ruby-bullet 0.1.0-x86-linux → 0.1.1-x86-linux
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- checksums.yaml +7 -0
- data/README.md +3 -0
- data/Rakefile +14 -2
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +2 -2
- data/bindings/bullet/interface/bullet_wrap.cpp +17548 -6035
- data/bindings/bullet/interface/bullet_wrap.h +7 -7
- data/bindings/bullet/interface/bullet_wrap.o +0 -0
- data/lib/bullet.so +0 -0
- data/lib/ruby-bullet/version.rb +1 -1
- data/ruby-bullet.gemspec +0 -3
- metadata +169 -444
- data/deps/include/bullet/Bullet-C-Api.h +0 -176
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +0 -1051
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +0 -82
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +0 -270
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +0 -80
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +0 -1257
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +0 -146
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +0 -110
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.h +0 -151
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h +0 -469
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.h +0 -40
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btQuantizedBvh.h +0 -579
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btSimpleBroadphase.h +0 -171
- data/deps/include/bullet/BulletCollision/CollisionDispatch/SphereTriangleDetector.h +0 -51
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.h +0 -36
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btBoxBoxDetector.h +0 -44
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionCreateFunc.h +0 -45
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionDispatcher.h +0 -172
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionObject.h +0 -524
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCollisionWorld.h +0 -509
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.h +0 -86
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.h +0 -95
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.h +0 -116
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.h +0 -109
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.h +0 -137
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.h +0 -54
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btGhostObject.h +0 -175
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btInternalEdgeUtility.h +0 -46
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btManifoldResult.h +0 -128
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSimulationIslandManager.h +0 -81
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.h +0 -66
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionDispatch/btUnionFind.h +0 -129
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBox2dShape.h +0 -369
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBoxShape.h +0 -312
- data/deps/include/bullet/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.h +0 -139
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCapsuleShape.h +0 -173
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionMargin.h +0 -27
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCollisionShape.h +0 -150
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCompoundShape.h +0 -212
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConcaveShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConeShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvex2dShape.h +0 -80
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexHullShape.h +0 -122
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexInternalShape.h +0 -224
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPointCloudShape.h +0 -105
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexPolyhedron.h +0 -62
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexShape.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h +0 -75
- data/deps/include/bullet/BulletCollision/CollisionShapes/btCylinderShape.h +0 -200
- data/deps/include/bullet/BulletCollision/CollisionShapes/btEmptyShape.h +0 -70
- data/deps/include/bullet/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h +0 -161
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMaterial.h +0 -35
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMinkowskiSumShape.h +0 -60
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultiSphereShape.h +0 -99
- data/deps/include/bullet/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.h +0 -120
- data/deps/include/bullet/BulletCollision/CollisionShapes/btOptimizedBvh.h +0 -65
- data/deps/include/bullet/BulletCollision/CollisionShapes/btPolyhedralConvexShape.h +0 -112
- data/deps/include/bullet/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h +0 -93
- data/deps/include/bullet/BulletCollision/CollisionShapes/btShapeHull.h +0 -59
- data/deps/include/bullet/BulletCollision/CollisionShapes/btSphereShape.h +0 -73
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStaticPlaneShape.h +0 -103
- data/deps/include/bullet/BulletCollision/CollisionShapes/btStridingMeshInterface.h +0 -162
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTetrahedronShape.h +0 -74
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleBuffer.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleCallback.h +0 -42
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h +0 -133
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.h +0 -84
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleInfoMap.h +0 -241
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMesh.h +0 -69
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleMeshShape.h +0 -89
- data/deps/include/bullet/BulletCollision/CollisionShapes/btTriangleShape.h +0 -182
- data/deps/include/bullet/BulletCollision/CollisionShapes/btUniformScalingShape.h +0 -87
- data/deps/include/bullet/BulletCollision/Gimpact/btBoxCollision.h +0 -647
- data/deps/include/bullet/BulletCollision/Gimpact/btClipPolygon.h +0 -182
- data/deps/include/bullet/BulletCollision/Gimpact/btContactProcessing.h +0 -145
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactBvh.h +0 -396
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h +0 -306
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactMassUtil.h +0 -60
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactQuantizedBvh.h +0 -372
- data/deps/include/bullet/BulletCollision/Gimpact/btGImpactShape.h +0 -1171
- data/deps/include/bullet/BulletCollision/Gimpact/btGenericPoolAllocator.h +0 -163
- data/deps/include/bullet/BulletCollision/Gimpact/btGeometryOperations.h +0 -212
- data/deps/include/bullet/BulletCollision/Gimpact/btQuantization.h +0 -88
- data/deps/include/bullet/BulletCollision/Gimpact/btTriangleShapeEx.h +0 -180
- data/deps/include/bullet/BulletCollision/Gimpact/gim_array.h +0 -326
- data/deps/include/bullet/BulletCollision/Gimpact/gim_basic_geometry_operations.h +0 -543
- data/deps/include/bullet/BulletCollision/Gimpact/gim_bitset.h +0 -123
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_collision.h +0 -590
- data/deps/include/bullet/BulletCollision/Gimpact/gim_box_set.h +0 -674
- data/deps/include/bullet/BulletCollision/Gimpact/gim_clip_polygon.h +0 -210
- data/deps/include/bullet/BulletCollision/Gimpact/gim_contact.h +0 -164
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geom_types.h +0 -97
- data/deps/include/bullet/BulletCollision/Gimpact/gim_geometry.h +0 -42
- data/deps/include/bullet/BulletCollision/Gimpact/gim_hash_table.h +0 -902
- data/deps/include/bullet/BulletCollision/Gimpact/gim_linear_math.h +0 -1573
- data/deps/include/bullet/BulletCollision/Gimpact/gim_math.h +0 -157
- data/deps/include/bullet/BulletCollision/Gimpact/gim_memory.h +0 -190
- data/deps/include/bullet/BulletCollision/Gimpact/gim_radixsort.h +0 -406
- data/deps/include/bullet/BulletCollision/Gimpact/gim_tri_collision.h +0 -379
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.h +0 -59
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexCast.h +0 -73
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.h +0 -42
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h +0 -91
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpa2.h +0 -75
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h +0 -43
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.h +0 -103
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h +0 -158
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h +0 -40
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h +0 -228
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPointCollector.h +0 -64
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.h +0 -46
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btRaycastCallback.h +0 -72
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.h +0 -63
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.h +0 -50
- data/deps/include/bullet/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.h +0 -179
- data/deps/include/bullet/BulletCollision/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/BulletDynamics/Character/btCharacterControllerInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Character/btKinematicCharacterController.h +0 -163
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +0 -346
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btConstraintSolver.h +0 -52
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactConstraint.h +0 -71
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +0 -87
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +0 -614
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +0 -99
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHinge2Constraint.h +0 -58
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btHingeConstraint.h +0 -381
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btJacobianEntry.h +0 -156
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +0 -161
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h +0 -130
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSliderConstraint.h +0 -333
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h +0 -107
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverBody.h +0 -191
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btSolverConstraint.h +0 -98
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.h +0 -452
- data/deps/include/bullet/BulletDynamics/ConstraintSolver/btUniversalConstraint.h +0 -62
- data/deps/include/bullet/BulletDynamics/Dynamics/btActionInterface.h +0 -46
