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path: root/source/blender/blenlib/BLI_math_matrix.h
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-rw-r--r--source/blender/blenlib/BLI_math_matrix.h191
1 files changed, 102 insertions, 89 deletions
diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h
index 8124e07dd47..fc4bca12dac 100644
--- a/source/blender/blenlib/BLI_math_matrix.h
+++ b/source/blender/blenlib/BLI_math_matrix.h
@@ -46,31 +46,43 @@ void unit_m2(float R[2][2]);
void unit_m3(float R[3][3]);
void unit_m4(float R[4][4]);
-void copy_m2_m2(float R[2][2], float A[2][2]);
-void copy_m3_m3(float R[3][3], float A[3][3]);
-void copy_m4_m4(float R[4][4], float A[4][4]);
-void copy_m3_m4(float R[3][3], float A[4][4]);
-void copy_m4_m3(float R[4][4], float A[3][3]);
+void copy_m2_m2(float R[2][2], const float A[2][2]);
+void copy_m3_m3(float R[3][3], const float A[3][3]);
+void copy_m4_m4(float R[4][4], const float A[4][4]);
+void copy_m3_m4(float R[3][3], const float A[4][4]);
+void copy_m4_m3(float R[4][4], const float A[3][3]);
/* double->float */
-void copy_m3_m3d(float R[3][3], double A[3][3]);
+void copy_m3_m3d(float R[3][3], const double A[3][3]);
void swap_m3m3(float A[3][3], float B[3][3]);
void swap_m4m4(float A[4][4], float B[4][4]);
/******************************** Arithmetic *********************************/
-void add_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
-void add_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
+void add_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
+void add_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
-void sub_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
-void sub_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
+void sub_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
+void sub_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
-void mul_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
-void mul_m4_m3m4(float R[4][4], float A[3][3], float B[4][4]);
-void mul_m4_m4m3(float R[4][4], float A[4][4], float B[3][3]);
-void mul_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
-void mul_m3_m3m4(float R[3][3], float A[4][4], float B[3][3]);
+void mul_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
+void mul_m4_m3m4(float R[4][4], const float A[3][3], const float B[4][4]);
+void mul_m4_m4m3(float R[4][4], const float A[4][4], const float B[3][3]);
+void mul_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
+void mul_m3_m3m4(float R[3][3], const float A[4][4], const float B[3][3]);
+
+/* special matrix multiplies
+ * uniq: R <-- AB, R is neither A nor B
+ * pre: R <-- AR
+ * post: R <-- RB
+ */
+void mul_m3_m3m3_uniq(float R[3][3], const float A[3][3], const float B[3][3]);
+void mul_m3_m3_pre(float R[3][3], const float A[3][3]);
+void mul_m3_m3_post(float R[3][3], const float B[3][3]);
+void mul_m4_m4m4_uniq(float R[4][4], const float A[4][4], const float B[4][4]);
+void mul_m4_m4_pre(float R[4][4], const float A[4][4]);
+void mul_m4_m4_post(float R[4][4], const float B[4][4]);
/* mul_m3_series */
void _va_mul_m3_series_3(float R[3][3], float M1[3][3], float M2[3][3]) ATTR_NONNULL();
@@ -100,27 +112,28 @@ void _va_mul_m4_series_9(float R[4][4], float M1[4][4], float M2[4][4], float M3
#define mul_m3_series(...) VA_NARGS_CALL_OVERLOAD(_va_mul_m3_series_, __VA_ARGS__)
#define mul_m4_series(...) VA_NARGS_CALL_OVERLOAD(_va_mul_m4_series_, __VA_ARGS__)
-void mul_m4_v3(float M[4][4], float r[3]);
-void mul_v3_m4v3(float r[3], float M[4][4], const float v[3]);
-void mul_v2_m4v3(float r[2], float M[4][4], const float v[3]);
-void mul_v2_m2v2(float r[2], float M[2][2], const float v[2]);
-void mul_m2v2(float M[2][2], float v[2]);
-void mul_mat3_m4_v3(float M[4][4], float r[3]);
-void mul_v3_mat3_m4v3(float r[3], float M[4][4], const float v[3]);
