mirror of
https://github.com/encounter/aurora.git
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Add aurora::mtx lib
This commit is contained in:
parent
609c4bfb72
commit
3316ad9a7f
@ -9,8 +9,9 @@ add_subdirectory(extern)
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include(cmake/aurora_core.cmake)
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include(cmake/aurora_gx.cmake)
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include(cmake/aurora_vi.cmake)
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include(cmake/aurora_main.cmake)
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include(cmake/aurora_mtx.cmake)
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include(cmake/aurora_vi.cmake)
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if (CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
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add_subdirectory(examples)
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6
cmake/aurora_mtx.cmake
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6
cmake/aurora_mtx.cmake
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@ -0,0 +1,6 @@
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add_library(aurora_mtx STATIC
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lib/dolphin/mtx.c
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)
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add_library(aurora::mtx ALIAS aurora_mtx)
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target_include_directories(aurora_mtx PUBLIC include)
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320
include/dolphin/mtx.h
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320
include/dolphin/mtx.h
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@ -0,0 +1,320 @@
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#ifndef _DOLPHIN_MTX
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#define _DOLPHIN_MTX
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#include <dolphin/mtx/GeoTypes.h>
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#include <dolphin/types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef GEKKO
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#define MTX_USE_C
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#undef MTX_USE_PS
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#endif
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#if !defined(MTX_USE_PS) && !defined(MTX_USE_C) && defined(GEKKO)
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#ifndef _DEBUG
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#define MTX_USE_PS
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#endif
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#endif
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#define MTX_PTR_OFFSET 3
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#define MTX44_PTR_OFFSET 4
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typedef struct {
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u32 numMtx;
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MtxPtr stackBase;
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MtxPtr stackPtr;
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} MtxStack, *MtxStackPtr;
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#define MTXDegToRad(a) ((a)*0.01745329252f)
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#define MTXRadToDeg(a) ((a)*57.29577951f)
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#define MTXRowCol(m, r, c) ((m)[(r)][(c)])
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void C_MTXIdentity(Mtx m);
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void C_MTXCopy(const Mtx src, Mtx dst);
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void C_MTXConcat(const Mtx a, const Mtx b, Mtx ab);
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void C_MTXConcatArray(const Mtx a, const Mtx* srcBase, Mtx* dstBase, u32 count);
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void C_MTXTranspose(const Mtx src, Mtx xPose);
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u32 C_MTXInverse(const Mtx src, Mtx inv);
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u32 C_MTXInvXpose(const Mtx src, Mtx invX);
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#ifdef GEKKO
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void PSMTXIdentity(Mtx m);
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void PSMTXCopy(const Mtx src, Mtx dst);
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void PSMTXConcat(const Mtx a, const Mtx b, Mtx ab);
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void PSMTXConcatArray(const Mtx a, const Mtx* srcBase, Mtx* dstBase, u32 count);
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void PSMTXTranspose(const Mtx src, Mtx xPose);
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u32 PSMTXInverse(const Mtx src, Mtx inv);
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u32 PSMTXInvXpose(const Mtx src, Mtx invX);
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#endif
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#ifdef MTX_USE_PS