- data/deps/include/bullet/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h +0 -203
- data/deps/include/bullet/BulletDynamics/Dynamics/btDynamicsWorld.h +0 -151
- data/deps/include/bullet/BulletDynamics/Dynamics/btRigidBody.h +0 -691
- data/deps/include/bullet/BulletDynamics/Dynamics/btSimpleDynamicsWorld.h +0 -89
- data/deps/include/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h +0 -236
- data/deps/include/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h +0 -35
- data/deps/include/bullet/BulletDynamics/Vehicle/btWheelInfo.h +0 -119
- data/deps/include/bullet/BulletDynamics/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverBuffer_DX11.h +0 -323
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11.h +0 -103
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverLinkData_DX11SIMDAware.h +0 -173
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverTriangleData_DX11.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexBuffer_DX11.h +0 -107
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolverVertexData_DX11.h +0 -63
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11.h +0 -691
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/DX11/btSoftBodySolver_DX11SIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverBuffer_OpenCL.h +0 -209
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCL.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverLinkData_OpenCLSIMDAware.h +0 -169
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverOutputCLtoGL.h +0 -62
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverTriangleData_OpenCL.h +0 -84
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexBuffer_OpenGL.h +0 -166
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolverVertexData_OpenCL.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCL.h +0 -527
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/OpenCL/btSoftBodySolver_OpenCLSIMDAware.h +0 -81
- data/deps/include/bullet/BulletMultiThreaded/GpuSoftBodySolvers/Shared/btSoftBodySolverData.h +0 -748
- data/deps/include/bullet/BulletMultiThreaded/HeapManager.h +0 -117
- data/deps/include/bullet/BulletMultiThreaded/PlatformDefinitions.h +0 -99
- data/deps/include/bullet/BulletMultiThreaded/PosixThreadSupport.h +0 -142
- data/deps/include/bullet/BulletMultiThreaded/PpuAddressSpace.h +0 -37
- data/deps/include/bullet/BulletMultiThreaded/SequentialThreadSupport.h +0 -96
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionObjectWrapper.h +0 -40
- data/deps/include/bullet/BulletMultiThreaded/SpuCollisionTaskProcess.h +0 -163
- data/deps/include/bullet/BulletMultiThreaded/SpuContactManifoldCollisionAlgorithm.h +0 -120
- data/deps/include/bullet/BulletMultiThreaded/SpuDoubleBuffer.h +0 -126
- data/deps/include/bullet/BulletMultiThreaded/SpuFakeDma.h +0 -135
- data/deps/include/bullet/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h +0 -72
- data/deps/include/bullet/BulletMultiThreaded/SpuLibspe2Support.h +0 -180
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h +0 -167
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuCollisionShapes.h +0 -128
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuContactResult.h +0 -106
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuConvexPenetrationDepthSolver.h +0 -51
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuGatheringCollisionTask.h +0 -140
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuLocalSupport.h +0 -19
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuMinkowskiPenetrationDepthSolver.h +0 -48
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/SpuPreferredPenetrationDirections.h +0 -70
- data/deps/include/bullet/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/boxBoxDistance.h +0 -65
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTask/SpuSampleTask.h +0 -54
- data/deps/include/bullet/BulletMultiThreaded/SpuSampleTaskProcess.h +0 -153
- data/deps/include/bullet/BulletMultiThreaded/SpuSync.h +0 -149
- data/deps/include/bullet/BulletMultiThreaded/TrbDynBody.h +0 -79
- data/deps/include/bullet/BulletMultiThreaded/TrbStateVec.h +0 -339
- data/deps/include/bullet/BulletMultiThreaded/Win32ThreadSupport.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphase.h +0 -138
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedCode.h +0 -430
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedDefs.h +0 -61
- data/deps/include/bullet/BulletMultiThreaded/btGpu3DGridBroadphaseSharedTypes.h +0 -67
- data/deps/include/bullet/BulletMultiThreaded/btGpuDefines.h +0 -211
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedCode.h +0 -55
- data/deps/include/bullet/BulletMultiThreaded/btGpuUtilsSharedDefs.h +0 -52
- data/deps/include/bullet/BulletMultiThreaded/btParallelConstraintSolver.h +0 -285
- data/deps/include/bullet/BulletMultiThreaded/btThreadSupportInterface.h +0 -85
- data/deps/include/bullet/BulletMultiThreaded/vectormath2bullet.h +0 -73
- data/deps/include/bullet/BulletSoftBody/btDefaultSoftBodySolver.h +0 -63
- data/deps/include/bullet/BulletSoftBody/btSoftBody.h +0 -987
- data/deps/include/bullet/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.h +0 -153
- data/deps/include/bullet/BulletSoftBody/btSoftBodyData.h +0 -217
- data/deps/include/bullet/BulletSoftBody/btSoftBodyHelpers.h +0 -143
- data/deps/include/bullet/BulletSoftBody/btSoftBodyInternals.h +0 -930
- data/deps/include/bullet/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.h +0 -48
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolverVertexBuffer.h +0 -165
- data/deps/include/bullet/BulletSoftBody/btSoftBodySolvers.h +0 -154
- data/deps/include/bullet/BulletSoftBody/btSoftRigidCollisionAlgorithm.h +0 -75
- data/deps/include/bullet/BulletSoftBody/btSoftRigidDynamicsWorld.h +0 -107
- data/deps/include/bullet/BulletSoftBody/btSoftSoftCollisionAlgorithm.h +0 -69
- data/deps/include/bullet/BulletSoftBody/btSparseSDF.h +0 -306
- data/deps/include/bullet/LinearMath/btAabbUtil2.h +0 -236
- data/deps/include/bullet/LinearMath/btAlignedAllocator.h +0 -107
- data/deps/include/bullet/LinearMath/btAlignedObjectArray.h +0 -494
- data/deps/include/bullet/LinearMath/btConvexHull.h +0 -241
- data/deps/include/bullet/LinearMath/btConvexHullComputer.h +0 -103
- data/deps/include/bullet/LinearMath/btDefaultMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btGeometryUtil.h +0 -42
- data/deps/include/bullet/LinearMath/btGrahamScan2dConvexHull.h +0 -110
- data/deps/include/bullet/LinearMath/btHashMap.h +0 -450
- data/deps/include/bullet/LinearMath/btIDebugDraw.h +0 -418
- data/deps/include/bullet/LinearMath/btList.h +0 -73
- data/deps/include/bullet/LinearMath/btMatrix3x3.h +0 -771
- data/deps/include/bullet/LinearMath/btMinMax.h +0 -71
- data/deps/include/bullet/LinearMath/btMotionState.h +0 -40
- data/deps/include/bullet/LinearMath/btPoolAllocator.h +0 -121
- data/deps/include/bullet/LinearMath/btQuadWord.h +0 -180
- data/deps/include/bullet/LinearMath/btQuaternion.h +0 -430
- data/deps/include/bullet/LinearMath/btQuickprof.h +0 -203
- data/deps/include/bullet/LinearMath/btRandom.h +0 -42
- data/deps/include/bullet/LinearMath/btScalar.h +0 -539
- data/deps/include/bullet/LinearMath/btSerializer.h +0 -639
- data/deps/include/bullet/LinearMath/btStackAlloc.h +0 -116
- data/deps/include/bullet/LinearMath/btTransform.h +0 -307
- data/deps/include/bullet/LinearMath/btTransformUtil.h +0 -228
- data/deps/include/bullet/LinearMath/btVector3.h +0 -766
- data/deps/include/bullet/MiniCL/MiniCLTask/MiniCLTask.h +0 -62
- data/deps/include/bullet/MiniCL/MiniCLTaskScheduler.h +0 -194
- data/deps/include/bullet/MiniCL/cl.h +0 -867
- data/deps/include/bullet/MiniCL/cl_MiniCL_Defs.h +0 -439
- data/deps/include/bullet/MiniCL/cl_gl.h +0 -113
- data/deps/include/bullet/MiniCL/cl_platform.h +0 -254
- data/deps/include/bullet/btBulletCollisionCommon.h +0 -69
- data/deps/include/bullet/btBulletDynamicsCommon.h +0 -48
- data/deps/include/bullet/vectormath/scalar/boolInVec.h +0 -225
- data/deps/include/bullet/vectormath/scalar/floatInVec.h +0 -343
- data/deps/include/bullet/vectormath/scalar/mat_aos.h +0 -1630
- data/deps/include/bullet/vectormath/scalar/quat_aos.h +0 -433
- data/deps/include/bullet/vectormath/scalar/vec_aos.h +0 -1426
- data/deps/include/bullet/vectormath/scalar/vectormath_aos.h +0 -1872
- data/deps/include/bullet/vectormath/sse/boolInVec.h +0 -247
- data/deps/include/bullet/vectormath/sse/floatInVec.h +0 -340
- data/deps/include/bullet/vectormath/sse/mat_aos.h +0 -2190
- data/deps/include/bullet/vectormath/sse/quat_aos.h +0 -579
- data/deps/include/bullet/vectormath/sse/vec_aos.h +0 -1455
- data/deps/include/bullet/vectormath/sse/vecidx_aos.h +0 -80
- data/deps/include/bullet/vectormath/sse/vectormath_aos.h +0 -2547
- data/deps/include/bullet/vectormath/vmInclude.h +0 -27
- data/deps/lib/libBulletCollision.a +0 -0
- data/deps/lib/libBulletDynamics.a +0 -0
- data/deps/lib/libBulletMultiThreaded.a +0 -0
- data/deps/lib/libBulletSoftBody.a +0 -0
- data/deps/lib/libBulletSoftBodySolvers_OpenCL_Mini.a +0 -0
- data/deps/lib/libLinearMath.a +0 -0
- data/deps/lib/libMiniCL.a +0 -0
@@ -1,1573 +0,0 @@
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#ifndef GIM_LINEAR_H_INCLUDED
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#define GIM_LINEAR_H_INCLUDED
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/*! \file gim_linear_math.h
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*\author Francisco Leon Najera
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Type Independant Vector and matrix operations.
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*/
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/*
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-----------------------------------------------------------------------------
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of EITHER:
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(1) The GNU Lesser General Public License as published by the Free
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Software Foundation; either version 2.1 of the License, or (at
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your option) any later version. The text of the GNU Lesser
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General Public License is included with this library in the
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file GIMPACT-LICENSE-LGPL.TXT.
