/* * ***** BEGIN GPL LICENSE BLOCK ***** * * This program is free software; you can redistribute it and/or * modify it under the terms of the GNU General Public License * as published by the Free Software Foundation; either version 2 * of the License, or (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software Foundation, * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. * * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. * All rights reserved. * The Original Code is: some of this file. * * ***** END GPL LICENSE BLOCK ***** * */ #ifndef __BLI_MATH_MATRIX_H__ #define __BLI_MATH_MATRIX_H__ /** \file BLI_math_matrix.h * \ingroup bli */ #ifdef __cplusplus extern "C" { #endif /********************************* Init **************************************/ #define MAT4_UNITY { \ { 1.0, 0.0, 0.0, 0.0}, \ { 0.0, 1.0, 0.0, 0.0}, \ { 0.0, 0.0, 1.0, 0.0}, \ { 0.0, 0.0, 0.0, 1.0} \ } #define MAT3_UNITY { \ { 1.0, 0.0, 0.0}, \ { 0.0, 1.0, 0.0}, \ { 0.0, 0.0, 1.0} \ } void zero_m3(float R[3][3]); void zero_m4(float R[4][4]); void unit_m3(float R[3][3]); void unit_m4(float R[4][4]); 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 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 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 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]); /* note: the A,B arguments are reversed compared to previous mul_m4_m4m4 * function, for consistency with above functions & math notation. */ void mult_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]); void mult_m3_m3m4(float R[3][3], float A[4][4], float B[3][3]); void mul_serie_m3(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]); void mul_serie_m4(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]); 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_mat3_m4_v3(float M[4][4], float r[3]); void mul_m4_v4(float M[4][4], float r[4]); void mul_v4_m4v4(float r[4], float M[4][4], float v[4]); void mul_project_m4_v3(float M[4][4], float vec[3]); void mul_m3_v3(float M[3][3], float r[3]); void mul_v3_m3v3(float r[3], float M[3][3], float a[3]); void mul_transposed_m3_v3(float M[3][3], float r[3]); void mul_m3_v3_double(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); void mul_mat3_m4_fl(float R[4][4], float f); int invert_m3_ex(float m[3][3], const float epsilon); int invert_m3_m3_ex(float m1[3][3], float m2[3][3], const float epsilon); int invert_m3(float R[3][3]); int invert_m3_m3(float R[3][3], float A[3][3]); int invert_m4(float R[4][4]); int invert_m4_m4(float R[4][4], float A[4][4]); /* double ariphmetics */ 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]); /****************************** Linear Algebra *******************************/ void transpose_m3(float R[3][3]); void transpose_m4(float R[4][4]); void normalize_m3(float R[3][3]); void normalize_m3_m3(float R[3][3], float A[3][3]); void normalize_m4(float R[4][4]); void normalize_m4_m4(float R[4][4], float A[4][4]); void orthogonalize_m3(float R[3][3], int axis); void orthogonalize_m4(float R[4][4], int axis); int is_orthogonal_m3(float mat[3][3]); int is_orthogonal_m4(float mat[4][4]); int is_orthonormal_m3(float mat[3][3]); int is_orthonormal_m4(float mat[4][4]); int is_uniform_scaled_m3(float mat[3][3]); 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]); 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_m4(float A[4][4]); 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); /****************************** 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]); 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 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 mat3_to_rot_size(float rot[3][3], float size[3], float mat3[][3]); void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[][4]); void loc_eul_size_to_mat4(float R[4][4], const float loc[3], const float eul[3], const float size[3]); void loc_eulO_size_to_mat4(float R[4][4], const float loc[3], const float eul[3], const float size[3], const short order); void loc_quat_size_to_mat4(float R[4][4], const float loc[3], const float quat[4], const float size[3]); 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); int is_negative_m3(float mat[3][3]); int is_negative_m4(float mat[4][4]); /*********************************** Other ***********************************/ void print_m3(const char *str, float M[3][3]); void print_m4(const char *str, float M[3][4]); #ifdef __cplusplus } #endif #endif /* __BLI_MATH_MATRIX_H__ */