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https://github.com/encounter/aurora.git
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223 lines
6.7 KiB
C
223 lines
6.7 KiB
C
#include <dolphin/mtx.h>
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#define ASSERTLINE(line, cond) (void)0
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#define ASSERTMSGLINE(line, cond, msg) (void)0
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#define ASSERTMSG1LINE(line, cond, msg, arg1) (void)0
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#define ASSERTMSG2LINE(line, cond, msg, arg1, arg2) (void)0
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#define ASSERTMSGLINEV(line, cond, ...) (void)0
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void C_MTXIdentity(Mtx m) {
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ASSERTMSGLINE(189, m, "MtxIdentity(): NULL Mtx 'm' ");
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m[0][0] = 1;
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m[0][1] = 0;
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m[0][2] = 0;
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m[0][3] = 0;
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m[1][0] = 0;
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m[1][1] = 1;
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m[1][2] = 0;
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m[1][3] = 0;
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m[2][0] = 0;
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m[2][1] = 0;
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m[2][2] = 1;
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m[2][3] = 0;
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}
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void C_MTXCopy(const Mtx src, Mtx dst) {
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ASSERTMSGLINE(250, src, "MTXCopy(): NULL MtxPtr 'src' ");
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ASSERTMSGLINE(251, dst, "MTXCopy(): NULL MtxPtr 'dst' ");
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if (src != dst) {
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dst[0][0] = src[0][0];
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dst[0][1] = src[0][1];
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dst[0][2] = src[0][2];
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dst[0][3] = src[0][3];
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dst[1][0] = src[1][0];
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dst[1][1] = src[1][1];
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dst[1][2] = src[1][2];
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dst[1][3] = src[1][3];
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dst[2][0] = src[2][0];
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dst[2][1] = src[2][1];
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dst[2][2] = src[2][2];
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dst[2][3] = src[2][3];
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}
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}
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void C_MTXConcat(const Mtx a, const Mtx b, Mtx ab) {
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Mtx mTmp;
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MtxPtr m;
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ASSERTMSGLINE(324, a, "MTXConcat(): NULL MtxPtr 'a' ");
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ASSERTMSGLINE(325, b, "MTXConcat(): NULL MtxPtr 'b' ");
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ASSERTMSGLINE(326, ab, "MTXConcat(): NULL MtxPtr 'ab' ");
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if (ab == a || ab == b) {
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m = mTmp;
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} else {
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m = ab;
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}
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m[0][0] = 0 + a[0][2] * b[2][0] + ((a[0][0] * b[0][0]) + (a[0][1] * b[1][0]));
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m[0][1] = 0 + a[0][2] * b[2][1] + ((a[0][0] * b[0][1]) + (a[0][1] * b[1][1]));
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m[0][2] = 0 + a[0][2] * b[2][2] + ((a[0][0] * b[0][2]) + (a[0][1] * b[1][2]));
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m[0][3] = a[0][3] + (a[0][2] * b[2][3] + (a[0][0] * b[0][3] + (a[0][1] * b[1][3])));
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m[1][0] = 0 + a[1][2] * b[2][0] + ((a[1][0] * b[0][0]) + (a[1][1] * b[1][0]));
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m[1][1] = 0 + a[1][2] * b[2][1] + ((a[1][0] * b[0][1]) + (a[1][1] * b[1][1]));
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m[1][2] = 0 + a[1][2] * b[2][2] + ((a[1][0] * b[0][2]) + (a[1][1] * b[1][2]));
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m[1][3] = a[1][3] + (a[1][2] * b[2][3] + (a[1][0] * b[0][3] + (a[1][1] * b[1][3])));
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m[2][0] = 0 + a[2][2] * b[2][0] + ((a[2][0] * b[0][0]) + (a[2][1] * b[1][0]));
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m[2][1] = 0 + a[2][2] * b[2][1] + ((a[2][0] * b[0][1]) + (a[2][1] * b[1][1]));
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m[2][2] = 0 + a[2][2] * b[2][2] + ((a[2][0] * b[0][2]) + (a[2][1] * b[1][2]));
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m[2][3] = a[2][3] + (a[2][2] * b[2][3] + (a[2][0] * b[0][3] + (a[2][1] * b[1][3])));
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if (m == mTmp) {
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C_MTXCopy(mTmp, ab);
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}
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}
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u32 C_MTXInvXpose(const Mtx src, Mtx invX) {
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Mtx mTmp;
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MtxPtr m;
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f32 det;
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ASSERTMSGLINE(1185, src, "MTXInvXpose(): NULL MtxPtr 'src' ");
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ASSERTMSGLINE(1186, invX, "MTXInvXpose(): NULL MtxPtr 'invX' ");
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if (src == invX) {
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m = mTmp;
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} else {
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m = invX;
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}
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det = ((((src[2][1] * (src[0][2] * src[1][0]))
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+ ((src[2][2] * (src[0][0] * src[1][1]))
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+ (src[2][0] * (src[0][1] * src[1][2]))))
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- (src[0][2] * (src[2][0] * src[1][1])))
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- (src[2][2] * (src[1][0] * src[0][1])))
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- (src[1][2] * (src[0][0] * src[2][1]));
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if (0 == det) {
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return 0;
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}
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det = 1 / det;
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m[0][0] = (det * +((src[1][1] * src[2][2]) - (src[2][1] * src[1][2])));
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m[0][1] = (det * -((src[1][0] * src[2][2]) - (src[2][0] * src[1][2])));
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m[0][2] = (det * +((src[1][0] * src[2][1]) - (src[2][0] * src[1][1])));
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m[1][0] = (det * -((src[0][1] * src[2][2]) - (src[2][1] * src[0][2])));
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m[1][1] = (det * +((src[0][0] * src[2][2]) - (src[2][0] * src[0][2])));
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m[1][2] = (det * -((src[0][0] * src[2][1]) - (src[2][0] * src[0][1])));
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m[2][0] = (det * +((src[0][1] * src[1][2]) - (src[1][1] * src[0][2])));