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(2) The BSD-style license that is included with this library in
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the file GIMPACT-LICENSE-BSD.TXT.
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(3) The zlib/libpng license that is included with this library in
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the file GIMPACT-LICENSE-ZLIB.TXT.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
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GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
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-----------------------------------------------------------------------------
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*/
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#include "gim_math.h"
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#include "gim_geom_types.h"
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//! Zero out a 2D vector
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#define VEC_ZERO_2(a) \
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{ \
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(a)[0] = (a)[1] = 0.0f; \
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}\
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//! Zero out a 3D vector
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#define VEC_ZERO(a) \
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{ \
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(a)[0] = (a)[1] = (a)[2] = 0.0f; \
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}\
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/// Zero out a 4D vector
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#define VEC_ZERO_4(a) \
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{ \
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(a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
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}\
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/// Vector copy
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#define VEC_COPY_2(b,a) \
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{ \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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}\
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/// Copy 3D vector
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#define VEC_COPY(b,a) \
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{ \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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(b)[2] = (a)[2]; \
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}\
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/// Copy 4D vector
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#define VEC_COPY_4(b,a) \
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{ \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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(b)[2] = (a)[2]; \
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(b)[3] = (a)[3]; \
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}\
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/// VECTOR SWAP
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#define VEC_SWAP(b,a) \
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{ \
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GIM_SWAP_NUMBERS((b)[0],(a)[0]);\
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GIM_SWAP_NUMBERS((b)[1],(a)[1]);\
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GIM_SWAP_NUMBERS((b)[2],(a)[2]);\
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}\
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/// Vector difference
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#define VEC_DIFF_2(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] - (v1)[0]; \
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(v21)[1] = (v2)[1] - (v1)[1]; \
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}\
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/// Vector difference
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#define VEC_DIFF(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] - (v1)[0]; \
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(v21)[1] = (v2)[1] - (v1)[1]; \
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(v21)[2] = (v2)[2] - (v1)[2]; \
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}\
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/// Vector difference
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#define VEC_DIFF_4(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] - (v1)[0]; \
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(v21)[1] = (v2)[1] - (v1)[1]; \
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(v21)[2] = (v2)[2] - (v1)[2]; \
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(v21)[3] = (v2)[3] - (v1)[3]; \
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}\
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/// Vector sum
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#define VEC_SUM_2(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] + (v1)[0]; \
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(v21)[1] = (v2)[1] + (v1)[1]; \
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}\
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/// Vector sum
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#define VEC_SUM(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] + (v1)[0]; \
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(v21)[1] = (v2)[1] + (v1)[1]; \
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(v21)[2] = (v2)[2] + (v1)[2]; \
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}\
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/// Vector sum
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#define VEC_SUM_4(v21,v2,v1) \
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{ \
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(v21)[0] = (v2)[0] + (v1)[0]; \
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(v21)[1] = (v2)[1] + (v1)[1]; \
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(v21)[2] = (v2)[2] + (v1)[2]; \
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(v21)[3] = (v2)[3] + (v1)[3]; \
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}\
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/// scalar times vector
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#define VEC_SCALE_2(c,a,b) \
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{ \
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(c)[0] = (a)*(b)[0]; \
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(c)[1] = (a)*(b)[1]; \
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}\
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/// scalar times vector
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#define VEC_SCALE(c,a,b) \
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{ \
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(c)[0] = (a)*(b)[0]; \
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(c)[1] = (a)*(b)[1]; \
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(c)[2] = (a)*(b)[2]; \
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}\
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/// scalar times vector
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#define VEC_SCALE_4(c,a,b) \
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{ \
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(c)[0] = (a)*(b)[0]; \
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(c)[1] = (a)*(b)[1]; \
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(c)[2] = (a)*(b)[2]; \
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(c)[3] = (a)*(b)[3]; \
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}\
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/// accumulate scaled vector
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#define VEC_ACCUM_2(c,a,b) \
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{ \
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(c)[0] += (a)*(b)[0]; \
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(c)[1] += (a)*(b)[1]; \
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}\
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/// accumulate scaled vector
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#define VEC_ACCUM(c,a,b) \
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{ \
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(c)[0] += (a)*(b)[0]; \
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(c)[1] += (a)*(b)[1]; \
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(c)[2] += (a)*(b)[2]; \
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}\
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/// accumulate scaled vector
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#define VEC_ACCUM_4(c,a,b) \
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{ \
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(c)[0] += (a)*(b)[0]; \
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(c)[1] += (a)*(b)[1]; \
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(c)[2] += (a)*(b)[2]; \
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(c)[3] += (a)*(b)[3]; \
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}\
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/// Vector dot product
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#define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1])
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/// Vector dot product
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#define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])
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/// Vector dot product
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#define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3])
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/// vector impact parameter (squared)
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#define VEC_IMPACT_SQ(bsq,direction,position) {\
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GREAL _llel_ = VEC_DOT(direction, position);\
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bsq = VEC_DOT(position, position) - _llel_*_llel_;\
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}\
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/// vector impact parameter
