diff options
Diffstat (limited to 'source/blender/blenlib/BLI_math_matrix.h')
-rw-r--r-- | source/blender/blenlib/BLI_math_matrix.h | 255 |
1 files changed, 143 insertions, 112 deletions
diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h index 600042602e0..b38e26ecb2f 100644 --- a/source/blender/blenlib/BLI_math_matrix.h +++ b/source/blender/blenlib/BLI_math_matrix.h @@ -46,81 +46,112 @@ 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(); -void _va_mul_m3_series_4(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3]) ATTR_NONNULL(); -void _va_mul_m3_series_5(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3], float M4[3][3]) ATTR_NONNULL(); -void _va_mul_m3_series_6(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3], float M4[3][3], - float M5[3][3]) ATTR_NONNULL(); -void _va_mul_m3_series_7(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3], float M4[3][3], - float M5[3][3], float M6[3][3]) ATTR_NONNULL(); -void _va_mul_m3_series_8(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3], float M4[3][3], - float M5[3][3], float M6[3][3], float M7[3][3]) ATTR_NONNULL(); -void _va_mul_m3_series_9(float R[3][3], float M1[3][3], float M2[3][3], float M3[3][3], float M4[3][3], - float M5[3][3], float M6[3][3], float M7[3][3], float M8[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_3( + float R[3][3], const float M1[3][3], const float M2[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_4( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_5( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3], + const float M4[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_6( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3], + const float M4[3][3], const float M5[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_7( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3], + const float M4[3][3], const float M5[3][3], const float M6[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_8( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3], + const float M4[3][3], const float M5[3][3], const float M6[3][3], const float M7[3][3]) ATTR_NONNULL(); +void _va_mul_m3_series_9( + float R[3][3], const float M1[3][3], const float M2[3][3], const float M3[3][3], + const float M4[3][3], const float M5[3][3], const float M6[3][3], const float M7[3][3], + const float M8[3][3]) ATTR_NONNULL(); /* mul_m4_series */ -void _va_mul_m4_series_3(float R[4][4], float M1[4][4], float M2[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_4(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_5(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4], float M4[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_6(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4], float M4[4][4], - float M5[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_7(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4], float M4[4][4], - float M5[4][4], float M6[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_8(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4], float M4[4][4], - float M5[4][4], float M6[4][4], float M7[4][4]) ATTR_NONNULL(); -void _va_mul_m4_series_9(float R[4][4], float M1[4][4], float M2[4][4], float M3[4][4], float M4[4][4], - float M5[4][4], float M6[4][4], float M7[4][4], float M8[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_3( + float R[4][4], const float M1[4][4], const float M2[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_4( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_5( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4], + const float M4[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_6( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4], + const float M4[4][4], const float M5[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_7( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4], + const float M4[4][4], const float M5[4][4], const float M6[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_8( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4], + const float M4[4][4], const float M5[4][4], const float M6[4][4], const float M7[4][4]) ATTR_NONNULL(); +void _va_mul_m4_series_9( + float R[4][4], const float M1[4][4], const float M2[4][4], const float M3[4][4], + const float M4[4][4], const float M5[4][4], const float M6[4][4], const float M7[4][4], + const float M8[4][4]) ATTR_NONNULL(); #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 +162,103 @@ 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 mat4_to_xy_scale(float M[4][4]); +float mat3_to_scale(const float M[3][3]); +float mat4_to_scale(const float M[4][4]); +float mat4_to_xy_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 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 +269,20 @@ 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 +291,8 @@ 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 +303,8 @@ 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) |