demos: Update copyright and apply clang-format
diff --git a/demos/linmath.h b/demos/linmath.h
index 5de34e9..b60da85 100644
--- a/demos/linmath.h
+++ b/demos/linmath.h
@@ -11,7 +11,7 @@
DO WHAT THE **** YOU WANT TO PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
- 0. You just DO WHAT THE FUCK YOU WANT TO.
+ 0. You just DO WHAT THE **** YOU WANT TO.
*/
#ifndef LINMATH_H
@@ -26,572 +26,520 @@
#define radiansToDegrees(angleRadians) (angleRadians * 180.0 / M_PI)
typedef float vec3[3];
-static inline void vec3_add(vec3 r, vec3 const a, vec3 const b)
-{
- int i;
- for(i=0; i<3; ++i)
- r[i] = a[i] + b[i];
+static inline void vec3_add(vec3 r, vec3 const a, vec3 const b) {
+ int i;
+ for (i = 0; i < 3; ++i)
+ r[i] = a[i] + b[i];
}
-static inline void vec3_sub(vec3 r, vec3 const a, vec3 const b)
-{
- int i;
- for(i=0; i<3; ++i)
- r[i] = a[i] - b[i];
+static inline void vec3_sub(vec3 r, vec3 const a, vec3 const b) {
+ int i;
+ for (i = 0; i < 3; ++i)
+ r[i] = a[i] - b[i];
}
-static inline void vec3_scale(vec3 r, vec3 const v, float const s)
-{
- int i;
- for(i=0; i<3; ++i)
- r[i] = v[i] * s;
+static inline void vec3_scale(vec3 r, vec3 const v, float const s) {
+ int i;
+ for (i = 0; i < 3; ++i)
+ r[i] = v[i] * s;
}
-static inline float vec3_mul_inner(vec3 const a, vec3 const b)
-{
- float p = 0.f;
- int i;
- for(i=0; i<3; ++i)
- p += b[i]*a[i];
- return p;
+static inline float vec3_mul_inner(vec3 const a, vec3 const b) {
+ float p = 0.f;
+ int i;
+ for (i = 0; i < 3; ++i)
+ p += b[i] * a[i];
+ return p;
}
-static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
-{
- r[0] = a[1]*b[2] - a[2]*b[1];
- r[1] = a[2]*b[0] - a[0]*b[2];
- r[2] = a[0]*b[1] - a[1]*b[0];
+static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b) {
+ r[0] = a[1] * b[2] - a[2] * b[1];
+ r[1] = a[2] * b[0] - a[0] * b[2];
+ r[2] = a[0] * b[1] - a[1] * b[0];
}
-static inline float vec3_len(vec3 const v)
-{
- return sqrtf(vec3_mul_inner(v, v));
+static inline float vec3_len(vec3 const v) {
+ return sqrtf(vec3_mul_inner(v, v));
}
-static inline void vec3_norm(vec3 r, vec3 const v)
-{
- float k = 1.f / vec3_len(v);
- vec3_scale(r, v, k);
+static inline void vec3_norm(vec3 r, vec3 const v) {
+ float k = 1.f / vec3_len(v);
+ vec3_scale(r, v, k);
}
-static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
-{
- float p = 2.f*vec3_mul_inner(v, n);
- int i;
- for(i=0;i<3;++i)
- r[i] = v[i] - p*n[i];
+static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n) {
+ float p = 2.f * vec3_mul_inner(v, n);
+ int i;
+ for (i = 0; i < 3; ++i)
+ r[i] = v[i] - p * n[i];
}
typedef float vec4[4];
-static inline void vec4_add(vec4 r, vec4 const a, vec4 const b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] + b[i];
+static inline void vec4_add(vec4 r, vec4 const a, vec4 const b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = a[i] + b[i];
}
-static inline void vec4_sub(vec4 r, vec4 const a, vec4 const b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] - b[i];
+static inline void vec4_sub(vec4 r, vec4 const a, vec4 const b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = a[i] - b[i];
}
-static inline void vec4_scale(vec4 r, vec4 v, float s)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = v[i] * s;