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#define VEC_IMPACT(bsq,direction,position) {\
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VEC_IMPACT_SQ(bsq,direction,position); \
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GIM_SQRT(bsq,bsq); \
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}\
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/// Vector length
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#define VEC_LENGTH_2(a,l)\
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{\
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GREAL _pp = VEC_DOT_2(a,a);\
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GIM_SQRT(_pp,l);\
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}\
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/// Vector length
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#define VEC_LENGTH(a,l)\
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{\
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GREAL _pp = VEC_DOT(a,a);\
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GIM_SQRT(_pp,l);\
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}\
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/// Vector length
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#define VEC_LENGTH_4(a,l)\
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{\
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GREAL _pp = VEC_DOT_4(a,a);\
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GIM_SQRT(_pp,l);\
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}\
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/// Vector inv length
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#define VEC_INV_LENGTH_2(a,l)\
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{\
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GREAL _pp = VEC_DOT_2(a,a);\
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GIM_INV_SQRT(_pp,l);\
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}\
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/// Vector inv length
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#define VEC_INV_LENGTH(a,l)\
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{\
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GREAL _pp = VEC_DOT(a,a);\
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GIM_INV_SQRT(_pp,l);\
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}\
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/// Vector inv length
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#define VEC_INV_LENGTH_4(a,l)\
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{\
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GREAL _pp = VEC_DOT_4(a,a);\
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GIM_INV_SQRT(_pp,l);\
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}\
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/// distance between two points
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#define VEC_DISTANCE(_len,_va,_vb) {\
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vec3f _tmp_; \
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VEC_DIFF(_tmp_, _vb, _va); \
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VEC_LENGTH(_tmp_,_len); \
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}\
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/// Vector length
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#define VEC_CONJUGATE_LENGTH(a,l)\
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{\
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GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\
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GIM_SQRT(_pp,l);\
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}\
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/// Vector length
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#define VEC_NORMALIZE(a) { \
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GREAL len;\
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VEC_INV_LENGTH(a,len); \
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if(len<G_REAL_INFINITY)\
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{\
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a[0] *= len; \
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a[1] *= len; \
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a[2] *= len; \
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} \
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}\
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/// Set Vector size
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#define VEC_RENORMALIZE(a,newlen) { \
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GREAL len;\
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VEC_INV_LENGTH(a,len); \
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if(len<G_REAL_INFINITY)\
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{\
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len *= newlen;\
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a[0] *= len; \
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a[1] *= len; \
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a[2] *= len; \
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} \
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}\
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/// Vector cross
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#define VEC_CROSS(c,a,b) \
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{ \
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c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
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c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
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c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
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}\
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/*! Vector perp -- assumes that n is of unit length
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* accepts vector v, subtracts out any component parallel to n */
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#define VEC_PERPENDICULAR(vp,v,n) \
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{ \
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GREAL dot = VEC_DOT(v, n); \
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vp[0] = (v)[0] - dot*(n)[0]; \
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vp[1] = (v)[1] - dot*(n)[1]; \
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vp[2] = (v)[2] - dot*(n)[2]; \
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}\
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/*! Vector parallel -- assumes that n is of unit length */
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|
-
#define VEC_PARALLEL(vp,v,n) \
|
341
|
-
{ \
|
342
|
-
GREAL dot = VEC_DOT(v, n); \
|
343
|
-
vp[0] = (dot) * (n)[0]; \
|
344
|
-
vp[1] = (dot) * (n)[1]; \
|
345
|
-
vp[2] = (dot) * (n)[2]; \
|
346
|
-
}\
|
347
|
-
|
348
|
-
/*! Same as Vector parallel -- n can have any length
|
349
|
-
* accepts vector v, subtracts out any component perpendicular to n */
|
350
|
-
#define VEC_PROJECT(vp,v,n) \
|
351
|
-
{ \
|
352
|
-
GREAL scalar = VEC_DOT(v, n); \
|
353
|
-
scalar/= VEC_DOT(n, n); \
|
354
|
-
vp[0] = (scalar) * (n)[0]; \
|
355
|
-
vp[1] = (scalar) * (n)[1]; \
|
356
|
-
vp[2] = (scalar) * (n)[2]; \
|
357
|
-
}\
|
358
|
-
|
359
|
-
|
360
|
-
/*! accepts vector v*/
|
361
|
-
#define VEC_UNPROJECT(vp,v,n) \
|
362
|
-
{ \
|
363
|
-
GREAL scalar = VEC_DOT(v, n); \
|
364
|
-
scalar = VEC_DOT(n, n)/scalar; \
|
365
|
-
vp[0] = (scalar) * (n)[0]; \
|
366
|
-
vp[1] = (scalar) * (n)[1]; \
|
367
|
-
vp[2] = (scalar) * (n)[2]; \
|
368
|
-
}\
|
369
|
-
|
370
|
-
|
371
|
-
/*! Vector reflection -- assumes n is of unit length
|
372
|
-
Takes vector v, reflects it against reflector n, and returns vr */
|
373
|
-
#define VEC_REFLECT(vr,v,n) \
|
374
|
-
{ \
|
375
|
-
GREAL dot = VEC_DOT(v, n); \
|
376
|
-
vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
|
377
|
-
vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
|
378
|
-
vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
|
379
|
-
}\
|
380
|
-
|
381
|
-
|
382
|
-
/*! Vector blending
|
383
|
-
Takes two vectors a, b, blends them together with two scalars */
|
384
|
-
#define VEC_BLEND_AB(vr,sa,a,sb,b) \
|
385
|
-
{ \
|
386
|
-
vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
|
387
|
-
vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
|
388
|
-
vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
|
389
|
-
}\
|
390
|
-
|
391
|
-
/*! Vector blending
|
392
|
-
Takes two vectors a, b, blends them together with s <=1 */
|
393
|
-
#define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b)
|
394
|
-
|
395
|
-
#define VEC_SET3(a,b,op,c) a[0]=b[0] op c[0]; a[1]=b[1] op c[1]; a[2]=b[2] op c[2];
|
396
|
-
|
397
|
-
//! Finds the bigger cartesian coordinate from a vector
|
398
|
-
#define VEC_MAYOR_COORD(vec, maxc)\
|
399
|
-
{\
|
400
|
-
GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\
|
401
|
-
maxc = A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\
|
402
|
-
}\
|
403
|
-
|
404
|
-
//! Finds the 2 smallest cartesian coordinates from a vector
|
405
|
-
#define VEC_MINOR_AXES(vec, i0, i1)\
|
406
|
-
{\
|
407
|
-
VEC_MAYOR_COORD(vec,i0);\
|
408
|
-
i0 = (i0+1)%3;\
|
409
|
-
i1 = (i0+1)%3;\
|
410
|
-
}\
|
411
|
-
|
412
|
-
|
413
|
-
|
414
|
-
|
415
|
-
#define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2])
|
416
|
-
|
417
|
-
#define VEC_NEAR_EQUAL(v1,v2) (GIM_NEAR_EQUAL(v1[0],v2[0])&&GIM_NEAR_EQUAL(v1[1],v2[1])&&GIM_NEAR_EQUAL(v1[2],v2[2]))
|
418
|
-
|
419
|
-
|
420
|
-
/// Vector cross
|
421
|
-
#define X_AXIS_CROSS_VEC(dst,src)\
|
422
|
-
{ \
|
423
|
-
dst[0] = 0.0f; \
|
424
|
-
dst[1] = -src[2]; \
|
425
|
-
dst[2] = src[1]; \
|
426
|
-
}\
|
427
|
-
|
428
|
-
#define Y_AXIS_CROSS_VEC(dst,src)\
|
429
|
-
{ \
|
430
|
-
dst[0] = src[2]; \
|
431
|
-
dst[1] = 0.0f; \
|
432
|
-
dst[2] = -src[0]; \
|
433
|
-
}\
|
434
|
-
|
435
|
-
#define Z_AXIS_CROSS_VEC(dst,src)\
|
436
|
-
{ \
|
437
|
-
dst[0] = -src[1]; \
|
438
|
-
dst[1] = src[0]; \
|
439
|
-
dst[2] = 0.0f; \
|
440
|
-
}\
|
441
|
-
|
442
|
-
|
443
|
-
|
444
|
-
|
445
|
-
|
446
|
-
|
447
|
-
/// initialize matrix
|
448
|
-
#define IDENTIFY_MATRIX_3X3(m) \
|
449
|
-
{ \
|
450
|
-
