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Blender V2.61 - r43446
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gim_linear_math.h
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00001 #ifndef GIM_LINEAR_H_INCLUDED 00002 #define GIM_LINEAR_H_INCLUDED 00003 00008 /* 00009 ----------------------------------------------------------------------------- 00010 This source file is part of GIMPACT Library. 00011 00012 For the latest info, see http://gimpact.sourceforge.net/ 00013 00014 Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. 00015 email: projectileman@yahoo.com 00016 00017 This library is free software; you can redistribute it and/or 00018 modify it under the terms of EITHER: 00019 (1) The GNU Lesser General Public License as published by the Free 00020 Software Foundation; either version 2.1 of the License, or (at 00021 your option) any later version. The text of the GNU Lesser 00022 General Public License is included with this library in the 00023 file GIMPACT-LICENSE-LGPL.TXT. 00024 (2) The BSD-style license that is included with this library in 00025 the file GIMPACT-LICENSE-BSD.TXT. 00026 (3) The zlib/libpng license that is included with this library in 00027 the file GIMPACT-LICENSE-ZLIB.TXT. 00028 00029 This library is distributed in the hope that it will be useful, 00030 but WITHOUT ANY WARRANTY; without even the implied warranty of 00031 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files 00032 GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. 00033 00034 ----------------------------------------------------------------------------- 00035 */ 00036 00037 00038 #include "gim_math.h" 00039 #include "gim_geom_types.h" 00040 00041 00042 00043 00045 #define VEC_ZERO_2(a) \ 00046 { \ 00047 (a)[0] = (a)[1] = 0.0f; \ 00048 }\ 00049 00050 00052 #define VEC_ZERO(a) \ 00053 { \ 00054 (a)[0] = (a)[1] = (a)[2] = 0.0f; \ 00055 }\ 00056 00057 00059 #define VEC_ZERO_4(a) \ 00060 { \ 00061 (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \ 00062 }\ 00063 00064 00066 #define VEC_COPY_2(b,a) \ 00067 { \ 00068 (b)[0] = (a)[0]; \ 00069 (b)[1] = (a)[1]; \ 00070 }\ 00071 00072 00074 #define VEC_COPY(b,a) \ 00075 { \ 00076 (b)[0] = (a)[0]; \ 00077 (b)[1] = (a)[1]; \ 00078 (b)[2] = (a)[2]; \ 00079 }\ 00080 00081 00083 #define VEC_COPY_4(b,a) \ 00084 { \ 00085 (b)[0] = (a)[0]; \ 00086 (b)[1] = (a)[1]; \ 00087 (b)[2] = (a)[2]; \ 00088 (b)[3] = (a)[3]; \ 00089 }\ 00090 00091 00092 #define VEC_SWAP(b,a) \ 00093 { \ 00094 GIM_SWAP_NUMBERS((b)[0],(a)[0]);\ 00095 GIM_SWAP_NUMBERS((b)[1],(a)[1]);\ 00096 GIM_SWAP_NUMBERS((b)[2],(a)[2]);\ 00097 }\ 00098 00099 00100 #define VEC_DIFF_2(v21,v2,v1) \ 00101 { \ 00102 (v21)[0] = (v2)[0] - (v1)[0]; \ 00103 (v21)[1] = (v2)[1] - (v1)[1]; \ 00104 }\ 00105 00106 00108 #define VEC_DIFF(v21,v2,v1) \ 00109 { \ 00110 (v21)[0] = (v2)[0] - (v1)[0]; \ 00111 (v21)[1] = (v2)[1] - (v1)[1]; \ 00112 (v21)[2] = (v2)[2] - (v1)[2]; \ 00113 }\ 00114 00115 00117 #define VEC_DIFF_4(v21,v2,v1) \ 00118 { \ 00119 (v21)[0] = (v2)[0] - (v1)[0]; \ 00120 (v21)[1] = (v2)[1] - (v1)[1]; \ 00121 (v21)[2] = (v2)[2] - (v1)[2]; \ 00122 (v21)[3] = (v2)[3] - (v1)[3]; \ 00123 }\ 00124 00125 00127 #define VEC_SUM_2(v21,v2,v1) \ 00128 { \ 00129 (v21)[0] = (v2)[0] + (v1)[0]; \ 00130 (v21)[1] = (v2)[1] + (v1)[1]; \ 00131 }\ 00132 00133 00135 #define VEC_SUM(v21,v2,v1) \ 00136 { \ 00137 (v21)[0] = (v2)[0] + (v1)[0]; \ 00138 (v21)[1] = (v2)[1] + (v1)[1]; \ 00139 (v21)[2] = (v2)[2] + (v1)[2]; \ 00140 }\ 00141 00142 00144 #define VEC_SUM_4(v21,v2,v1) \ 00145 { \ 00146 (v21)[0] = (v2)[0] + (v1)[0]; \ 00147 (v21)[1] = (v2)[1] + (v1)[1]; \ 00148 (v21)[2] = (v2)[2] + (v1)[2]; \ 00149 (v21)[3] = (v2)[3] + (v1)[3]; \ 00150 }\ 00151 00152 00154 #define VEC_SCALE_2(c,a,b) \ 00155 { \ 00156 (c)[0] = (a)*(b)[0]; \ 00157 (c)[1] = (a)*(b)[1]; \ 00158 }\ 00159 00160 00162 #define VEC_SCALE(c,a,b) \ 00163 { \ 00164 (c)[0] = (a)*(b)[0]; \ 00165 (c)[1] = (a)*(b)[1]; \ 00166 (c)[2] = (a)*(b)[2]; \ 00167 }\ 00168 00169 00171 #define VEC_SCALE_4(c,a,b) \ 00172 { \ 00173 (c)[0] = (a)*(b)[0]; \ 00174 (c)[1] = (a)*(b)[1]; \ 00175 (c)[2] = (a)*(b)[2]; \ 00176 (c)[3] = (a)*(b)[3]; \ 00177 }\ 00178 00179 00181 #define VEC_ACCUM_2(c,a,b) \ 00182 { \ 00183 (c)[0] += (a)*(b)[0]; \ 00184 (c)[1] += (a)*(b)[1]; \ 00185 }\ 00186 00187 00189 #define VEC_ACCUM(c,a,b) \ 00190 { \ 00191 (c)[0] += (a)*(b)[0]; \ 00192 (c)[1] += (a)*(b)[1]; \ 00193 (c)[2] += (a)*(b)[2]; \ 00194 }\ 00195 00196 00198 #define VEC_ACCUM_4(c,a,b) \ 00199 { \ 00200 (c)[0] += (a)*(b)[0]; \ 00201 (c)[1] += (a)*(b)[1]; \ 00202 (c)[2] += (a)*(b)[2]; \ 00203 (c)[3] += (a)*(b)[3]; \ 00204 }\ 00205 00206 00208 #define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1]) 00209 00210 00212 #define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2]) 00213 00215 #define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3]) 00216 00218 #define VEC_IMPACT_SQ(bsq,direction,position) {\ 00219 GREAL _llel_ = VEC_DOT(direction, position);\ 00220 bsq = VEC_DOT(position, position) - _llel_*_llel_;\ 00221 }\ 00222 00223 00225 #define VEC_IMPACT(bsq,direction,position) {\ 00226 VEC_IMPACT_SQ(bsq,direction,position); \ 00227 GIM_SQRT(bsq,bsq); \ 00228 }\ 00229 00230 00231 #define VEC_LENGTH_2(a,l)\ 00232 {\ 00233 GREAL _pp = VEC_DOT_2(a,a);\ 00234 GIM_SQRT(_pp,l);\ 00235 }\ 00236 00237 00239 #define VEC_LENGTH(a,l)\ 00240 {\ 00241 GREAL _pp = VEC_DOT(a,a);\ 00242 GIM_SQRT(_pp,l);\ 00243 }\ 00244 00245 00247 #define VEC_LENGTH_4(a,l)\ 00248 {\ 00249 GREAL _pp = VEC_DOT_4(a,a);\ 00250 GIM_SQRT(_pp,l);\ 00251 }\ 00252 00253 00254 #define VEC_INV_LENGTH_2(a,l)\ 00255 {\ 00256 GREAL _pp = VEC_DOT_2(a,a);\ 00257 GIM_INV_SQRT(_pp,l);\ 00258 }\ 00259 00260 00262 #define VEC_INV_LENGTH(a,l)\ 00263 {\ 00264 GREAL _pp = VEC_DOT(a,a);\ 00265 GIM_INV_SQRT(_pp,l);\ 00266 }\ 00267 00268 00270 #define VEC_INV_LENGTH_4(a,l)\ 00271 {\ 00272 GREAL _pp = VEC_DOT_4(a,a);\ 00273 GIM_INV_SQRT(_pp,l);\ 00274 }\ 00275 00276 00277 00279 #define VEC_DISTANCE(_len,_va,_vb) {\ 00280 vec3f _tmp_; \ 00281 VEC_DIFF(_tmp_, _vb, _va); \ 00282 VEC_LENGTH(_tmp_,_len); \ 00283 }\ 00284 00285 00287 #define VEC_CONJUGATE_LENGTH(a,l)\ 00288 {\ 00289 GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\ 00290 GIM_SQRT(_pp,l);\ 00291 }\ 00292 00293 00295 #define VEC_NORMALIZE(a) { \ 00296 GREAL len;\ 00297 VEC_INV_LENGTH(a,len); \ 00298 if(len<G_REAL_INFINITY)\ 00299 {\ 00300 a[0] *= len; \ 00301 a[1] *= len; \ 00302 a[2] *= len; \ 00303 } \ 00304 }\ 00305 00306 00307 #define VEC_RENORMALIZE(a,newlen) { \ 00308 GREAL len;\ 00309 VEC_INV_LENGTH(a,len); \ 00310 if(len<G_REAL_INFINITY)\ 00311 {\ 00312 len *= newlen;\ 00313 a[0] *= len; \ 00314 a[1] *= len; \ 00315 a[2] *= len; \ 00316 } \ 00317 }\ 00318 00319 00320 #define VEC_CROSS(c,a,b) \ 00321 { \ 00322 c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \ 00323 c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \ 00324 c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \ 00325 }\ 00326 00327 00330 #define VEC_PERPENDICULAR(vp,v,n) \ 00331 { \ 00332 GREAL dot = VEC_DOT(v, n); \ 00333 vp[0] = (v)[0] - dot*(n)[0]; \ 00334 vp[1] = (v)[1] - dot*(n)[1]; \ 00335 vp[2] = (v)[2] - dot*(n)[2]; \ 00336 }\ 00337 00338 00340 #define VEC_PARALLEL(vp,v,n) \ 00341 { \ 00342 GREAL dot = VEC_DOT(v, n); \ 00343 vp[0] = (dot) * (n)[0]; \ 00344 vp[1] = (dot) * (n)[1]; \ 00345 vp[2] = (dot) * (n)[2]; \ 00346 }\ 00347 00348 00350 #define VEC_PROJECT(vp,v,n) \ 00351 { \ 00352 GREAL scalar = VEC_DOT(v, n); \ 00353 scalar/= VEC_DOT(n, n); \ 00354 vp[0] = (scalar) * (n)[0]; \ 00355 vp[1] = (scalar) * (n)[1]; \ 00356 vp[2] = (scalar) * (n)[2]; \ 00357 }\ 00358 00359 00361 #define VEC_UNPROJECT(vp,v,n) \ 00362 { \ 00363 GREAL scalar = VEC_DOT(v, n); \ 00364 scalar = VEC_DOT(n, n)/scalar; \ 00365 vp[0] = (scalar) * (n)[0]; \ 00366 vp[1] = (scalar) * (n)[1]; \ 00367 vp[2] = (scalar) * (n)[2]; \ 00368 }\ 00369 00370 00373 #define VEC_REFLECT(vr,v,n) \ 00374 { \ 00375 GREAL dot = VEC_DOT(v, n); \ 00376 vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \ 00377 vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \ 00378 vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \ 00379 }\ 00380 00381 00384 #define VEC_BLEND_AB(vr,sa,a,sb,b) \ 00385 { \ 00386 vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \ 00387 vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \ 00388 vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \ 00389 }\ 00390 00391 00393 #define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b) 00394 00395 #define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2]; 00396 00398 #define VEC_MAYOR_COORD(vec, maxc)\ 00399 {\ 00400 GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\ 00401 maxc = A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\ 00402 }\ 00403 00404 00405 #define VEC_MINOR_AXES(vec, i0, i1)\ 00406 {\ 00407 VEC_MAYOR_COORD(vec,i0);\ 00408 i0 = (i0+1)%3;\ 00409 i1 = (i0+1)%3;\ 00410 }\ 00411 00412 00413 00414 00415 #define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2]) 00416 00417 #define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2])) 00418 00419 00421 #define X_AXIS_CROSS_VEC(dst,src)\ 00422 { \ 00423 dst[0] = 0.0f; \ 00424 dst[1] = -src[2]; \ 00425 dst[2] = src[1]; \ 00426 }\ 00427 00428 #define Y_AXIS_CROSS_VEC(dst,src)\ 00429 { \ 00430 dst[0] = src[2]; \ 00431 dst[1] = 0.0f; \ 00432 dst[2] = -src[0]; \ 00433 }\ 00434 00435 #define Z_AXIS_CROSS_VEC(dst,src)\ 00436 { \ 00437 dst[0] = -src[1]; \ 00438 dst[1] = src[0]; \ 00439 dst[2] = 0.0f; \ 00440 }\ 00441 00442 00443 00444 00445 00446 00448 #define IDENTIFY_MATRIX_3X3(m) \ 00449 { \ 00450 m[0][0] = 1.0; \ 00451 m[0][1] = 0.0; \ 00452 m[0][2] = 0.0; \ 00453 \ 00454 m[1][0] = 0.0; \ 00455 m[1][1] = 1.0; \ 00456 m[1][2] = 0.0; \ 00457 \ 00458 m[2][0] = 0.0; \ 00459 m[2][1] = 0.0; \ 00460 m[2][2] = 1.0; \ 00461 }\ 00462 00463 00464 #define IDENTIFY_MATRIX_4X4(m) \ 00465 { \ 00466 m[0][0] = 1.0; \ 00467 m[0][1] = 0.0; \ 00468 m[0][2] = 0.0; \ 00469 m[0][3] = 0.0; \ 00470 \ 00471 m[1][0] = 0.0; \ 00472 m[1][1] = 1.0; \ 00473 m[1][2] = 0.0; \ 00474 m[1][3] = 0.0; \ 00475 \ 00476 m[2][0] = 0.0; \ 00477 m[2][1] = 0.0; \ 00478 m[2][2] = 1.0; \ 00479 m[2][3] = 0.0; \ 00480 \ 00481 m[3][0] = 0.0; \ 00482 m[3][1] = 0.0; \ 00483 m[3][2] = 0.0; \ 00484 m[3][3] = 1.0; \ 00485 }\ 00486 00487 00488 #define ZERO_MATRIX_4X4(m) \ 00489 { \ 00490 m[0][0] = 0.0; \ 00491 m[0][1] = 0.0; \ 00492 m[0][2] = 0.0; \ 00493 m[0][3] = 0.0; \ 00494 \ 00495 m[1][0] = 0.0; \ 00496 m[1][1] = 0.0; \ 00497 m[1][2] = 0.0; \ 00498 m[1][3] = 0.0; \ 00499 \ 00500 m[2][0] = 0.0; \ 00501 m[2][1] = 0.0; \ 00502 m[2][2] = 0.0; \ 00503 m[2][3] = 0.0; \ 00504 \ 00505 m[3][0] = 0.0; \ 00506 m[3][1] = 0.0; \ 00507 m[3][2] = 0.0; \ 00508 m[3][3] = 0.0; \ 00509 }\ 00510 00511 00512 #define ROTX_CS(m,cosine,sine) \ 00513 { \ 00514 /* rotation about the x-axis */ \ 00515 \ 00516 m[0][0] = 1.0; \ 00517 m[0][1] = 0.0; \ 00518 m[0][2] = 0.0; \ 00519 m[0][3] = 0.0; \ 00520 \ 00521 m[1][0] = 0.0; \ 00522 m[1][1] = (cosine); \ 00523 m[1][2] = (sine); \ 00524 m[1][3] = 0.0; \ 00525 \ 00526 m[2][0] = 0.0; \ 00527 m[2][1] = -(sine); \ 00528 m[2][2] = (cosine); \ 00529 m[2][3] = 0.0; \ 00530 \ 00531 m[3][0] = 0.0; \ 00532 m[3][1] = 0.0; \ 00533 m[3][2] = 0.0; \ 00534 m[3][3] = 1.0; \ 00535 }\ 00536 00537 00538 #define ROTY_CS(m,cosine,sine) \ 00539 { \ 00540 /* rotation about the y-axis */ \ 00541 \ 00542 m[0][0] = (cosine); \ 00543 m[0][1] = 0.0; \ 00544 m[0][2] = -(sine); \ 00545 m[0][3] = 0.0; \ 00546 \ 00547 m[1][0] = 0.0; \ 00548 m[1][1] = 1.0; \ 00549 m[1][2] = 0.0; \ 00550 m[1][3] = 0.0; \ 00551 \ 00552 m[2][0] = (sine); \ 00553 m[2][1] = 0.0; \ 00554 m[2][2] = (cosine); \ 00555 m[2][3] = 0.0; \ 00556 \ 00557 m[3][0] = 0.0; \ 00558 m[3][1] = 0.0; \ 00559 m[3][2] = 0.0; \ 00560 m[3][3] = 1.0; \ 00561 }\ 00562 00563 00564 #define ROTZ_CS(m,cosine,sine) \ 00565 { \ 00566 /* rotation about the z-axis */ \ 00567 \ 00568 m[0][0] = (cosine); \ 00569 m[0][1] = (sine); \ 00570 m[0][2] = 0.0; \ 00571 m[0][3] = 0.0; \ 00572 \ 00573 m[1][0] = -(sine); \ 00574 m[1][1] = (cosine); \ 00575 m[1][2] = 0.0; \ 00576 m[1][3] = 0.0; \ 00577 \ 00578 m[2][0] = 0.0; \ 00579 m[2][1] = 0.0; \ 00580 m[2][2] = 1.0; \ 00581 m[2][3] = 0.0; \ 00582 \ 00583 m[3][0] = 0.0; \ 00584 m[3][1] = 0.0; \ 00585 m[3][2] = 0.0; \ 00586 m[3][3] = 1.0; \ 00587 }\ 00588 00589 00590 #define COPY_MATRIX_2X2(b,a) \ 00591 { \ 00592 b[0][0] = a[0][0]; \ 00593 b[0][1] = a[0][1]; \ 00594 \ 00595 b[1][0] = a[1][0]; \ 00596 b[1][1] = a[1][1]; \ 00597 \ 00598 }\ 00599 00600 00602 #define COPY_MATRIX_2X3(b,a) \ 00603 { \ 00604 b[0][0] = a[0][0]; \ 00605 b[0][1] = a[0][1]; \ 00606 b[0][2] = a[0][2]; \ 00607 \ 00608 b[1][0] = a[1][0]; \ 00609 b[1][1] = a[1][1]; \ 00610 b[1][2] = a[1][2]; \ 00611 }\ 00612 00613 00615 #define COPY_MATRIX_3X3(b,a) \ 00616 { \ 00617 b[0][0] = a[0][0]; \ 00618 b[0][1] = a[0][1]; \ 00619 