diff options
Diffstat (limited to 'source/blender/blenlib/BLI_math_matrix.h')
| -rw-r--r-- | source/blender/blenlib/BLI_math_matrix.h | 270 |
1 files changed, 147 insertions, 123 deletions
diff --git a/source/blender/blenlib/BLI_math_matrix.h b/source/blender/blenlib/BLI_math_matrix.h index 2cd2a299d53..467e6db4805 100644 --- a/source/blender/blenlib/BLI_math_matrix.h +++ b/source/blender/blenlib/BLI_math_matrix.h @@ -98,110 +98,110 @@ void mul_m4_m4_post(float R[4][4], const float B[4][4]); /* Implement #mul_m3_series macro. */ -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(); +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(); /* Implement #mul_m4_series macro. */ -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(); +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(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_v3_m4v3(float r[3], const float mat[4][4], const float vec[3]); void mul_v3_m4v3_db(double r[3], const double mat[4][4], const double vec[3]); void mul_v4_m4v3_db(double r[4], const double mat[4][4], const double vec[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_m2_v2(const float M[2][2], float v[2]); +void mul_v2_m4v3(float r[2], const float mat[4][4], const float vec[3]); +void mul_v2_m2v2(float r[2], const float mat[2][2], const float vec[2]); +void mul_m2_v2(const float mat[2][2], float vec[2]); /** Same as #mul_m4_v3() but doesn't apply translation component. */ -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_v3_mat3_m4v3_db(double r[3], const double M[4][4], const double 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_mat3_m4_v3(const float mat[4][4], float r[3]); +void mul_v3_mat3_m4v3(float r[3], const float mat[4][4], const float vec[3]); +void mul_v3_mat3_m4v3_db(double r[3], const double mat[4][4], const double vec[3]); +void mul_m4_v4(const float mat[4][4], float r[4]); +void mul_v4_m4v4(float r[4], const float mat[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_project_m4_v3(const float mat[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_v2_project_m4_v3(float r[2], const float mat[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]); @@ -234,13 +234,14 @@ void negate_m3(float R[3][3]); void negate_mat3_m4(float R[4][4]); void negate_m4(float R[4][4]); -bool invert_m3_ex(float m[3][3], float epsilon); -bool invert_m3_m3_ex(float m1[3][3], const float m2[3][3], float epsilon); +bool invert_m3_ex(float mat[3][3], float epsilon); +bool invert_m3_m3_ex(float inverse[3][3], const float mat[3][3], float epsilon); -bool invert_m3(float R[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], const float A[4][4]); +bool invert_m3(float mat[3][3]); +bool invert_m2_m2(float inverse[2][2], const float mat[2][2]); +bool invert_m3_m3(float inverse[3][3], const float mat[3][3]); +bool invert_m4(float mat[4][4]); +bool invert_m4_m4(float inverse[4][4], const float mat[4][4]); /** * Computes the inverse of mat and puts it in inverse. * Uses Gaussian Elimination with partial (maximal column) pivoting. @@ -251,12 +252,12 @@ bool invert_m4_m4(float R[4][4], const float A[4][4]); * for non-invertible scale matrices, finding a partial solution can * be useful to have a valid local transform center, see T57767. */ -bool invert_m4_m4_fallback(float R[4][4], const float A[4][4]); +bool invert_m4_m4_fallback(float inverse[4][4], const float mat[4][4]); /* Double arithmetic (mixed float/double). */ -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]); +void mul_m4_v4d(const float mat[4][4], double r[4]); +void mul_v4d_m4v4d(double r[4], const float mat[4][4], const double v[4]); /* Double matrix functions (no mixing types). */ @@ -290,8 +291,8 @@ void normalize_m3_m3_ex(float R[3][3], const float M[3][3], float r_scale[3]) AT void normalize_m3_m3(float R[3][3], const float M[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], const float M[4][4], float r_scale[3]) ATTR_NONNULL(); -void normalize_m4_m4(float R[4][4], const float M[4][4]) ATTR_NONNULL(); +void normalize_m4_m4_ex(float rmat[4][4], const float mat[4][4], float r_scale[3]) ATTR_NONNULL(); +void normalize_m4_m4(float rmat[4][4], const float mat[4][4]) ATTR_NONNULL(); /** * Make an orthonormal matrix around the selected axis of the given matrix. @@ -325,15 +326,15 @@ void orthogonalize_m3_stable(float R[3][3], int axis, bool normalize); */ void orthogonalize_m4_stable(float R[4][4], int axis, bool normalize); -bool orthogonalize_m3_zero_axes(float R[3][3], float unit_length); -bool orthogonalize_m4_zero_axes(float R[4][4], float unit_length); +bool orthogonalize_m3_zero_axes(float m[3][3], float unit_length); +bool orthogonalize_m4_zero_axes(float m[4][4], float unit_length); -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_orthogonal_m3(const