m[0][0] = 1.0; \
|
451
|
-
m[0][1] = 0.0; \
|
452
|
-
m[0][2] = 0.0; \
|
453
|
-
\
|
454
|
-
m[1][0] = 0.0; \
|
455
|
-
m[1][1] = 1.0; \
|
456
|
-
m[1][2] = 0.0; \
|
457
|
-
\
|
458
|
-
m[2][0] = 0.0; \
|
459
|
-
m[2][1] = 0.0; \
|
460
|
-
m[2][2] = 1.0; \
|
461
|
-
}\
|
462
|
-
|
463
|
-
/*! initialize matrix */
|
464
|
-
#define IDENTIFY_MATRIX_4X4(m) \
|
465
|
-
{ \
|
466
|
-
m[0][0] = 1.0; \
|
467
|
-
m[0][1] = 0.0; \
|
468
|
-
m[0][2] = 0.0; \
|
469
|
-
m[0][3] = 0.0; \
|
470
|
-
\
|
471
|
-
m[1][0] = 0.0; \
|
472
|
-
m[1][1] = 1.0; \
|
473
|
-
m[1][2] = 0.0; \
|
474
|
-
m[1][3] = 0.0; \
|
475
|
-
\
|
476
|
-
m[2][0] = 0.0; \
|
477
|
-
m[2][1] = 0.0; \
|
478
|
-
m[2][2] = 1.0; \
|
479
|
-
m[2][3] = 0.0; \
|
480
|
-
\
|
481
|
-
m[3][0] = 0.0; \
|
482
|
-
m[3][1] = 0.0; \
|
483
|
-
m[3][2] = 0.0; \
|
484
|
-
m[3][3] = 1.0; \
|
485
|
-
}\
|
486
|
-
|
487
|
-
/*! initialize matrix */
|
488
|
-
#define ZERO_MATRIX_4X4(m) \
|
489
|
-
{ \
|
490
|
-
m[0][0] = 0.0; \
|
491
|
-
m[0][1] = 0.0; \
|
492
|
-
m[0][2] = 0.0; \
|
493
|
-
m[0][3] = 0.0; \
|
494
|
-
\
|
495
|
-
m[1][0] = 0.0; \
|
496
|
-
m[1][1] = 0.0; \
|
497
|
-
m[1][2] = 0.0; \
|
498
|
-
m[1][3] = 0.0; \
|
499
|
-
\
|
500
|
-
m[2][0] = 0.0; \
|
501
|
-
m[2][1] = 0.0; \
|
502
|
-
m[2][2] = 0.0; \
|
503
|
-
m[2][3] = 0.0; \
|
504
|
-
\
|
505
|
-
m[3][0] = 0.0; \
|
506
|
-
m[3][1] = 0.0; \
|
507
|
-
m[3][2] = 0.0; \
|
508
|
-
m[3][3] = 0.0; \
|
509
|
-
}\
|
510
|
-
|
511
|
-
/*! matrix rotation X */
|
512
|
-
#define ROTX_CS(m,cosine,sine) \
|
513
|
-
{ \
|
514
|
-
/* rotation about the x-axis */ \
|
515
|
-
\
|
516
|
-
m[0][0] = 1.0; \
|
517
|
-
m[0][1] = 0.0; \
|
518
|
-
m[0][2] = 0.0; \
|
519
|
-
m[0][3] = 0.0; \
|
520
|
-
\
|
521
|
-
m[1][0] = 0.0; \
|
522
|
-
m[1][1] = (cosine); \
|
523
|
-
m[1][2] = (sine); \
|
524
|
-
m[1][3] = 0.0; \
|
525
|
-
\
|
526
|
-
m[2][0] = 0.0; \
|
527
|
-
m[2][1] = -(sine); \
|
528
|
-
m[2][2] = (cosine); \
|
529
|
-
m[2][3] = 0.0; \
|
530
|
-
\
|
531
|
-
m[3][0] = 0.0; \
|
532
|
-
m[3][1] = 0.0; \
|
533
|
-
m[3][2] = 0.0; \
|
534
|
-
m[3][3] = 1.0; \
|
535
|
-
}\
|
536
|
-
|
537
|
-
/*! matrix rotation Y */
|
538
|
-
#define ROTY_CS(m,cosine,sine) \
|
539
|
-
{ \
|
540
|
-
/* rotation about the y-axis */ \
|
541
|
-
\
|
542
|
-
m[0][0] = (cosine); \
|
543
|
-
m[0][1] = 0.0; \
|
544
|
-
m[0][2] = -(sine); \
|
545
|
-
m[0][3] = 0.0; \
|
546
|
-
\
|
547
|
-
m[1][0] = 0.0; \
|
548
|
-
m[1][1] = 1.0; \
|
549
|
-
m[1][2] = 0.0; \
|
550
|
-
m[1][3] = 0.0; \
|
551
|
-
\
|
552
|
-
m[2][0] = (sine); \
|
553
|
-
m[2][1] = 0.0; \
|
554
|
-
m[2][2] = (cosine); \
|
555
|
-
m[2][3] = 0.0; \
|
556
|
-
\
|
557
|
-
m[3][0] = 0.0; \
|
558
|
-
m[3][1] = 0.0; \
|
559
|
-
m[3][2] = 0.0; \
|
560
|
-
m[3][3] = 1.0; \
|
561
|
-
}\
|
562
|
-
|
563
|
-
/*! matrix rotation Z */
|
564
|
-
#define ROTZ_CS(m,cosine,sine) \
|
565
|
-
{ \
|
566
|
-
/* rotation about the z-axis */ \
|
567
|
-
\
|
568
|
-
m[0][0] = (cosine); \
|
569
|
-
m[0][1] = (sine); \
|
570
|
-
m[0][2] = 0.0; \
|
571
|
-
m[0][3] = 0.0; \
|
572
|
-
\
|
573
|
-
m[1][0] = -(sine); \
|
574
|
-
m[1][1] = (cosine); \
|
575
|
-
m[1][2] = 0.0; \
|
576
|
-
m[1][3] = 0.0; \
|
577
|
-
\
|
578
|
-
m[2][0] = 0.0; \
|
579
|
-
m[2][1] = 0.0; \
|
580
|
-
m[2][2] = 1.0; \
|
581
|
-
m[2][3] = 0.0; \
|
582
|
-
\
|
583
|
-
m[3][0] = 0.0; \
|
584
|
-
m[3][1] = 0.0; \
|
585
|
-
m[3][2] = 0.0; \
|
586
|
-
m[3][3] = 1.0; \
|
587
|
-
}\
|
588
|
-
|
589
|
-
/*! matrix copy */
|
590
|
-
#define COPY_MATRIX_2X2(b,a) \
|
591
|
-
{ \
|
592
|
-
b[0][0] = a[0][0]; \
|
593
|
-
b[0][1] = a[0][1]; \
|
594
|
-
\
|
595
|
-
b[1][0] = a[1][0]; \
|
596
|
-
b[1][1] = a[1][1]; \
|
597
|
-
\
|
598
|
-
}\
|
599
|
-
|
600
|
-
|
601
|
-
/*! matrix copy */
|
602
|
-
#define COPY_MATRIX_2X3(b,a) \
|
603
|
-
{ \
|
604
|
-
b[0][0] = a[0][0]; \
|
605
|
-
b[0][1] = a[0][1]; \
|
606
|
-
b[0][2] = a[0][2]; \
|
607
|
-
\
|
608
|
-
b[1][0] = a[1][0]; \
|
609
|
-
b[1][1] = a[1][1]; \
|
610
|
-
b[1][2] = a[1][2]; \
|
611
|
-
}\
|
612
|
-
|
613
|
-
|
614
|
-
/*! matrix copy */
|
615
|
-
#define COPY_MATRIX_3X3(b,a) \
|
616
|
-
{ \
|
617
|
-
b[0][0] = a[0][0]; \
|
618
|
-
b[0][1] = a[0][1]; \
|
619
|
-
b[0][2] = a[0][2]; \
|
620
|
-
\
|
621
|
-
b[1][0] = a[1][0]; \
|
622
|
-
b[1][1] = a[1][1]; \
|
623
|
-
b[1][2] = a[1][2]; \
|
624
|
-
\
|
625
|
-
b[2][0] = a[2][0]; \
|
626
|
-
b[2][1] = a[2][1]; \
|
627
|
-
b[2][2] = a[2][2]; \
|
628
|
-
}\
|
629
|
-
|
630
|
-
|
631
|
-
/*! matrix copy */
|
632
|
-
#define COPY_MATRIX_4X4(b,a) \
|
633
|
-
{ \
|
634
|
-
b[0][0] = a[0][0]; \
|
635
|
-
b[0][1] = a[0][1]; \
|
636
|
-
b[0][2] = a[0][2]; \
|
637
|
-
b[0][3] = a[0][3]; \
|
638
|
-
\
|
639
|
-
b[1][0] = a[1][0]; \
|
640
|
-
b[1][1] = a[1][1]; \
|
641
|
-
b[1][2] = a[1][2]; \
|
642
|
-
b[1][3] = a[1][3]; \
|
643
|
-
\
|
644
|
-
b[2][0] = a[2][0]; \
|
645
|
-
b[2][1] = a[2][1]; \
|
646
|
-
b[2][2] = a[2][2]; \
|
647
|
-
b[2][3] = a[2][3]; \
|
648
|
-
\
|
649
|
-
b[3][0] = a[3][0]; \
|
650
|
-
b[3][1] = a[3][1]; \
|
651
|
-
b[3][2] = a[3][2]; \
|
652
|
-
b[3][3] = a[3][3]; \
|
653
|
-
}\
|
654
|
-
|
655
|
-
|
656
|
-
/*! matrix transpose */
|
657
|
-
#define TRANSPOSE_MATRIX_2X2(b,a) \
|
658
|
-
{ \
|
659
|
-
b[0][0] = a[0][0]; \
|
660
|
-
b[0][1] = a[1][0]; \
|
661
|
-
\
|
662
|
-
b[1][0] = a[0][1]; \
|
663
|
-
b[1][1] = a[1][1]; \
|
664
|
-
}\
|
665
|
-
|
666
|
-
|
667
|
-
/*! matrix transpose */
|
668
|
-
#define TRANSPOSE_MATRIX_3X3(b,a) \
|
669
|
-
{ \
|
670
|
-
b[0][0] = a[0][0]; \
|
671
|
-
b[0][1] = a[1][0]; \
|
672
|
-
b[0][2] = a[2][0]; \
|
673
|
-
\
|
674
|
-
b[1][0] = a[0][1]; \
|
675
|
-
b[1][1] = a[1][1]; \
|
676
|
-
b[1][2] = a[2][1]; \
|
677
|
-
\
|
678
|
-
b[2][0] = a[0][2]; \
|
679
|
-
b[2][1] = a[1][2]; \
|
680
|
-
b[2][2] = a[2][2]; \
|
681
|
-
}\
|
682
|
-
|
683
|
-
|
684
|
-
/*! matrix transpose */
|
685
|
-
#define TRANSPOSE_MATRIX_4X4(b,a) \
|
686
|
-
{ \
|
687
|
-
b[0][0] = a[0][0]; \
|
688
|
-
b[0][1] = a[1][0]; \
|
689
|
-
b[0][2] = a[2][0]; \
|
690
|
-
b[0][3] = a[3][0]; \
|
691
|
-
\
|
692
|
-
b[1][0] = a[0][1]; \
|
693
|
-
b[1][1] = a[1][1]; \
|
694
|
-
b[1][2] = a[2][1]; \
|
695
|
-
b[1][3] = a[3][1]; \
|
696
|
-
\
|
697
|
-
b[2][0] = a[0][2]; \
|
698
|
-
b[2][1] = a[1][2]; \
|
699
|
-
b[2][2] = a[2][2]; \
|
700
|
-
b[2][3] = a[3][2]; \
|
701
|
-
\
|
702
|
-
b[3][0] = a[0][3]; \
|
703
|
-
b[3][1] = a[1][3]; \
|
704
|
-
b[3][2] = a[2][3]; \
|
705
|
-
b[3][3] = a[3][3]; \
|
706
|
-
}\
|
707
|
-
|
708
|
-
|
709
|
-
/*! multiply matrix by scalar */
|
710
|
-
#define SCALE_MATRIX_2X2(b,s,a) \
|
711
|
-
{ \
|
712
|
-
b[0][0] = (s) * a[0][0]; \
|
713
|
-
b[0][1] = (s) * a[0][1]; \
|
714
|
-
\
|
715
|
-
b[1][0] = (s) * a[1][0]; \
|
716
|
-
b[1][1] = (s) * a[1][1]; \
|
717
|
-
}\
|
718
|
-
|
719
|
-
|
720
|
-
/*! multiply matrix by scalar */
|
721
|
-
#define SCALE_MATRIX_3X3(b,s,a) \
|
722
|
-
{ \
|
723
|
-
b[0][0] = (s) * a[0][0]; \
|
724
|
-
b[0][1] = (s) * a[0][1]; \
|
725
|
-
b[0][2] = (s) * a[0][2]; \
|
726
|
-
\
|
727
|
-
b[1][0] = (s) * a[1][0]; \
|
728
|
-
b[1][1] = (s) * a[1][1]; \
|
729
|
-
b[1][2] = (s) * a[1][2]; \
|
730
|
-
\
|
731
|
-
b[2][0] = (s) * a[2][0]; \
|
732
|
-
b[2][1] = (s) * a[2][1]; \
|
733
|
-
b[2][2] = (s) * a[2][2]; \
|
734
|
-
}\
|
735
|
-
|
736
|
-
|
737
|
-
/*! multiply matrix by scalar */
|
738
|
-
#define SCALE_MATRIX_4X4(b,s,a) \
|
739
|
-
{ \
|
740
|
-
b[0][0] = (s) * a[0][0]; \
|
741
|
-
b[0][1] = (s) * a[0][1]; \
|
742
|
-
b[0][2] = (s) * a[0][2]; \
|
743
|
-
b[0][3] = (s) * a[0][3]; \
|
744
|
-
\
|
745
|
-
b[1][0] = (s) * a[1][0]; \
|
746
|
-
b[1][1] = (s) * a[1][1]; \
|
747
|
-
b[1][2] = (s) * a[1][2]; \
|
748
|
-
b[1][3] = (s) * a[1][3]; \
|
749
|
-
\
|
750
|
-
b[2][0] = (s) * a[2][0]; \
|
751
|
-
b[2][1] = (s) * a[2][1]; \
|
752
|
-
b[2][2] = (s) * a[2][2]; \
|
753
|
-
b[2][3] = (s) * a[2][3]; \
|
754
|
-
\
|
755
|
-
b[3][0] = s * a[3][0]; \
|
756
|
-
b[3][1] = s * a[3][1]; \
|
757
|
-
b[3][2] = s * a[3][2]; \
|
758
|
-
b[3][3] = s * a[3][3]; \
|
759
|
-
}\
|
760
|
-
|
761
|
-
|
762
|
-
/*! multiply matrix by scalar */
|
763
|
-
#define SCALE_VEC_MATRIX_2X2(b,svec,a) \
|
764
|
-
{ \
|
765
|
-
b[0][0] = svec[0] * a[0][0]; \
|
766
|
-
b[1][0] = svec[0] * a[1][0]; \
|
767
|
-
\
|
768
|
-
b[0][1] = svec[1] * a[0][1]; \
|
769
|
-
b[1][1] = svec[1] * a[1][1]; \
|
770
|
-
}\
|
771
|
-
|
772
|
-
|
773
|
-
/*! multiply matrix by scalar. Each columns is scaled by each scalar vector component */
|
774
|
-
#define SCALE_VEC_MATRIX_3X3(b,svec,a) \
|
775
|
-
{ \
|
776
|
-
b[0][0] = svec[0] * a[0][0]; \
|
777
|
-
b[1][0] = svec[0] * a[1][0]; \
|
778
|
-
b[2][0] = svec[0] * a[2][0]; \
|
779
|
-
\
|
780
|
-
b[0][1] = svec[1] * a[0][1]; \
|
781
|
-
b[1][1] = svec[1] * a[1][1]; \
|
782
|
-
b[2][1] = svec[1] * a[2][1]; \
|
783
|
-
\
|
784
|
-
b[0][2] = svec[2] * a[0][2]; \
|
785
|
-
b[1][2] = svec[2] * a[1][2]; \
|
786
|
-
b[2][2] = svec[2] * a[2][2]; \
|
787
|
-
}\
|
788
|
-
|
789
|
-
|
790
|
-
/*! multiply matrix by scalar */
|
791
|
-
#define SCALE_VEC_MATRIX_4X4(b,svec,a) \
|
792
|
-
{ \
|
793
|
-
b[0][0] = svec[0] * a[0][0]; \
|
794
|
-
b[1][0] = svec[0] * a[1][0]; \
|
795
|
-
b[2][0] = svec[0] * a[2][0]; \
|
796
|
-
b[3][0] = svec[0] * a[3][0]; \
|
797
|
-
\
|
798
|
-
b[0][1] = svec[1] * a[0][1]; \
|
799
|
-
b[1][1] = svec[1] * a[1][1]; \
|
800
|
-
b[2][1] = svec[1] * a[2][1]; \
|
801
|
-
b[3][1] = svec[1] * a[3][1]; \
|
802
|
-
\
|
803
|
-
b[0][2] = svec[2] * a[0][2]; \
|
804
|
-
b[1][2] = svec[2] * a[1][2]; \
|
805
|
-
b[2][2] = svec[2] * a[2][2]; \
|
806
|
-
b[3][2] = svec[2] * a[3][2]; \
|
807
|
-
\
|
808
|
-
b[0][3] = svec[3] * a[0][3]; \
|
809
|
-
b[1][3] = svec[3] * a[1][3]; \
|
810
|
-
b[2][3] = svec[3] * a[2][3]; \
|
811
|
-
b[3][3] = svec[3] * a[3][3]; \
|
812
|
-
}\
|
813
|
-
|
814
|
-
|
815
|
-
/*! multiply matrix by scalar */
|
816
|
-
#define ACCUM_SCALE_MATRIX_2X2(b,s,a) \
|
817
|
-
{ \
|
818
|
-
b[0][0] += (s) * a[0][0]; \
|
819
|
-
b[0][1] += (s) * a[0][1]; \
|
820
|
-
\
|
821
|
-
b[1][0] += (s) * a[1][0]; \
|
822
|
-
b[1][1] += (s) * a[1][1]; \
|
823
|
-
}\
|
824
|
-
|
825
|
-
|
826
|
-
/*! multiply matrix by scalar */
|
827
|
-
#define ACCUM_SCALE_MATRIX_3X3(b,s,a) \
|
828
|
-
{ \
|
829
|
-
b[0][0] += (s) * a[0][0]; \
|
830
|
-
b[0][1] += (s) * a[0][1]; \
|
831
|
-
b[0][2] += (s) * a[0][2]; \
|
832
|
-
\
|
833
|
-
b[1][0] += (s) * a[1][0]; \
|
834
|
-
b[1][1] += (s) * a[1][1]; \
|
835
|
-
b[1][2] += (s) * a[1][2]; \
|
836
|
-
\
|
837
|
-
b[2][0] += (s) * a[2][0]; \
|
838
|
-
b[2][1] += (s) * a[2][1]; \
|
839
|
-