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#define MTXIdentity PSMTXIdentity
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#define MTXCopy PSMTXCopy
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#define MTXConcat PSMTXConcat
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#define MTXConcatArray PSMTXConcatArray
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#define MTXTranspose PSMTXTranspose
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#define MTXInverse PSMTXInverse
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#define MTXInvXpose PSMTXInvXpose
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#else
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#define MTXIdentity C_MTXIdentity
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#define MTXCopy C_MTXCopy
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#define MTXConcat C_MTXConcat
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#define MTXConcatArray C_MTXConcatArray
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#define MTXTranspose C_MTXTranspose
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#define MTXInverse C_MTXInverse
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#define MTXInvXpose C_MTXInvXpose
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#endif
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void C_MTXMultVec(const Mtx m, const Vec* src, Vec* dst);
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void C_MTXMultVecArray(const Mtx m, const Vec* srcBase, Vec* dstBase, u32 count);
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void C_MTXMultVecSR(const Mtx m, const Vec* src, Vec* dst);
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void C_MTXMultVecArraySR(const Mtx m, const Vec* srcBase, Vec* dstBase, u32 count);
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#ifdef GEKKO
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void PSMTXMultVec(const Mtx m, const Vec* src, Vec* dst);
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void PSMTXMultVecArray(const Mtx m, const Vec* srcBase, Vec* dstBase, u32 count);
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void PSMTXMultVecSR(const Mtx m, const Vec* src, Vec* dst);
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void PSMTXMultVecArraySR(const Mtx m, const Vec* srcBase, Vec* dstBase, u32 count);
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#endif
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#ifdef MTX_USE_PS
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#define MTXMultVec PSMTXMultVec
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#define MTXMultVecArray PSMTXMultVecArray
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#define MTXMultVecSR PSMTXMultVecSR
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#define MTXMultVecArraySR PSMTXMultVecArraySR
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#else // MTX_USE_C
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#define MTXMultVec C_MTXMultVec
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#define MTXMultVecArray C_MTXMultVecArray
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#define MTXMultVecSR C_MTXMultVecSR
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#define MTXMultVecArraySR C_MTXMultVecArraySR
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#endif
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void C_MTXQuat(Mtx m, const Quaternion* q);
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void C_MTXReflect(Mtx m, const Vec* p, const Vec* n);
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void C_MTXTrans(Mtx m, f32 xT, f32 yT, f32 zT);
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void C_MTXTransApply(const Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT);
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void C_MTXScale(Mtx m, f32 xS, f32 yS, f32 zS);
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void C_MTXScaleApply(const Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS);
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void C_MTXRotRad(Mtx m, char axis, f32 rad);
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void C_MTXRotTrig(Mtx m, char axis, f32 sinA, f32 cosA);
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void C_MTXRotAxisRad(Mtx m, const Vec* axis, f32 rad);
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#ifdef GEKKO
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void PSMTXQuat(Mtx m, const Quaternion* q);
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void PSMTXReflect(Mtx m, const Vec* p, const Vec* n);
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void PSMTXTrans(Mtx m, f32 xT, f32 yT, f32 zT);
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void PSMTXTransApply(const Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT);
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void PSMTXScale(Mtx m, f32 xS, f32 yS, f32 zS);
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void PSMTXScaleApply(const Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS);
