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/*
* ***** 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(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_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__ */
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