+static inline void vec4_scale(vec4 r, vec4 v, float s) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = v[i] * s;
}
-static inline float vec4_mul_inner(vec4 a, vec4 b)
-{
- float p = 0.f;
- int i;
- for(i=0; i<4; ++i)
- p += b[i]*a[i];
- return p;
+static inline float vec4_mul_inner(vec4 a, vec4 b) {
+ float p = 0.f;
+ int i;
+ for (i = 0; i < 4; ++i)
+ p += b[i] * a[i];
+ return p;
}
-static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
-{
- r[0] = a[1]*b[2] - a[2]*b[1];
- r[1] = a[2]*b[0] - a[0]*b[2];
- r[2] = a[0]*b[1] - a[1]*b[0];
- r[3] = 1.f;
+static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b) {
+ r[0] = a[1] * b[2] - a[2] * b[1];
+ r[1] = a[2] * b[0] - a[0] * b[2];
+ r[2] = a[0] * b[1] - a[1] * b[0];
+ r[3] = 1.f;
}
-static inline float vec4_len(vec4 v)
-{
- return sqrtf(vec4_mul_inner(v, v));
+static inline float vec4_len(vec4 v) { return sqrtf(vec4_mul_inner(v, v)); }
+static inline void vec4_norm(vec4 r, vec4 v) {
+ float k = 1.f / vec4_len(v);
+ vec4_scale(r, v, k);
}
-static inline void vec4_norm(vec4 r, vec4 v)
-{
- float k = 1.f / vec4_len(v);
- vec4_scale(r, v, k);
-}
-static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
-{
- float p = 2.f*vec4_mul_inner(v, n);
- int i;
- for(i=0;i<4;++i)
- r[i] = v[i] - p*n[i];
+static inline void vec4_reflect(vec4 r, vec4 v, vec4 n) {
+ float p = 2.f * vec4_mul_inner(v, n);
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = v[i] - p * n[i];
}
typedef vec4 mat4x4[4];
-static inline void mat4x4_identity(mat4x4 M)
-{
- int i, j;
- for(i=0; i<4; ++i)
- for(j=0; j<4; ++j)
- M[i][j] = i==j ? 1.f : 0.f;
+static inline void mat4x4_identity(mat4x4 M) {
+ int i, j;
+ for (i = 0; i < 4; ++i)
+ for (j = 0; j < 4; ++j)
+ M[i][j] = i == j ? 1.f : 0.f;
}
-static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
-{
- int i, j;
- for(i=0; i<4; ++i)
- for(j=0; j<4; ++j)
- M[i][j] = N[i][j];
+static inline void mat4x4_dup(mat4x4 M, mat4x4 N) {
+ int i, j;
+ for (i = 0; i < 4; ++i)
+ for (j = 0; j < 4; ++j)
+ M[i][j] = N[i][j];
}
-static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
-{
- int k;
- for(k=0; k<4; ++k)
- r[k] = M[k][i];
+static inline void mat4x4_row(vec4 r, mat4x4 M, int i) {
+ int k;
+ for (k = 0; k < 4; ++k)
+ r[k] = M[k][i];
}
-static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
-{
- int k;
- for(k=0; k<4; ++k)
- r[k] = M[i][k];
+static inline void mat4x4_col(vec4 r, mat4x4 M, int i) {
+ int k;
+ for (k = 0; k < 4; ++k)
+ r[k] = M[i][k];
}
-static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
-{
- int i, j;
- for(j=0; j<4; ++j)
- for(i=0; i<4; ++i)
- M[i][j] = N[j][i];
+static inline void mat4x4_transpose(mat4x4 M, mat4x4 N) {
+ int i, j;
+ for (j = 0; j < 4; ++j)
+ for (i = 0; i < 4; ++i)
+ M[i][j] = N[j][i];
}
-static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
-{
- int i;
- for(i=0; i<4; ++i)
- vec4_add(M[i], a[i], b[i]);
+static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ vec4_add(M[i], a[i], b[i]);
}
-static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
-{
- int i;
- for(i=0; i<4; ++i)
- vec4_sub(M[i], a[i], b[i]);
+static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ vec4_sub(M[i], a[i], b[i]);
}
-static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
