; \
167 }
168
170#define VEC_ACCUM(c, a, b) \
171 { \
172 (c)[0] += (a) * (b)[0]; \
173 (c)[1] += (a) * (b)[1]; \
174 (c)[2] += (a) * (b)[2]; \
175 }
176
178#define VEC_ACCUM_4(c, a, b) \
179 { \
180 (c)[0] += (a) * (b)[0]; \
181 (c)[1] += (a) * (b)[1]; \
182 (c)[2] += (a) * (b)[2]; \
183 (c)[3] += (a) * (b)[3]; \
184 }
185
187#define VEC_DOT_2(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1])
188
190#define VEC_DOT(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2])
191
193#define VEC_DOT_4(a, b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] + (a)[2] * (b)[2] + (a)[3] * (b)[3])
194
196#define VEC_IMPACT_SQ(bsq, direction, position) \
197 { \
198 GREAL _llel_ = VEC_DOT(direction, position); \
199 bsq = VEC_DOT(position, position) - _llel_ * _llel_; \
200 }
201
203#define VEC_IMPACT(bsq, direction, position) \
204 { \
205 VEC_IMPACT_SQ(bsq, direction, position); \
206 GIM_SQRT(bsq, bsq); \
207 }
208
210#define VEC_LENGTH_2(a, l) \
211 { \
212 GREAL _pp = VEC_DOT_2(a, a); \
213 GIM_SQRT(_pp, l); \
214 }
215
217#define VEC_LENGTH(a, l) \
218 { \
219 GREAL _pp = VEC_DOT(a, a); \
220 GIM_SQRT(_pp, l); \
221 }
222
224#define VEC_LENGTH_4(a, l) \
225 { \
226 GREAL _pp = VEC_DOT_4(a, a); \
227 GIM_SQRT(_pp, l); \
228 }
229
231#define VEC_INV_LENGTH_2(a, l) \
232 { \
233 GREAL _pp = VEC_DOT_2(a, a); \
234 GIM_INV_SQRT(_pp, l); \
235 }
236
238#define VEC_INV_LENGTH(a, l) \
239 { \
240 GREAL _pp = VEC_DOT(a, a); \
241 GIM_INV_SQRT(_pp, l); \
242 }
243
245#define VEC_INV_LENGTH_4(a, l) \
246 { \
247 GREAL _pp = VEC_DOT_4(a, a); \
248 GIM_INV_SQRT(_pp, l); \
249 }
250
252#define VEC_DISTANCE(_len, _va, _vb) \
253 { \
254 vec3f _tmp_; \
255 VEC_DIFF(_tmp_, _vb, _va); \
256 VEC_LENGTH(_tmp_, _len); \
257 }
258
260#define VEC_CONJUGATE_LENGTH(a, l) \
261 { \
262 GREAL _pp = 1.0 - a[0] * a[0] - a[1] * a[1] - a[2] * a[2]; \
263 GIM_SQRT(_pp, l); \
264 }
265
267#define VEC_NORMALIZE(a) \
268 { \
269 GREAL len; \
270 VEC_INV_LENGTH(a, len); \
271 if (len < G_REAL_INFINITY) \
272 { \
273 a[0] *= len; \
274 a[1] *= len; \
275 a[2] *= len; \
276 } \
277 }
278
280#define VEC_RENORMALIZE(a, newlen) \
281 { \
282 GREAL len; \
283 VEC_INV_LENGTH(a, len); \
284 if (len < G_REAL_INFINITY) \
285 { \
286 len *= newlen; \
287 a[0] *= len; \
288 a[1] *= len; \
289 a[2] *= len; \
290 } \
291 }
292
294#define VEC_CROSS(c, a, b) \
295 { \
296 c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
297 c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
298 c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
299 }
300
303#define VEC_PERPENDICULAR(vp, v, n) \
304 { \
305 GREAL dot = VEC_DOT(v, n); \
306 vp[0] = (v)[0] - dot * (n)[0]; \
307 vp[1] = (v)[1] - dot * (n)[1]; \
308 vp[2] = (v)[2] - dot * (n)[2]; \
309 }
310
312#define VEC_PARALLEL(vp, v, n) \
313 { \
314 GREAL dot = VEC_DOT(v, n); \
315 vp[0] = (dot) * (n)[0]; \
316 vp[1] = (dot) * (n)[1]; \
317 vp[2] = (dot) * (n)[2]; \
318 }
319
322#define VEC_PROJECT(vp, v, n) \
323 { \
324 GREAL scalar = VEC_DOT(v, n); \
325 scalar /= VEC_DOT(n, n); \
326 vp[0] = (scalar) * (n)[0]; \
327 vp[1] = (scalar) * (n)[1]; \
328 vp[2] = (scalar) * (n)[2]; \
329 }
330
332#define VEC_UNPROJECT(vp, v, n) \
333 { \
334 GREAL scalar = VEC_DOT(v, n); \
335 scalar = VEC_DOT(n, n) / scalar; \
336 vp[0] = (scalar) * (n)[0]; \
337 vp[1] = (scalar) * (n)[1]; \
338 vp[2] = (scalar) * (n)[2]; \
339 }
340
343#define VEC_REFLECT(vr, v, n) \
344 { \
345 GREAL dot = VEC_DOT(v, n); \
346 vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
347 vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
