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path: root/source/blender/blenlib/intern/math_matrix.c
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Diffstat (limited to 'source/blender/blenlib/intern/math_matrix.c')
-rw-r--r--source/blender/blenlib/intern/math_matrix.c164
1 files changed, 90 insertions, 74 deletions
diff --git a/source/blender/blenlib/intern/math_matrix.c b/source/blender/blenlib/intern/math_matrix.c
index b777b394005..b32c5b833ae 100644
--- a/source/blender/blenlib/intern/math_matrix.c
+++ b/source/blender/blenlib/intern/math_matrix.c
@@ -117,7 +117,7 @@ void swap_m3m3(float m1[][3], float m2[][3])
float t;
int i, j;
- for(i = 0; i < 3; i++) {
+ for (i = 0; i < 3; i++) {
for (j = 0; j < 3; j++) {
t = m1[i][j];
m1[i][j] = m2[i][j];
@@ -131,7 +131,7 @@ void swap_m4m4(float m1[][4], float m2[][4])
float t;
int i, j;
- for(i = 0; i < 4; i++) {
+ for (i = 0; i < 4; i++) {
for (j = 0; j < 4; j++) {
t = m1[i][j];
m1[i][j] = m2[i][j];
@@ -251,20 +251,20 @@ void mul_serie_m3(float answ[][3],
{
float temp[3][3];
- if(m1==NULL || m2==NULL) return;
+ if (m1==NULL || m2==NULL) return;
mul_m3_m3m3(answ, m2, m1);
- if(m3) {
+ if (m3) {
mul_m3_m3m3(temp, m3, answ);
- if(m4) {
+ if (m4) {
mul_m3_m3m3(answ, m4, temp);
- if(m5) {
+ if (m5) {
mul_m3_m3m3(temp, m5, answ);
- if(m6) {
+ if (m6) {
mul_m3_m3m3(answ, m6, temp);
- if(m7) {
+ if (m7) {
mul_m3_m3m3(temp, m7, answ);
- if(m8) {
+ if (m8) {
mul_m3_m3m3(answ, m8, temp);
}
else copy_m3_m3(answ, temp);
@@ -284,20 +284,20 @@ void mul_serie_m4(float answ[][4], float m1[][4],
{
float temp[4][4];
- if(m1==NULL || m2==NULL) return;
+ if (m1==NULL || m2==NULL) return;
mult_m4_m4m4(answ, m1, m2);
- if(m3) {
+ if (m3) {
mult_m4_m4m4(temp, answ, m3);
- if(m4) {
+ if (m4) {
mult_m4_m4m4(answ, temp, m4);
- if(m5) {
+ if (m5) {
mult_m4_m4m4(temp, answ, m5);
- if(m6) {
+ if (m6) {
mult_m4_m4m4(answ, temp, m6);
- if(m7) {
+ if (m7) {
mult_m4_m4m4(temp, answ, m7);
- if(m8) {
+ if (m8) {
mult_m4_m4m4(answ, temp, m8);
}
else copy_m4_m4(answ, temp);
@@ -422,8 +422,8 @@ void mul_m3_fl(float m[3][3], float f)
{
int i, j;
- for(i=0;i<3;i++)
- for(j=0;j<3;j++)
+ for (i=0;i<3;i++)
+ for (j=0;j<3;j++)
m[i][j] *= f;
}
@@ -431,8 +431,8 @@ void mul_m4_fl(float m[4][4], float f)
{
int i, j;
- for(i=0;i<4;i++)
- for(j=0;j<4;j++)
+ for (i=0;i<4;i++)
+ for (j=0;j<4;j++)
m[i][j] *= f;
}
@@ -440,8 +440,8 @@ void mul_mat3_m4_fl(float m[4][4], float f)
{
int i, j;
- for(i=0; i<3; i++)
- for(j=0; j<3; j++)
+ for (i=0; i<3; i++)
+ for (j=0; j<3; j++)
m[i][j] *= f;
}
@@ -460,8 +460,8 @@ void add_m3_m3m3(float m1[][3], float m2[][3], float m3[][3])
{
int i, j;
- for(i=0;i<3;i++)
- for(j=0;j<3;j++)
+ for (i=0;i<3;i++)
+ for (j=0;j<3;j++)
m1[i][j]= m2[i][j] + m3[i][j];
}
@@ -469,8 +469,8 @@ void add_m4_m4m4(float m1[][4], float m2[][4], float m3[][4])
{
int i, j;
- for(i=0;i<4;i++)
- for(j=0;j<4;j++)
+ for (i=0;i<4;i++)
+ for (j=0;j<4;j++)
m1[i][j]= m2[i][j] + m3[i][j];
}
@@ -478,8 +478,8 @@ void sub_m3_m3m3(float m1[][3], float m2[][3], float m3[][3])
{
int i, j;
- for(i=0;i<3;i++)
- for(j=0;j<3;j++)
+ for (i=0;i<3;i++)
+ for (j=0;j<3;j++)
m1[i][j]= m2[i][j] - m3[i][j];
}
@@ -487,8 +487,8 @@ void sub_m4_m4m4(float m1[][4], float m2[][4], float m3[][4])
{
int i, j;
- for(i=0;i<4;i++)
- for(j=0;j<4;j++)
+ for (i=0;i<4;i++)
+ for (j=0;j<4;j++)
m1[i][j]= m2[i][j] - m3[i][j];