-{
- int i;
- for(i=0; i<4; ++i)
- vec4_scale(M[i], a[i], k);
+static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ vec4_scale(M[i], a[i], k);
}
-static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
-{
- int i;
- vec4_scale(M[0], a[0], x);
- vec4_scale(M[1], a[1], y);
- vec4_scale(M[2], a[2], z);
- for(i = 0; i < 4; ++i) {
- M[3][i] = a[3][i];
+static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y,
+ float z) {
+ int i;
+ vec4_scale(M[0], a[0], x);
+ vec4_scale(M[1], a[1], y);
+ vec4_scale(M[2], a[2], z);
+ for (i = 0; i < 4; ++i) {
+ M[3][i] = a[3][i];
+ }
+}
+static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b) {
+ int k, r, c;
+ for (c = 0; c < 4; ++c)
+ for (r = 0; r < 4; ++r) {
+ M[c][r] = 0.f;
+ for (k = 0; k < 4; ++k)
+ M[c][r] += a[k][r] * b[c][k];
}
}
-static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
-{
- int k, r, c;
- for(c=0; c<4; ++c) for(r=0; r<4; ++r) {
- M[c][r] = 0.f;
- for(k=0; k<4; ++k)
- M[c][r] += a[k][r] * b[c][k];
- }
+static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v) {
+ int i, j;
+ for (j = 0; j < 4; ++j) {
+ r[j] = 0.f;
+ for (i = 0; i < 4; ++i)
+ r[j] += M[i][j] * v[i];
+ }
}
-static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
-{
- int i, j;
- for(j=0; j<4; ++j) {
- r[j] = 0.f;
- for(i=0; i<4; ++i)
- r[j] += M[i][j] * v[i];
- }
+static inline void mat4x4_translate(mat4x4 T, float x, float y, float z) {
+ mat4x4_identity(T);
+ T[3][0] = x;
+ T[3][1] = y;
+ T[3][2] = z;
}
-static inline void mat4x4_translate(mat4x4 T, float x, float y, float z)
-{
- mat4x4_identity(T);
- T[3][0] = x;
- T[3][1] = y;
- T[3][2] = z;
+static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y,
+ float z) {
+ vec4 t = {x, y, z, 0};
+ vec4 r;
+ int i;
+ for (i = 0; i < 4; ++i) {
+ mat4x4_row(r, M, i);
+ M[3][i] += vec4_mul_inner(r, t);
+ }
}
-static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z)
-{
- vec4 t = {x, y, z, 0};
- vec4 r;
- int i;
- for (i = 0; i < 4; ++i) {
- mat4x4_row(r, M, i);
- M[3][i] += vec4_mul_inner(r, t);
- }
+static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b) {
+ int i, j;
+ for (i = 0; i < 4; ++i)
+ for (j = 0; j < 4; ++j)
+ M[i][j] = i < 3 && j < 3 ? a[i] * b[j] : 0.f;
}
-static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
-{
- int i, j;
- for(i=0; i<4; ++i) for(j=0; j<4; ++j)
- M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
-}
-static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
-{
- float s = sinf(angle);
- float c = cosf(angle);
- vec3 u = {x, y, z};
+static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
+ float angle) {
+ float s = sinf(angle);
+ float c = cosf(angle);
+ vec3 u = {x, y, z};
- if(vec3_len(u) > 1e-4) {
- vec3_norm(u, u);
- mat4x4 T;
- mat4x4_from_vec3_mul_outer(T, u, u);
+ if (vec3_len(u) > 1e-4) {
+ vec3_norm(u, u);
+ mat4x4 T;
+ mat4x4_from_vec3_mul_outer(T, u, u);
- mat4x4 S = {
- { 0, u[2], -u[1], 0},
- {-u[2], 0, u[0], 0},
- { u[1], -u[0], 0, 0},
- { 0, 0, 0, 0}
- };
- mat4x4_scale(S, S, s);
+ mat4x4 S = {{0, u[2], -u[1], 0},
+ {-u[2], 0, u[0], 0},
+ {u[1], -u[0], 0, 0},
+ {0, 0, 0, 0}};
+ mat4x4_scale(S, S, s);
- mat4x4 C;
- mat4x4_identity(C);
- mat4x4_sub(C, C, T);
+ mat4x4 C;
+ mat4x4_identity(C);
+ mat4x4_sub(C, C, T);