348 vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
349 }
350
353#define VEC_BLEND_AB(vr, sa, a, sb, b) \
354 { \
355 vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
356 vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
357 vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
358 }
359
362#define VEC_BLEND(vr, a, b, s) VEC_BLEND_AB(vr, (1 - s), a, s, b)
363
364#define VEC_SET3(a, b, op, c) \
365 a[0] = b[0] op c[0]; \
366 a[1] = b[1] op c[1]; \
367 a[2] = b[2] op c[2];
368
370#define VEC_MAYOR_COORD(vec, maxc) \
371 { \
372 GREAL A[] = {fabs(vec[0]), fabs(vec[1]), fabs(vec[2])}; \
373 maxc = A[0] > A[1] ? (A[0] > A[2] ? 0 : 2) : (A[1] > A[2] ? 1 : 2); \
374 }
375
377#define VEC_MINOR_AXES(vec, i0, i1) \
378 { \
379 VEC_MAYOR_COORD(vec, i0); \
380 i0 = (i0 + 1) % 3; \
381 i1 = (i0 + 1) % 3; \
382 }
383
384#define VEC_EQUAL(v1, v2) (v1[0] == v2[0] && v1[1] == v2[1] && v1[2] == v2[2])
385
386#define VEC_NEAR_EQUAL(v1, v2) (GIM_NEAR_EQUAL(v1[0], v2[0]) && GIM_NEAR_EQUAL(v1[1], v2[1]) && GIM_NEAR_EQUAL(v1[2], v2[2]))
387
389#define X_AXIS_CROSS_VEC(dst, src) \
390 { \
391 dst[0] = 0.0f; \
392 dst[1] = -src[2]; \
393 dst[2] = src[1]; \
394 }
395
396#define Y_AXIS_CROSS_VEC(dst, src) \
397 { \
398 dst[0] = src[2]; \
399 dst[1] = 0.0f; \
400 dst[2] = -src[0]; \
401 }
402
403#define Z_AXIS_CROSS_VEC(dst, src) \
404 { \
405 dst[0] = -src[1]; \
406 dst[1] = src[0]; \
407 dst[2] = 0.0f; \
408 }
409
411#define IDENTIFY_MATRIX_3X3(m) \
412 { \
413 m[0][0] = 1.0; \
414 m[0][1] = 0.0; \
415 m[0][2] = 0.0; \
416 \
417 m[1][0] = 0.0; \
418 m[1][1] = 1.0; \
419 m[1][2] = 0.0; \
420 \
421 m[2][0] = 0.0; \
422 m[2][1] = 0.0; \
423 m[2][2] = 1.0; \
424 }
425
427#define IDENTIFY_MATRIX_4X4(m) \
428 { \
429 m[0][0] = 1.0; \
430 m[0][1] = 0.0; \
431 m[0][2] = 0.0; \
432 m[0][3] = 0.0; \
433 \
434 m[1][0] = 0.0; \
435 m[1][1] = 1.0; \
436 m[1][2] = 0.0; \
437 m[1][3] = 0.0; \
438 \
439 m[2][0] = 0.0; \
440 m[2][1] = 0.0; \
441 m[2][2] = 1.0; \
442 m[2][3] = 0.0; \
443 \
444 m[3][0] = 0.0; \
445 m[3][1] = 0.0; \
446 m[3][2] = 0.0; \
447 m[3][3] = 1.0; \
448 }
449
451#define ZERO_MATRIX_4X4(m) \
452 { \
453 m[0][0] = 0.0; \
454 m[0][1] = 0.0; \
455 m[0][2] = 0.0; \
456 m[0][3] = 0.0; \
457 \
458 m[1][0] = 0.0; \
459 m[1][1] = 0.0; \
460 m[1][2] = 0.0; \
461 m[1][3] = 0.0; \
462 \
463 m[2][0] = 0.0; \
464 m[2][1] = 0.0; \
465 m[2][2] = 0.0; \
466 m[2][3] = 0.0; \
467 \
468 m[3][0] = 0.0; \
469 m[3][1] = 0.0; \
470 m[3][2] = 0.0; \
471 m[3][3] = 0.0; \
472 }
473
475#define ROTX_CS(m, cosine, sine) \
476 { \
477 /* rotation about the x-axis */ \
478 \
479 m[0][0] = 1.0; \
480 m[0][1] = 0.0; \
481 m[0][2] = 0.0; \
482 m[0][3] = 0.0; \
483 \
484 m[1][0] = 0.0; \
485 m[1][1] = (cosine); \
486 m[1][2] = (sine); \
487 m[1][3] = 0.0; \
488 \
489 m[2][0] = 0.0; \
490 m[2][1] = -(sine); \
491 m[2][2] = (cosine); \
492 m[2][3] = 0.0; \
493 \
494 m[3][0] = 0.0; \
495 m[3][1] = 0.0; \
496 m[3][2] = 0.0; \
497 m[3][3] = 1.0; \
498 }
499
501#define ROTY_CS(m, cosine, sine) \
502 { \
503 /* rotation about the y-axis */ \
504 \
505 m[0][0] = (cosine); \
506 m[0][1] = 0.0; \
507 m[0][2] = -(sine); \
508 m[0][3] = 0.0; \
509 \
510 m[1][0] = 0.0; \
511 m[1][1] = 1.0; \
512 m[1][2] = 0.0; \
513 m[1][3] = 0.0; \
514 \
515 m[2][0] = (sine); \
516 m[2][1] = 0.0; \
517 m[2][2] = (cosine); \
518 m[2][3] = 0.0; \
519 \
520 m[3][0] = 0.0; \
521 m[3][1] = 0.0; \
522 m[3][2] = 0.0; \
523 m[3][3] = 1.0; \
524 }
525
527#define ROTZ_CS(m, cosine, sine) \
528 { \
529 /* rotation about the z-axis */ \
530 \
531 m[0][0] = (cosine); \
532 m[0][1] = (sine); \
