1 /* Copyright 1988, Brown Computer Graphics Group. All Rights Reserved. */
3 /* -------------------------------------------------------------------------
4 Public MAT3 include file
5 ------------------------------------------------------------------------- */
7 #ifndef MAT3_HAS_BEEN_INCLUDED
8 #define MAT3_HAS_BEEN_INCLUDED
10 /* ----------------------------- Constants ------------------------------ */
13 * Make sure the math library .h file is included, in case it wasn't.
22 #include "Include/fg_memory.h"
29 #define MAT3_DET0 -1 /* Indicates singular mat */
30 #define MAT3_EPSILON 1e-12 /* Close enough to zero */
35 # define MAT3_PI 3.14159265358979323846
38 #define USE_XTRA_MAT3_INLINES
40 /* ------------------------------ Types --------------------------------- */
42 typedef double MAT3mat[4][4]; /* 4x4 matrix */
43 typedef double MAT3vec[3]; /* Vector */
44 typedef double MAT3hvec[4]; /* Vector with homogeneous coord */
46 /* ------------------------------ Macros -------------------------------- */
48 extern MAT3mat identityMatrix;
50 /* Tests if a number is within EPSILON of zero */
51 #define MAT3_IS_ZERO(N) ((N) < MAT3_EPSILON && (N) > -MAT3_EPSILON)
53 /* Sets a vector to the three given values */
54 #define MAT3_SET_VEC(V,X,Y,Z) ((V)[0]=(X), (V)[1]=(Y), (V)[2]=(Z))
56 /* Tests a vector for all components close to zero */
57 #define MAT3_IS_ZERO_VEC(V) (MAT3_IS_ZERO((V)[0]) && \
58 MAT3_IS_ZERO((V)[1]) && \
61 /* Dot product of two vectors */
62 #define MAT3_DOT_PRODUCT(V1,V2) \
63 ((V1)[0]*(V2)[0] + (V1)[1]*(V2)[1] + (V1)[2]*(V2)[2])
65 /* Copy one vector to other */
66 #define MAT3_COPY_VEC(TO,FROM) ((TO)[0] = (FROM)[0], \
67 (TO)[1] = (FROM)[1], \
70 /* Normalize vector to unit length, using TEMP as temporary variable.
71 * TEMP will be zero if vector has zero length */
72 #define MAT3_NORMALIZE_VEC(V,TEMP) \
73 if ((TEMP = sqrt(MAT3_DOT_PRODUCT(V,V))) > MAT3_EPSILON) { \
75 MAT3_SCALE_VEC(V,V,TEMP); \
78 /* Scale vector by given factor, storing result vector in RESULT_V */
79 #define MAT3_SCALE_VEC(RESULT_V,V,SCALE) \
80 MAT3_SET_VEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), (V)[2]*(SCALE))
82 /* Adds vectors V1 and V2, storing result in RESULT_V */
83 #define MAT3_ADD_VEC(RESULT_V,V1,V2) \
84 MAT3_SET_VEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
87 /* Subtracts vector V2 from V1, storing result in RESULT_V */
88 #define MAT3_SUB_VEC(RESULT_V,V1,V2) \
89 MAT3_SET_VEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
92 /* Multiplies vectors V1 and V2, storing result in RESULT_V */
93 #define MAT3_MULT_VEC(RESULT_V,V1,V2) \
94 MAT3_SET_VEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
97 /* Sets RESULT_V to the linear combination of V1 and V2, scaled by
98 * SCALE1 and SCALE2, respectively */
99 #define MAT3_LINEAR_COMB(RESULT_V,SCALE1,V1,SCALE2,V2) \
100 MAT3_SET_VEC(RESULT_V, (SCALE1)*(V1)[0] + (SCALE2)*(V2)[0], \
101 (SCALE1)*(V1)[1] + (SCALE2)*(V2)[1], \
102 (SCALE1)*(V1)[2] + (SCALE2)*(V2)[2])
104 /* Several of the vector macros are useful for homogeneous-coord vectors */
105 #define MAT3_SET_HVEC(V,X,Y,Z,W) ((V)[0]=(X), (V)[1]=(Y), \
106 (V)[2]=(Z), (V)[3]=(W))
108 #define MAT3_COPY_HVEC(TO,FROM) ((TO)[0] = (FROM)[0], \
109 (TO)[1] = (FROM)[1], \