- mat4x4_scale(C, C, c);
+ mat4x4_scale(C, C, c);
- mat4x4_add(T, T, C);
- mat4x4_add(T, T, S);
+ mat4x4_add(T, T, C);
+ mat4x4_add(T, T, S);
- T[3][3] = 1.;
- mat4x4_mul(R, M, T);
- } else {
- mat4x4_dup(R, M);
- }
-}
-static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
-{
- float s = sinf(angle);
- float c = cosf(angle);
- mat4x4 R = {
- {1.f, 0.f, 0.f, 0.f},
- {0.f, c, s, 0.f},
- {0.f, -s, c, 0.f},
- {0.f, 0.f, 0.f, 1.f}
- };
- mat4x4_mul(Q, M, R);
-}
-static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
-{
- float s = sinf(angle);
- float c = cosf(angle);
- mat4x4 R = {
- { c, 0.f, s, 0.f},
- { 0.f, 1.f, 0.f, 0.f},
- { -s, 0.f, c, 0.f},
- { 0.f, 0.f, 0.f, 1.f}
- };
- mat4x4_mul(Q, M, R);
-}
-static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
-{
- float s = sinf(angle);
- float c = cosf(angle);
- mat4x4 R = {
- { c, s, 0.f, 0.f},
- { -s, c, 0.f, 0.f},
- { 0.f, 0.f, 1.f, 0.f},
- { 0.f, 0.f, 0.f, 1.f}
- };
- mat4x4_mul(Q, M, R);
-}
-static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
-{
- float s[6];
- float c[6];
- s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1];
- s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2];
- s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3];
- s[3] = M[0][1]*M[1][2] - M[1][1]*M[0][2];
- s[4] = M[0][1]*M[1][3] - M[1][1]*M[0][3];
- s[5] = M[0][2]*M[1][3] - M[1][2]*M[0][3];
-
- c[0] = M[2][0]*M[3][1] - M[3][0]*M[2][1];
- c[1] = M[2][0]*M[3][2] - M[3][0]*M[2][2];
- c[2] = M[2][0]*M[3][3] - M[3][0]*M[2][3];
- c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2];
- c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3];
- c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3];
-
- /* Assumes it is invertible */
- float idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] );
-
- T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
- T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet;
- T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
- T[0][3] = (-M[2][1] * s[5] + M[2][2] * s[4] - M[2][3] * s[3]) * idet;
-
- T[1][0] = (-M[1][0] * c[5] + M[1][2] * c[2] - M[1][3] * c[1]) * idet;
- T[1][1] = ( M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet;
- T[1][2] = (-M[3][0] * s[5] + M[3][2] * s[2] - M[3][3] * s[1]) * idet;
- T[1][3] = ( M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet;
-
- T[2][0] = ( M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet;
- T[2][1] = (-M[0][0] * c[4] + M[0][1] * c[2] - M[0][3] * c[0]) * idet;
- T[2][2] = ( M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet;
- T[2][3] = (-M[2][0] * s[4] + M[2][1] * s[2] - M[2][3] * s[0]) * idet;
-
- T[3][0] = (-M[1][0] * c[3] + M[1][1] * c[1] - M[1][2] * c[0]) * idet;
- T[3][1] = ( M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet;
- T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
- T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
-}
-static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
-{
+ T[3][3] = 1.;
+ mat4x4_mul(R, M, T);
+ } else {
mat4x4_dup(R, M);
- float s = 1.;
- vec3 h;
+ }
+}
+static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle) {
+ float s = sinf(angle);
+ float c = cosf(angle);
+ mat4x4 R = {{1.f, 0.f, 0.f, 0.f},
+ {0.f, c, s, 0.f},
+ {0.f, -s, c, 0.f},