-void mul_m4_v4(float M[4][4], float r[4]);
-void mul_v4_m4v4(float r[4], float M[4][4], const float v[4]);
-void mul_project_m4_v3(float M[4][4], float vec[3]);
-void mul_v3_project_m4_v3(float r[3], float mat[4][4], const float vec[3]);
-void mul_v2_project_m4_v3(float r[2], float M[4][4], const float vec[3]);
-
-void mul_m3_v2(float m[3][3], float r[2]);
-void mul_v2_m3v2(float r[2], float m[3][3], float v[2]);
-void mul_m3_v3(float M[3][3], float r[3]);
-void mul_v3_m3v3(float r[3], float M[3][3], const float a[3]);
-void mul_v2_m3v3(float r[2], float M[3][3], const float a[3]);
-void mul_transposed_m3_v3(float M[3][3], float r[3]);
-void mul_transposed_mat3_m4_v3(float M[4][4], float r[3]);
-void mul_m3_v3_double(float M[3][3], double r[3]);
+void mul_m4_v3(const float M[4][4], float r[3]);
+void mul_v3_m4v3(float r[3], const float M[4][4], const float v[3]);
+void mul_v2_m4v3(float r[2], const float M[4][4], const float v[3]);
+void mul_v2_m2v2(float r[2], const float M[2][2], const float v[2]);
+void mul_m2v2(const float M[2][2], float v[2]);
+void mul_mat3_m4_v3(const float M[4][4], float r[3]);
+void mul_v3_mat3_m4v3(float r[3], const float M[4][4], const float v[3]);
+void mul_m4_v4(const float M[4][4], float r[4]);
+void mul_v4_m4v4(float r[4], const float M[4][4], const float v[4]);
+void mul_v4_m4v3(float r[4], const float M[4][4], const float v[3]); /* v has implicit w = 1.0f */
+void mul_project_m4_v3(const float M[4][4], float vec[3]);
+void mul_v3_project_m4_v3(float r[3], const float mat[4][4], const float vec[3]);
+void mul_v2_project_m4_v3(float r[2], const float M[4][4], const float vec[3]);
+
+void mul_m3_v2(const float m[3][3], float r[2]);
+void mul_v2_m3v2(float r[2], const float m[3][3], const float v[2]);
+void mul_m3_v3(const float M[3][3], float r[3]);
+void mul_v3_m3v3(float r[3], const float M[3][3], const float a[3]);
+void mul_v2_m3v3(float r[2], const float M[3][3], const float a[3]);
+void mul_transposed_m3_v3(const float M[3][3], float r[3]);
+void mul_transposed_mat3_m4_v3(const float M[4][4], float r[3]);
+void mul_m3_v3_double(const float M[3][3], double r[3]);
void mul_m3_fl(float R[3][3], float f);
void mul_m4_fl(float R[4][4], float f);
@@ -131,103 +144,103 @@ void negate_mat3_m4(float R[4][4]);
void negate_m4(float R[4][4]);
bool invert_m3_ex(float m[3][3], const float epsilon);
-bool invert_m3_m3_ex(float m1[3][3], float m2[3][3], const float epsilon);
+bool invert_m3_m3_ex(float m1[3][3], const float m2[3][3], const float epsilon);
bool invert_m3(float R[3][3]);
-bool invert_m3_m3(float R[3][3], float A[3][3]);
+bool invert_m3_m3(float R[3][3], const float A[3][3]);
bool invert_m4(float R[4][4]);
-bool invert_m4_m4(float R[4][4], float A[4][4]);
+bool invert_m4_m4(float R[4][4], const float A[4][4]);
/* double arithmetic (mixed float/double) */
-void mul_m4_v4d(float M[4][4], double r[4]);
-void mul_v4d_m4v4d(double r[4], float M[4][4], double v[4]);
+void mul_m4_v4d(const float M[4][4], double r[4]);
+void mul_v4d_m4v4d(double r[4], const float M[4][4], const double v[4]);
/* double matrix functions (no mixing types) */
-void mul_v3_m3v3_db(double r[3], double M[3][3], const double a[3]);
-void mul_m3_v3_db(double M[3][3], double r[3]);
+void mul_v3_m3v3_db(double r[3], const double M[3][3], const double a[3]);
+void mul_m3_v3_db(const double M[3][3], double r[3]);
/****************************** Linear Algebra *******************************/
void transpose_m3(float R[3][3]);
-void transpose_m3_m3(float R[3][3], float A[3][3]);
-void transpose_m3_m4(float R[3][3], float A[4][4]);
+void transpose_m3_m3(float R[3][3], const float A[3][3]);
+void transpose_m3_m4(float R[3][3], const float A[4][4]);
void transpose_m4(float R[4][4]);
-void transpose_m4_m4(float R[4][4], float A[4][4]);