b[2][2] += (s) * a[2][2]; \
|
840
|
-
}\
|
841
|
-
|
842
|
-
|
843
|
-
/*! multiply matrix by scalar */
|
844
|
-
#define ACCUM_SCALE_MATRIX_4X4(b,s,a) \
|
845
|
-
{ \
|
846
|
-
b[0][0] += (s) * a[0][0]; \
|
847
|
-
b[0][1] += (s) * a[0][1]; \
|
848
|
-
b[0][2] += (s) * a[0][2]; \
|
849
|
-
b[0][3] += (s) * a[0][3]; \
|
850
|
-
\
|
851
|
-
b[1][0] += (s) * a[1][0]; \
|
852
|
-
b[1][1] += (s) * a[1][1]; \
|
853
|
-
b[1][2] += (s) * a[1][2]; \
|
854
|
-
b[1][3] += (s) * a[1][3]; \
|
855
|
-
\
|
856
|
-
b[2][0] += (s) * a[2][0]; \
|
857
|
-
b[2][1] += (s) * a[2][1]; \
|
858
|
-
b[2][2] += (s) * a[2][2]; \
|
859
|
-
b[2][3] += (s) * a[2][3]; \
|
860
|
-
\
|
861
|
-
b[3][0] += (s) * a[3][0]; \
|
862
|
-
b[3][1] += (s) * a[3][1]; \
|
863
|
-
b[3][2] += (s) * a[3][2]; \
|
864
|
-
b[3][3] += (s) * a[3][3]; \
|
865
|
-
}\
|
866
|
-
|
867
|
-
/*! matrix product */
|
868
|
-
/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
|
869
|
-
#define MATRIX_PRODUCT_2X2(c,a,b) \
|
870
|
-
{ \
|
871
|
-
c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \
|
872
|
-
c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \
|
873
|
-
\
|
874
|
-
c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \
|
875
|
-
c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \
|
876
|
-
\
|
877
|
-
}\
|
878
|
-
|
879
|
-
/*! matrix product */
|
880
|
-
/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
|
881
|
-
#define MATRIX_PRODUCT_3X3(c,a,b) \
|
882
|
-
{ \
|
883
|
-
c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \
|
884
|
-
c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \
|
885
|
-
c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \
|
886
|
-
\
|
887
|
-
c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \
|
888
|
-
c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \
|
889
|
-
c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \
|
890
|
-
\
|
891
|
-
c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \
|
892
|
-
c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \
|
893
|
-
c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \
|
894
|
-
}\
|
895
|
-
|
896
|
-
|
897
|
-
/*! matrix product */
|
898
|
-
/*! c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y];*/
|
899
|
-
#define MATRIX_PRODUCT_4X4(c,a,b) \
|
900
|
-
{ \
|
901
|
-
c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]+a[0][3]*b[3][0];\
|
902
|
-
c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]+a[0][3]*b[3][1];\
|
903
|
-
c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]+a[0][3]*b[3][2];\
|
904
|
-
c[0][3] = a[0][0]*b[0][3]+a[0][1]*b[1][3]+a[0][2]*b[2][3]+a[0][3]*b[3][3];\
|
905
|
-
\
|
906
|
-
c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]+a[1][3]*b[3][0];\
|
907
|
-
c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]+a[1][3]*b[3][1];\
|
908
|
-
c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]+a[1][3]*b[3][2];\
|
909
|
-
c[1][3] = a[1][0]*b[0][3]+a[1][1]*b[1][3]+a[1][2]*b[2][3]+a[1][3]*b[3][3];\
|
910
|
-
\
|
911
|
-
c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]+a[2][3]*b[3][0];\
|
912
|
-
c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]+a[2][3]*b[3][1];\
|
913
|
-
c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]+a[2][3]*b[3][2];\
|
914
|
-
c[2][3] = a[2][0]*b[0][3]+a[2][1]*b[1][3]+a[2][2]*b[2][3]+a[2][3]*b[3][3];\
|
915
|
-
\
|
916
|
-
c[3][0] = a[3][0]*b[0][0]+a[3][1]*b[1][0]+a[3][2]*b[2][0]+a[3][3]*b[3][0];\
|
917
|
-
c[3][1] = a[3][0]*b[0][1]+a[3][1]*b[1][1]+a[3][2]*b[2][1]+a[3][3]*b[3][1];\
|
918
|
-
c[3][2] = a[3][0]*b[0][2]+a[3][1]*b[1][2]+a[3][2]*b[2][2]+a[3][3]*b[3][2];\
|
919
|
-
c[3][3] = a[3][0]*b[0][3]+a[3][1]*b[1][3]+a[3][2]*b[2][3]+a[3][3]*b[3][3];\
|
920
|
-
}\
|
921
|
-
|
922
|
-
|
923
|
-
/*! matrix times vector */
|
924
|
-
#define MAT_DOT_VEC_2X2(p,m,v) \
|
925
|
-
{ \
|
926
|
-
p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \
|
927
|
-
p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \
|
928
|
-
}\
|
929
|
-
|
930
|
-
|
931
|
-
/*! matrix times vector */
|
932
|
-
#define MAT_DOT_VEC_3X3(p,m,v) \
|
933
|
-
{ \
|
934
|
-
p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \
|
935
|
-
p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \
|
936
|
-
p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \
|
937
|
-
}\
|
938
|
-
|
939
|
-
|
940
|
-
/*! matrix times vector
|
941
|
-
v is a vec4f
|
942
|
-
*/
|
943
|
-
#define MAT_DOT_VEC_4X4(p,m,v) \
|
944
|
-
{ \
|
945
|
-
p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \
|
946
|
-
p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \
|
947
|
-
p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \
|
948
|
-
p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \
|
949
|
-
}\
|
950
|
-
|
951
|
-
/*! matrix times vector
|
952
|
-
v is a vec3f
|
953
|
-
and m is a mat4f<br>
|
954
|
-
Last column is added as the position
|
955
|
-
*/
|
956
|
-
#define MAT_DOT_VEC_3X4(p,m,v) \
|
957
|
-
{ \
|
958
|
-
p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \
|
959
|
-
p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \
|
960
|
-
p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \
|
961
|
-
}\
|
962
|
-
|
963
|
-
|
964
|
-
/*! vector transpose times matrix */
|
965
|
-
/*! p[j] = v[0]*m[0][j] + v[1]*m[1][j] + v[2]*m[2][j]; */
|
966
|
-
#define VEC_DOT_MAT_3X3(p,v,m) \
|
967
|
-
{ \
|
968
|
-
p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \
|
969
|
-
p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \
|
970
|
-
p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \
|
971
|
-
}\
|
972
|
-
|
973
|
-
|
974
|
-
/*! affine matrix times vector */
|
975
|
-
/** The matrix is assumed to be an affine matrix, with last two
|
976
|
-
* entries representing a translation */
|
977
|
-
#define MAT_DOT_VEC_2X3(p,m,v) \
|
978
|
-
{ \
|
979
|
-
p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \
|
980
|
-
p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \
|
981
|
-
}\
|
982
|
-
|
983
|
-
//! Transform a plane
|
984
|
-
#define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\
|
985
|
-
{ \
|
986
|
-
pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\
|
987
|
-
pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\
|
988
|
-
pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\
|
989
|
-
pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\
|
990
|
-
}\
|
991
|
-
|
992
|
-
|
993
|
-
|
994
|
-
/** inverse transpose of matrix times vector
|
995
|
-
*
|
996
|
-
* This macro computes inverse transpose of matrix m,
|
997
|
-
* and multiplies vector v into it, to yeild vector p
|
998
|
-
*
|
999
|
-
* DANGER !!! Do Not use this on normal vectors!!!
|
1000
|
-
* It will leave normals the wrong length !!!
|
1001
|
-
* See macro below for use on normals.
|
1002
|
-
*/
|
1003
|
-
#define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \
|
1004
|
-
{ \
|
1005
|
-
GREAL det; \
|
1006
|
-
\
|
1007
|
-
det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \
|
1008
|
-
p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \
|
1009
|
-
p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \
|
1010
|
-
\
|
1011
|
-
/* if matrix not singular, and not orthonormal, then renormalize */ \
|
1012
|
-
if ((det!=1.0f) && (det != 0.0f)) { \
|
1013
|
-
det = 1.0f / det; \
|
1014
|
-
p[0] *= det; \
|
1015
|
-
p[1] *= det; \
|
1016
|
-
} \
|
1017
|
-
}\
|
1018
|
-
|
1019
|
-
|
1020
|
-
/** transform normal vector by inverse transpose of matrix
|
1021
|
-
* and then renormalize the vector
|
1022
|
-
*
|
1023
|
-
* This macro computes inverse transpose of matrix m,
|
1024
|
-
* and multiplies vector v into it, to yeild vector p
|
1025
|
-
* Vector p is then normalized.
|
1026
|
-
*/
|
1027
|
-
#define NORM_XFORM_2X2(p,m,v) \
|
1028
|
-
{ \
|
1029
|
-
GREAL len; \
|
1030
|
-
\
|
1031
|
-
/* do nothing if off-diagonals are zero and diagonals are \
|
1032
|
-
* equal */ \
|
1033
|
-
if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \
|
1034
|
-
p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \
|
1035
|
-
p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \
|
1036
|
-
\
|
1037
|
-
len = p[0]*p[0] + p[1]*p[1]; \
|
1038
|
-
GIM_INV_SQRT(len,len); \
|
1039
|
-
p[0] *= len; \
|
1040
|
-
p[1] *= len; \
|
1041
|
-
} else { \
|
1042
|
-
VEC_COPY_2 (p, v); \
|
1043
|
-
} \
|
1044
|
-
}\
|
1045
|
-
|
1046
|
-
|
1047
|
-
/** outer product of vector times vector transpose
|
1048
|
-
*
|
1049
|
-
* The outer product of vector v and vector transpose t yeilds
|
1050
|
-
* dyadic matrix m.
|
1051
|
-
*/
|
1052
|
-
#define OUTER_PRODUCT_2X2(m,v,t) \
|
1053
|
-
{ \
|
1054
|
-
m[0][0] = v[0] * t[0]; \
|
1055
|
-
m[0][1] = v[0] * t[1]; \
|
1056
|
-
\
|
1057
|
-
m[1][0] = v[1] * t[0]; \
|
1058
|
-
m[1][1] = v[1] * t[1]; \
|
1059
|
-
}\
|
1060
|
-
|
1061
|
-
|
1062
|
-
/** outer product of vector times vector transpose
|
1063
|
-
*
|
1064
|
-
* The outer product of vector v and vector transpose t yeilds
|
1065
|
-
* dyadic matrix m.
|
1066
|
-
*/
|
1067
|
-
#define OUTER_PRODUCT_3X3(m,v,t) \
|
1068
|
-
{ \
|
1069
|
-
m[0][0] = v[0] * t[0]; \
|
1070
|
-
m[0][1] = v[0] * t[1]; \
|
1071
|
-
m[0][2] = v[0] * t[2]; \
|
1072
|
-
\
|
1073
|
-
m[1][0] = v[1] * t[0]; \
|
1074
|
-
m[1][1] = v[1] * t[1]; \
|
1075
|
-
m[1][2] = v[1] * t[2]; \
|
1076
|
-
\
|
1077
|
-
m[2][0] = v[2] * t[0]; \
|
1078
|
-
m[2][1] = v[2] * t[1]; \
|
1079
|
-
m[2][2] = v[2] * t[2]; \
|
1080
|
-
}\
|
1081
|
-
|
1082
|
-
|
1083
|
-
/** outer product of vector times vector transpose
|
1084
|
-
*
|
1085
|
-
* The outer product of vector v and vector transpose t yeilds
|
1086
|
-
* dyadic matrix m.
|
1087
|
-
*/
|
1088
|
-
#define OUTER_PRODUCT_4X4(m,v,t) \
|
1089
|
-
{ \
|
1090
|
-
m[0][0] = v[0] * t[0]; \
|
1091
|
-
m[0][1] = v[0] * t[1]; \
|
1092
|
-
m[0][2] = v[0] * t[2]; \
|
1093
|
-
m[0][3] = v[0] * t[3]; \
|
1094
|
-
\
|
1095
|
-
m[1][0] = v[1] * t[0]; \
|
1096
|
-
m[1][1] = v[1] * t[1]; \
|
1097
|
-
m[1][2] = v[1] * t[2]; \
|
1098
|
-
m[1][3] = v[1] * t[3]; \
|
1099
|
-
\
|
1100
|
-
m[2][0] = v[2] * t[0]; \
|
1101
|
-
m[2][1] = v[2] * t[1]; \
|
1102
|
-
m[2][2] = v[2] * t[2]; \
|
1103
|
-
m[2][3] = v[2] * t[3]; \
|
1104
|
-
\
|
1105
|
-
m[3][0] = v[3] * t[0]; \
|
1106
|
-
m[3][1] = v[3] * t[1]; \
|
1107
|
-
m[3][2] = v[3] * t[2]; \
|
1108
|
-
m[3][3] = v[3] * t[3]; \
|
1109
|
-
}\
|
1110
|
-
|
1111
|
-
|
1112
|
-
/** outer product of vector times vector transpose
|
1113
|
-
*
|
1114
|
-
* The outer product of vector v and vector transpose t yeilds
|
1115
|
-
* dyadic matrix m.