b[0][2] = a[0][2]; \ 00620 \ 00621 b[1][0] = a[1][0]; \ 00622 b[1][1] = a[1][1]; \ 00623 b[1][2] = a[1][2]; \ 00624 \ 00625 b[2][0] = a[2][0]; \ 00626 b[2][1] = a[2][1]; \ 00627 b[2][2] = a[2][2]; \ 00628 }\ 00629 00630 00632 #define COPY_MATRIX_4X4(b,a) \ 00633 { \ 00634 b[0][0] = a[0][0]; \ 00635 b[0][1] = a[0][1]; \ 00636 b[0][2] = a[0][2]; \ 00637 b[0][3] = a[0][3]; \ 00638 \ 00639 b[1][0] = a[1][0]; \ 00640 b[1][1] = a[1][1]; \ 00641 b[1][2] = a[1][2]; \ 00642 b[1][3] = a[1][3]; \ 00643 \ 00644 b[2][0] = a[2][0]; \ 00645 b[2][1] = a[2][1]; \ 00646 b[2][2] = a[2][2]; \ 00647 b[2][3] = a[2][3]; \ 00648 \ 00649 b[3][0] = a[3][0]; \ 00650 b[3][1] = a[3][1]; \ 00651 b[3][2] = a[3][2]; \ 00652 b[3][3] = a[3][3]; \ 00653 }\ 00654 00655 00657 #define TRANSPOSE_MATRIX_2X2(b,a) \ 00658 { \ 00659 b[0][0] = a[0][0]; \ 00660 b[0][1] = a[1][0]; \ 00661 \ 00662 b[1][0] = a[0][1]; \ 00663 b[1][1] = a[1][1]; \ 00664 }\ 00665 00666 00668 #define TRANSPOSE_MATRIX_3X3(b,a) \ 00669 { \ 00670 b[0][0] = a[0][0]; \ 00671 b[0][1] = a[1][0]; \ 00672 b[0][2] = a[2][0]; \ 00673 \ 00674 b[1][0] = a[0][1]; \ 00675 b[1][1] = a[1][1]; \ 00676 b[1][2] = a[2][1]; \ 00677 \ 00678 b[2][0] = a[0][2]; \ 00679 b[2][1] = a[1][2]; \ 00680 b[2][2] = a[2][2]; \ 00681 }\ 00682 00683 00685 #define TRANSPOSE_MATRIX_4X4(b,a) \ 00686 { \ 00687 b[0][0] = a[0][0]; \ 00688 b[0][1] = a[1][0]; \ 00689 b[0][2] = a[2][0]; \ 00690 b[0][3] = a[3][0]; \ 00691 \ 00692 b[1][0] = a[0][1]; \ 00693 b[1][1] = a[1][1]; \ 00694 b[1][2] = a[2][1]; \ 00695 b[1][3] = a[3][1]; \ 00696 \ 00697 b[2][0] = a[0][2]; \ 00698 b[2][1] = a[1][2]; \ 00699 b[2][2] = a[2][2]; \ 00700 b[2][3] = a[3][2]; \ 00701 \ 00702 b[3][0] = a[0][3]; \ 00703 b[3][1] = a[1][3]; \ 00704 b[3][2] = a[2][3]; \ 00705 b[3][3] = a[3][3]; \ 00706 }\ 00707 00708 00710 #define SCALE_MATRIX_2X2(b,s,a) \ 00711 { \ 00712 b[0][0] = (s) * a[0][0]; \ 00713 b[0][1] = (s) * a[0][1]; \ 00714 \ 00715 b[1][0] = (s) * a[1][0]; \ 00716 b[1][1] = (s) * a[1][1]; \ 00717 }\ 00718 00719 00721 #define SCALE_MATRIX_3X3(b,s,a) \ 00722 { \ 00723 b[0][0] = (s) * a[0][0]; \ 00724 b[0][1] = (s) * a[0][1]; \ 00725 b[0][2] = (s) * a[0][2]; \ 00726 \ 00727 b[1][0] = (s) * a[1][0]; \ 00728 b[1][1] = (s) * a[1][1]; \ 00729 b[1][2] = (s) * a[1][2]; \ 00730 \ 00731 b[2][0] = (s) * a[2][0]; \ 00732 b[2][1] = (s) * a[2][1]; \ 00733 b[2][2] = (s) * a[2][2]; \ 00734 }\ 00735 00736 00738 #define SCALE_MATRIX_4X4(b,s,a) \ 00739 { \ 00740 b[0][0] = (s) * a[0][0]; \ 00741 b[0][1] = (s) * a[0][1]; \ 00742 b[0][2] = (s) * a[0][2]; \ 00743 b[0][3] = (s) * a[0][3]; \ 00744 \ 00745 b[1][0] = (s) * a[1][0]; \ 00746 b[1][1] = (s) * a[1][1]; \ 00747 b[1][2] = (s) * a[1][2]; \ 00748 b[1][3] = (s) * a[1][3]; \ 00749 \ 00750 b[2][0] = (s) * a[2][0]; \ 00751 b[2][1] = (s) * a[2][1]; \ 00752 b[2][2] = (s) * a[2][2]; \ 00753 b[2][3] = (s) * a[2][3]; \ 00754 \ 00755 b[3][0] = s * a[3][0]; \ 00756 b[3][1] = s * a[3][1]; \ 00757 b[3][2] = s * a[3][2]; \ 00758 b[3][3] = s * a[3][3]; \ 00759 }\ 00760 00761 00763 #define SCALE_VEC_MATRIX_2X2(b,svec,a) \ 00764 { \ 00765 b[0][0] = svec[0] * a[0][0]; \ 00766 b[1][0] = svec[0] * a[1][0]; \ 00767 \ 00768 b[0][1] = svec[1] * a[0][1]; \ 00769 b[1][1] = svec[1] * a[1][1]; \ 00770 }\ 00771 00772 00774 #define SCALE_VEC_MATRIX_3X3(b,svec,a) \ 00775 { \ 00776 b[0][0] = svec[0] * a[0][0]; \ 00777 b[1][0] = svec[0] * a[1][0]; \ 00778 b[2][0] = svec[0] * a[2][0]; \ 00779 \ 00780 b[0][1] = svec[1] * a[0][1]; \ 00781 b[1][1] = svec[1] * a[1][1]; \ 00782 b[2][1] = svec[1] * a[2][1]; \ 00783 \ 00784 b[0][2] = svec[2] * a[0][2]; \ 00785 b[1][2] = svec[2] * a[1][2]; \ 00786 b[2][2] = svec[2] * a[2][2]; \ 00787 }\ 00788 00789 00791 #define SCALE_VEC_MATRIX_4X4(b,svec,a) \ 00792 { \ 00793 b[0][0] = svec[0] * a[0][0]; \ 00794 b[1][0] = svec[0] * a[1][0]; \ 00795 b[2][0] = svec[0] * a[2][0]; \ 00796 b[3][0] = svec[0] * a[3][0]; \ 00797 \ 00798 b[0][1] = svec[1] * a[0][1]; \ 00799 b[1][1] = svec[1] * a[1][1]; \ 00800 b[2][1] = svec[1] * a[2][1]; \ 00801 b[3][1] = svec[1] * a[3][1]; \ 00802 \ 00803 b[0][2] = svec[2] * a[0][2]; \ 00804 b[1][2] = svec[2] * a[1][2]; \ 00805 b[2][2] = svec[2] * a[2][2]; \ 00806 b[3][2] = svec[2] * a[3][2]; \ 00807 \ 00808 b[0][3] = svec[3] * a[0][3]; \ 00809 b[1][3] = svec[3] * a[1][3]; \ 00810 b[2][3] = svec[3] * a[2][3]; \ 00811 