533 m[0][2] = 0.0; \
534 m[0][3] = 0.0; \
535 \
536 m[1][0] = -(sine); \
537 m[1][1] = (cosine); \
538 m[1][2] = 0.0; \
539 m[1][3] = 0.0; \
540 \
541 m[2][0] = 0.0; \
542 m[2][1] = 0.0; \
543 m[2][2] = 1.0; \
544 m[2][3] = 0.0; \
545 \
546 m[3][0] = 0.0; \
547 m[3][1] = 0.0; \
548 m[3][2] = 0.0; \
549 m[3][3] = 1.0; \
550 }
551
553#define COPY_MATRIX_2X2(b, a) \
554 { \
555 b[0][0] = a[0][0]; \
556 b[0][1] = a[0][1]; \
557 \
558 b[1][0] = a[1][0]; \
559 b[1][1] = a[1][1]; \
560 }
561
563#define COPY_MATRIX_2X3(b, a) \
564 { \
565 b[0][0] = a[0][0]; \
566 b[0][1] = a[0][1]; \
567 b[0][2] = a[0][2]; \
568 \
569 b[1][0] = a[1][0]; \
570 b[1][1] = a[1][1]; \
571 b[1][2] = a[1][2]; \
572 }
573
575#define COPY_MATRIX_3X3(b, a) \
576 { \
577 b[0][0] = a[0][0]; \
578 b[0][1] = a[0][1]; \
579 b[0][2] = a[0][2]; \
580 \
581 b[1][0] = a[1][0]; \
582 b[1][1] = a[1][1]; \
583 b[1][2] = a[1][2]; \
584 \
585 b[2][0] = a[2][0]; \
586 b[2][1] = a[2][1]; \
587 b[2][2] = a[2][2]; \
588 }
589
591#define COPY_MATRIX_4X4(b, a) \
592 { \
593 b[0][0] = a[0][0]; \
594 b[0][1] = a[0][1]; \
595 b[0][2] = a[0][2]; \
596 b[0][3] = a[0][3]; \
597 \
598 b[1][0] = a[1][0]; \
599 b[1][1] = a[1][1]; \
600 b[1][2] = a[1][2]; \
601 b[1][3] = a[1][3]; \
602 \
603 b[2][0] = a[2][0]; \
604 b[2][1] = a[2][1]; \
605 b[2][2] = a[2][2]; \
606 b[2][3] = a[2][3]; \
607 \
608 b[3][0] = a[3][0]; \
609 b[3][1] = a[3][1]; \
610 b[3][2] = a[3][2]; \
611 b[3][3] = a[3][3]; \
612 }
613
615#define TRANSPOSE_MATRIX_2X2(b, a) \
616 { \
617 b[0][0] = a[0][0]; \
618 b[0][1] = a[1][0]; \
619 \
620 b[1][0] = a[0][1]; \
621 b[1][1] = a[1][1]; \
622 }
623
625#define TRANSPOSE_MATRIX_3X3(b, a) \
626 { \
627 b[0][0] = a[0][0]; \
628 b[0][1] = a[1][0]; \
629 b[0][2] = a[2][0]; \
630 \
631 b[1][0] = a[0][1]; \
632 b[1][1] = a[1][1]; \
633 b[1][2] = a[2][1]; \
634 \
635 b[2][0] = a[0][2]; \
636 b[2][1] = a[1][2]; \
637 b[2][2] = a[2][2]; \
638 }
639
641#define TRANSPOSE_MATRIX_4X4(b, a) \
642 { \
643 b[0][0] = a[0][0]; \
644 b[0][1] = a[1][0]; \
645 b[0][2] = a[2][0]; \
646 b[0][3] = a[3][0]; \
647 \
648 b[1][0] = a[0][1]; \
649 b[1][1] = a[1][1]; \
650 b[1][2] = a[2][1]; \
651 b[1][3] = a[3][1]; \
652 \
653 b[2][0] = a[0][2]; \
654 b[2][1] = a[1][2]; \
655 b[2][2] = a[2][2]; \
656 b[2][3] = a[3][2]; \
657 \
658 b[3][0] = a[0][3]; \
659 b[3][1] = a[1][3]; \
660 b[3][2] = a[2][3]; \
661 b[3][3] = a[3][3]; \
662 }
663
665#define SCALE_MATRIX_2X2(b, s, a) \
666 { \
667 b[0][0] = (s)*a[0][0]; \
668 b[0][1] = (s)*a[0][1]; \
669 \
670 b[1][0] = (s)*a[1][0]; \
671 b[1][1] = (s)*a[1][1]; \
672 }
673
675#define SCALE_MATRIX_3X3(b, s, a) \
676 { \
677 b[0][0] = (s)*a[0][0]; \
678 b[0][1] = (s)*a[0][1]; \
679 b[0][2] = (s)*a[0][2]; \
680 \
681 b[1][0] = (s)*a[1][0]; \
682 b[1][1] = (s)*a[1][1]; \
683 b[1][2] = (s)*a[1][2]; \
684 \
685 b[2][0] = (s)*a[2][0]; \
686 b[2][1] = (s)*a[2][1]; \
687 b[2][2] = (s)*a[2][2]; \
688 }
689
691#define SCALE_MATRIX_4X4(b, s, a) \
692 { \
693 b[0][0] = (s)*a[0][0]; \
694 b[0][1] = (s)*a[0][1]; \
695 b[0][2] = (s)*a[0][2]; \
696 b[0][3] = (s)*a[0][3]; \
697 \
698 b[1][0] = (s)*a[1][0]; \
699 b[1][1] = (s)*a[1][1]; \
700 b[1][2] = (s)*a[1][2]; \
701 b[1][3] = (s)*a[1][3]; \
702 \
703 b[2][0] = (s)*a[2][0]; \
704 b[2][1] = (s)*a[2][1]; \
705 b[2][2] = (s)*a[2][2]; \
706 b[2][3] = (s)*a[2][3]; \
707 \
708 b[3][0] = s * a[3][0]; \
709 b[3][1] = s * a[3][1]; \
710 b[3][2] = s * a[3][2]; \
711 b[3][3] = s * a[3][3]; \
712 }
713
715#define SCALE_VEC_MATRIX_2X2(b, svec, a) \
716 { \
717 b[0][0] = svec[0] * a[0][0]; \
718 b[1][0] = svec[0] * a[1][0]; \
719 \
720 b[0][1] = svec[1] * a[0][1]; \