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m[2][1] = (det * -((src[0][0] * src[1][2]) - (src[1][0] * src[0][2])));
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m[2][2] = (det * +((src[0][0] * src[1][1]) - (src[1][0] * src[0][1])));
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m[0][3] = 0;
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m[1][3] = 0;
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m[2][3] = 0;
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if (m == mTmp) {
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C_MTXCopy(mTmp, invX);
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}
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return 1;
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}
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void C_MTXMultVec(const Mtx m, const Vec* src, Vec* dst) {
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Vec vTmp;
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ASSERTMSGLINE(66, m, "MTXMultVec(): NULL MtxPtr 'm' ");
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ASSERTMSGLINE(67, src, "MTXMultVec(): NULL VecPtr 'src' ");
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ASSERTMSGLINE(68, dst, "MTXMultVec(): NULL VecPtr 'dst' ");
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vTmp.x = m[0][3] + ((m[0][2] * src->z) + ((m[0][0] * src->x) + (m[0][1] * src->y)));
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vTmp.y = m[1][3] + ((m[1][2] * src->z) + ((m[1][0] * src->x) + (m[1][1] * src->y)));
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vTmp.z = m[2][3] + ((m[2][2] * src->z) + ((m[2][0] * src->x) + (m[2][1] * src->y)));
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dst->x = vTmp.x;
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dst->y = vTmp.y;
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dst->z = vTmp.z;
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}
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void C_MTXMultVecSR(const Mtx m, const Vec* src, Vec* dst) {
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Vec vTmp;
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ASSERTMSGLINE(313, m, "MTXMultVecSR(): NULL MtxPtr 'm' ");
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ASSERTMSGLINE(314, src, "MTXMultVecSR(): NULL VecPtr 'src' ");
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ASSERTMSGLINE(315, dst, "MTXMultVecSR(): NULL VecPtr 'dst' ");
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vTmp.x = (m[0][2] * src->z) + ((m[0][0] * src->x) + (m[0][1] * src->y));
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vTmp.y = (m[1][2] * src->z) + ((m[1][0] * src->x) + (m[1][1] * src->y));
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vTmp.z = (m[2][2] * src->z) + ((m[2][0] * src->x) + (m[2][1] * src->y));
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dst->x = vTmp.x;
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dst->y = vTmp.y;
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dst->z = vTmp.z;
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}
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void C_MTXTrans(Mtx m, f32 xT, f32 yT, f32 zT) {
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ASSERTMSGLINE(1866, m, "MTXTrans(): NULL MtxPtr 'm' ");
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m[0][0] = 1;
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m[0][1] = 0;
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m[0][2] = 0;
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m[0][3] = xT;
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m[1][0] = 0;
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m[1][1] = 1;
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m[1][2] = 0;
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m[1][3] = yT;
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m[2][0] = 0;
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m[2][1] = 0;
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m[2][2] = 1;
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m[2][3] = zT;
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}
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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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f32 tmp;
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ASSERTMSGLINE(105, m, "MTXFrustum(): NULL Mtx44Ptr 'm' ");
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ASSERTMSGLINE(106, t != b, "MTXFrustum(): 't' and 'b' clipping planes are equal ");
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ASSERTMSGLINE(107, l != r, "MTXFrustum(): 'l' and 'r' clipping planes are equal ");
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ASSERTMSGLINE(108, n != f, "MTXFrustum(): 'n' and 'f' clipping planes are equal ");
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tmp = 1 / (r - l);
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m[0][0] = (2 * n * tmp);
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m[0][1] = 0;
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m[0][2] = (tmp * (r + l));
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m[0][3] = 0;
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tmp = 1 / (t - b);
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m[1][0] = 0;
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m[1][1] = (2 * n * tmp);
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m[1][2] = (tmp * (t + b));
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m[1][3] = 0;
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m[2][0] = 0;
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m[2][1] = 0;
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tmp = 1 / (f - n);
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m[2][2] = (-n * tmp);
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m[2][3] = (tmp * -(f * n));
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m[3][0] = 0;
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m[3][1] = 0;
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m[3][2] = -1;
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m[3][3] = 0;
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}
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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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f32 tmp;
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ASSERTMSGLINE(254, m, "MTXOrtho(): NULL Mtx44Ptr 'm' ");
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ASSERTMSGLINE(255, t != b, "MTXOrtho(): 't' and 'b' clipping planes are equal ");
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ASSERTMSGLINE(256, l != r, "MTXOrtho(): 'l' and 'r' clipping planes are equal ");
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ASSERTMSGLINE(257, n != f, "MTXOrtho(): 'n' and 'f' clipping planes are equal ");
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tmp = 1 / (r - l);
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m[0][0] = 2 * tmp;
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m[0][1] = 0;
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m[0][2] = 0;
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m[0][3] = (tmp * -(r + l));
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tmp = 1 / (t - b);
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m[1][0] = 0;
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m[1][1] = 2 * tmp;
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m[1][2] = 0;
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m[1][3] = (tmp * -(t + b));
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m[2][0] = 0;
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m[2][1] = 0;
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tmp = 1 / (f - n);
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m[2][2] = (-1 * tmp);
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m[2][3] = (-f * tmp);
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m[3][0] = 0;
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m[3][1] = 0;
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m[3][2] = 0;
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m[3][3] = 1;
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} |