b[3][3] = svec[3] * a[3][3]; \ 00812 }\ 00813 00814 00816 #define ACCUM_SCALE_MATRIX_2X2(b,s,a) \ 00817 { \ 00818 b[0][0] += (s) * a[0][0]; \ 00819 b[0][1] += (s) * a[0][1]; \ 00820 \ 00821 b[1][0] += (s) * a[1][0]; \ 00822 b[1][1] += (s) * a[1][1]; \ 00823 }\ 00824 00825 00827 #define ACCUM_SCALE_MATRIX_3X3(b,s,a) \ 00828 { \ 00829 b[0][0] += (s) * a[0][0]; \ 00830 b[0][1] += (s) * a[0][1]; \ 00831 b[0][2] += (s) * a[0][2]; \ 00832 \ 00833 b[1][0] += (s) * a[1][0]; \ 00834 b[1][1] += (s) * a[1][1]; \ 00835 b[1][2] += (s) * a[1][2]; \ 00836 \ 00837 b[2][0] += (s) * a[2][0]; \ 00838 b[2][1] += (s) * a[2][1]; \ 00839 b[2][2] += (s) * a[2][2]; \ 00840 }\ 00841 00842 00844 #define ACCUM_SCALE_MATRIX_4X4(b,s,a) \ 00845 { \ 00846 b[0][0] += (s) * a[0][0]; \ 00847 b[0][1] += (s) * a[0][1]; \ 00848 b[0][2] += (s) * a[0][2]; \ 00849 b[0][3] += (s) * a[0][3]; \ 00850 \ 00851 b[1][0] += (s) * a[1][0]; \ 00852 b[1][1] += (s) * a[1][1]; \ 00853 b[1][2] += (s) * a[1][2]; \ 00854 b[1][3] += (s) * a[1][3]; \ 00855 \ 00856 b[2][0] += (s) * a[2][0]; \ 00857 b[2][1] += (s) * a[2][1]; \ 00858 b[2][2] += (s) * a[2][2]; \ 00859 b[2][3] += (s) * a[2][3]; \ 00860 \ 00861 b[3][0] += (s) * a[3][0]; \ 00862 b[3][1] += (s) * a[3][1]; \ 00863 b[3][2] += (s) * a[3][2]; \ 00864 b[3][3] += (s) * a[3][3]; \ 00865 }\ 00866 00867 00869 #define MATRIX_PRODUCT_2X2(c,a,b) \ 00870 { \ 00871 c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \ 00872 c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \ 00873 \ 00874 c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \ 00875 c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \ 00876 \ 00877 }\ 00878 00879 00881 #define MATRIX_PRODUCT_3X3(c,a,b) \ 00882 { \ 00883 c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \ 00884 c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \ 00885 c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \ 00886 \ 00887 c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \ 00888 c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \ 00889 c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \ 00890 \ 00891 c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \ 00892 c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \ 00893 c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \ 00894 }\ 00895 00896 00899 #define MATRIX_PRODUCT_4X4(c,a,b) \ 00900 { \ 00901 c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\ 00902 c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\ 00903 c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\ 00904 c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\ 00905 \ 00906 c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\ 00907 c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\ 00908 c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\ 00909 c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\ 00910 \ 00911 c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\ 00912 c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\ 00913 c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\ 00914 c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\ 00915 \ 00916 c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\ 00917 c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\ 00918 c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\ 00919 c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\ 00920 }\ 00921 00922 00924 #define MAT_DOT_VEC_2X2(p,m,v) \ 00925 { \ 00926 p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \ 00927 p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \ 00928 }\ 00929 00930 00932 #define MAT_DOT_VEC_3X3(p,m,v) \ 00933 { \ 00934 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \ 00935 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \ 00936 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \ 00937 }\ 00938 00939 00943 #define MAT_DOT_VEC_4X4(p,m,v) \ 00944 { \ 00945 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \ 00946 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \ 00947 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \ 00948 p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \ 00949 }\ 00950 00951 00956 #define MAT_DOT_VEC_3X4(p,m,v) \ 00957 { \ 00958 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \ 00959 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \ 00960 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \ 00961 }\ 00962 00963 00966 #define VEC_DOT_MAT_3X3(p,v,m) \ 00967 { \ 00968 p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \ 00969 p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \ 00970 p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \ 00971 }\ 00972 00973 00977 #define MAT_DOT_VEC_2X3(p,m,v) \ 00978 { \ 00979 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \ 00980 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \ 00981 }\ 00982 00983 00984 #define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\ 00985 { \ 00986 pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\ 00987 pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\ 00988 pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\ 00989 pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\ 00990 }\ 00991 00992 00993 01003 #define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \ 01004 { \ 01005 GREAL det; \ 01006 \ 01007 det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \ 01008 p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ 01009 p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ 01010 \ 01011 /* if matrix not singular, and not orthonormal, then renormalize */ \ 01012 if ((det!=1.0f) && (det != 0.0f)) { \ 01013 det = 1.0f / det; \ 01014 p[0] *= det; \ 01015 p[1] *= det; \ 01016 } \ 01017 }\ 01018 01019 01027 #define NORM_XFORM_2X2(p,m,v) \ 01028 { \ 01029 GREAL len; \ 01030 \ 01031 /* do nothing if off-diagonals are zero and diagonals are \ 01032 * equal */ \ 01033 if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \ 01034 p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \ 01035 p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \ 01036 \ 01037 len = p[0]*p[0] + p[1]*p[1]; \ 01038 GIM_INV_SQRT(len,len); \ 01039 p[0] *= len; \ 01040 p[1] *= len; \ 01041 } else { \ 01042 VEC_COPY_2 (p, v); \ 01043 } \ 01044 }\ 01045 01046 01052 #define OUTER_PRODUCT_2X2(m,v,t) \ 01053 { \ 01054 m[0][0] = v[0] * t[0]; \ 01055 m[0][1] = v[0] * t[1]; \ 01056 \ 01057 m[1][0] = v[1] * t[0]; \ 01058 m[1][1] = v[1] * t[1]; \ 01059 }\ 01060 01061 01067 #define OUTER_PRODUCT_3X3(m,v,t) \ 01068 { \ 01069 m[0][0] = v[0] * t[0]; \ 01070 m[0][1] = v[0] * t[1]; \ 01071 m[0][2] = v[0] * t[2]; \ 01072 \ 01073 m[1][0] = v[1] * t[0]; \ 01074 m[1][1] = v[1] * t[1]; \ 01075 m[1][2] = v[1] * t[2]; \ 01076 \ 01077 m[2][0] = v[2] * t[0]; \ 01078 m[2][1] = v[2] * t[1]; \ 01079 m[2][2] = v[2] * t[2]; \ 01080 }\ 01081 01082 01088 #define OUTER_PRODUCT_4X4(m,v,t) \ 01089 { \ 01090 m[0][0] = v[0] * t[0]; \ 01091 m[0][1] = v[0] * t[1]; \ 01092 m[0][2] = v[0] * t[2]; \ 01093 m[0][3] = v[0] * t[3]; \ 01094 \ 01095 m[1][0] = v[1] * t[0]; \ 01096 m[1][1] = v[1] * t[1]; \ 01097 m[1][2] = v[1] * t[2]; \ 01098 m[1][3] = v[1] * t[3]; \ 01099 \ 01100 m[2][0] = v[2] * t[0]; \ 01101 m[2][1] = v[2] * t[1]; \ 01102 m[2][2] = v[2] * t[2]; \ 01103 m[2][3] = v[2] * t[3]; \ 01104 \ 01105 m[3][0] = v[3] * t[0]; \ 01106 m[3][1] = v[3] * t[1]; \ 01107 m[3][2] = v[3] * t[2]; \ 01108 m[3][3] = v[3] * t[3]; \ 01109 }\ 01110 01111 01117 #define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \ 01118 { \ 01119 m[0][0] += v[0] * t[0]; \ 01120 m[0][1] += v[0] * t[1]; \ 01121 \ 01122 m[1][0] += v[1] * t[0]; \ 01123 m[1][1] += v[1] * t[1]; \ 01124 }\ 01125 01126 01132 #define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \ 01133 { \ 01134 m[0][0] += v[0] * t[0]; \ 01135 m[0][1] += v[0] * t[1]; \ 01136 m[0][2] += v[0] * t[2]; \ 01137 \ 01138 m[1][0] += v[1] * t[0]; \ 01139 m[1][1] += v[1] * t[1]; \ 01140 m[1][2] += v[1] * t[2]; \ 01141 \ 01142 m[2][0] += v[2] * t[0]; \ 01143 m[2][1] += v[2] * t[1]; \ 01144 m[2][2] += v[2] * t[2]; \ 01145 }\ 01146 01147 01153 #define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \ 01154 { \ 01155 m[0][0] += v[0] * t[0]; \ 01156 m[0][1] += v[0] * t[1]; \ 01157 m[0][2] += v[0] * t[2]; \ 01158 m[0][3] += v[0] * t[3]; \ 01159 \ 01160 m[1][0] += v[1] * t[0]; \ 01161 m[1][1] += v[1] * t[1]; \ 01162 m[1][2] += v[1] * t[2]; \ 01163 m[1][3] += v[1] * t[3]; \ 01164 \ 01165 m[2][0] += v[2] * t[0]; \ 01166 m[2][1] += v[2] * t[1]; \ 01167 m[2][2] += v[2] * t[2]; \ 01168 m[2][3] += v[2] * t[3]; \ 01169 \ 01170 m[3][0] += v[3] * t[0]; \ 01171 m[3][1] += v[3] * t[1]; \ 