// Copyright 2006-2007 Nanorex, Inc. See LICENSE file for details. /*---------------------------------------------------------------------------- Copyright (c) 2000, Brad Grantham and Applied Conjecture. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 3. Neither the name Brad Grantham nor Applied Conjecture may be used to endorse or promote products derived from this software without permission. THIS SOFTWARE IS PROVIDED BY BRAD GRANTHAM AND APPLIED CONJECTURE``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE BRAD GRANTHAM OR APPLIED CONJECTURE BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ----------------------------------------------------------------------------*/ #include #include #include "vector.h" // Excerpts from Brad's standard vector math library float vec3fDot(float v0[3], float v1[3]) { return v0[0] * v1[0] + v0[1] * v1[1] + v0[2] * v1[2]; } void vec3fBlend(float v0[3], float w0, float v1[3], float w1, float result[3]) { result[0] = v0[0] * w0 + v1[0] * w1; result[1] = v0[1] * w0 + v1[1] * w1; result[2] = v0[2] * w0 + v1[2] * w1; } void vec3fScale(float v[3], float w, float r[3]) { r[0] = v[0] * w; r[1] = v[1] * w; r[2] = v[2] * w; } float vec3fLength(float v[3]) { return (float)sqrt((float)(v[0] * v[0] + v[1] * v[1] + v[2] * v[2])); } void vec3fNormalize(float v[3], float r[3]) { vec3fScale(v, 1.0f / vec3fLength(v), r); } void vec4fCopy(float src[4], float dest[4]) { dest[0] = src[0]; dest[1] = src[1]; dest[2] = src[2]; dest[3] = src[3]; } void mat4fMultVec3fPt(float m[16], float in[3], float out[3]) { int i; float t[4]; for(i = 0; i < 4; i++) t[i] = m[0 + i] * in[0] + m[4 + i] * in[1] + m[8 + i] * in[2] + m[12 + i] * 1.0f; t[0] /= t[3]; t[1] /= t[3]; t[2] /= t[3]; memcpy(out, t, sizeof(out[0]) * 3); } float mat4fDeterminant(float mat[16]) { return (mat[0] * mat[5] - mat[1] * mat[4]) * (mat[10] * mat[15] - mat[11] * mat[14]) + (mat[2] * mat[4] - mat[0] * mat[6]) * (mat[9] * mat[15] - mat[11] * mat[13]) + (mat[0] * mat[7] - mat[3] * mat[4]) * (mat[9] * mat[14] - mat[10] * mat[13]) + (mat[1] * mat[6] - mat[2] * mat[5]) * (mat[8] * mat[15] - mat[11] * mat[12]) + (mat[3] * mat[5] - mat[1] * mat[7]) * (mat[8] * mat[14] - mat[10] * mat[12]) + (mat[2] * mat[7] - mat[3] * mat[6]) * (mat[8] * mat[13] - mat[9] * mat[12]); } float mat4fIdentity[16] = { 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }; #define EPSILON .00001 int mat4fInvert(float mat[16], float inv[16]) { int i, rswap; float div, swap; float hold[16]; memcpy(hold, mat, sizeof(mat[0]) * 16); memcpy(inv, mat4fIdentity, sizeof(mat[0]) * 16); #if 0 float det; det = mat4fDeterminant(mat); if(fabs(det) < EPSILON) /* singular? */ return -1; #endif rswap = 0; /* this loop isn't entered unless [0 + 0] > EPSILON and det > EPSILON, so rswap wouldn't be 0, but I