}
@@ -518,10 +518,10 @@ int invert_m3_m3(float m1[3][3], float m2[3][3])
success= (det != 0);
- if(det==0) det=1;
+ if (det==0) det=1;
det= 1/det;
- for(a=0;a<3;a++) {
- for(b=0;b<3;b++) {
+ for (a=0;a<3;a++) {
+ for (b=0;b<3;b++) {
m1[a][b]*=det;
}
}
@@ -565,23 +565,23 @@ int invert_m4_m4(float inverse[4][4], float mat[4][4])
inverse[i][i] = 1;
/* Copy original matrix so we don't mess it up */
- for(i = 0; i < 4; i++)
- for(j = 0; j <4; j++)
+ for (i = 0; i < 4; i++)
+ for (j = 0; j <4; j++)
tempmat[i][j] = mat[i][j];
- for(i = 0; i < 4; i++) {
+ for (i = 0; i < 4; i++) {
/* Look for row with max pivot */
max = fabs(tempmat[i][i]);
maxj = i;
- for(j = i + 1; j < 4; j++) {
- if(fabsf(tempmat[j][i]) > max) {
+ for (j = i + 1; j < 4; j++) {
+ if (fabsf(tempmat[j][i]) > max) {
max = fabs(tempmat[j][i]);
maxj = j;
}
}
/* Swap rows if necessary */
if (maxj != i) {
- for(k = 0; k < 4; k++) {
+ for (k = 0; k < 4; k++) {
SWAP(float, tempmat[i][k], tempmat[maxj][k]);
SWAP(float, inverse[i][k], inverse[maxj][k]);
}
@@ -590,14 +590,14 @@ int invert_m4_m4(float inverse[4][4], float mat[4][4])
temp = tempmat[i][i];
if (temp == 0)
return 0; /* No non-zero pivot */
- for(k = 0; k < 4; k++) {
+ for (k = 0; k < 4; k++) {
tempmat[i][k] = (float)(tempmat[i][k]/temp);
inverse[i][k] = (float)(inverse[i][k]/temp);
}
- for(j = 0; j < 4; j++) {
- if(j != i) {
+ for (j = 0; j < 4; j++) {
+ if (j != i) {
temp = tempmat[j][i];
- for(k = 0; k < 4; k++) {
+ for (k = 0; k < 4; k++) {
tempmat[j][k] -= (float)(tempmat[i][k]*temp);
inverse[j][k] -= (float)(inverse[i][k]*temp);
}
@@ -662,11 +662,13 @@ void orthogonalize_m3(float mat[][3], int axis)
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
- } else if (dot_v3v3(mat[0], mat[2]) < 1) {
+ }
+ else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[0][1];
@@ -682,11 +684,13 @@ void orthogonalize_m3(float mat[][3], int axis)
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
- } else if (dot_v3v3(mat[0], mat[2]) < 1) {
+ }
+ else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[1][1];
@@ -702,11 +706,13 @@ void orthogonalize_m3(float mat[][3], int axis)
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
- } else if (dot_v3v3(mat[2], mat[1]) < 1) {
+ }
+ else if (dot_v3v3(mat[2], mat[1]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[2][1];
@@ -735,11 +741,13 @@ void orthogonalize_m4(float mat[][4], int axis)
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
- } else if (dot_v3v3(mat[0], mat[2]) < 1) {
+ }
+ else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[0][1];
@@ -756,11 +764,13 @@ void orthogonalize_m4(float mat[][4], int axis)
cross_v3_v3v3(mat[2], mat[0], mat[1]);
normalize_v3(mat[2]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
- } else if (dot_v3v3(mat[0], mat[2]) < 1) {
+ }
+ else if (dot_v3v3(mat[0], mat[2]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[2], mat[0], mat[1]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[1][1];
@@ -776,11 +786,13 @@ void orthogonalize_m4(float mat[][4], int axis)
cross_v3_v3v3(mat[1], mat[2], mat[0]);
normalize_v3(mat[1]);
cross_v3_v3v3(mat[0], mat[1], mat[2]);
- } else if (dot_v3v3(mat[2], mat[1]) < 1) {
+ }
+ else if (dot_v3v3(mat[2], mat[1]) < 1) {
cross_v3_v3v3(mat[0], mat[1], mat[2]);
normalize_v3(mat[0]);
cross_v3_v3v3(mat[1], mat[2], mat[0]);
- } else {
+ }
+ else {
float vec[3];
