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/* |
File: matrix.c |
Abstract: Simple 4x4 matrix computations |
Version: 2.2 |
|
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*/ |
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#include <string.h> |
#include <math.h> |
#include "matrix.h" |
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/* |
NOTE: These functions are created for your convenience but the matrix algorithms |
are not optimized. You are encouraged to do additional research on your own to |
implement a more robust numerical algorithm. |
*/ |
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void mat4f_LoadIdentity(float* m) |
{ |
m[0] = 1.0f; |
m[1] = 0.0f; |
m[2] = 0.0f; |
m[3] = 0.0f; |
|
m[4] = 0.0f; |
m[5] = 1.0f; |
m[6] = 0.0f; |
m[7] = 0.0f; |
|
m[8] = 0.0f; |
m[9] = 0.0f; |
m[10] = 1.0f; |
m[11] = 0.0f; |
|
m[12] = 0.0f; |
m[13] = 0.0f; |
m[14] = 0.0f; |
m[15] = 1.0f; |
} |
|
// s is a 3D vector |
void mat4f_LoadScale(float* s, float* m) |
{ |
m[0] = s[0]; |
m[1] = 0.0f; |
m[2] = 0.0f; |
m[3] = 0.0f; |
|
m[4] = 0.0f; |
m[5] = s[1]; |
m[6] = 0.0f; |
m[7] = 0.0f; |
|
m[8] = 0.0f; |
m[9] = 0.0f; |
m[10] = s[2]; |
m[11] = 0.0f; |
|
m[12] = 0.0f; |
m[13] = 0.0f; |
m[14] = 0.0f; |
m[15] = 1.0f; |
} |
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void mat4f_LoadXRotation(float radians, float* m) |
{ |
float cosrad = cosf(radians); |
float sinrad = sinf(radians); |
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m[0] = 1.0f; |
m[1] = 0.0f; |
m[2] = 0.0f; |
m[3] = 0.0f; |
|
m[4] = 0.0f; |
m[5] = cosrad; |
m[6] = sinrad; |
m[7] = 0.0f; |
|
m[8] = 0.0f; |
m[9] = -sinrad; |
m[10] = cosrad; |
m[11] = 0.0f; |
|
m[12] = 0.0f; |
m[13] = 0.0f; |
m[14] = 0.0f; |
m[15] = 1.0f; |
} |
|
void mat4f_LoadYRotation(float radians, float* mout) |
{ |
float cosrad = cosf(radians); |
float sinrad = sinf(radians); |
|
mout[0] = cosrad; |
mout[1] = 0.0f; |
mout[2] = -sinrad; |
mout[3] = 0.0f; |
|
mout[4] = 0.0f; |
mout[5] = 1.0f; |
mout[6] = 0.0f; |
mout[7] = 0.0f; |
|
mout[8] = sinrad; |
mout[9] = 0.0f; |
mout[10] = cosrad; |
mout[11] = 0.0f; |
|
mout[12] = 0.0f; |
mout[13] = 0.0f; |
mout[14] = 0.0f; |
mout[15] = 1.0f; |
} |
|
void mat4f_LoadZRotation(float radians, float* mout) |
{ |
float cosrad = cosf(radians); |
float sinrad = sinf(radians); |
|
mout[0] = cosrad; |
mout[1] = sinrad; |
mout[2] = 0.0f; |
mout[3] = 0.0f; |
|
mout[4] = -sinrad; |
mout[5] = cosrad; |
mout[6] = 0.0f; |
mout[7] = 0.0f; |
|
mout[8] = 0.0f; |
mout[9] = 0.0f; |
mout[10] = 1.0f; |
mout[11] = 0.0f; |
|
mout[12] = 0.0f; |
mout[13] = 0.0f; |
mout[14] = 0.0f; |
mout[15] = 1.0f; |
} |
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// v is a 3D vector |
void mat4f_LoadTranslation(float* v, float* mout) |
{ |
mout[0] = 1.0f; |
mout[1] = 0.0f; |