+void transpose_m4_m4(float R[4][4], const float A[4][4]);
-int compare_m4m4(float mat1[4][4], float mat2[4][4], float limit);
+int compare_m4m4(const float mat1[4][4], const float mat2[4][4], float limit);
void normalize_m3_ex(float R[3][3], float r_scale[3]) ATTR_NONNULL();
void normalize_m3(float R[3][3]) ATTR_NONNULL();
-void normalize_m3_m3_ex(float R[3][3], float A[3][3], float r_scale[3]) ATTR_NONNULL();
-void normalize_m3_m3(float R[3][3], float A[3][3]) ATTR_NONNULL();
+void normalize_m3_m3_ex(float R[3][3], const float A[3][3], float r_scale[3]) ATTR_NONNULL();
+void normalize_m3_m3(float R[3][3], const float A[3][3]) ATTR_NONNULL();
void normalize_m4_ex(float R[4][4], float r_scale[3]) ATTR_NONNULL();
void normalize_m4(float R[4][4]) ATTR_NONNULL();
-void normalize_m4_m4_ex(float R[4][4], float A[4][4], float r_scale[3]) ATTR_NONNULL();
-void normalize_m4_m4(float R[4][4], float A[4][4]) ATTR_NONNULL();
+void normalize_m4_m4_ex(float R[4][4], const float A[4][4], float r_scale[3]) ATTR_NONNULL();
+void normalize_m4_m4(float R[4][4],const float A[4][4]) ATTR_NONNULL();
void orthogonalize_m3(float R[3][3], int axis);
void orthogonalize_m4(float R[4][4], int axis);
-bool is_orthogonal_m3(float mat[3][3]);
-bool is_orthogonal_m4(float mat[4][4]);
-bool is_orthonormal_m3(float mat[3][3]);
-bool is_orthonormal_m4(float mat[4][4]);
+bool is_orthogonal_m3(const float mat[3][3]);
+bool is_orthogonal_m4(const float mat[4][4]);
+bool is_orthonormal_m3(const float mat[3][3]);
+bool is_orthonormal_m4(const float mat[4][4]);
-bool is_uniform_scaled_m3(float mat[3][3]);
-bool is_uniform_scaled_m4(float m[4][4]);
+bool is_uniform_scaled_m3(const float mat[3][3]);
+bool is_uniform_scaled_m4(const float m[4][4]);
/* Note: 'adjoint' here means the adjugate (adjunct, "classical adjoint") matrix!
* Nowadays 'adjoint' usually refers to the conjugate transpose,
* which for real-valued matrices is simply the transpose.
*/
-void adjoint_m2_m2(float R[2][2], float A[2][2]);
-void adjoint_m3_m3(float R[3][3], float A[3][3]);
-void adjoint_m4_m4(float R[4][4], float A[4][4]);
+void adjoint_m2_m2(float R[2][2], const float A[2][2]);
+void adjoint_m3_m3(float R[3][3], const float A[3][3]);
+void adjoint_m4_m4(float R[4][4], const float A[4][4]);
float determinant_m2(float a, float b,
float c, float d);
float determinant_m3(float a, float b, float c,
float d, float e, float f,
float g, float h, float i);
-float determinant_m3_array(float m[3][3]);
-float determinant_m4(float A[4][4]);
+float determinant_m3_array(const float m[3][3]);
+float determinant_m4(const float A[4][4]);
#define PSEUDOINVERSE_EPSILON 1e-8f
void svd_m4(float U[4][4], float s[4], float V[4][4], float A[4][4]);
-void pseudoinverse_m4_m4(float Ainv[4][4], float A[4][4], float epsilon);
-void pseudoinverse_m3_m3(float Ainv[3][3], float A[3][3], float epsilon);
+void pseudoinverse_m4_m4(float Ainv[4][4], const float A[4][4], float epsilon);
+void pseudoinverse_m3_m3(float Ainv[3][3], const float A[3][3], float epsilon);
-bool has_zero_axis_m4(float matrix[4][4]);
+bool has_zero_axis_m4(const float matrix[4][4]);
-void invert_m4_m4_safe(float Ainv[4][4], float A[4][4]);
+void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4]);
/****************************** Transformations ******************************/
void scale_m3_fl(float R[3][3], float scale);
void scale_m4_fl(float R[4][4], float scale);
-float mat3_to_scale(float M[3][3]);
-float mat4_to_scale(float M[4][4]);
+float mat3_to_scale(const float M[3][3]);
+float mat4_to_scale(const float M[4][4]);
void size_to_mat3(float R[3][3], const float size[3]);
void size_to_mat4(float R[4][4], const float size[3]);
-void mat3_to_size(float r[3], float M[3][3]);
-void mat4_to_size(float r[3], float M[4][4]);
+void mat3_to_size(float r[3], const float M[3][3]);