initialize so as not to get warned */ if(fabs(hold[0]) < EPSILON) { if(fabs(hold[1]) > EPSILON) rswap = 1; else if(fabs(hold[2]) > EPSILON) rswap = 2; else if(fabs(hold[3]) > EPSILON) rswap = 3; for(i = 0; i < 4; i++) { swap = hold[i * 4 + 0]; hold[i * 4 + 0] = hold[i * 4 + rswap]; hold[i * 4 + rswap] = swap; swap = inv[i * 4 + 0]; inv[i * 4 + 0] = inv[i * 4 + rswap]; inv[i * 4 + rswap] = swap; } } div = hold[0]; for(i = 0; i < 4; i++) { hold[i * 4 + 0] /= div; inv[i * 4 + 0] /= div; } div = hold[1]; for(i = 0; i < 4; i++) { hold[i * 4 + 1] -= div * hold[i * 4 + 0]; inv[i * 4 + 1] -= div * inv[i * 4 + 0]; } div = hold[2]; for(i = 0; i < 4; i++) { hold[i * 4 + 2] -= div * hold[i * 4 + 0]; inv[i * 4 + 2] -= div * inv[i * 4 + 0]; } div = hold[3]; for(i = 0; i < 4; i++) { hold[i * 4 + 3] -= div * hold[i * 4 + 0]; inv[i * 4 + 3] -= div * inv[i * 4 + 0]; } if(fabs(hold[5]) < EPSILON){ if(fabs(hold[6]) > EPSILON) rswap = 2; else if(fabs(hold[7]) > EPSILON) rswap = 3; for(i = 0; i < 4; i++) { swap = hold[i * 4 + 1]; hold[i * 4 + 1] = hold[i * 4 + rswap]; hold[i * 4 + rswap] = swap; swap = inv[i * 4 + 1]; inv[i * 4 + 1] = inv[i * 4 + rswap]; inv[i * 4 + rswap] = swap; } } div = hold[5]; for(i = 0; i < 4; i++) { hold[i * 4 + 1] /= div; inv[i * 4 + 1] /= div; } div = hold[4]; for(i = 0; i < 4; i++) { hold[i * 4 + 0] -= div * hold[i * 4 + 1]; inv[i * 4 + 0] -= div * inv[i * 4 + 1]; } div = hold[6]; for(i = 0; i < 4; i++) { hold[i * 4 + 2] -= div * hold[i * 4 + 1]; inv[i * 4 + 2] -= div * inv[i * 4 + 1]; } div = hold[7]; for(i = 0; i < 4; i++) { hold[i * 4 + 3] -= div * hold[i * 4 + 1]; inv[i * 4 + 3] -= div * inv[i * 4 + 1]; } if(fabs(hold[10]) < EPSILON){ for(i = 0; i < 4; i++) { swap = hold[i * 4 + 2]; hold[i * 4 + 2] = hold[i * 4 + 3]; hold[i * 4 + 3] = swap; swap = inv[i * 4 + 2]; inv[i * 4 + 2] = inv[i * 4 + 3]; inv[i * 4 + 3] = swap; } } div = hold[10]; for(i = 0; i < 4; i++) { hold[i * 4 + 2] /= div; inv[i * 4 + 2] /= div; } div = hold[8]; for(i = 0; i < 4; i++) { hold[i * 4 + 0] -= div * hold[i * 4 + 2]; inv[i * 4 + 0] -= div * inv[i * 4 + 2]; } div = hold[9]; for(i = 0; i < 4; i++) { hold[i * 4 + 1] -= div * hold[i * 4 + 2]; inv[i * 4 + 1] -= div * inv[i * 4 + 2]; } div = hold[11]; for(i = 0; i < 4; i++) { hold[i * 4 + 3] -= div * hold[i * 4 + 2]; inv[i * 4 + 3] -= div * inv[i * 4 + 2]; } div = hold[15]; for(i = 0; i < 4; i++) { hold[i * 4 + 3] /= div; inv[i * 4 + 3] /= div; } div = hold[12]; for(i = 0; i < 4; i++) { hold[i * 4 + 0] -= div * hold[i * 4 + 3]; inv[i * 4 + 0] -= div * inv[i * 4 + 3]; } div = hold[13]; for(i = 0; i < 4; i++) { hold[i * 4 + 1] -= div * hold[i * 4 + 3]; inv[i * 4 + 1] -= div * inv[i * 4 + 3]; } div = hold[14]; for(i = 0; i < 4; i++) { hold[i * 4 + 2] -= div * hold[i * 4 + 3]; inv[i * 4 + 2] -= div * inv[i * 4 + 3]; } return 0; }