721 b[1][1] = svec[1] * a[1][1]; \
722 }
723
725#define SCALE_VEC_MATRIX_3X3(b, svec, a) \
726 { \
727 b[0][0] = svec[0] * a[0][0]; \
728 b[1][0] = svec[0] * a[1][0]; \
729 b[2][0] = svec[0] * a[2][0]; \
730 \
731 b[0][1] = svec[1] * a[0][1]; \
732 b[1][1] = svec[1] * a[1][1]; \
733 b[2][1] = svec[1] * a[2][1]; \
734 \
735 b[0][2] = svec[2] * a[0][2]; \
736 b[1][2] = svec[2] * a[1][2]; \
737 b[2][2] = svec[2] * a[2][2]; \
738 }
739
741#define SCALE_VEC_MATRIX_4X4(b, svec, a) \
742 { \
743 b[0][0] = svec[0] * a[0][0]; \
744 b[1][0] = svec[0] * a[1][0]; \
745 b[2][0] = svec[0] * a[2][0]; \
746 b[3][0] = svec[0] * a[3][0]; \
747 \
748 b[0][1] = svec[1] * a[0][1]; \
749 b[1][1] = svec[1] * a[1][1]; \
750 b[2][1] = svec[1] * a[2][1]; \
751 b[3][1] = svec[1] * a[3][1]; \
752 \
753 b[0][2] = svec[2] * a[0][2]; \
754 b[1][2] = svec[2] * a[1][2]; \
755 b[2][2] = svec[2] * a[2][2]; \
756 b[3][2] = svec[2] * a[3][2]; \
757 \
758 b[0][3] = svec[3] * a[0][3]; \
759 b[1][3] = svec[3] * a[1][3]; \
760 b[2][3] = svec[3] * a[2][3]; \
761 b[3][3] = svec[3] * a[3][3]; \
762 }
763
765#define ACCUM_SCALE_MATRIX_2X2(b, s, a) \
766 { \
767 b[0][0] += (s)*a[0][0]; \
768 b[0][1] += (s)*a[0][1]; \
769 \
770 b[1][0] += (s)*a[1][0]; \
771 b[1][1] += (s)*a[1][1]; \
772 }
773
775#define ACCUM_SCALE_MATRIX_3X3(b, s, a) \
776 { \
777 b[0][0] += (s)*a[0][0]; \
778 b[0][1] += (s)*a[0][1]; \
779 b[0][2] += (s)*a[0][2]; \
780 \
781 b[1][0] += (s)*a[1][0]; \
782 b[1][1] += (s)*a[1][1]; \
783 b[1][2] += (s)*a[1][2]; \
784 \
785 b[2][0] += (s)*a[2][0]; \
786 b[2][1] += (s)*a[2][1]; \
787 b[2][2] += (s)*a[2][2]; \
788 }
789
791#define ACCUM_SCALE_MATRIX_4X4(b, s, a) \
792 { \
793 b[0][0] += (s)*a[0][0]; \
794 b[0][1] += (s)*a[0][1]; \
795 b[0][2] += (s)*a[0][2]; \
796 b[0][3] += (s)*a[0][3]; \
797 \
798 b[1][0] += (s)*a[1][0]; \
799 b[1][1] += (s)*a[1][1]; \
800 b[1][2] += (s)*a[1][2]; \
801 b[1][3] += (s)*a[1][3]; \
802 \
803 b[2][0] += (s)*a[2][0]; \
804 b[2][1] += (s)*a[2][1]; \
805 b[2][2] += (s)*a[2][2]; \
806 b[2][3] += (s)*a[2][3]; \
807 \
808 b[3][0] += (s)*a[3][0]; \
809 b[3][1] += (s)*a[3][1]; \
810 b[3][2] += (s)*a[3][2]; \
811 b[3][3] += (s)*a[3][3]; \
812 }
813
816#define MATRIX_PRODUCT_2X2(c, a, b) \
817 { \
818 c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0]; \
819 c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1]; \
820 \
821 c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0]; \
822 c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1]; \
823 }
824
827#define MATRIX_PRODUCT_3X3(c, a, b) \
828 { \
829 c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0]; \
830 c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1]; \
831 c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2]; \
832 \
833 c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0]; \
834 c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1]; \
835 c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2]; \
836 \
837 c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0]; \
838 c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1]; \
839 c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2]; \
840 }
841
844#define MATRIX_PRODUCT_4X4(c, a, b) \
845 { \
846 c[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0] + a[0][3] * b[3][0]; \
847 c[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1] + a[0][3] * b[3][1]; \
848 c[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2] + a[0][3] * b[3][2]; \
849 c[0][3] = a[0][0] * b[0][3] + a[0][1] * b[1][3] + a[0][2] * b[2][3] + a[0][3] * b[3][3]; \
850 \