+ {0.f, 0.f, 0.f, 1.f}};
+ mat4x4_mul(Q, M, R);
+}
+static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle) {
+ float s = sinf(angle);
+ float c = cosf(angle);
+ mat4x4 R = {{c, 0.f, s, 0.f},
+ {0.f, 1.f, 0.f, 0.f},
+ {-s, 0.f, c, 0.f},
+ {0.f, 0.f, 0.f, 1.f}};
+ mat4x4_mul(Q, M, R);
+}
+static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle) {
+ float s = sinf(angle);
+ float c = cosf(angle);
+ mat4x4 R = {{c, s, 0.f, 0.f},
+ {-s, c, 0.f, 0.f},
+ {0.f, 0.f, 1.f, 0.f},
+ {0.f, 0.f, 0.f, 1.f}};
+ mat4x4_mul(Q, M, R);
+}
+static inline void mat4x4_invert(mat4x4 T, mat4x4 M) {
+ float s[6];
+ float c[6];
+ s[0] = M[0][0] * M[1][1] - M[1][0] * M[0][1];
+ s[1] = M[0][0] * M[1][2] - M[1][0] * M[0][2];
+ s[2] = M[0][0] * M[1][3] - M[1][0] * M[0][3];
+ s[3] = M[0][1] * M[1][2] - M[1][1] * M[0][2];
+ s[4] = M[0][1] * M[1][3] - M[1][1] * M[0][3];
+ s[5] = M[0][2] * M[1][3] - M[1][2] * M[0][3];
- vec3_norm(R[2], R[2]);
+ c[0] = M[2][0] * M[3][1] - M[3][0] * M[2][1];
+ c[1] = M[2][0] * M[3][2] - M[3][0] * M[2][2];
+ c[2] = M[2][0] * M[3][3] - M[3][0] * M[2][3];
+ c[3] = M[2][1] * M[3][2] - M[3][1] * M[2][2];
+ c[4] = M[2][1] * M[3][3] - M[3][1] * M[2][3];
+ c[5] = M[2][2] * M[3][3] - M[3][2] * M[2][3];
- s = vec3_mul_inner(R[1], R[2]);
- vec3_scale(h, R[2], s);
- vec3_sub(R[1], R[1], h);
- vec3_norm(R[2], R[2]);
+ /* Assumes it is invertible */
+ float idet = 1.0f / (s[0] * c[5] - s[1] * c[4] + s[2] * c[3] + s[3] * c[2] -
+ s[4] * c[1] + s[5] * c[0]);
- s = vec3_mul_inner(R[1], R[2]);
- vec3_scale(h, R[2], s);
- vec3_sub(R[1], R[1], h);
- vec3_norm(R[1], R[1]);
+ T[0][0] = (M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
+ T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet;
+ T[0][2] = (M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
+ T[0][3] = (-M[2][1] * s[5] + M[2][2] * s[4] - M[2][3] * s[3]) * idet;
- s = vec3_mul_inner(R[0], R[1]);
- vec3_scale(h, R[1], s);
- vec3_sub(R[0], R[0], h);
- vec3_norm(R[0], R[0]);
+ T[1][0] = (-M[1][0] * c[5] + M[1][2] * c[2] - M[1][3] * c[1]) * idet;
+ T[1][1] = (M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet;
+ T[1][2] = (-M[3][0] * s[5] + M[3][2] * s[2] - M[3][3] * s[1]) * idet;
+ T[1][3] = (M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet;
+
+ T[2][0] = (M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet;
+ T[2][1] = (-M[0][0] * c[4] + M[0][1] * c[2] - M[0][3] * c[0]) * idet;
+ T[2][2] = (M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet;
+ T[2][3] = (-M[2][0] * s[4] + M[2][1] * s[2] - M[2][3] * s[0]) * idet;
+
+ T[3][0] = (-M[1][0] * c[3] + M[1][1] * c[1] - M[1][2] * c[0]) * idet;
+ T[3][1] = (M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet;
+ T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
+ T[3][3] = (M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
+}
+static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M) {
+ mat4x4_dup(R, M);
+ float s = 1.;
+ vec3 h;
+
+ vec3_norm(R[2], R[2]);
+
+ s = vec3_mul_inner(R[1], R[2]);
+ vec3_scale(h, R[2], s);
+ vec3_sub(R[1], R[1], h);
+ vec3_norm(R[2], R[2]);
+
+ s = vec3_mul_inner(R[1], R[2]);
+ vec3_scale(h, R[2], s);
+ vec3_sub(R[1], R[1], h);
+ vec3_norm(R[1], R[1]);
+
+ s = vec3_mul_inner(R[0], R[1]);
+ vec3_scale(h, R[1], s);