01172 m[3][2] += v[3] * t[2]; \ 01173 m[3][3] += v[3] * t[3]; \ 01174 }\ 01175 01176 01181 #define DETERMINANT_2X2(d,m) \ 01182 { \ 01183 d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \ 01184 }\ 01185 01186 01191 #define DETERMINANT_3X3(d,m) \ 01192 { \ 01193 d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \ 01194 d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \ 01195 d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \ 01196 }\ 01197 01198 01202 #define COFACTOR_4X4_IJ(fac,m,i,j) \ 01203 { \ 01204 GUINT __ii[4], __jj[4], __k; \ 01205 \ 01206 for (__k=0; __k<i; __k++) __ii[__k] = __k; \ 01207 for (__k=i; __k<3; __k++) __ii[__k] = __k+1; \ 01208 for (__k=0; __k<j; __k++) __jj[__k] = __k; \ 01209 for (__k=j; __k<3; __k++) __jj[__k] = __k+1; \ 01210 \ 01211 (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] \ 01212 - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \ 01213 (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]] \ 01214 - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\ 01215 (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]] \ 01216 - m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\ 01217 \ 01218 __k = i+j; \ 01219 if ( __k != (__k/2)*2) { \ 01220 (fac) = -(fac); \ 01221 } \ 01222 }\ 01223 01224 01229 #define DETERMINANT_4X4(d,m) \ 01230 { \ 01231 GREAL cofac; \ 01232 COFACTOR_4X4_IJ (cofac, m, 0, 0); \ 01233 d = m[0][0] * cofac; \ 01234 COFACTOR_4X4_IJ (cofac, m, 0, 1); \ 01235 d += m[0][1] * cofac; \ 01236 COFACTOR_4X4_IJ (cofac, m, 0, 2); \ 01237 d += m[0][2] * cofac; \ 01238 COFACTOR_4X4_IJ (cofac, m, 0, 3); \ 01239 d += m[0][3] * cofac; \ 01240 }\ 01241 01242 01247 #define COFACTOR_2X2(a,m) \ 01248 { \ 01249 a[0][0] = (m)[1][1]; \ 01250 a[0][1] = - (m)[1][0]; \ 01251 a[1][0] = - (m)[0][1]; \ 01252 a[1][1] = (m)[0][0]; \ 01253 }\ 01254 01255 01260 #define COFACTOR_3X3(a,m) \ 01261 { \ 01262 a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \ 01263 a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \ 01264 a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \ 01265 a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \ 01266 a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \ 01267 a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \ 01268 a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \ 01269 a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \ 01270 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \ 01271 }\ 01272 01273 01278 #define COFACTOR_4X4(a,m) \ 01279 { \ 01280 int i,j; \ 01281 \ 01282 for (i=0; i<4; i++) { \ 01283 for (j=0; j<4; j++) { \ 01284 COFACTOR_4X4_IJ (a[i][j], m, i, j); \ 01285 } \ 01286 } \ 01287 }\ 01288 01289 01295 #define ADJOINT_2X2(a,m) \ 01296 { \ 01297 a[0][0] = (m)[1][1]; \ 01298 a[1][0] = - (m)[1][0]; \ 01299 a[0][1] = - (m)[0][1]; \ 01300 a[1][1] = (m)[0][0]; \ 01301 }\ 01302 01303 01309 #define ADJOINT_3X3(a,m) \ 01310 { \ 01311 a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \ 01312 a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \ 01313 a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \ 01314 a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \ 01315 a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \ 01316 a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \ 01317 a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \ 01318 a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \ 01319 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \ 01320 }\ 01321 01322 01328 #define ADJOINT_4X4(a,m) \ 01329 { \ 01330 char _i_,_j_; \ 01331 \ 01332 for (_i_=0; _i_<4; _i_++) { \ 01333 for (_j_=0; _j_<4; _j_++) { \ 01334 COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \ 01335 } \ 01336 } \ 01337 }\ 01338 01339 01344 #define SCALE_ADJOINT_2X2(a,s,m) \ 01345 { \ 01346 a[0][0] = (s) * m[1][1]; \ 01347 a[1][0] = - (s) * m[1][0]; \ 01348 a[0][1] = - (s) * m[0][1]; \ 01349 a[1][1] = (s) * m[0][0]; \ 01350 }\ 01351 01352 01357 #define SCALE_ADJOINT_3X3(a,s,m) \ 01358 { \ 01359 a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \ 01360 a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \ 01361 a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \ 01362 \ 01363 a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \ 01364 a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \ 01365 a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \ 01366 \ 01367 a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \ 01368 a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \ 01369 a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \ 01370 }\ 01371 01372 01377 #define SCALE_ADJOINT_4X4(a,s,m) \ 01378 { \ 01379 char _i_,_j_; \ 01380 for (_i_=0; _i_<4; _i_++) { \ 01381 for (_j_=0; _j_<4; _j_++) { \ 01382 COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \ 01383 a[_j_][_i_] *= s; \ 01384 } \ 01385 } \ 01386 }\ 01387 01388 01393 #define INVERT_2X2(b,det,a) \ 01394 { \ 01395 GREAL _tmp_; \ 01396 DETERMINANT_2X2 (det, a); \ 01397 _tmp_ = 1.0 / (det); \ 01398 SCALE_ADJOINT_2X2 (b, _tmp_, a); \ 01399 }\ 01400 01401 01407 #define INVERT_3X3(b,det,a) \ 01408 { \ 01409 GREAL _tmp_; \ 01410 DETERMINANT_3X3 (det, a); \ 01411 _tmp_ = 1.0 / (det); \ 01412 SCALE_ADJOINT_3X3 (b, _tmp_, a); \ 01413 }\ 01414 01415 01421 #define INVERT_4X4(b,det,a) \ 01422 { \ 01423 GREAL _tmp_; \ 01424 DETERMINANT_4X4 (det, a); \ 01425 _tmp_ = 1.0 / (det); \ 01426 SCALE_ADJOINT_4X4 (b, _tmp_, a); \ 01427 }\ 01428 01429 01430 #define MAT_GET_ROW(mat,vec3,rowindex)\ 01431 {\ 01432 vec3[0] = mat[rowindex][0];\ 01433 vec3[1] = mat[rowindex][1];\ 01434 vec3[2] = mat[rowindex][2]; \ 01435 }\ 01436 01437 01438 #define MAT_GET_ROW2(mat,vec2,rowindex)\ 01439 {\ 01440 vec2[0] = mat[rowindex][0];\ 01441 vec2[1] = mat[rowindex][1];\ 01442 }\ 01443 01444 01446 #define MAT_GET_ROW4(mat,vec4,rowindex)\ 01447 {\ 01448 vec4[0] = mat[rowindex][0];\ 01449 vec4[1] = mat[rowindex][1];\ 01450 vec4[2] = mat[rowindex][2];\ 01451 vec4[3] = mat[rowindex][3];\ 01452 }\ 01453 01454 01455 #define MAT_GET_COL(mat,vec3,colindex)\ 01456 {\ 01457 vec3[0] = mat[0][colindex];\ 01458 vec3[1] = mat[1][colindex];\ 01459 vec3[2] = mat[2][colindex]; \ 01460 }\ 01461 01462 01463 #define MAT_GET_COL2(mat,vec2,colindex)\ 01464 {\ 01465 vec2[0] = mat[0][colindex];\ 01466 vec2[1] = mat[1][colindex];\ 01467 }\ 01468 01469 01471 #define MAT_GET_COL4(mat,vec4,colindex)\ 01472 {\ 01473 vec4[0] = mat[0][colindex];\ 01474 vec4[1] = mat[1][colindex];\ 01475 vec4[2] = mat[2][colindex];\ 01476 vec4[3] = mat[3][colindex];\ 01477 }\ 01478 01479 01480 #define MAT_GET_X(mat,vec3)\ 01481 {\ 01482 MAT_GET_COL(mat,vec3,0);\ 01483 }\ 01484 01485 01486 #define MAT_GET_Y(mat,vec3)\ 01487 {\ 01488 MAT_GET_COL(mat,vec3,1);\ 01489 }\ 01490 01491 01492 #define MAT_GET_Z(mat,vec3)\ 01493 {\ 01494 MAT_GET_COL(mat,vec3,2);\ 01495 }\ 01496 01497 01499 #define MAT_SET_X(mat,vec3)\ 01500 {\ 01501 mat[0][0] = vec3[0];\ 01502 mat[1][0] = vec3[1];\ 01503 mat[2][0] = vec3[2];\ 01504 }\ 01505 01506 01507 #define MAT_SET_Y(mat,vec3)\ 01508 {\ 01509 mat[0][1] = vec3[0];\ 01510 mat[1][1] = vec3[1];\ 01511 mat[2][1] = vec3[2];\ 01512 }\ 01513 01514 01515 #define MAT_SET_Z(mat,vec3)\ 01516 {\ 01517 mat[0][2] = vec3[0];\ 01518 mat[1][2] = vec3[1];\ 01519 mat[2][2] = vec3[2];\ 01520 }\ 01521 01522 01524 #define MAT_GET_TRANSLATION(mat,vec3)\ 01525 {\ 01526 vec3[0] = mat[0][3];\ 01527 vec3[1] = mat[1][3];\ 01528 vec3[2] = mat[2][3]; \ 01529 }\ 01530 01531 01532 #define MAT_SET_TRANSLATION(mat,vec3)\ 01533 {\ 01534 mat[0][3] = vec3[0];\ 01535 mat[1][3] = vec3[1];\ 01536 mat[2][3] = vec3[2]; \ 01537 }\ 01538 01539 01540 01542 #define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]*mat[rowindex][0] + vec3[1]*mat[rowindex][1] + vec3[2]*mat[rowindex][2]) 01543 01545 #define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]*mat[rowindex][0] + vec2[1]*mat[rowindex][1]) 01546 01548 #define MAT_DOT_ROW4(mat,vec4,rowindex) (vec4[0]*mat[rowindex][0] + vec4[1]*mat[rowindex][1] + vec4[2]*mat[rowindex][2] + vec4[3]*mat[rowindex][3]) 01549 01550 01552 #define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]) 01553 01555 #define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]*mat[0][colindex] + vec2[1]*mat[1][colindex]) 01556 01558 #define MAT_DOT_COL4(mat,vec4,colindex) (vec4[0]*mat[0][colindex] + vec4[1]*mat[1][colindex] + vec4[2]*mat[2][colindex] + vec4[3]*mat[3][colindex]) 01559 01564 #define INV_MAT_DOT_VEC_3X3(p,m,v) \ 01565 { \ 01566 p[0] = MAT_DOT_COL(m,v,0); \ 01567 p[1] = MAT_DOT_COL(m,v,1); \ 01568 p[2] = MAT_DOT_COL(m,v,2); \ 01569 }\ 01570 01571 01572 01573 #endif // GIM_VECTOR_H_INCLUDED