851 c[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0] + a[1][3] * b[3][0]; \
852 c[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1] + a[1][3] * b[3][1]; \
853 c[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2] + a[1][3] * b[3][2]; \
854 c[1][3] = a[1][0] * b[0][3] + a[1][1] * b[1][3] + a[1][2] * b[2][3] + a[1][3] * b[3][3]; \
855 \
856 c[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0] + a[2][3] * b[3][0]; \
857 c[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1] + a[2][3] * b[3][1]; \
858 c[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2] + a[2][3] * b[3][2]; \
859 c[2][3] = a[2][0] * b[0][3] + a[2][1] * b[1][3] + a[2][2] * b[2][3] + a[2][3] * b[3][3]; \
860 \
861 c[3][0] = a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0] + a[3][3] * b[3][0]; \
862 c[3][1] = a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1] + a[3][3] * b[3][1]; \
863 c[3][2] = a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2] + a[3][3] * b[3][2]; \
864 c[3][3] = a[3][0] * b[0][3] + a[3][1] * b[1][3] + a[3][2] * b[2][3] + a[3][3] * b[3][3]; \
865 }
866
868#define MAT_DOT_VEC_2X2(p, m, v) \
869 { \
870 p[0] = m[0][0] * v[0] + m[0][1] * v[1]; \
871 p[1] = m[1][0] * v[0] + m[1][1] * v[1]; \
872 }
873
875#define MAT_DOT_VEC_3X3(p, m, v) \
876 { \
877 p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2]; \
878 p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2]; \
879 p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2]; \
880 }
881
885#define MAT_DOT_VEC_4X4(p, m, v) \
886 { \
887 p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3] * v[3]; \
888 p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3] * v[3]; \
889 p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3] * v[3]; \
890 p[3] = m[3][0] * v[0] + m[3][1] * v[1] + m[3][2] * v[2] + m[3][3] * v[3]; \
891 }
892
898#define MAT_DOT_VEC_3X4(p, m, v) \
899 { \
900 p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2] * v[2] + m[0][3]; \
901 p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2] * v[2] + m[1][3]; \
902 p[2] = m[2][0] * v[0] + m[2][1] * v[1] + m[2][2] * v[2] + m[2][3]; \
903 }
904
907#define VEC_DOT_MAT_3X3(p, v, m) \
908 { \
909 p[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; \
910 p[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; \
911 p[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; \
912 }
913
917#define MAT_DOT_VEC_2X3(p, m, v) \
918 { \
919 p[0] = m[0][0] * v[0] + m[0][1] * v[1] + m[0][2]; \
920 p[1] = m[1][0] * v[0] + m[1][1] * v[1] + m[1][2]; \
921 }
922
924#define MAT_TRANSFORM_PLANE_4X4(pout, m, plane) \
925 { \
926 pout[0] = m[0][0] * plane[0] + m[0][1] * plane[1] + m[0][2] * plane[2]; \
927 pout[1] = m[1][0] * plane[0] + m[1][1] * plane[1] + m[1][2] * plane[2]; \
928 pout[2] = m[2][0] * plane[0] + m[2][1] * plane[1] + m[2][2] * plane[2]; \
929 pout[3] = m[0][3] * pout[0] + m[1][3] * pout[1] + m[2][3] * pout[2] + plane[3]; \
930 }
931
941#define INV_TRANSP_MAT_DOT_VEC_2X2(p, m, v) \
942 { \
943 GREAL det; \
944 \
945 det = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
946 p[0] = m[1][1] * v[0] - m[1][0] * v[1]; \
947 p[1] = -m[0][1] * v[0] + m[0][0] * v[1]; \
948 \
949 /* if matrix not singular, and not orthonormal, then renormalize */ \
950 if ((det != 1.0f) && (det != 0.0f)) \
951 { \
952 det = 1.0f / det; \
953 p[0] *= det; \
954 p[1] *= det; \
955 } \
956 }
957
965#define NORM_XFORM_2X2(p, m, v) \
966 { \
967 GREAL len; \
968 \
969 /* do nothing if off-diagonals are zero and diagonals are \
970 * equal */ \
971 if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) \
972 { \