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void PSMTXRotRad(Mtx m, char axis, f32 rad);
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void PSMTXRotTrig(Mtx m, char axis, f32 sinA, f32 cosA);
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void PSMTXRotAxisRad(Mtx m, const Vec* axis, f32 rad);
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#endif
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#ifdef MTX_USE_PS
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#define MTXQuat PSMTXQuat
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#define MTXReflect PSMTXReflect
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#define MTXTrans PSMTXTrans
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#define MTXTransApply PSMTXTransApply
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#define MTXScale PSMTXScale
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#define MTXScaleApply PSMTXScaleApply
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#define MTXRotRad PSMTXRotRad
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#define MTXRotTrig PSMTXRotTrig
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#define MTXRotAxisRad PSMTXRotAxisRad
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#define MTXRotDeg(m, axis, deg) PSMTXRotRad(m, axis, MTXDegToRad(deg))
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#define MTXRotAxisDeg(m, axis, deg) PSMTXRotAxisRad(m, axis, MTXDegToRad(deg))
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#else // MTX_USE_C
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#define MTXQuat C_MTXQuat
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#define MTXReflect C_MTXReflect
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#define MTXTrans C_MTXTrans
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#define MTXTransApply C_MTXTransApply
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#define MTXScale C_MTXScale
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#define MTXScaleApply C_MTXScaleApply
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#define MTXRotRad C_MTXRotRad
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#define MTXRotTrig C_MTXRotTrig
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#define MTXRotAxisRad C_MTXRotAxisRad
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#define MTXRotDeg(m, axis, deg) C_MTXRotRad(m, axis, MTXDegToRad(deg))
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#define MTXRotAxisDeg(m, axis, deg) C_MTXRotAxisRad(m, axis, MTXDegToRad(deg))
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#endif
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void C_MTXLookAt(Mtx m, const Point3d* camPos, const Vec* camUp, const Point3d* target);
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#define MTXLookAt C_MTXLookAt
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void C_MTXFrustum(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f);
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void C_MTXPerspective(Mtx44 m, f32 fovY, f32 aspect, f32 n, f32 f);
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void C_MTXOrtho(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f);
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#define MTXFrustum C_MTXFrustum
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#define MTXPerspective C_MTXPerspective
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#define MTXOrtho C_MTXOrtho
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void C_MTXLightFrustum(Mtx m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 scaleS, f32 scaleT, f32 transS,
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f32 transT);
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void C_MTXLightPerspective(Mtx m, f32 fovY, f32 aspect, f32 scaleS, f32 scaleT, f32 transS,
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f32 transT);
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void C_MTXLightOrtho(Mtx m, f32 t, f32 b, f32 l, f32 r, f32 scaleS, f32 scaleT, f32 transS,
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f32 transT);
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#define MTXLightFrustum C_MTXLightFrustum
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#define MTXLightPerspective C_MTXLightPerspective
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#define MTXLightOrtho C_MTXLightOrtho
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void C_VECAdd(const Vec* a, const Vec* b, Vec* ab);
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void C_VECSubtract(const Vec* a, const Vec* b, Vec* a_b);
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void C_VECScale(const Vec* src, Vec* dst, f32 scale);
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void C_VECNormalize(const Vec* src, Vec* unit);
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f32 C_VECSquareMag(const Vec* v);
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f32 C_VECMag(const Vec* v);
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f32 C_VECDotProduct(const Vec* a, const Vec* b);
