Subversion Repositories wf3d

//=======================================================================

// Project Monophony

//   Wire-Frame 3D Graphics Accelerator IP Core

//

// File:

//   mp_matrix3.c

//

// Abstract:

//   matrix3 class implementation

//

// Author:

//   Kenji Ishimaru (info.info.wf3d@gmail.com)

//

//======================================================================

//

// Copyright (c) 2015, Kenji Ishimaru

// All rights reserved.

//

// Redistribution and use in source and binary forms, with or without

// modification, are permitted provided that the following conditions are met:

//

//  -Redistributions of source code must retain the above copyright notice,

//   this list of conditions and the following disclaimer.

//  -Redistributions in binary form must reproduce the above copyright notice,

//   this list of conditions and the following disclaimer in the documentation

//   and/or other materials provided with the distribution.

//

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"

// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,

// THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR

// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR

// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,

// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,

// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;

// OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,

// WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR

// OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,

// EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

//

// Revision History

#include <math.h>

#include "mp_matrix3.h"

void mp_matrix3_init(mp_matrix3 *dst) {

    int i;

    for (i=0;i<9;i++) dst->a[i] = 0.0;

    dst->a[0] = dst->a[4] = dst->a[8] = 1.0;

}

void mp_matrix3_set0(mp_matrix3 *dst, float b[]) {

        int i;

    for (i=0;i<9;i++) dst->a[i] = b[i];

}

void mp_matrix3_set1(mp_matrix3 *dst,

                               float a0,  float a1,  float a2,

                               float a3,  float a4,  float a5,

                               float a6,  float a7,  float a8 ) {

  dst->a[0] = a0; dst->a[1] = a1; dst->a[2] = a2;

  dst->a[3] = a3; dst->a[4] = a4; dst->a[5] = a5;

  dst->a[6] = a6; dst->a[7] = a7; dst->a[8] = a8;

}

void mp_matrix3_set2(mp_matrix3 *dst, mp_matrix3 *t) {

  int i;

  for (i=0;i<9;i++) dst->a[i] = t->a[i];

}

float mp_matrix3_determinant0(mp_matrix3 *dst) {

    float t =

        dst->a[0]*dst->a[4]*dst->a[8] +

        dst->a[1]*dst->a[5]*dst->a[6] +

        dst->a[2]*dst->a[7]*dst->a[3] -

        dst->a[6]*dst->a[4]*dst->a[2] -

        dst->a[5]*dst->a[7]*dst->a[0] -

        dst->a[8]*dst->a[3]*dst->a[1];

    return t;

}

float mp_matrix3_determinant1(

         float a0,  float a1,  float a2,

         float a3,  float a4,  float a5,

         float a6,  float a7,  float a8) {

    float t =

        a0*a4*a8 +

        a1*a5*a6 +

        a2*a7*a3 -

        a6*a4*a2 -

        a5*a7*a0 -

        a8*a3*a1;

    return t;

}

void mp_matrix3_multiply_vector30(mp_vector3 *dst, mp_matrix3 *m,  mp_vector3 *v) {

    dst->x = m->a[0]*v->x + m->a[1]*v->y + m->a[2]*v->z;

    dst->y = m->a[3]*v->x + m->a[4]*v->y + m->a[5]*v->z;

    dst->z = m->a[6]*v->x + m->a[7]*v->y + m->a[8]*v->z;

}

void mp_matrix3_multiply(mp_matrix3 *dst, mp_matrix3 *b) {

    mp_matrix3 c;

    int i,j,k,p,q,r,s;

    for ( k=0 , p=0, q=0 ; k < 3 ; k++, q += 3 ){

        for ( j=0 ; j < 3 ; j++ ){

            r = q;

            s = j;

            c.a[p] = 0;

            for ( i=0 ; i < 3 ; i++, r++, s += 3 ){

                c.a[p] += b->a[r] * dst->a[s];

            }

            p++;

        }

    }

    for (k = 0; k < 9 ; k++) dst->a[k] = c.a[k];

}

void mp_matrix3_inverse(mp_matrix3 *dst) {

    float t = mp_matrix3_determinant0(dst);

    t = 1.0F/t;

    float b[9];

    b[0] =  (dst->a[4]*dst->a[8]-dst->a[5]*dst->a[7])*t;

    b[1] = -(dst->a[1]*dst->a[8]-dst->a[7]*dst->a[2])*t;

    b[2] =  (dst->a[1]*dst->a[5]-dst->a[2]*dst->a[4])*t;

    b[3] = -(dst->a[3]*dst->a[8]-dst->a[5]*dst->a[6])*t;

    b[4] =  (dst->a[0]*dst->a[8]-dst->a[2]*dst->a[6])*t;

    b[5] = -(dst->a[0]*dst->a[5]-dst->a[2]*dst->a[3])*t;

    b[6] =  (dst->a[3]*dst->a[7]-dst->a[4]*dst->a[6])*t;

    b[7] = -(dst->a[0]*dst->a[7]-dst->a[1]*dst->a[6])*t;

    b[8] =  (dst->a[0]*dst->a[4]-dst->a[1]*dst->a[3])*t;

    mp_matrix3_set0(dst,b);

}

void mp_matrix3_rotate0(mp_matrix3 *dst, mp_vector3 *v,  float theta) {

    mp_vector3 w;

    mp_vector3_assign0(&w,v);

    mp_vector3_normalize(&w);

    float ss = sin(theta);

    float cc = cos(theta);

    float s = sin(theta);

    float c = cos(theta);

    float t = 1-c;

    dst->a[0] = t*w.x*w.x + c;

    dst->a[1] = t*w.x*w.y - w.z*s;

    dst->a[2] = t*w.z*w.x + w.y*s;

    dst->a[3] = t*w.x*w.y + w.z*s;

    dst->a[4] = t*w.y*w.y + c;

    dst->a[5] = t*w.y*w.z - w.x*s;

    dst->a[6] = t*w.z*w.x - w.y*s;

    dst->a[7] = t*w.y*w.z + w.x*s;

    dst->a[8] = t*w.z*w.z + c;

}

void mp_matrix3_rotate1(mp_matrix3 *dst, float dx,  float dy,

                                         float dz,  float theta) {

    mp_vector3 v;

    mp_vector3_set0(&v, dx,dy,dz);

    mp_matrix3_rotate0(dst, &v,theta);

}

void mp_matrix3_rotate2(mp_matrix3 *dst, mp_vector4 *v) {

    mp_matrix3_rotate1(dst, v->x,v->y,v->z,v->w);

}