973 p[0] = m[1][1] * v[0] - m[1][0] * v[1]; \
974 p[1] = -m[0][1] * v[0] + m[0][0] * v[1]; \
975 \
976 len = p[0] * p[0] + p[1] * p[1]; \
977 GIM_INV_SQRT(len, len); \
978 p[0] *= len; \
979 p[1] *= len; \
980 } \
981 else \
982 { \
983 VEC_COPY_2(p, v); \
984 } \
985 }
986
992#define OUTER_PRODUCT_2X2(m, v, t) \
993 { \
994 m[0][0] = v[0] * t[0]; \
995 m[0][1] = v[0] * t[1]; \
996 \
997 m[1][0] = v[1] * t[0]; \
998 m[1][1] = v[1] * t[1]; \
999 }
1000
1006#define OUTER_PRODUCT_3X3(m, v, t) \
1007 { \
1008 m[0][0] = v[0] * t[0]; \
1009 m[0][1] = v[0] * t[1]; \
1010 m[0][2] = v[0] * t[2]; \
1011 \
1012 m[1][0] = v[1] * t[0]; \
1013 m[1][1] = v[1] * t[1]; \
1014 m[1][2] = v[1] * t[2]; \
1015 \
1016 m[2][0] = v[2] * t[0]; \
1017 m[2][1] = v[2] * t[1]; \
1018 m[2][2] = v[2] * t[2]; \
1019 }
1020
1026#define OUTER_PRODUCT_4X4(m, v, t) \
1027 { \
1028 m[0][0] = v[0] * t[0]; \
1029 m[0][1] = v[0] * t[1]; \
1030 m[0][2] = v[0] * t[2]; \
1031 m[0][3] = v[0] * t[3]; \
1032 \
1033 m[1][0] = v[1] * t[0]; \
1034 m[1][1] = v[1] * t[1]; \
1035 m[1][2] = v[1] * t[2]; \
1036 m[1][3] = v[1] * t[3]; \
1037 \
1038 m[2][0] = v[2] * t[0]; \
1039 m[2][1] = v[2] * t[1]; \
1040 m[2][2] = v[2] * t[2]; \
1041 m[2][3] = v[2] * t[3]; \
1042 \
1043 m[3][0] = v[3] * t[0]; \
1044 m[3][1] = v[3] * t[1]; \
1045 m[3][2] = v[3] * t[2]; \
1046 m[3][3] = v[3] * t[3]; \
1047 }
1048
1054#define ACCUM_OUTER_PRODUCT_2X2(m, v, t) \
1055 { \
1056 m[0][0] += v[0] * t[0]; \
1057 m[0][1] += v[0] * t[1]; \
1058 \
1059 m[1][0] += v[1] * t[0]; \
1060 m[1][1] += v[1] * t[1]; \
1061 }
1062
1068#define ACCUM_OUTER_PRODUCT_3X3(m, v, t) \
1069 { \
1070 m[0][0] += v[0] * t[0]; \
1071 m[0][1] += v[0] * t[1]; \
1072 m[0][2] += v[0] * t[2]; \
1073 \
1074 m[1][0] += v[1] * t[0]; \
1075 m[1][1] += v[1] * t[1]; \
1076 m[1][2] += v[1] * t[2]; \
1077 \
1078 m[2][0] += v[2] * t[0]; \
1079 m[2][1] += v[2] * t[1]; \
1080 m[2][2] += v[2] * t[2]; \
1081 }
1082
1088#define ACCUM_OUTER_PRODUCT_4X4(m, v, t) \
1089 { \
1090 m[0][0] += v[0] * t[0]; \
1091 m[0][1] += v[0] * t[1]; \
1092 m[0][2] += v[0] * t[2]; \
1093 m[0][3] += v[0] * t[3]; \
1094 \
1095 m[1][0] += v[1] * t[0]; \
1096 m[1][1] += v[1] * t[1]; \
1097 m[1][2] += v[1] * t[2]; \
1098 m[1][3] += v[1] * t[3]; \
1099 \
1100 m[2][0] += v[2] * t[0]; \
1101 m[2][1] += v[2] * t[1]; \
1102 m[2][2] += v[2] * t[2]; \
1103 m[2][3] += v[2] * t[3]; \
1104 \
1105 m[3][0] += v[3] * t[0]; \
1106 m[3][1] += v[3] * t[1]; \
1107 m[3][2] += v[3] * t[2]; \
1108 m[3][3] += v[3] * t[3]; \
1109 }
1110
1115#define DETERMINANT_2X2(d, m) \
1116 { \
1117 d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
1118 }
1119
1124#define DETERMINANT_3X3(d, m) \
1125 { \
1126 d = m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
1127 d -= m[0][1] * (m[1][0] * m[2][2] - m[1][2] * m[2][0]); \
1128 d += m[0][2] * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
1129 }
1130
1134#define COFACTOR_4X4_IJ(fac, m, i, j) \
1135 { \
1136 GUINT __ii[4], __jj[4], __k; \
1137 \
1138 for (__k = 0; __k < i; __k++) __ii[__k] = __k; \
1139 for (__k = i; __k < 3; __k++) __ii[__k] = __k + 1; \
1140 for (__k = 0; __k < j; __k++) __jj[__k] = __k; \
1141 for (__k = j; __k < 3; __k++) __jj[__k] = __k + 1; \
1142 \
1143 (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[1]]); \
1144 (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[2]] - m[__ii[1]][__jj[2]] * m[__ii[2]][__jj[0]]); \
1145 (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]] * m[__ii[2]][__jj[1]] - m[__ii[1]][__jj[1]] * m[__ii[2]][__jj[0]]); \
1146 \
1147 __k = i + j; \
1148 if (__k != (__k / 2) * 2) \