+ vec3_sub(R[0], R[0], h);
+ vec3_norm(R[0], R[0]);
}
-static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
-{
- M[0][0] = 2.f*n/(r-l);
- M[0][1] = M[0][2] = M[0][3] = 0.f;
+static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t,
+ float n, float f) {
+ M[0][0] = 2.f * n / (r - l);
+ M[0][1] = M[0][2] = M[0][3] = 0.f;
- M[1][1] = 2.f*n/(t-b);
- M[1][0] = M[1][2] = M[1][3] = 0.f;
+ M[1][1] = 2.f * n / (t - b);
+ M[1][0] = M[1][2] = M[1][3] = 0.f;
- M[2][0] = (r+l)/(r-l);
- M[2][1] = (t+b)/(t-b);
- M[2][2] = -(f+n)/(f-n);
- M[2][3] = -1.f;
+ M[2][0] = (r + l) / (r - l);
+ M[2][1] = (t + b) / (t - b);
+ M[2][2] = -(f + n) / (f - n);
+ M[2][3] = -1.f;
- M[3][2] = -2.f*(f*n)/(f-n);
- M[3][0] = M[3][1] = M[3][3] = 0.f;
+ M[3][2] = -2.f * (f * n) / (f - n);
+ M[3][0] = M[3][1] = M[3][3] = 0.f;
}
-static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
-{
- M[0][0] = 2.f/(r-l);
- M[0][1] = M[0][2] = M[0][3] = 0.f;
+static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t,
+ float n, float f) {
+ M[0][0] = 2.f / (r - l);
+ M[0][1] = M[0][2] = M[0][3] = 0.f;
- M[1][1] = 2.f/(t-b);
- M[1][0] = M[1][2] = M[1][3] = 0.f;
+ M[1][1] = 2.f / (t - b);
+ M[1][0] = M[1][2] = M[1][3] = 0.f;
- M[2][2] = -2.f/(f-n);
- M[2][0] = M[2][1] = M[2][3] = 0.f;
+ M[2][2] = -2.f / (f - n);
+ M[2][0] = M[2][1] = M[2][3] = 0.f;
- M[3][0] = -(r+l)/(r-l);
- M[3][1] = -(t+b)/(t-b);
- M[3][2] = -(f+n)/(f-n);
- M[3][3] = 1.f;
+ M[3][0] = -(r + l) / (r - l);
+ M[3][1] = -(t + b) / (t - b);
+ M[3][2] = -(f + n) / (f - n);
+ M[3][3] = 1.f;
}
-static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
-{
- /* NOTE: Degrees are an unhandy unit to work with.
- * linmath.h uses radians for everything! */
- float const a = (float)(1.f / tan(y_fov / 2.f));
+static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect,
+ float n, float f) {
+ /* NOTE: Degrees are an unhandy unit to work with.
+ * linmath.h uses radians for everything! */
+ float const a = (float)(1.f / tan(y_fov / 2.f));
- m[0][0] = a / aspect;
- m[0][1] = 0.f;
- m[0][2] = 0.f;
- m[0][3] = 0.f;
+ m[0][0] = a / aspect;
+ m[0][1] = 0.f;
+ m[0][2] = 0.f;
+ m[0][3] = 0.f;
- m[1][0] = 0.f;
- m[1][1] = a;
- m[1][2] = 0.f;
- m[1][3] = 0.f;
+ m[1][0] = 0.f;
+ m[1][1] = a;
+ m[1][2] = 0.f;
+ m[1][3] = 0.f;
- m[2][0] = 0.f;
- m[2][1] = 0.f;
- m[2][2] = -((f + n) / (f - n));
- m[2][3] = -1.f;
+ m[2][0] = 0.f;
+ m[2][1] = 0.f;
+ m[2][2] = -((f + n) / (f - n));
+ m[2][3] = -1.f;
- m[3][0] = 0.f;
- m[3][1] = 0.f;
- m[3][2] = -((2.f * f * n) / (f - n));
- m[3][3] = 0.f;
+ m[3][0] = 0.f;
+ m[3][1] = 0.f;
+ m[3][2] = -((2.f * f * n) / (f - n));
+ m[3][3] = 0.f;
}
-static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
-{
- /* Adapted from Android's OpenGL Matrix.java. */
- /* See the OpenGL GLUT documentation for gluLookAt for a description */
- /* of the algorithm. We implement it in a straightforward way: */
+static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up) {
+ /* Adapted from Android's OpenGL Matrix.java. */
+ /* See the OpenGL GLUT documentation for gluLookAt for a description */
+ /* of the algorithm. We implement it in a straightforward way: */
- /* TODO: The negation of of can be spared by swapping the order of