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void C_VECCrossProduct(const Vec* a, const Vec* b, Vec* axb);
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f32 C_VECSquareDistance(const Vec* a, const Vec* b);
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f32 C_VECDistance(const Vec* a, const Vec* b);
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void C_VECReflect(const Vec* src, const Vec* normal, Vec* dst);
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void C_VECHalfAngle(const Vec* a, const Vec* b, Vec* half);
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#ifdef GEKKO
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void PSVECAdd(const Vec* a, const Vec* b, Vec* ab);
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void PSVECSubtract(const Vec* a, const Vec* b, Vec* a_b);
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void PSVECScale(const Vec* src, Vec* dst, f32 scale);
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void PSVECNormalize(const Vec* src, Vec* unit);
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f32 PSVECSquareMag(const Vec* v);
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f32 PSVECMag(const Vec* v);
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f32 PSVECDotProduct(const Vec* a, const Vec* b);
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void PSVECCrossProduct(const Vec* a, const Vec* b, Vec* axb);
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f32 PSVECSquareDistance(const Vec* a, const Vec* b);
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f32 PSVECDistance(const Vec* a, const Vec* b);
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#endif
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// TODO
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#if defined( MTX_USE_PS) && 0
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#define VECAdd PSVECAdd
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#define VECSubtract PSVECSubtract
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#define VECScale PSVECScale
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#define VECNormalize PSVECNormalize
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#define VECSquareMag PSVECSquareMag
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#define VECMag PSVECMag
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#define VECDotProduct PSVECDotProduct
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#define VECCrossProduct PSVECCrossProduct
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#define VECSquareDistance PSVECSquareDistance
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#define VECDistance PSVECDistance
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#else // MTX_USE_C
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#define VECAdd C_VECAdd
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#define VECSubtract C_VECSubtract
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#define VECScale C_VECScale
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#define VECNormalize C_VECNormalize
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#define VECSquareMag C_VECSquareMag
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#define VECMag C_VECMag
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#define VECDotProduct C_VECDotProduct
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#define VECCrossProduct C_VECCrossProduct
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#define VECSquareDistance C_VECSquareDistance
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#define VECDistance C_VECDistance
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#endif
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#define VECReflect C_VECReflect
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#define VECHalfAngle C_VECHalfAngle
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void C_QUATAdd(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void C_QUATSubtract(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void C_QUATMultiply(const Quaternion* p, const Quaternion* q, Quaternion* pq);
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void C_QUATDivide(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void C_QUATScale(const Quaternion* q, Quaternion* r, f32 scale);
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f32 C_QUATDotProduct(const Quaternion* p, const Quaternion* q);
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void C_QUATNormalize(const Quaternion* src, Quaternion* unit);
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void C_QUATInverse(const Quaternion* src, Quaternion* inv);
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void C_QUATExp(const Quaternion* q, Quaternion* r);
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void C_QUATLogN(const Quaternion* q, Quaternion* r);
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void C_QUATMakeClosest(const Quaternion* q, const Quaternion* qto, Quaternion* r);
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void C_QUATRotAxisRad(Quaternion* r, const Vec* axis, f32 rad);