vec[0]= mat[2][1];
@@ -851,11 +863,11 @@ void normalize_m4(float mat[][4])
float len;
len= normalize_v3(mat[0]);
- if(len!=0.0f) mat[0][3]/= len;
+ if (len!=0.0f) mat[0][3]/= len;
len= normalize_v3(mat[1]);
- if(len!=0.0f) mat[1][3]/= len;
+ if (len!=0.0f) mat[1][3]/= len;
len= normalize_v3(mat[2]);
- if(len!=0.0f) mat[2][3]/= len;
+ if (len!=0.0f) mat[2][3]/= len;
}
void normalize_m4_m4(float rmat[][4], float mat[][4])
@@ -863,11 +875,11 @@ void normalize_m4_m4(float rmat[][4], float mat[][4])
float len;
len= normalize_v3_v3(rmat[0], mat[0]);
- if(len!=0.0f) rmat[0][3]= mat[0][3] / len;
+ if (len!=0.0f) rmat[0][3]= mat[0][3] / len;
len= normalize_v3_v3(rmat[1], mat[1]);
- if(len!=0.0f) rmat[1][3]= mat[1][3] / len;
+ if (len!=0.0f) rmat[1][3]= mat[1][3] / len;
len= normalize_v3_v3(rmat[2], mat[2]);
- if(len!=0.0f) rmat[2][3]= mat[2][3] / len;
+ if (len!=0.0f) rmat[2][3]= mat[2][3] / len;
}
void adjoint_m3_m3(float m1[][3], float m[][3])
@@ -1052,7 +1064,7 @@ void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3])
/* so scale doesnt interfear with rotation [#24291] */
/* note: this is a workaround for negative matrix not working for rotation conversion, FIXME */
normalize_m3_m3(mat3_n, mat3);
- if(is_negative_m3(mat3)) {
+ if (is_negative_m3(mat3)) {
negate_v3(mat3_n[0]);
negate_v3(mat3_n[1]);
negate_v3(mat3_n[2]);
@@ -1120,27 +1132,27 @@ void rotate_m4(float mat[][4], const char axis, const float angle)
sine = (float)sin(angle);
switch (axis) {
case 'X':
- for(col=0 ; col<4 ; col++)
+ for (col=0 ; col<4 ; col++)
temp[col] = cosine*mat[1][col] + sine*mat[2][col];
- for(col=0 ; col<4 ; col++) {
+ for (col=0 ; col<4 ; col++) {
mat[2][col] = - sine*mat[1][col] + cosine*mat[2][col];
mat[1][col] = temp[col];
}
break;
case 'Y':
- for(col=0 ; col<4 ; col++)
+ for (col=0 ; col<4 ; col++)
temp[col] = cosine*mat[0][col] - sine*mat[2][col];
- for(col=0 ; col<4 ; col++) {
+ for (col=0 ; col<4 ; col++) {
mat[2][col] = sine*mat[0][col] + cosine*mat[2][col];
mat[0][col] = temp[col];
}
break;
case 'Z':
- for(col=0 ; col<4 ; col++)
+ for (col=0 ; col<4 ; col++)
temp[col] = cosine*mat[0][col] + sine*mat[1][col];
- for(col=0 ; col<4 ; col++) {
+ for (col=0 ; col<4 ; col++) {
mat[1][col] = - sine*mat[0][col] + cosine*mat[1][col];
mat[0][col] = temp[col];
}
@@ -1485,7 +1497,8 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
for (i = 0; i < k-1; i++) {
U[i][k] = 0.0f;
}
- } else {
+ }
+ else {
for (i = 0; i < m; i++) {
U[i][k] = 0.0f;
}
@@ -1523,7 +1536,7 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
int kase=0;
// Test for maximum iterations to avoid infinite loop
- if(maxiter == 0)
+ if (maxiter == 0)
break;
maxiter--;
@@ -1548,7 +1561,8 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
}
if (k == p-2) {
kase = 4;
- } else {
+ }
+ else {
int ks;
for (ks = p-1; ks >= k; ks--) {
float t;
@@ -1564,9 +1578,11 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
}
if (ks == k) {
kase = 3;
- } else if (ks == p-1) {
+ }
+ else if (ks == p-1) {
kase = 1;
- } else {
+ }
+ else {
kase = 2;
k = ks;
}
@@ -1753,7 +1769,7 @@ void pseudoinverse_m4_m4(float Ainv[4][4], float A[4][4], float epsilon)
transpose_m4(V);
zero_m4(Wm);
- for(i=0; i<4; i++)
+ for (i=0; i<4; i++)
Wm[i][i]= (W[i] < epsilon)? 0.0f: 1.0f/W[i];
transpose_m4(V);
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-09 13:13:31 +0300