147 lines
2.9 KiB
C
147 lines
2.9 KiB
C
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// Matrix stuff...
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//
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#ifndef _MATRIX_
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#define _MATRIX_
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//
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// ALL ANGLES ARE IN RADIANS.
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//
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//
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// Fills in the matrix appropriately given the three angles (yaw, pitch, roll)
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// for the eye along the z-axis.
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//
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void MATRIX_calc(float matrix[9], float yaw, float pitch, float roll);
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//
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// Makes a rotation matrix that rotates 'angle' radians about thie given unit vector
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//
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void MATRIX_calc_arb(
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float matrix[9],
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float ux,
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float uy,
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float uz,
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float angle);
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//
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// Calculates a vector from yaw and pitch...
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//
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void MATRIX_vector(float vector[3], float yaw, float pitch);
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//
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// Skews the view matrix so that it is correct for 3d clipping.
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//
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// The skew value should be one over the horizontal view-window resolution
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// divided by the vertical view-window resolution.
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//
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// The x and y vectors are multiplied by the zoom.
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//
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// The whole matrix is scaled by scale.
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//
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void MATRIX_skew(float matrix[9], float skew, float zoom, float scale);
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//
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// Multiplies points x,y,z by matrix m.
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//
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#define MATRIX_MUL(m,x,y,z) \
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{ \
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float xnew, ynew, znew; \
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\
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xnew = (x) * (m)[0]; \
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ynew = (x) * (m)[3]; \
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znew = (x) * (m)[6]; \
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\
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xnew += (y) * (m)[1]; \
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ynew += (y) * (m)[4]; \
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znew += (y) * (m)[7]; \
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\
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xnew += (z) * (m)[2]; \
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ynew += (z) * (m)[5]; \
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znew += (z) * (m)[8]; \
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\
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(x) = xnew; (y) = ynew; (z) = znew; \
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}
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//
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// Multiplies points x,y,z by the transpose of matrix m.
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//
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#define MATRIX_MUL_BY_TRANSPOSE(m,x,y,z) \
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{ \
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float xnew, ynew, znew; \
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\
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xnew = (x) * (m)[0]; \
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ynew = (x) * (m)[1]; \
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znew = (x) * (m)[2]; \
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\
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xnew += (y) * (m)[3]; \
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ynew += (y) * (m)[4]; \
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znew += (y) * (m)[5]; \
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\
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xnew += (z) * (m)[6]; \
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ynew += (z) * (m)[7]; \
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znew += (z) * (m)[8]; \
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\
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(x) = xnew; (y) = ynew; (z) = znew; \
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}
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//
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// Multiplies two 3x3 together. A = MN.
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//
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void MATRIX_3x3mul(float a[9], float m[9], float n[9]);
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//
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// Transposes the matrix m.
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//
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#define MATRIX_TRANSPOSE(m) {SWAP_FL(m[1], m[3]); SWAP_FL(m[2], m[6]); SWAP_FL(m[5], m[7]);}
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//
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// Rotates a matrix about its x,y or z vector.
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//
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void MATRIX_rotate_about_its_x(float *matrix, float angle);
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void MATRIX_rotate_about_its_y(float *matrix, float angle);
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void MATRIX_rotate_about_its_z(float *matrix, float angle);
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//
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// Convert a matrix into its equivalent yaw, pitch and roll.
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//
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Direction MATRIX_find_angles(float matrix[9]);
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//
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// Scales the given vector.
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//
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void MATRIX_scale(float matrix[9], float mulby);
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//
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// Constructs an orthonormal matrix from a vector whose [6][7][8] is the normalised
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// vector (dx,dy,dz). It return a matrix without any 'roll'. (dx,dy,dz) does not
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// have to be normalised.
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//
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void MATRIX_construct(float matrix[9], float dx, float dy, float dz);
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#endif
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