|
1116
|
-
*/
|
1117
|
-
#define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \
|
1118
|
-
{ \
|
1119
|
-
m[0][0] += v[0] * t[0]; \
|
1120
|
-
m[0][1] += v[0] * t[1]; \
|
1121
|
-
\
|
1122
|
-
m[1][0] += v[1] * t[0]; \
|
1123
|
-
m[1][1] += v[1] * t[1]; \
|
1124
|
-
}\
|
1125
|
-
|
1126
|
-
|
1127
|
-
/** outer product of vector times vector transpose
|
1128
|
-
*
|
1129
|
-
* The outer product of vector v and vector transpose t yeilds
|
1130
|
-
* dyadic matrix m.
|
1131
|
-
*/
|
1132
|
-
#define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \
|
1133
|
-
{ \
|
1134
|
-
m[0][0] += v[0] * t[0]; \
|
1135
|
-
m[0][1] += v[0] * t[1]; \
|
1136
|
-
m[0][2] += v[0] * t[2]; \
|
1137
|
-
\
|
1138
|
-
m[1][0] += v[1] * t[0]; \
|
1139
|
-
m[1][1] += v[1] * t[1]; \
|
1140
|
-
m[1][2] += v[1] * t[2]; \
|
1141
|
-
\
|
1142
|
-
m[2][0] += v[2] * t[0]; \
|
1143
|
-
m[2][1] += v[2] * t[1]; \
|
1144
|
-
m[2][2] += v[2] * t[2]; \
|
1145
|
-
}\
|
1146
|
-
|
1147
|
-
|
1148
|
-
/** outer product of vector times vector transpose
|
1149
|
-
*
|
1150
|
-
* The outer product of vector v and vector transpose t yeilds
|
1151
|
-
* dyadic matrix m.
|
1152
|
-
*/
|
1153
|
-
#define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \
|
1154
|
-
{ \
|
1155
|
-
m[0][0] += v[0] * t[0]; \
|
1156
|
-
m[0][1] += v[0] * t[1]; \
|
1157
|
-
m[0][2] += v[0] * t[2]; \
|
1158
|
-
m[0][3] += v[0] * t[3]; \
|
1159
|
-
\
|
1160
|
-
m[1][0] += v[1] * t[0]; \
|
1161
|
-
m[1][1] += v[1] * t[1]; \
|
1162
|
-
m[1][2] += v[1] * t[2]; \
|
1163
|
-
m[1][3] += v[1] * t[3]; \
|
1164
|
-
\
|
1165
|
-
m[2][0] += v[2] * t[0]; \
|
1166
|
-
m[2][1] += v[2] * t[1]; \
|
1167
|
-
m[2][2] += v[2] * t[2]; \
|
1168
|
-
m[2][3] += v[2] * t[3]; \
|
1169
|
-
\
|
1170
|
-
m[3][0] += v[3] * t[0]; \
|
1171
|
-
m[3][1] += v[3] * t[1]; \
|
1172
|
-
m[3][2] += v[3] * t[2]; \
|
1173
|
-
m[3][3] += v[3] * t[3]; \
|
1174
|
-
}\
|
1175
|
-
|
1176
|
-
|
1177
|
-
/** determinant of matrix
|
1178
|
-
*
|
1179
|
-
* Computes determinant of matrix m, returning d
|
1180
|
-
*/
|
1181
|
-
#define DETERMINANT_2X2(d,m) \
|
1182
|
-
{ \
|
1183
|
-
d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
|
1184
|
-
}\
|
1185
|
-
|
1186
|
-
|
1187
|
-
/** determinant of matrix
|
1188
|
-
*
|
1189
|
-
* Computes determinant of matrix m, returning d
|
1190
|
-
*/
|
1191
|
-
#define DETERMINANT_3X3(d,m) \
|
1192
|
-
{ \
|
1193
|
-
d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \
|
1194
|
-
d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \
|
1195
|
-
d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \
|
1196
|
-
}\
|
1197
|
-
|
1198
|
-
|
1199
|
-
/** i,j,th cofactor of a 4x4 matrix
|
1200
|
-
*
|
1201
|
-
*/
|
1202
|
-
#define COFACTOR_4X4_IJ(fac,m,i,j) \
|
1203
|
-
{ \
|
1204
|
-
GUINT __ii[4], __jj[4], __k; \
|
1205
|
-
\
|
1206
|
-
for (__k=0; __k<i; __k++) __ii[__k] = __k; \
|
1207
|
-
for (__k=i; __k<3; __k++) __ii[__k] = __k+1; \
|
1208
|
-
for (__k=0; __k<j; __k++) __jj[__k] = __k; \
|
1209
|
-
for (__k=j; __k<3; __k++) __jj[__k] = __k+1; \
|
1210
|
-
\
|
1211
|
-
(fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] \
|
1212
|
-
- m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \
|
1213
|
-
(fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]] \
|
1214
|
-
- m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\
|
1215
|
-
(fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]] \
|
1216
|
-
- m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\
|
1217
|
-
\
|
1218
|
-
__k = i+j; \
|
1219
|
-
if ( __k != (__k/2)*2) { \
|
1220
|
-
(fac) = -(fac); \
|
1221
|
-
} \
|
1222
|
-
}\
|
1223
|
-
|
1224
|
-
|
1225
|
-
/** determinant of matrix
|
1226
|
-
*
|
1227
|
-
* Computes determinant of matrix m, returning d
|
1228
|
-
*/
|
1229
|
-
#define DETERMINANT_4X4(d,m) \
|
1230
|
-
{ \
|
1231
|
-
GREAL cofac; \
|
1232
|
-
COFACTOR_4X4_IJ (cofac, m, 0, 0); \
|
1233
|
-
d = m[0][0] * cofac; \
|
1234
|
-
COFACTOR_4X4_IJ (cofac, m, 0, 1); \
|
1235
|
-
d += m[0][1] * cofac; \
|
1236
|
-
COFACTOR_4X4_IJ (cofac, m, 0, 2); \
|
1237
|
-
d += m[0][2] * cofac; \
|
1238
|
-
COFACTOR_4X4_IJ (cofac, m, 0, 3); \
|
1239
|
-
d += m[0][3] * cofac; \
|
1240
|
-
}\
|
1241
|
-
|
1242
|
-
|
1243
|
-
/** cofactor of matrix
|
1244
|
-
*
|
1245
|
-
* Computes cofactor of matrix m, returning a
|
1246
|
-
*/
|
1247
|
-
#define COFACTOR_2X2(a,m) \
|
1248
|
-
{ \
|
1249
|
-
a[0][0] = (m)[1][1]; \
|
1250
|
-
a[0][1] = - (m)[1][0]; \
|
1251
|
-
a[1][0] = - (m)[0][1]; \
|
1252
|
-
a[1][1] = (m)[0][0]; \
|
1253
|
-
}\
|
1254
|
-
|
1255
|
-
|
1256
|
-
/** cofactor of matrix
|
1257
|
-
*
|
1258
|
-
* Computes cofactor of matrix m, returning a
|
1259
|
-
*/
|
1260
|
-
#define COFACTOR_3X3(a,m) \
|
1261
|
-
{ \
|
1262
|
-
a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \
|
1263
|
-
a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \
|
1264
|
-
a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \
|
1265
|
-
a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \
|
1266
|
-
a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \
|
1267
|
-
a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \
|
1268
|
-
a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \
|
1269
|
-
a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \
|
1270
|
-
a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
|
1271
|
-
}\
|
1272
|
-
|
1273
|
-
|
1274
|
-
/** cofactor of matrix
|
1275
|
-
*
|
1276
|
-
* Computes cofactor of matrix m, returning a
|
1277
|
-
*/
|
1278
|
-
#define COFACTOR_4X4(a,m) \
|
1279
|
-
{ \
|
1280
|
-
int i,j; \
|
1281
|
-
\
|
1282
|
-
for (i=0; i<4; i++) { \
|
1283
|
-
for (j=0; j<4; j++) { \
|
1284
|
-
COFACTOR_4X4_IJ (a[i][j], m, i, j); \
|
1285
|
-
} \
|
1286
|
-
} \
|
1287
|
-
}\
|
1288
|
-
|
1289
|
-
|
1290
|
-
/** adjoint of matrix
|
1291
|
-
*
|
1292
|
-
* Computes adjoint of matrix m, returning a
|
1293
|
-
* (Note that adjoint is just the transpose of the cofactor matrix)
|
1294
|
-
*/
|
1295
|
-
#define ADJOINT_2X2(a,m) \
|
1296
|
-
{ \
|
1297
|
-
a[0][0] = (m)[1][1]; \
|
1298
|
-
a[1][0] = - (m)[1][0]; \
|
1299
|
-
a[0][1] = - (m)[0][1]; \
|
1300
|
-
a[1][1] = (m)[0][0]; \
|
1301
|
-
}\
|
1302
|
-
|
1303
|
-
|
1304
|
-
/** adjoint of matrix
|
1305
|
-
*
|
1306
|
-
* Computes adjoint of matrix m, returning a
|
1307
|
-
* (Note that adjoint is just the transpose of the cofactor matrix)
|
1308
|
-
*/
|
1309
|
-
#define ADJOINT_3X3(a,m) \
|
1310
|
-
{ \
|
1311
|
-
a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \
|
1312
|
-
a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \
|
1313
|
-
a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \
|
1314
|
-
a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \
|
1315
|
-
a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \
|
1316
|
-
a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \
|
1317
|
-
a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \
|
1318
|
-
a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \
|
1319
|
-
a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
|
1320
|
-
}\
|
1321
|
-
|
1322
|
-
|
1323
|
-
/** adjoint of matrix
|
1324
|
-
*
|
1325
|
-
* Computes adjoint of matrix m, returning a
|
1326
|
-
* (Note that adjoint is just the transpose of the cofactor matrix)
|
1327
|
-
*/
|
1328
|
-