+void mat4_to_size(float r[3], const float M[4][4]);
void translate_m4(float mat[4][4], float tx, float ty, float tz);
void rotate_m4(float mat[4][4], const char axis, const float angle);
void rotate_m2(float mat[2][2], const float angle);
void transform_pivot_set_m4(float mat[4][4], const float pivot[3]);
-void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]);
-void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]);
-void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]);
-void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]);
+void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3]);
+void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], const float wmat[4][4]);
+void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4]);
+void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4]);
-void mat3_polar_decompose(float mat3[3][3], float r_U[3][3], float r_P[3][3]);
+void mat3_polar_decompose(const float mat3[3][3], float r_U[3][3], float r_P[3][3]);
void loc_eul_size_to_mat4(float R[4][4],
const float loc[3], const float eul[3], const float size[3]);
@@ -238,20 +251,20 @@ void loc_quat_size_to_mat4(float R[4][4],
void loc_axisangle_size_to_mat4(float R[4][4],
const float loc[3], const float axis[4], const float angle, const float size[3]);
-void blend_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t);
-void blend_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t);
+void blend_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t);
+void blend_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t);
-void interp_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t);
-void interp_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t);
+void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t);
+void interp_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t);
-bool is_negative_m3(float mat[3][3]);
-bool is_negative_m4(float mat[4][4]);
+bool is_negative_m3(const float mat[3][3]);
+bool is_negative_m4(const float mat[4][4]);
-bool is_zero_m3(float mat[3][3]);
-bool is_zero_m4(float mat[4][4]);
+bool is_zero_m3(const float mat[3][3]);
+bool is_zero_m4(const float mat[4][4]);
-bool equals_m3m3(float mat1[3][3], float mat2[3][3]);
-bool equals_m4m4(float mat1[4][4], float mat2[4][4]);
+bool equals_m3m3(const float mat1[3][3], const float mat2[3][3]);
+bool equals_m4m4(const float mat1[4][4], const float mat2[4][4]);
/* SpaceTransform helper */
typedef struct SpaceTransform {
@@ -260,8 +273,8 @@ typedef struct SpaceTransform {
} SpaceTransform;
-void BLI_space_transform_from_matrices(struct SpaceTransform *data, float local[4][4], float target[4][4]);
-void BLI_space_transform_global_from_matrices(struct SpaceTransform *data, float local[4][4], float target[4][4]);
+void BLI_space_transform_from_matrices(struct SpaceTransform *data, const float local[4][4], const float target[4][4]);
+void BLI_space_transform_global_from_matrices(struct SpaceTransform *data, const float local[4][4], const float target[4][4]);
void BLI_space_transform_apply(const struct SpaceTransform *data, float co[3]);
void BLI_space_transform_invert(const struct SpaceTransform *data, float co[3]);
void BLI_space_transform_apply_normal(const struct SpaceTransform *data, float no[3]);
@@ -272,8 +285,8 @@ void BLI_space_transform_invert_normal(const struct SpaceTransform *data, float
/*********************************** Other ***********************************/
-void print_m3(const char *str, float M[3][3]);
-void print_m4(const char *str, float M[4][4]);
+void print_m3(const char *str, const float M[3][3]);
+void print_m4(const char *str, const float M[4][4]);
#define print_m3_id(M) print_m3(STRINGIFY(M), M)
#define print_m4_id(M) print_m4(STRINGIFY(M), M)
generated by cgit v1.2.3 (git 2.25.1) at 2024-06-21 15:35:23 +0300