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void C_QUATMtx(Quaternion* r, const Mtx m);
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void C_QUATLerp(const Quaternion* p, const Quaternion* q, Quaternion* r, f32 t);
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void C_QUATSlerp(const Quaternion* p, const Quaternion* q, Quaternion* r, f32 t);
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void C_QUATSquad(const Quaternion* p, const Quaternion* a, const Quaternion* b, const Quaternion* q,
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Quaternion* r, f32 t);
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void C_QUATCompA(const Quaternion* qprev, const Quaternion* q, const Quaternion* qnext,
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Quaternion* a);
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#ifdef GEKKO
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void PSQUATAdd(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void PSQUATSubtract(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void PSQUATMultiply(const Quaternion* p, const Quaternion* q, Quaternion* pq);
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void PSQUATDivide(const Quaternion* p, const Quaternion* q, Quaternion* r);
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void PSQUATScale(const Quaternion* q, Quaternion* r, f32 scale);
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f32 PSQUATDotProduct(const Quaternion* p, const Quaternion* q);
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void PSQUATNormalize(const Quaternion* src, Quaternion* unit);
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void PSQUATInverse(const Quaternion* src, Quaternion* inv);
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#endif
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#ifdef MTX_USE_PS
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#define QUATAdd PSQUATAdd
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#define QUATSubtract PSQUATSubtract
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#define QUATMultiply PSQUATMultiply
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#define QUATDivide PSQUATDivide
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#define QUATScale PSQUATScale
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#define QUATDotProduct PSQUATDotProduct
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#define QUATNormalize PSQUATNormalize
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#define QUATInverse PSQUATInverse
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#else // MTX_USE_C
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#define QUATAdd C_QUATAdd
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#define QUATSubtract C_QUATSubtract
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#define QUATMultiply C_QUATMultiply
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#define QUATDivide C_QUATDivide
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#define QUATScale C_QUATScale
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#define QUATDotProduct C_QUATDotProduct
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#define QUATNormalize C_QUATNormalize
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#define QUATInverse C_QUATInverse
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#endif
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#define QUATExp C_QUATExp
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#define QUATLogN C_QUATLogN
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#define QUATMakeClosest C_QUATMakeClosest
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#define QUATRotAxisRad C_QUATRotAxisRad
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#define QUATMtx C_QUATMtx
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#define QUATLerp C_QUATLerp
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#define QUATSlerp C_QUATSlerp
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#define QUATSquad C_QUATSquad
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#define QUATCompA C_QUATCompA
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#ifdef GEKKO
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void PSMTXReorder(const Mtx src, ROMtx dest);
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void PSMTXROMultVecArray(const ROMtx m, const Vec* srcBase, Vec* dstBase, u32 count);
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void PSMTXROSkin2VecArray(const ROMtx m0, const ROMtx m1, const f32* wtBase, const Vec* srcBase,
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Vec* dstBase, u32 count);
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void PSMTXMultS16VecArray(const Mtx m, const S16Vec* srcBase, Vec* dstBase, u32 count);
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void PSMTXROMultS16VecArray(const ROMtx m, const S16Vec* srcBase, Vec* dstBase, u32 count);
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#endif
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void MTXInitStack(MtxStack* sPtr, u32 numMtx);
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MtxPtr MTXPush(MtxStack* sPtr, const Mtx m);