- * operands in the following cross products in the right way. */
- vec3 f;
- vec3_sub(f, center, eye);
- vec3_norm(f, f);
+ /* TODO: The negation of of can be spared by swapping the order of
+ * operands in the following cross products in the right way. */
+ vec3 f;
+ vec3_sub(f, center, eye);
+ vec3_norm(f, f);
- vec3 s;
- vec3_mul_cross(s, f, up);
- vec3_norm(s, s);
+ vec3 s;
+ vec3_mul_cross(s, f, up);
+ vec3_norm(s, s);
- vec3 t;
- vec3_mul_cross(t, s, f);
+ vec3 t;
+ vec3_mul_cross(t, s, f);
- m[0][0] = s[0];
- m[0][1] = t[0];
- m[0][2] = -f[0];
- m[0][3] = 0.f;
+ m[0][0] = s[0];
+ m[0][1] = t[0];
+ m[0][2] = -f[0];
+ m[0][3] = 0.f;
- m[1][0] = s[1];
- m[1][1] = t[1];
- m[1][2] = -f[1];
- m[1][3] = 0.f;
+ m[1][0] = s[1];
+ m[1][1] = t[1];
+ m[1][2] = -f[1];
+ m[1][3] = 0.f;
- m[2][0] = s[2];
- m[2][1] = t[2];
- m[2][2] = -f[2];
- m[2][3] = 0.f;
+ m[2][0] = s[2];
+ m[2][1] = t[2];
+ m[2][2] = -f[2];
+ m[2][3] = 0.f;
- m[3][0] = 0.f;
- m[3][1] = 0.f;
- m[3][2] = 0.f;
- m[3][3] = 1.f;
+ m[3][0] = 0.f;
+ m[3][1] = 0.f;
+ m[3][2] = 0.f;
+ m[3][3] = 1.f;
- mat4x4_translate_in_place(m, -eye[0], -eye[1], -eye[2]);
+ mat4x4_translate_in_place(m, -eye[0], -eye[1], -eye[2]);
}
typedef float quat[4];
-static inline void quat_identity(quat q)
-{
- q[0] = q[1] = q[2] = 0.f;
- q[3] = 1.f;
+static inline void quat_identity(quat q) {
+ q[0] = q[1] = q[2] = 0.f;
+ q[3] = 1.f;
}
-static inline void quat_add(quat r, quat a, quat b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] + b[i];
+static inline void quat_add(quat r, quat a, quat b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = a[i] + b[i];
}
-static inline void quat_sub(quat r, quat a, quat b)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = a[i] - b[i];
+static inline void quat_sub(quat r, quat a, quat b) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = a[i] - b[i];
}
-static inline void quat_mul(quat r, quat p, quat q)
-{
- vec3 w;
- vec3_mul_cross(r, p, q);
- vec3_scale(w, p, q[3]);
- vec3_add(r, r, w);
- vec3_scale(w, q, p[3]);
- vec3_add(r, r, w);
- r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
+static inline void quat_mul(quat r, quat p, quat q) {
+ vec3 w;
+ vec3_mul_cross(r, p, q);
+ vec3_scale(w, p, q[3]);
+ vec3_add(r, r, w);
+ vec3_scale(w, q, p[3]);
+ vec3_add(r, r, w);
+ r[3] = p[3] * q[3] - vec3_mul_inner(p, q);
}
-static inline void quat_scale(quat r, quat v, float s)
-{
- int i;
- for(i=0; i<4; ++i)
- r[i] = v[i] * s;
+static inline void quat_scale(quat r, quat v, float s) {
+ int i;
+ for (i = 0; i < 4; ++i)
+ r[i] = v[i] * s;
}
-static inline float quat_inner_product(quat a, quat b)
-{
- float p = 0.f;
- int i;
- for(i=0; i<4; ++i)
- p += b[i]*a[i];
- return p;
+static inline float quat_inner_product(quat a, quat b) {
+ float p = 0.f;
+ int i;
+ for (i = 0; i < 4; ++i)
+ p += b[i] * a[i];
+ return p;
}
-static inline void quat_conj(quat r, quat q)
-{
- int i;
- for(i=0; i<3; ++i)
- r[i] = -q[i];
- r[3] = q[3];
+static inline void quat_conj(quat r, quat q) {
+ int i;
+ for (i = 0; i < 3; ++i)
+ r[i] = -q[i];
+ r[3] = q[3];
}
#define quat_norm vec4_norm
-static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
-{
- quat v_ = {v[0], v[1], v[2], 0.f};
+static inline void quat_mul_vec3(vec3 r, quat q, vec3 v) {
