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

// Project Monophony

//   Wire-Frame 3D Graphics Accelerator IP Core

//

// File:

//   mp_matrix4.c

//

// Abstract:

//   matrix4 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_matrix4.h"

#include "mp_lib.h"

extern t_fui u_fui;

static int TR[16] = { 0,4,8,12,1,5,9,13,2,6,10,14,3,7,11,15 };

static int AA[16][16] = {

        /* aa00 */ {5,6,7,9,10,11,13,14,15},

        /* aa10 */ {1,2,3,9,10,11,13,14,15},

        /* aa20 */ {1,2,3,5,6,7,13,14,15},

        /* aa30 */ {1,2,3,5,6,7,9,10,11},

        /* aa01 */ {4,6,7,8,10,11,12,14,15},

        /* aa11 */ {0,2,3,8,10,11,12,14,15},

        /* aa21 */ {0,2,3,4,6,7,12,14,15},

        /* aa31 */ {0,2,3,4,6,7,8,10,11},

        /* aa02 */ {4,5,7,8,9,11,12,13,15},

        /* aa12 */ {0,1,3,8,9,11,12,13,15},

        /* aa22 */ {0,1,3,4,5,7,12,13,15},

        /* aa32 */ {0,1,3,4,5,7,8,9,11},

        /* aa03 */ {4,5,6,8,9,10,12,13,14},

        /* aa13 */ {0,1,2,8,9,10,12,13,14},

        /* aa23 */ {0,1,2,4,5,6,12,13,14},

        /* aa33 */ {0,1,2,4,5,6,8,9,10}};

void mp_matrix4_init(mp_matrix4 *dst) {

        int i;

    for (i=0;i<16;i++) dst->a[i] = 0.0;

    dst->a[0] = dst->a[5] = dst->a[10] = dst->a[15] = 1.0;

}

void mp_matrix4_set0(mp_matrix4 *dst, float b[]) {

        int i;

    for (i=0;i<16;i++) dst->a[i] = b[i];

}

void mp_matrix4_set0_t(mp_matrix4 *dst, float b[]) {

        int i;

    for (i=0;i<16;i++) dst->a[TR[i]] = b[i];

}

void mp_matrix4_set1(mp_matrix4 *dst, unsigned int b[]) {

        int i;

    for (i = 0; i <16; i++) {

        u_fui.ui= b[i];

        dst->a[i] = u_fui.f;

    }

}

void mp_matrix4_set2(mp_matrix4 *dst, mp_matrix4 *t) {

        int i;

    for (i=0;i<16;i++) dst->a[i] = t->a[i];

}

void mp_matrix4_identity(mp_matrix4 *dst) {

  mp_matrix4_init(dst);

}

void mp_matrix4_assign(mp_matrix4 *dst, mp_matrix4 *v) {

        int i;

    for (i=0 ; i < 16 ; i++ ) dst->a[i] = v->a[i];

}

void mp_matrix4_multiply_vector4(mp_vector4 *dst, mp_matrix4 *m, mp_vector4 *v) {

    mp_vector4 t;

    mp_vector4_set2(&t, v);

    dst->x = m->a[0]*t.x + m->a[1]*t.y + m->a[2]*t.z + m->a[3]*t.w;

    dst->y = m->a[4]*t.x + m->a[5]*t.y + m->a[6]*t.z + m->a[7]*t.w;

    dst->z = m->a[8]*t.x + m->a[9]*t.y + m->a[10]*t.z + m->a[11]*t.w;

    dst->w = m->a[12]*t.x + m->a[13]*t.y + m->a[14]*t.z + m->a[15]*t.w;

}

void mp_matrix4_multiply_f(mp_matrix4 *m, float *v) {

    float r[4];

    r[0] = m->a[0]*v[0] + m->a[1]*v[1] + m->a[2]*v[2] + m->a[3]*v[3];

    r[1] = m->a[4]*v[0] + m->a[5]*v[1] + m->a[6]*v[2] + m->a[7]*v[3];

    r[2] = m->a[8]*v[0] + m->a[9]*v[1] + m->a[10]*v[2] + m->a[11]*v[3];

    r[3] = m->a[12]*v[0] + m->a[13]*v[1] + m->a[14]*v[2] + m->a[15]*v[3];

    v[0] = r[0];

    v[1] = r[1];

    v[2] = r[2];

    v[3] = r[3];