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MtxPtr MTXPushFwd(MtxStack* sPtr, const Mtx m);
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MtxPtr MTXPushInv(MtxStack* sPtr, const Mtx m);
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MtxPtr MTXPushInvXpose(MtxStack* sPtr, const Mtx m);
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MtxPtr MTXPop(MtxStack* sPtr);
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MtxPtr MTXGetStackPtr(const MtxStack* sPtr);
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#define MTXAllocStack(sPtr, numMtx) \
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(((MtxStackPtr)(sPtr))->stackBase = (MtxPtr)OSAlloc(((numMtx) * sizeof(Mtx))))
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#define MTXFreeStack(sPtr) (OSFree((void*)(((MtxStackPtr)(sPtr))->stackBase)))
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#ifdef __cplusplus
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}
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#endif
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#endif // _DOLPHIN_MTX
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40
include/dolphin/mtx/GeoTypes.h
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40
include/dolphin/mtx/GeoTypes.h
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#ifndef _DOLPHIN_GEOTYPES
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#define _DOLPHIN_GEOTYPES
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#include <dolphin/types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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typedef struct {
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f32 x, y, z;
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} Vec, *VecPtr, Point3d, *Point3dPtr;
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typedef struct {
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s16 x;
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s16 y;
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s16 z;
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} S16Vec, *S16VecPtr;
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typedef struct {
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f32 x, y, z, w;
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} Quaternion, *QuaternionPtr, Qtrn, *QtrnPtr;
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typedef f32 Mtx[3][4];
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typedef f32 (*MtxPtr)[4];
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typedef f32 ROMtx[4][3];
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typedef f32 (*ROMtxPtr)[3];
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typedef f32 Mtx44[4][4];
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typedef f32 (*Mtx44Ptr)[4];
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#ifdef __cplusplus
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}
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#endif
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#endif // _DOLPHIN_GEOTYPES
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||||
106
include/dolphin/mtx/mtx44ext.h
Normal file
106
include/dolphin/mtx/mtx44ext.h
Normal file
@ -0,0 +1,106 @@
|
||||
#include <dolphin/mtx.h>
|
||||
|
||||
#ifndef _DOLPHIN_MTX44EXT
|
||||
#define _DOLPHIN_MTX44EXT
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
void C_MTX44Identity(Mtx44 m);
|
||||
void C_MTX44Copy(const Mtx44 src, Mtx44 dst);
|
||||
void C_MTX44Concat(const Mtx44 a, const Mtx44 b, Mtx44 ab);
|
||||
void C_MTX44Transpose(const Mtx44 src, Mtx44 xPose);
|
||||
u32 C_MTX44Inverse(const Mtx44 src, Mtx44 inv);
|
||||
|
||||
#ifdef GEKKO
|
||||
void PSMTX44Identity(Mtx44 m);
|
||||
void PSMTX44Copy(const Mtx44 src, Mtx44 dst);
|
||||
void PSMTX44Concat(const Mtx44 a, const Mtx44 b, Mtx44 ab);
|
||||
void PSMTX44Transpose(const Mtx44 src, Mtx44 xPose);
|
||||
#endif
|
||||
|
||||
#ifdef MTX_USE_PS
|
||||
#define MTX44Identity PSMTX44Identity
|
||||
#define MTX44Copy PSMTX44Copy
|
||||
#define MTX44Concat PSMTX44Concat
|
||||
#define MTX44Transpose PSMTX44Transpose
|
||||
#else
|
||||
#define MTX44Identity C_MTX44Identity
|
||||
#define MTX44Copy C_MTX44Copy
|
||||
#define MTX44Concat C_MTX44Concat
|
||||
#define MTX44Transpose C_MTX44Transpose
|
||||
#endif
|
||||
|
||||
#define MTX44Inverse C_MTX44Inverse
|
||||
|
||||
void C_MTX44Trans(Mtx44 m, f32 xT, f32 yT, f32 zT);
|
||||
void C_MTX44TransApply(const Mtx44 src, Mtx44 dst, f32 xT, f32 yT, f32 zT);
|
||||
void C_MTX44Scale(Mtx44 m, f32 xS, f32 yS, f32 zS);
|
||||
void C_MTX44ScaleApply(const Mtx44 src, Mtx44 dst, f32 xS, f32 yS, f32 zS);
|
||||
|
||||
void C_MTX44RotRad(Mtx44 m, char axis, f32 rad);
|
||||
void C_MTX44RotTrig(Mtx44 m, char axis, f32 sinA, f32 cosA);
|
||||
void C_MTX44RotAxisRad(Mtx44 m, const Vec* axis, f32 rad);
|
||||
|
||||
#ifdef GEKKO
|
||||
void PSMTX44Trans(Mtx44 m, f32 xT, f32 yT, f32 zT);
|
||||
void PSMTX44TransApply(const Mtx44 src, Mtx44 dst, f32 xT, f32 yT, f32 zT);
|
||||
void PSMTX44Scale(Mtx44 m, f32 xS, f32 yS, f32 zS);