mout[2] = 0.0f; |
mout[3] = 0.0f; |
|
mout[4] = 0.0f; |
mout[5] = 1.0f; |
mout[6] = 0.0f; |
mout[7] = 0.0f; |
|
mout[8] = 0.0f; |
mout[9] = 0.0f; |
mout[10] = 1.0f; |
mout[11] = 0.0f; |
|
mout[12] = v[0]; |
mout[13] = v[1]; |
mout[14] = v[2]; |
mout[15] = 1.0f; |
} |
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void mat4f_LoadPerspective(float fov_radians, float aspect, float zNear, float zFar, float* mout) |
{ |
float f = 1.0f / tanf(fov_radians/2.0f); |
|
mout[0] = f / aspect; |
mout[1] = 0.0f; |
mout[2] = 0.0f; |
mout[3] = 0.0f; |
|
mout[4] = 0.0f; |
mout[5] = f; |
mout[6] = 0.0f; |
mout[7] = 0.0f; |
|
mout[8] = 0.0f; |
mout[9] = 0.0f; |
mout[10] = (zFar+zNear) / (zNear-zFar); |
mout[11] = -1.0f; |
|
mout[12] = 0.0f; |
mout[13] = 0.0f; |
mout[14] = 2 * zFar * zNear / (zNear-zFar); |
mout[15] = 0.0f; |
} |
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void mat4f_LoadOrtho(float left, float right, float bottom, float top, float near, float far, float* mout) |
{ |
float r_l = right - left; |
float t_b = top - bottom; |
float f_n = far - near; |
float tx = - (right + left) / (right - left); |
float ty = - (top + bottom) / (top - bottom); |
float tz = - (far + near) / (far - near); |
|
mout[0] = 2.0f / r_l; |
mout[1] = 0.0f; |
mout[2] = 0.0f; |
mout[3] = 0.0f; |
|
mout[4] = 0.0f; |
mout[5] = 2.0f / t_b; |
mout[6] = 0.0f; |
mout[7] = 0.0f; |
|
mout[8] = 0.0f; |
mout[9] = 0.0f; |
mout[10] = -2.0f / f_n; |
mout[11] = 0.0f; |
|
mout[12] = tx; |
mout[13] = ty; |
mout[14] = tz; |
mout[15] = 1.0f; |
} |
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void mat4f_MultiplyMat4f(const float* a, const float* b, float* mout) |
{ |
mout[0] = a[0] * b[0] + a[4] * b[1] + a[8] * b[2] + a[12] * b[3]; |
mout[1] = a[1] * b[0] + a[5] * b[1] + a[9] * b[2] + a[13] * b[3]; |
mout[2] = a[2] * b[0] + a[6] * b[1] + a[10] * b[2] + a[14] * b[3]; |
mout[3] = a[3] * b[0] + a[7] * b[1] + a[11] * b[2] + a[15] * b[3]; |
|
mout[4] = a[0] * b[4] + a[4] * b[5] + a[8] * b[6] + a[12] * b[7]; |
mout[5] = a[1] * b[4] + a[5] * b[5] + a[9] * b[6] + a[13] * b[7]; |
mout[6] = a[2] * b[4] + a[6] * b[5] + a[10] * b[6] + a[14] * b[7]; |
mout[7] = a[3] * b[4] + a[7] * b[5] + a[11] * b[6] + a[15] * b[7]; |
|
mout[8] = a[0] * b[8] + a[4] * b[9] + a[8] * b[10] + a[12] * b[11]; |
mout[9] = a[1] * b[8] + a[5] * b[9] + a[9] * b[10] + a[13] * b[11]; |
mout[10] = a[2] * b[8] + a[6] * b[9] + a[10] * b[10] + a[14] * b[11]; |
mout[11] = a[3] * b[8] + a[7] * b[9] + a[11] * b[10] + a[15] * b[11]; |
|
mout[12] = a[0] * b[12] + a[4] * b[13] + a[8] * b[14] + a[12] * b[15]; |
mout[13] = a[1] * b[12] + a[5] * b[13] + a[9] * b[14] + a[13] * b[15]; |
mout[14] = a[2] * b[12] + a[6] * b[13] + a[10] * b[14] + a[14] * b[15]; |
mout[15] = a[3] * b[12] + a[7] * b[13] + a[11] * b[14] + a[15] * b[15]; |
} |