}

void mp_matrix4_multiply_f2(mp_matrix4 *m, float *dst, float *src) {

    // w is always 1.0

    dst[0] = m->a[0]*src[0] + m->a[1]*src[1] + m->a[2]*src[2] + m->a[3];

    dst[1] = m->a[4]*src[0] + m->a[5]*src[1] + m->a[6]*src[2] + m->a[7];

    dst[2] = m->a[8]*src[0] + m->a[9]*src[1] + m->a[10]*src[2] + m->a[11];

    dst[3] = m->a[12]*src[0] + m->a[13]*src[1] + m->a[14]*src[2] + m->a[15];

}

void mp_matrix4_multiply_matrix4(mp_matrix4 *dst, mp_matrix4 *mm, mp_matrix4 *b) {

    int i,j,k,m,n,p,r,s;

    mp_matrix4 c;

    for ( i = r = 0 ; i < 4 ; i ++, r += 4 ) {

        for ( j = 0 ; j < 4 ; j ++ ) {

            m = r + j;

            c.a[m] = 0.0;

            for ( k = s = 0 ; k < 4 ; k++, s += 4 ){

                n = r + k;

                p = s + j;

                c.a[m] += b->a[n] * mm->a[p];

            }

        }

    }

    for ( k = 0 ; k < 16 ; k++ ) dst->a[k] = c.a[k];

}

void mp_matrix4_multiply_matrix4i(mp_matrix4 *dst, mp_matrix4 *mm, mp_matrix4 *b) {

    int i,j,k,m,n,p,r,s;

    mp_matrix4 c;

    for ( i = r = 0 ; i < 4 ; i ++, r += 4 ) {

        for ( j = 0 ; j < 4 ; j ++ ) {

            m = r + j;

            c.a[m] = 0.0;

            for ( k = s = 0 ; k < 4 ; k++, s += 4 ){

                n = r + k;

                p = s + j;

                c.a[m] += mm->a[n] * b->a[p];

            }

        }

    }

    for ( k = 0 ; k < 16 ; k++ ) dst->a[k] = c.a[k];

}

void mp_matrix4_transpose(mp_matrix4 *dst,mp_matrix4 *src) {

        int i;

    for (i = 0 ; i < 16 ; i++ ){

        dst->a[i] = src->a[TR[i]];

    }

}

void mp_matrix4_inverse(mp_matrix4 *dst,mp_matrix4 *src) {

    float determinant4, determinant3;

    float v[9];

    int m,n,sign;

    int i,j;

    mp_matrix3 w;

    for (i=0 ; i < 16 ; i++ ){

        m = (i+1)/4 + 1; n = (i+1)%4;

        if (n==0) { n = 4; m--; }

        if ((m+n)%2 == 1) sign = -1; else sign = 1;

        for (j=0 ; j < 9 ; j++ ) v[j] = src->a[AA[i][j]];

        mp_matrix3_set0(&w, v);

        determinant3 = mp_matrix3_determinant0(&w);

        dst->a[i] = sign * determinant3;

    }

    determinant4 =

            src->a[0]*dst->a[0]

          + src->a[4]*dst->a[1]

          + src->a[8]*dst->a[2]

          + src->a[12]*dst->a[3];

    determinant4 = 1.0F / determinant4;

    for (i=0 ; i < 16 ; i++ ) dst->a[i] *= determinant4;

}

void mp_matrix4_rotate(mp_matrix4 *dst, mp_vector3 *v,  float theta) {

    mp_matrix3 m3a;

    mp_matrix3_init(&m3a);

    mp_matrix3_rotate0(&m3a, v, theta);

    mp_matrix4_init(dst);

    dst->a[0] = m3a.a[0];

    dst->a[1] = m3a.a[1];

    dst->a[2] = m3a.a[2];

    dst->a[4] = m3a.a[3];

    dst->a[5] = m3a.a[4];

    dst->a[6] = m3a.a[5];

    dst->a[8] = m3a.a[6];

    dst->a[9] = m3a.a[7];

    dst->a[10] = m3a.a[8];

}

void mp_matrix4_get_elements(mp_matrix4 *dst, unsigned int *b) {

    int i;

        for (i = 0; i <16; i++) {

        u_fui.f= dst->a[i];

        b[i] = u_fui.ui;

    }

}