1149 { \
1150 (fac) = -(fac); \
1151 } \
1152 }
1153
1158#define DETERMINANT_4X4(d, m) \
1159 { \
1160 GREAL cofac; \
1161 COFACTOR_4X4_IJ(cofac, m, 0, 0); \
1162 d = m[0][0] * cofac; \
1163 COFACTOR_4X4_IJ(cofac, m, 0, 1); \
1164 d += m[0][1] * cofac; \
1165 COFACTOR_4X4_IJ(cofac, m, 0, 2); \
1166 d += m[0][2] * cofac; \
1167 COFACTOR_4X4_IJ(cofac, m, 0, 3); \
1168 d += m[0][3] * cofac; \
1169 }
1170
1175#define COFACTOR_2X2(a, m) \
1176 { \
1177 a[0][0] = (m)[1][1]; \
1178 a[0][1] = -(m)[1][0]; \
1179 a[1][0] = -(m)[0][1]; \
1180 a[1][1] = (m)[0][0]; \
1181 }
1182
1187#define COFACTOR_3X3(a, m) \
1188 { \
1189 a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1]; \
1190 a[0][1] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
1191 a[0][2] = m[1][0] * m[2][1] - m[1][1] * m[2][0]; \
1192 a[1][0] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
1193 a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0]; \
1194 a[1][2] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
1195 a[2][0] = m[0][1] * m[1][2] - m[0][2] * m[1][1]; \
1196 a[2][1] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
1197 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
1198 }
1199
1204#define COFACTOR_4X4(a, m) \
1205 { \
1206 int i, j; \
1207 \
1208 for (i = 0; i < 4; i++) \
1209 { \
1210 for (j = 0; j < 4; j++) \
1211 { \
1212 COFACTOR_4X4_IJ(a[i][j], m, i, j); \
1213 } \
1214 } \
1215 }
1216
1222#define ADJOINT_2X2(a, m) \
1223 { \
1224 a[0][0] = (m)[1][1]; \
1225 a[1][0] = -(m)[1][0]; \
1226 a[0][1] = -(m)[0][1]; \
1227 a[1][1] = (m)[0][0]; \
1228 }
1229
1235#define ADJOINT_3X3(a, m) \
1236 { \
1237 a[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1]; \
1238 a[1][0] = -(m[1][0] * m[2][2] - m[2][0] * m[1][2]); \
1239 a[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0]; \
1240 a[0][1] = -(m[0][1] * m[2][2] - m[0][2] * m[2][1]); \
1241 a[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0]; \
1242 a[2][1] = -(m[0][0] * m[2][1] - m[0][1] * m[2][0]); \
1243 a[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1]; \
1244 a[1][2] = -(m[0][0] * m[1][2] - m[0][2] * m[1][0]); \
1245 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
1246 }
1247
1253#define ADJOINT_4X4(a, m) \
1254 { \
1255 char _i_, _j_; \
1256 \
1257 for (_i_ = 0; _i_ < 4; _i_++) \
1258 { \
1259 for (_j_ = 0; _j_ < 4; _j_++) \
1260 { \
1261 COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
1262 } \
1263 } \
1264 }
1265
1270#define SCALE_ADJOINT_2X2(a, s, m) \
1271 { \
1272 a[0][0] = (s)*m[1][1]; \
1273 a[1][0] = -(s)*m[1][0]; \
1274 a[0][1] = -(s)*m[0][1]; \
1275 a[1][1] = (s)*m[0][0]; \
1276 }
1277
1282#define SCALE_ADJOINT_3X3(a, s, m) \
1283 { \
1284 a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
1285 a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
1286 a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
1287 \
1288 a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
1289 a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
1290 a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
1291 \
1292 a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
1293 a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
1294 a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
1295 }
1296
1301#define SCALE_ADJOINT_4X4(a, s, m) \
1302 { \
1303 char _i_, _j_; \
1304 for (_i_ = 0; _i_ < 4; _i_++) \
1305 { \
1306 for (_j_ = 0; _j_ < 4; _j_++) \
1307 { \
1308 COFACTOR_4X4_IJ(a[_j_][_i_], m, _i_, _j_); \
1309 a[_j_][_i_] *= s; \
1310 } \
1311 } \
1312 }
1313
1319#define INVERT_2X2(b, det, a) \
1320 { \
1321 GREAL _tmp_; \