110 (TO)[2] = (FROM)[2], \
113 #define MAT3_SCALE_HVEC(RESULT_V,V,SCALE) \
114 MAT3_SET_HVEC(RESULT_V, (V)[0]*(SCALE), (V)[1]*(SCALE), \
115 (V)[2]*(SCALE), (V)[3]*(SCALE))
117 #define MAT3_ADD_HVEC(RESULT_V,V1,V2) \
118 MAT3_SET_HVEC(RESULT_V, (V1)[0]+(V2)[0], (V1)[1]+(V2)[1], \
119 (V1)[2]+(V2)[2], (V1)[3]+(V2)[3])
121 #define MAT3_SUB_HVEC(RESULT_V,V1,V2) \
122 MAT3_SET_HVEC(RESULT_V, (V1)[0]-(V2)[0], (V1)[1]-(V2)[1], \
123 (V1)[2]-(V2)[2], (V1)[3]-(V2)[3])
125 #define MAT3_MULT_HVEC(RESULT_V,V1,V2) \
126 MAT3_SET_HVEC(RESULT_V, (V1)[0]*(V2)[0], (V1)[1]*(V2)[1], \
127 (V1)[2]*(V2)[2], (V1)[3]*(V2)[3])
129 /* ------------------------------ Entries ------------------------------- */
132 #define MAT3identity(mat) fgmemcpy( mat, identityMatrix, sizeof(MAT3mat) )
133 #define MAT3zero(mat) fgmemzero( mat, sizeof(MAT3mat) )
134 #define MAT3copy(to, from) fgmemcpy( to, from, sizeof(MAT3mat) )
136 #if defined( USE_XTRA_MAT3_INLINES )
138 # define MAT3mult_vec( result_vec, vec, mat) { \
140 tempvec[0]=vec[0]*mat[0][0]+vec[1]*mat[1][0]+vec[2]*mat[2][0]+mat[3][0]; \
141 tempvec[1]=vec[0]*mat[0][1]+vec[1]*mat[1][1]+vec[2]*mat[2][1]+mat[3][1]; \
142 tempvec[2]=vec[0]*mat[0][2]+vec[1]*mat[1][2]+vec[2]*mat[2][2]+mat[3][2]; \
143 result_vec[0] = tempvec[0]; \
144 result_vec[1] = tempvec[1]; \
145 result_vec[2] = tempvec[2]; \
148 # define MAT3cross_product(result_vec, vec1, vec2) { \
150 tempvec[0] = vec1[1] * vec2[2] - vec1[2] * vec2[1]; \
151 tempvec[1] = vec1[2] * vec2[0] - vec1[0] * vec2[2]; \
152 tempvec[2] = vec1[0] * vec2[1] - vec1[1] * vec2[0]; \
153 result_vec[0] = tempvec[0]; \
154 result_vec[1] = tempvec[1]; \
155 result_vec[2] = tempvec[2]; \
158 # define MAT3mult( result_mat, mat1, mat2) { \
161 for (i = 0; i < 4; i++) \
162 for (j = 0; j < 4; j++) \
163 tmp_mat[i][j] = (mat1[i][0] * mat2[0][j] + \
164 mat1[i][1] * mat2[1][j] + \
165 mat1[i][2] * mat2[2][j] + \
166 mat1[i][3] * mat2[3][j]); \
167 fgmemcpy(result_mat, tmp_mat, sizeof(MAT3mat)); \
170 #else // !defined( USE_XTRA_MAT3_INLINES )
173 void MAT3mult(MAT3mat result, MAT3mat, MAT3mat);
174 void MAT3mult_vec(MAT3vec result_vec, MAT3vec vec, MAT3mat mat);
175 void MAT3cross_product(MAT3vec result,MAT3vec,MAT3vec);
177 #endif // defined( USE_XTRA_MAT3_INLINES )
180 void MAT3direction_matrix (MAT3mat result_mat, MAT3mat mat);
181 int MAT3normal_matrix (MAT3mat result_mat, MAT3mat mat);
182 void MAT3rotate (MAT3mat result_mat, MAT3vec axis, double angle_in_radians);
183 void MAT3translate (MAT3mat result_mat, MAT3vec trans);
184 void MAT3scale (MAT3mat result_mat, MAT3vec scale);
185 void MAT3shear(MAT3mat result_mat, double xshear, double yshear);
187 void MAT3transpose (MAT3mat result, MAT3mat);
188 int MAT3invert (MAT3mat result, MAT3mat);
189 void MAT3print (MAT3mat, FILE *fp);
190 void MAT3print_formatted (MAT3mat, FILE *fp,
191 char *title, char *head, char *format, char *tail);
192 int MAT3equal( void );
193 double MAT3trace( void );
194 int MAT3power( void );
195 int MAT3column_reduce( void );
196 int MAT3kernel_basis( void );
199 int MAT3mult_hvec (MAT3hvec result_vec, MAT3hvec vec, MAT3mat mat, int normalize);
200 void MAT3perp_vec(MAT3vec result_vec, MAT3vec vec, int is_unit);
207 #endif /* MAT3_HAS_BEEN_INCLUDED */