|
||||
void PSMTX44ScaleApply(const Mtx44 src, Mtx44 dst, f32 xS, f32 yS, f32 zS);
|
||||
|
||||
void PSMTX44RotRad(Mtx44 m, char axis, f32 rad);
|
||||
void PSMTX44RotTrig(Mtx44 m, char axis, f32 sinA, f32 cosA);
|
||||
void PSMTX44RotAxisRad(Mtx44 m, const Vec* axis, f32 rad);
|
||||
#endif
|
||||
|
||||
#ifdef MTX_USE_PS
|
||||
#define MTX44Trans PSMTX44Trans
|
||||
#define MTX44TransApply PSMTX44TransApply
|
||||
#define MTX44Scale PSMTX44Scale
|
||||
#define MTX44ScaleApply PSMTX44ScaleApply
|
||||
|
||||
#define MTX44RotRad PSMTX44RotRad
|
||||
#define MTX44RotTrig PSMTX44RotTrig
|
||||
#define MTX44RotAxisRad PSMTX44RotAxisRad
|
||||
|
||||
#else
|
||||
#define MTX44Trans C_MTX44Trans
|
||||
#define MTX44TransApply C_MTX44TransApply
|
||||
#define MTX44Scale C_MTX44Scale
|
||||
#define MTX44ScaleApply C_MTX44ScaleApply
|
||||
|
||||
#define MTX44RotRad C_MTX44RotRad
|
||||
#define MTX44RotTrig C_MTX44RotTrig
|
||||
#define MTX44RotAxisRad C_MTX44RotAxisRad
|
||||
#endif
|
||||
|
||||
void C_MTX44MultVec(const Mtx44 m, const Vec* src, Vec* dst);
|
||||
void C_MTX44MultVecArray(const Mtx44 m, const Vec* srcBase, Vec* dstBase, u32 count);
|
||||
void C_MTX44MultVecSR(const Mtx44 m, const Vec* src, Vec* dst);
|
||||
void C_MTX44MultVecArraySR(const Mtx44 m, const Vec* srcBase, Vec* dstBase, u32 count);
|
||||
|
||||
#ifdef GEKKO
|
||||
void PSMTX44MultVec(const Mtx44 m, const Vec* src, Vec* dst);
|
||||
void PSMTX44MultVecArray(const Mtx44 m, const Vec* srcBase, Vec* dstBase, u32 count);
|
||||
void PSMTX44MultVecSR(const Mtx44 m, const Vec* src, Vec* dst);
|
||||
void PSMTX44MultVecArraySR(const Mtx44 m, const Vec* srcBase, Vec* dstBase, u32 count);
|
||||
#endif
|
||||
|
||||
#ifdef MTX_USE_PS
|
||||
#define MTX44MultVec PSMTX44MultVec
|
||||
#define MTX44MultVecArray PSMTX44MultVecArray
|
||||
#define MTX44MultVecSR PSMTX44MultVecSR
|
||||
#define MTX44MultVecArraySR PSMTX44MultVecArraySR
|
||||
#else
|
||||
#define MTX44MultVec C_MTX44MultVec
|
||||
#define MTX44MultVecArray C_MTX44MultVecArray
|
||||
#define MTX44MultVecSR C_MTX44MultVecSR
|
||||
#define MTX44MultVecArraySR C_MTX44MultVecArraySR
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // _DOLPHIN_MTX44EXT
|
||||
223
lib/dolphin/mtx.c
Normal file
223
lib/dolphin/mtx.c
Normal file
@ -0,0 +1,223 @@
|
||||
#include <dolphin/mtx.h>
|
||||
|
||||
#define ASSERTLINE(line, cond) (void)0
|
||||
#define ASSERTMSGLINE(line, cond, msg) (void)0
|
||||
#define ASSERTMSG1LINE(line, cond, msg, arg1) (void)0
|
||||
#define ASSERTMSG2LINE(line, cond, msg, arg1, arg2) (void)0
|
||||
#define ASSERTMSGLINEV(line, cond, ...) (void)0
|
||||
|
||||
void C_MTXIdentity(Mtx m) {
|
||||
ASSERTMSGLINE(189, m, "MtxIdentity(): NULL Mtx 'm' ");
|
||||
m[0][0] = 1;
|
||||
m[0][1] = 0;
|
||||
m[0][2] = 0;
|
||||
m[0][3] = 0;
|
||||
m[1][0] = 0;
|
||||
m[1][1] = 1;
|
||||
m[1][2] = 0;
|
||||
m[1][3] = 0;
|
||||
m[2][0] = 0;
|
||||
m[2][1] = 0;
|
||||
m[2][2] = 1;
|
||||
m[2][3] = 0;
|
||||
}
|
||||
|
||||
void C_MTXCopy(const Mtx src, Mtx dst) {
|
||||
ASSERTMSGLINE(250, src, "MTXCopy(): NULL MtxPtr 'src' ");
|
||||
ASSERTMSGLINE(251, dst, "MTXCopy(): NULL MtxPtr 'dst' ");
|
||||
if (src != dst) {
|
||||
dst[0][0] = src[0][0];
|
||||
dst[0][1] = src[0][1];
|
||||
dst[0][2] = src[0][2];
|
||||
dst[0][3] = src[0][3];
|
||||
dst[1][0] = src[1][0];
|
||||
dst[1][1] = src[1][1];
|
||||
dst[1][2] = src[1][2];
|
||||
dst[1][3] = src[1][3];
|
||||
dst[2][0] = src[2][0];
|
||||
dst[2][1] = src[2][1];
|
||||
dst[2][2] = src[2][2];
|
||||
dst[2][3] = src[2][3];
|
||||
}
|
||||
}
|
||||
|
||||
void C_MTXConcat(const Mtx a, const Mtx b, Mtx ab) {
|
||||
Mtx mTmp;
|
||||
MtxPtr m;
|
||||
|
||||
ASSERTMSGLINE(324, a, "MTXConcat(): NULL MtxPtr 'a' ");
|
||||
ASSERTMSGLINE(325, b, "MTXConcat(): NULL MtxPtr 'b' ");
|
||||
ASSERTMSGLINE(326, ab, "MTXConcat(): NULL MtxPtr 'ab' ");
|
||||
|
||||
if (ab == a || ab == b) {
|
||||
m = mTmp;
|
||||
} else {
|
||||
m = ab;
|
||||
}
|
||||
|
||||
m[0][0] = 0 + a[0][2] * b[2][0] + ((a[0][0] * b[0][0]) + (a[0][1] * b[1][0]));
|
||||
m[0][1] = 0 + a[0][2] * b[2][1] + ((a[0][0] * b[0][1]) + (a[0][1] * b[1][1]));
|
||||
m[0][2] = 0 + a[0][2] * b[2][2] + ((a[0][0] * b[0][2]) + (a[0][1] * b[1][2]));
|
||||
m[0][3] = a[0][3] + (a[0][2] * b[2][3] + (a[0][0] * b[0][3] + (a[0][1] * b[1][3])));
|
||||
|
||||
m[1][0] = 0 + a[1][2] * b[2][0] + ((a[1][0] * b[0][0]) + (a[1][1] * b[1][0]));
|
||||
m[1][1] = 0 + a[1][2] * b[2][1] + ((a[1][0] * b[0][1]) + (a[1][1] * b[1][1]));
|
||||
m[1][2] = 0 + a[1][2] * b[2][2] + ((a[1][0] * b[0][2]) + (a[1][1] * b[1][2]));
|
||||
m[1][3] = a[1][3] + (a[1][2] * b[2][3] + (a[1][0] * b[0][3] + (a[1][1] * b[1][3])));
|
||||
|
||||
m[2][0] = 0 + a[2][2] * b[2][0] + ((a[2][0] * b[0][0]) + (a[2][1] * b[1][0]));
|
||||
m[2][1] = 0 + a[2][2] * b[2][1] + ((a[2][0] * b[0][1]) + (a[2][1] * b[1][1]));
|
||||
m[2][2] = 0 + a[2][2] * b[2][2] + ((a[2][0] * b[0][2]) + (a[2][1] * b[1][2]));
|
||||
m[2][3] = a[2][3] + (a[2][2] * b[2][3] + (a[2][0] * b[0][3] + (a[2][1] * b[1][3])));
|
||||
|
||||
if (m == mTmp) {
|
||||
C_MTXCopy(mTmp, ab);
|
||||
}
|
||||
}
|
||||
|
||||