+ quat v_ = {v[0], v[1], v[2], 0.f};
- quat_conj(r, q);
- quat_norm(r, r);
- quat_mul(r, v_, r);
- quat_mul(r, q, r);
+ quat_conj(r, q);
+ quat_norm(r, r);
+ quat_mul(r, v_, r);
+ quat_mul(r, q, r);
}
-static inline void mat4x4_from_quat(mat4x4 M, quat q)
-{
- float a = q[3];
- float b = q[0];
- float c = q[1];
- float d = q[2];
- float a2 = a*a;
- float b2 = b*b;
- float c2 = c*c;
- float d2 = d*d;
+static inline void mat4x4_from_quat(mat4x4 M, quat q) {
+ float a = q[3];
+ float b = q[0];
+ float c = q[1];
+ float d = q[2];
+ float a2 = a * a;
+ float b2 = b * b;
+ float c2 = c * c;
+ float d2 = d * d;
- M[0][0] = a2 + b2 - c2 - d2;
- M[0][1] = 2.f*(b*c + a*d);
- M[0][2] = 2.f*(b*d - a*c);
- M[0][3] = 0.f;
+ M[0][0] = a2 + b2 - c2 - d2;
+ M[0][1] = 2.f * (b * c + a * d);
+ M[0][2] = 2.f * (b * d - a * c);
+ M[0][3] = 0.f;
- M[1][0] = 2*(b*c - a*d);
- M[1][1] = a2 - b2 + c2 - d2;
- M[1][2] = 2.f*(c*d + a*b);
- M[1][3] = 0.f;
+ M[1][0] = 2 * (b * c - a * d);
+ M[1][1] = a2 - b2 + c2 - d2;
+ M[1][2] = 2.f * (c * d + a * b);
+ M[1][3] = 0.f;
- M[2][0] = 2.f*(b*d + a*c);
- M[2][1] = 2.f*(c*d - a*b);
- M[2][2] = a2 - b2 - c2 + d2;
- M[2][3] = 0.f;
+ M[2][0] = 2.f * (b * d + a * c);
+ M[2][1] = 2.f * (c * d - a * b);
+ M[2][2] = a2 - b2 - c2 + d2;
+ M[2][3] = 0.f;
- M[3][0] = M[3][1] = M[3][2] = 0.f;
- M[3][3] = 1.f;
+ M[3][0] = M[3][1] = M[3][2] = 0.f;
+ M[3][3] = 1.f;
}
-static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
-{
-/* XXX: The way this is written only works for othogonal matrices. */
-/* TODO: Take care of non-orthogonal case. */
- quat_mul_vec3(R[0], q, M[0]);
- quat_mul_vec3(R[1], q, M[1]);
- quat_mul_vec3(R[2], q, M[2]);
+static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q) {
+ /* XXX: The way this is written only works for othogonal matrices. */
+ /* TODO: Take care of non-orthogonal case. */
+ quat_mul_vec3(R[0], q, M[0]);
+ quat_mul_vec3(R[1], q, M[1]);
+ quat_mul_vec3(R[2], q, M[2]);
- R[3][0] = R[3][1] = R[3][2] = 0.f;
- R[3][3] = 1.f;
+ R[3][0] = R[3][1] = R[3][2] = 0.f;
+ R[3][3] = 1.f;
}
-static inline void quat_from_mat4x4(quat q, mat4x4 M)
-{
- float r=0.f;
- int i;
+static inline void quat_from_mat4x4(quat q, mat4x4 M) {
+ float r = 0.f;
+ int i;
- int perm[] = { 0, 1, 2, 0, 1 };
- int *p = perm;
+ int perm[] = {0, 1, 2, 0, 1};
+ int *p = perm;
- for(i = 0; i<3; i++) {
- float m = M[i][i];
- if( m < r )
- continue;
- m = r;
- p = &perm[i];
- }
+ for (i = 0; i < 3; i++) {
+ float m = M[i][i];
+ if (m < r)
+ continue;
+ m = r;
+ p = &perm[i];
+ }
- r = sqrtf(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] );
+ r = sqrtf(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]]);
- if(r < 1e-6) {
- q[0] = 1.f;
- q[1] = q[2] = q[3] = 0.f;
- return;
- }
+ if (r < 1e-6) {
+ q[0] = 1.f;
+ q[1] = q[2] = q[3] = 0.f;
+ return;
+ }
- q[0] = r/2.f;
- q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.f*r);
- q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.f*r);
- q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
+ q[0] = r / 2.f;
+ q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]]) / (2.f * r);
+ q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]]) / (2.f * r);
+ q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]]) / (2.f * r);
}
#endif