float m[3][3]); +bool is_orthogonal_m4(const float m[4][4]); +bool is_orthonormal_m3(const float m[3][3]); +bool is_orthonormal_m4(const float m[4][4]); -bool is_uniform_scaled_m3(const float mat[3][3]); +bool is_uniform_scaled_m3(const float m[3][3]); bool is_uniform_scaled_m4(const float m[4][4]); /* NOTE: 'adjoint' here means the adjugate (adjunct, "classical adjoint") matrix! @@ -361,22 +362,22 @@ float determinant_m4(const float m[4][4]); * From this decomposition it is trivial to compute the (pseudo-inverse) * of `A` as `Ainv = V.Winv.transpose(U)`. */ -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], const float A[4][4], float epsilon); -void pseudoinverse_m3_m3(float Ainv[3][3], const float A[3][3], float epsilon); +void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4]); +void pseudoinverse_m4_m4(float inverse[4][4], const float mat[4][4], float epsilon); +void pseudoinverse_m3_m3(float inverse[3][3], const float mat[3][3], float epsilon); bool has_zero_axis_m4(const float matrix[4][4]); -void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4]); +void invert_m4_m4_safe(float inverse[4][4], const float mat[4][4]); -void invert_m3_m3_safe_ortho(float Ainv[3][3], const float A[3][3]); +void invert_m3_m3_safe_ortho(float inverse[3][3], const float mat[3][3]); /** * A safe version of invert that uses valid axes, calculating the zero'd axis * based on the non-zero ones. * * This works well for transformation matrices, when a single axis is zeroed. */ -void invert_m4_m4_safe_ortho(float Ainv[4][4], const float A[4][4]); +void invert_m4_m4_safe_ortho(float inverse[4][4], const float mat[4][4]); /** \} */ @@ -393,18 +394,18 @@ void scale_m4_v2(float R[4][4], const float scale[2]); * For an orthogonal matrix, it is the product of all three scale values. * Returns a negative value if the transform is flipped by negative scale. */ -float mat3_to_volume_scale(const float M[3][3]); -float mat4_to_volume_scale(const float M[4][4]); +float mat3_to_volume_scale(const float mat[3][3]); +float mat4_to_volume_scale(const float mat[4][4]); /** * This gets the average scale of a matrix, only use when your scaling * data that has no idea of scale axis, examples are bone-envelope-radius * and curve radius. */ -float mat3_to_scale(const float M[3][3]); -float mat4_to_scale(const float M[4][4]); +float mat3_to_scale(const float mat[3][3]); +float mat4_to_scale(const float mat[4][4]); /** Return 2D scale (in XY plane) of given mat4. */ -float mat4_to_xy_scale(const float M[4][4]); +float mat4_to_xy_scale(const float mat[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]); @@ -432,7 +433,7 @@ float mat4_to_size_max_axis(const float M[4][4]); */ void mat4_to_size_fix_shear(float size[3], const float M[4][4]); -void translate_m4(float mat[4][4], float tx, float ty, float tz); +void translate_m4(float mat[4][4], float Tx, float Ty, float Tz); /** * Rotate a matrix in-place. * @@ -453,8 +454,20 @@ void rescale_m4(float mat[4][4], const float scale[3]); */ void transform_pivot_set_m4(float mat[4][4], const float pivot[3]); +/** + * \param rot: A 3x3 rotation matrix, normalized never negative. + */ void mat4_to_rot(float rot[3][3], const float wmat[4][4]); + +/** + * \param rot: A 3x3 rotation matrix, normalized never negative. + * \param size: The scale, negative if `mat3` is negative. + */ void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3]); +/** + * \param rot: A 3x3 rotation matrix, normalized never negative. + * \param size: The scale, negative if `mat3` is negative. + */ 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]); @@ -527,7 +540,18 @@ void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], flo */ void interp_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], float t); +/** + * Return true when the matrices determinant is less than zero. + * + * \note This is often used to check if a matrix flips content in 3D space, + * where transforming geometry (for example) would flip the direction of polygon normals + * from pointing outside a closed volume, to pointing inside (or the reverse). + * + * When the matrix is constructed from location, rotation & scale + * as matrix will be negative when it has an odd number of negative scales. + */ bool is_negative_m3(const float mat[3][3]); +/** A version of #is_negative_m3 that takes a 4x4 matrix. */ bool is_negative_m4(const float mat[4][4]); bool is_zero_m3(const float mat[3][3]); @@ -604,8 +628,8 @@ void BLI_space_transform_invert_normal(const struct SpaceTransform *data, float /** \name Other * \{ */ -void print_m3(const char *str, const float M[3][3]); -void print_m4(const char *str, const 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) |