u32 C_MTXInvXpose(const Mtx src, Mtx invX) {
|
||||
Mtx mTmp;
|
||||
MtxPtr m;
|
||||
f32 det;
|
||||
|
||||
ASSERTMSGLINE(1185, src, "MTXInvXpose(): NULL MtxPtr 'src' ");
|
||||
ASSERTMSGLINE(1186, invX, "MTXInvXpose(): NULL MtxPtr 'invX' ");
|
||||
|
||||
if (src == invX) {
|
||||
m = mTmp;
|
||||
} else {
|
||||
m = invX;
|
||||
}
|
||||
det = ((((src[2][1] * (src[0][2] * src[1][0]))
|
||||
+ ((src[2][2] * (src[0][0] * src[1][1]))
|
||||
+ (src[2][0] * (src[0][1] * src[1][2]))))
|
||||
- (src[0][2] * (src[2][0] * src[1][1])))
|
||||
- (src[2][2] * (src[1][0] * src[0][1])))
|
||||
- (src[1][2] * (src[0][0] * src[2][1]));
|
||||
if (0 == det) {
|
||||
return 0;
|
||||
}
|
||||
det = 1 / det;
|
||||
m[0][0] = (det * +((src[1][1] * src[2][2]) - (src[2][1] * src[1][2])));
|
||||
m[0][1] = (det * -((src[1][0] * src[2][2]) - (src[2][0] * src[1][2])));
|
||||
m[0][2] = (det * +((src[1][0] * src[2][1]) - (src[2][0] * src[1][1])));
|
||||
|
||||
m[1][0] = (det * -((src[0][1] * src[2][2]) - (src[2][1] * src[0][2])));
|
||||
m[1][1] = (det * +((src[0][0] * src[2][2]) - (src[2][0] * src[0][2])));
|
||||
m[1][2] = (det * -((src[0][0] * src[2][1]) - (src[2][0] * src[0][1])));
|
||||
|
||||
m[2][0] = (det * +((src[0][1] * src[1][2]) - (src[1][1] * src[0][2])));
|
||||
m[2][1] = (det * -((src[0][0] * src[1][2]) - (src[1][0] * src[0][2])));
|
||||
m[2][2] = (det * +((src[0][0] * src[1][1]) - (src[1][0] * src[0][1])));
|
||||
|
||||
m[0][3] = 0;
|
||||
m[1][3] = 0;
|
||||
m[2][3] = 0;
|
||||
|
||||
if (m == mTmp) {
|
||||
C_MTXCopy(mTmp, invX);
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
|
||||
void C_MTXMultVec(const Mtx m, const Vec* src, Vec* dst) {
|
||||
Vec vTmp;
|
||||
|
||||
ASSERTMSGLINE(66, m, "MTXMultVec(): NULL MtxPtr 'm' ");
|
||||
ASSERTMSGLINE(67, src, "MTXMultVec(): NULL VecPtr 'src' ");
|
||||
ASSERTMSGLINE(68, dst, "MTXMultVec(): NULL VecPtr 'dst' ");
|
||||
|
||||
vTmp.x = m[0][3] + ((m[0][2] * src->z) + ((m[0][0] * src->x) + (m[0][1] * src->y)));
|
||||
vTmp.y = m[1][3] + ((m[1][2] * src->z) + ((m[1][0] * src->x) + (m[1][1] * src->y)));
|
||||
vTmp.z = m[2][3] + ((m[2][2] * src->z) + ((m[2][0] * src->x) + (m[2][1] * src->y)));
|
||||
dst->x = vTmp.x;
|
||||
dst->y = vTmp.y;
|
||||
dst->z = vTmp.z;
|
||||
}
|
||||
|
||||
void C_MTXMultVecSR(const Mtx m, const Vec* src, Vec* dst) {
|
||||
Vec vTmp;
|
||||
|
||||
ASSERTMSGLINE(313, m, "MTXMultVecSR(): NULL MtxPtr 'm' ");
|
||||
ASSERTMSGLINE(314, src, "MTXMultVecSR(): NULL VecPtr 'src' ");
|
||||
ASSERTMSGLINE(315, dst, "MTXMultVecSR(): NULL VecPtr 'dst' ");
|
||||
|
||||
vTmp.x = (m[0][2] * src->z) + ((m[0][0] * src->x) + (m[0][1] * src->y));
|
||||
vTmp.y = (m[1][2] * src->z) + ((m[1][0] * src->x) + (m[1][1] * src->y));
|
||||
vTmp.z = (m[2][2] * src->z) + ((m[2][0] * src->x) + (m[2][1] * src->y));
|
||||
dst->x = vTmp.x;
|
||||
dst->y = vTmp.y;
|
||||
dst->z = vTmp.z;
|
||||
}
|
||||
|
||||
void C_MTXTrans(Mtx m, f32 xT, f32 yT, f32 zT) {
|
||||
ASSERTMSGLINE(1866, m, "MTXTrans(): NULL MtxPtr 'm' ");
|
||||
m[0][0] = 1;
|
||||
m[0][1] = 0;
|
||||
m[0][2] = 0;
|
||||
m[0][3] = xT;
|
||||
m[1][0] = 0;
|
||||
m[1][1] = 1;
|
||||
m[1][2] = 0;
|
||||
m[1][3] = yT;
|
||||
m[2][0] = 0;
|
||||
m[2][1] = 0;
|
||||
m[2][2] = 1;
|
||||
m[2][3] = zT;
|
||||
}
|
||||
|
||||
void C_MTXFrustum(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) {
|
||||
f32 tmp;
|
||||
|
||||
ASSERTMSGLINE(105, m, "MTXFrustum(): NULL Mtx44Ptr 'm' ");
|
||||
ASSERTMSGLINE(106, t != b, "MTXFrustum(): 't' and 'b' clipping planes are equal ");
|
||||
ASSERTMSGLINE(107, l != r, "MTXFrustum(): 'l' and 'r' clipping planes are equal ");
|
||||
ASSERTMSGLINE(108, n != f, "MTXFrustum(): 'n' and 'f' clipping planes are equal ");
|
||||
tmp = 1 / (r - l);
|
||||
m[0][0] = (2 * n * tmp);
|
||||
m[0][1] = 0;
|
||||
m[0][2] = (tmp * (r + l));
|
||||
m[0][3] = 0;
|
||||
tmp = 1 / (t - b);
|
||||
m[1][0] = 0;
|
||||
m[1][1] = (2 * n * tmp);
|
||||
m[1][2] = (tmp * (t + b));
|
||||
m[1][3] = 0;
|
||||
m[2][0] = 0;
|
||||
m[2][1] = 0;
|
||||
tmp = 1 / (f - n);
|
||||
m[2][2] = (-n * tmp);
|
||||
m[2][3] = (tmp * -(f * n));
|
||||
m[3][0] = 0;
|
||||
m[3][1] = 0;
|
||||
m[3][2] = -1;
|
||||
m[3][3] = 0;
|
||||
}
|
||||
|
||||
void C_MTXOrtho(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) {
|
||||
f32 tmp;
|
||||
|
||||
ASSERTMSGLINE(254, m, "MTXOrtho(): NULL Mtx44Ptr 'm' ");
|
||||
ASSERTMSGLINE(255, t != b, "MTXOrtho(): 't' and 'b' clipping planes are equal ");
|
||||
ASSERTMSGLINE(256, l != r, "MTXOrtho(): 'l' and 'r' clipping planes are equal ");
|
||||
ASSERTMSGLINE(257, n != f, "MTXOrtho(): 'n' and 'f' clipping planes are equal ");
|
||||
tmp = 1 / (r - l);
|
||||
m[0][0] = 2 * tmp;
|
||||
m[0][1] = 0;
|
||||
m[0][2] = 0;
|
||||
m[0][3] = (tmp * -(r + l));
|
||||
tmp = 1 / (t - b);
|
||||
m[1][0] = 0;
|
||||
m[1][1] = 2 * tmp;
|
||||
m[1][2] = 0;
|
||||
m[1][3] = (tmp * -(t + b));
|
||||
m[2][0] = 0;
|
||||
m[2][1] = 0;
|
||||
tmp = 1 / (f - n);
|
||||
m[2][2] = (-1 * tmp);
|
||||
m[2][3] = (-f * tmp);
|
||||
m[3][0] = 0;
|
||||
m[3][1] = 0;
|
||||
m[3][2] = 0;
|
||||
m[3][3] = 1;
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user