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1 /*
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2 * DMLib
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3 * -- Vector and matrix functions
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4 * Programmed and designed by Matti 'ccr' Hamalainen
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5 * (C) Copyright 2011 Tecnic Software productions (TNSP)
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6 */
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7 #include "dmvecmat.h"
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8
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9
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10 /* Multiply list of given vectors with given matrix.
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11 */
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12 void dm_vector_mul_by_mat_n(DMVector *list, const int nlist, const DMMatrix *mat)
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13 {
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14 int i;
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15
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16 for (i = 0; i < nlist; i++)
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17 {
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18 DMVector q;
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19 memcpy(&q, &list[i], sizeof(DMVector));
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20
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21 list[i].x = (q.x * mat->m[0][0]) + (q.y * mat->m[1][0]) + (q.z * mat->m[2][0]);
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22 list[i].y = (q.x * mat->m[0][1]) + (q.y * mat->m[1][1]) + (q.z * mat->m[2][1]);
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23 list[i].z = (q.x * mat->m[0][2]) + (q.y * mat->m[1][2]) + (q.z * mat->m[2][2]);
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24 }
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25 }
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26
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27
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28 /* Set matrix to unit-matrix
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29 */
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30 void dm_matrix_unit(DMMatrix *mat)
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31 {
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32 memset(mat, 0, sizeof(DMMatrix));
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33 mat->m[0][0] = 1.0f;
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34 mat->m[1][1] = 1.0f;
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35 mat->m[2][2] = 1.0f;
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36 }
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37
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38
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39 /* Transpose the matrix mat2 to mat1
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40 */
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41 void dm_matrix_transpose(DMMatrix *mat1, const DMMatrix *mat2)
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42 {
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43 int i, j;
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44
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45 for (i = 0; i < DM_MATRIX_SIZE; i++)
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46 for (j = 0; j < DM_MATRIX_SIZE; j++)
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47 mat1->m[i][j] = mat2->m[j][i];
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48 }
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49
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50
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51 /* Multiply matrices mat1 and mat2, putting result into mat1
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52 */
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53 void dm_matrix_mul(DMMatrix *mat1, const DMMatrix *mat2)
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54 {
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55 int i, j;
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56 DMMatrix tmpM;
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57
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58 for (i = 0; i < DM_MATRIX_SIZE; i++)
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59 for (j = 0; j < DM_MATRIX_SIZE; j++)
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60 tmpM.m[i][j] =
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61 (mat1->m[i][0] * mat2->m[0][j]) +
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62 (mat1->m[i][1] * mat2->m[1][j]) +
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63 (mat1->m[i][2] * mat2->m[2][j]);
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64
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65 memcpy(mat1, &tmpM, sizeof(DMMatrix));
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66 }
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67
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68
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69 /* Multiply given list of matrices (size of nMatrices units) with given matrix.
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70 */
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71 void dm_matrix_mul_n(DMMatrix * list, const int nlist, const DMMatrix *mat)
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72 {
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73 int i;
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74 for (i = 0; i < nlist; i++)
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75 dm_matrix_mul(&list[i], mat);
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76 }
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77
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78
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79 /* Optimized rotation matrix creation
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80 */
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81 void dm_matrix_rot(DMMatrix *mat,
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82 const DMFloat sx, const DMFloat sy, const DMFloat sz,
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83 const DMFloat cx, const DMFloat cy, const DMFloat cz)
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84 {
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85 const DMFloat
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86 q = cx * sz,
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87 l = cx * cz,
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88 i = sx * sz,
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89 j = sx * cz;
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90
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91 mat->m[0][0] = cy * cz;
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92 mat->m[0][1] = cy * sz;
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93 mat->m[0][2] = -sy;
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94
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95
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96 mat->m[1][0] = (sy * j) - q;
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97 mat->m[1][1] = (sy * i) + l;
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98 mat->m[1][2] = sx * cy;
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99
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100
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101 mat->m[2][0] = (sy * l) + i;
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102 mat->m[2][1] = (sy * q) - j;
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103 mat->m[2][2] = cx * cy;
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104 }
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