1322 DETERMINANT_2X2(det, a); \
1323 _tmp_ = 1.0 / (det); \
1324 SCALE_ADJOINT_2X2(b, _tmp_, a); \
1325 }
1326
1332#define INVERT_3X3(b, det, a) \
1333 { \
1334 GREAL _tmp_; \
1335 DETERMINANT_3X3(det, a); \
1336 _tmp_ = 1.0 / (det); \
1337 SCALE_ADJOINT_3X3(b, _tmp_, a); \
1338 }
1339
1345#define INVERT_4X4(b, det, a) \
1346 { \
1347 GREAL _tmp_; \
1348 DETERMINANT_4X4(det, a); \
1349 _tmp_ = 1.0 / (det); \
1350 SCALE_ADJOINT_4X4(b, _tmp_, a); \
1351 }
1352
1354#define MAT_GET_ROW(mat, vec3, rowindex) \
1355 { \
1356 vec3[0] = mat[rowindex][0]; \
1357 vec3[1] = mat[rowindex][1]; \
1358 vec3[2] = mat[rowindex][2]; \
1359 }
1360
1362#define MAT_GET_ROW2(mat, vec2, rowindex) \
1363 { \
1364 vec2[0] = mat[rowindex][0]; \
1365 vec2[1] = mat[rowindex][1]; \
1366 }
1367
1369#define MAT_GET_ROW4(mat, vec4, rowindex) \
1370 { \
1371 vec4[0] = mat[rowindex][0]; \
1372 vec4[1] = mat[rowindex][1]; \
1373 vec4[2] = mat[rowindex][2]; \
1374 vec4[3] = mat[rowindex][3]; \
1375 }
1376
1378#define MAT_GET_COL(mat, vec3, colindex) \
1379 { \
1380 vec3[0] = mat[0][colindex]; \
1381 vec3[1] = mat[1][colindex]; \
1382 vec3[2] = mat[2][colindex]; \
1383 }
1384
1386#define MAT_GET_COL2(mat, vec2, colindex) \
1387 { \
1388 vec2[0] = mat[0][colindex]; \
1389 vec2[1] = mat[1][colindex]; \
1390 }
1391
1393#define MAT_GET_COL4(mat, vec4, colindex) \
1394 { \
1395 vec4[0] = mat[0][colindex]; \
1396 vec4[1] = mat[1][colindex]; \
1397 vec4[2] = mat[2][colindex]; \
1398 vec4[3] = mat[3][colindex]; \
1399 }
1400
1402#define MAT_GET_X(mat, vec3) \
1403 { \
1404 MAT_GET_COL(mat, vec3, 0); \
1405 }
1406
1408#define MAT_GET_Y(mat, vec3) \
1409 { \
1410 MAT_GET_COL(mat, vec3, 1); \
1411 }
1412
1414#define MAT_GET_Z(mat, vec3) \
1415 { \
1416 MAT_GET_COL(mat, vec3, 2); \
1417 }
1418
1420#define MAT_SET_X(mat, vec3) \
1421 { \
1422 mat[0][0] = vec3[0]; \
1423 mat[1][0] = vec3[1]; \
1424 mat[2][0] = vec3[2]; \
1425 }
1426
1428#define MAT_SET_Y(mat, vec3) \
1429 { \
1430 mat[0][1] = vec3[0]; \
1431 mat[1][1] = vec3[1]; \
1432 mat[2][1] = vec3[2]; \
1433 }
1434
1436#define MAT_SET_Z(mat, vec3) \
1437 { \
1438 mat[0][2] = vec3[0]; \
1439 mat[1][2] = vec3[1]; \
1440 mat[2][2] = vec3[2]; \
1441 }
1442
1444#define MAT_GET_TRANSLATION(mat, vec3) \
1445 { \
1446 vec3[0] = mat[0][3]; \
1447 vec3[1] = mat[1][3]; \
1448 vec3[2] = mat[2][3]; \
1449 }
1450
1452#define MAT_SET_TRANSLATION(mat, vec3) \
1453 { \
1454 mat[0][3] = vec3[0]; \
1455 mat[1][3] = vec3[1]; \
1456 mat[2][3] = vec3[2]; \
1457 }
1458
1460#define MAT_DOT_ROW(mat, vec3, rowindex) (vec3[0] * mat[rowindex][0] + vec3[1] * mat[rowindex][1] + vec3[2] * mat[rowindex][2])
1461
1463#define MAT_DOT_ROW2(mat, vec2, rowindex) (vec2[0] * mat[rowindex][0] + vec2[1] * mat[rowindex][1])
1464
1466#define MAT_DOT_ROW4(mat, vec4, rowindex) (vec4[0] * mat[rowindex][0] + vec4[1] * mat[rowindex][1] + vec4[2] * mat[rowindex][2] + vec4[3] * mat[rowindex][3])
1467
1469#define MAT_DOT_COL(mat, vec3, colindex) (vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex])
1470
1472#define MAT_DOT_COL2(mat, vec2, colindex) (vec2[0] * mat[0][colindex] + vec2[1] * mat[1][colindex])
1473
1475#define MAT_DOT_COL4(mat, vec4, colindex) (vec4[0] * mat[0][colindex] + vec4[1] * mat[1][colindex] + vec4[2] * mat[2][colindex] + vec4[3] * mat[3][colindex])
1476
1481#define INV_MAT_DOT_VEC_3X3(p, m, v) \
1482 { \
1483 p[0] = MAT_DOT_COL(m, v, 0); \
1484 p[1] = MAT_DOT_COL(m, v, 1); \
1485 p[2] = MAT_DOT_COL(m, v, 2); \
1486 }
1487
1488#endif // GIM_VECTOR_H_INCLUDED
gim_geom_types.h
gim_math.h
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