#define ADJOINT_4X4(a,m) \
|
1329
|
-
{ \
|
1330
|
-
char _i_,_j_; \
|
1331
|
-
\
|
1332
|
-
for (_i_=0; _i_<4; _i_++) { \
|
1333
|
-
for (_j_=0; _j_<4; _j_++) { \
|
1334
|
-
COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \
|
1335
|
-
} \
|
1336
|
-
} \
|
1337
|
-
}\
|
1338
|
-
|
1339
|
-
|
1340
|
-
/** compute adjoint of matrix and scale
|
1341
|
-
*
|
1342
|
-
* Computes adjoint of matrix m, scales it by s, returning a
|
1343
|
-
*/
|
1344
|
-
#define SCALE_ADJOINT_2X2(a,s,m) \
|
1345
|
-
{ \
|
1346
|
-
a[0][0] = (s) * m[1][1]; \
|
1347
|
-
a[1][0] = - (s) * m[1][0]; \
|
1348
|
-
a[0][1] = - (s) * m[0][1]; \
|
1349
|
-
a[1][1] = (s) * m[0][0]; \
|
1350
|
-
}\
|
1351
|
-
|
1352
|
-
|
1353
|
-
/** compute adjoint of matrix and scale
|
1354
|
-
*
|
1355
|
-
* Computes adjoint of matrix m, scales it by s, returning a
|
1356
|
-
*/
|
1357
|
-
#define SCALE_ADJOINT_3X3(a,s,m) \
|
1358
|
-
{ \
|
1359
|
-
a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
|
1360
|
-
a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
|
1361
|
-
a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
|
1362
|
-
\
|
1363
|
-
a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
|
1364
|
-
a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
|
1365
|
-
a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
|
1366
|
-
\
|
1367
|
-
a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
|
1368
|
-
a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
|
1369
|
-
a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
|
1370
|
-
}\
|
1371
|
-
|
1372
|
-
|
1373
|
-
/** compute adjoint of matrix and scale
|
1374
|
-
*
|
1375
|
-
* Computes adjoint of matrix m, scales it by s, returning a
|
1376
|
-
*/
|
1377
|
-
#define SCALE_ADJOINT_4X4(a,s,m) \
|
1378
|
-
{ \
|
1379
|
-
char _i_,_j_; \
|
1380
|
-
for (_i_=0; _i_<4; _i_++) { \
|
1381
|
-
for (_j_=0; _j_<4; _j_++) { \
|
1382
|
-
COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \
|
1383
|
-
a[_j_][_i_] *= s; \
|
1384
|
-
} \
|
1385
|
-
} \
|
1386
|
-
}\
|
1387
|
-
|
1388
|
-
/** inverse of matrix
|
1389
|
-
*
|
1390
|
-
* Compute inverse of matrix a, returning determinant m and
|
1391
|
-
* inverse b
|
1392
|
-
*/
|
1393
|
-
#define INVERT_2X2(b,det,a) \
|
1394
|
-
{ \
|
1395
|
-
GREAL _tmp_; \
|
1396
|
-
DETERMINANT_2X2 (det, a); \
|
1397
|
-
_tmp_ = 1.0 / (det); \
|
1398
|
-
SCALE_ADJOINT_2X2 (b, _tmp_, a); \
|
1399
|
-
}\
|
1400
|
-
|
1401
|
-
|
1402
|
-
/** inverse of matrix
|
1403
|
-
*
|
1404
|
-
* Compute inverse of matrix a, returning determinant m and
|
1405
|
-
* inverse b
|
1406
|
-
*/
|
1407
|
-
#define INVERT_3X3(b,det,a) \
|
1408
|
-
{ \
|
1409
|
-
GREAL _tmp_; \
|
1410
|
-
DETERMINANT_3X3 (det, a); \
|
1411
|
-
_tmp_ = 1.0 / (det); \
|
1412
|
-
SCALE_ADJOINT_3X3 (b, _tmp_, a); \
|
1413
|
-
}\
|
1414
|
-
|
1415
|
-
|
1416
|
-
/** inverse of matrix
|
1417
|
-
*
|
1418
|
-
* Compute inverse of matrix a, returning determinant m and
|
1419
|
-
* inverse b
|
1420
|
-
*/
|
1421
|
-
#define INVERT_4X4(b,det,a) \
|
1422
|
-
{ \
|
1423
|
-
GREAL _tmp_; \
|
1424
|
-
DETERMINANT_4X4 (det, a); \
|
1425
|
-
_tmp_ = 1.0 / (det); \
|
1426
|
-
SCALE_ADJOINT_4X4 (b, _tmp_, a); \
|
1427
|
-
}\
|
1428
|
-
|
1429
|
-
//! Get the triple(3) row of a transform matrix
|
1430
|
-
#define MAT_GET_ROW(mat,vec3,rowindex)\
|
1431
|
-
{\
|
1432
|
-
vec3[0] = mat[rowindex][0];\
|
1433
|
-
vec3[1] = mat[rowindex][1];\
|
1434
|
-
vec3[2] = mat[rowindex][2]; \
|
1435
|
-
}\
|
1436
|
-
|
1437
|
-
//! Get the tuple(2) row of a transform matrix
|
1438
|
-
#define MAT_GET_ROW2(mat,vec2,rowindex)\
|
1439
|
-
{\
|
1440
|
-
vec2[0] = mat[rowindex][0];\
|
1441
|
-
vec2[1] = mat[rowindex][1];\
|
1442
|
-
}\
|
1443
|
-
|
1444
|
-
|
1445
|
-
//! Get the quad (4) row of a transform matrix
|
1446
|
-
#define MAT_GET_ROW4(mat,vec4,rowindex)\
|
1447
|
-
{\
|
1448
|
-
vec4[0] = mat[rowindex][0];\
|
1449
|
-
vec4[1] = mat[rowindex][1];\
|
1450
|
-
vec4[2] = mat[rowindex][2];\
|
1451
|
-
vec4[3] = mat[rowindex][3];\
|
1452
|
-
}\
|
1453
|
-
|
1454
|
-
//! Get the triple(3) col of a transform matrix
|
1455
|
-
#define MAT_GET_COL(mat,vec3,colindex)\
|
1456
|
-
{\
|
1457
|
-
vec3[0] = mat[0][colindex];\
|
1458
|
-
vec3[1] = mat[1][colindex];\
|
1459
|
-
vec3[2] = mat[2][colindex]; \
|
1460
|
-
}\
|
1461
|
-
|
1462
|
-
//! Get the tuple(2) col of a transform matrix
|
1463
|
-
#define MAT_GET_COL2(mat,vec2,colindex)\
|
1464
|
-
{\
|
1465
|
-
vec2[0] = mat[0][colindex];\
|
1466
|
-
vec2[1] = mat[1][colindex];\
|
1467
|
-
}\
|
1468
|
-
|
1469
|
-
|
1470
|
-
//! Get the quad (4) col of a transform matrix
|
1471
|
-
#define MAT_GET_COL4(mat,vec4,colindex)\
|
1472
|
-
{\
|
1473
|
-
vec4[0] = mat[0][colindex];\
|
1474
|
-
vec4[1] = mat[1][colindex];\
|
1475
|
-
vec4[2] = mat[2][colindex];\
|
1476
|
-
vec4[3] = mat[3][colindex];\
|
1477
|
-
}\
|
1478
|
-
|
1479
|
-
//! Get the triple(3) col of a transform matrix
|
1480
|
-
#define MAT_GET_X(mat,vec3)\
|
1481
|
-
{\
|
1482
|
-
MAT_GET_COL(mat,vec3,0);\
|
1483
|
-
}\
|
1484
|
-
|
1485
|
-
//! Get the triple(3) col of a transform matrix
|
1486
|
-
#define MAT_GET_Y(mat,vec3)\
|
1487
|
-
{\
|
1488
|
-
MAT_GET_COL(mat,vec3,1);\
|
1489
|
-
}\
|
1490
|
-
|
1491
|
-
//! Get the triple(3) col of a transform matrix
|
1492
|
-
#define MAT_GET_Z(mat,vec3)\
|
1493
|
-
{\
|
1494
|
-
MAT_GET_COL(mat,vec3,2);\
|
1495
|
-
}\
|
1496
|
-
|
1497
|
-
|
1498
|
-
//! Get the triple(3) col of a transform matrix
|
1499
|
-
#define MAT_SET_X(mat,vec3)\
|
1500
|
-
{\
|
1501
|
-
mat[0][0] = vec3[0];\
|
1502
|
-
mat[1][0] = vec3[1];\
|
1503
|
-
mat[2][0] = vec3[2];\
|
1504
|
-
}\
|
1505
|
-
|
1506
|
-
//! Get the triple(3) col of a transform matrix
|
1507
|
-
#define MAT_SET_Y(mat,vec3)\
|
1508
|
-
{\
|
1509
|
-
mat[0][1] = vec3[0];\
|
1510
|
-
mat[1][1] = vec3[1];\
|
1511
|
-
mat[2][1] = vec3[2];\
|
1512
|
-
}\
|
1513
|
-
|
1514
|
-
//! Get the triple(3) col of a transform matrix
|
1515
|
-
#define MAT_SET_Z(mat,vec3)\
|
1516
|
-
{\
|
1517
|
-
mat[0][2] = vec3[0];\
|
1518
|
-
mat[1][2] = vec3[1];\
|
1519
|
-
mat[2][2] = vec3[2];\
|
1520
|
-
}\
|
1521
|
-
|
1522
|
-
|
1523
|
-
//! Get the triple(3) col of a transform matrix
|
1524
|
-
#define MAT_GET_TRANSLATION(mat,vec3)\
|
1525
|
-
{\
|
1526
|
-
vec3[0] = mat[0][3];\
|
1527
|
-
vec3[1] = mat[1][3];\
|
1528
|
-
vec3[2] = mat[2][3]; \
|
1529
|
-
}\
|
1530
|
-
|
1531
|
-
//! Set the triple(3) col of a transform matrix
|
1532
|
-
#define MAT_SET_TRANSLATION(mat,vec3)\
|
1533
|
-
{\
|
1534
|
-
mat[0][3] = vec3[0];\
|
1535
|
-
mat[1][3] = vec3[1];\
|
1536
|
-
mat[2][3] = vec3[2]; \
|
1537
|
-
}\
|
1538
|
-
|
1539
|
-
|
1540
|
-
|
1541
|
-
//! Returns the dot product between a vec3f and the row of a matrix
|
1542
|
-
#define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]*mat[rowindex][0] + vec3[1]*mat[rowindex][1] + vec3[2]*mat[rowindex][2])
|
1543
|
-
|
1544
|
-
//! Returns the dot product between a vec2f and the row of a matrix
|
1545
|
-
#define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]*mat[rowindex][0] + vec2[1]*mat[rowindex][1])
|
1546
|
-
|
1547
|
-
//! Returns the dot product between a vec4f and the row of a matrix
|
1548
|
-
#define MAT_DOT_ROW4(mat,vec4,rowindex) (vec4[0]*mat[rowindex][0] + vec4[1]*mat[rowindex][1] + vec4[2]*mat[rowindex][2] + vec4[3]*mat[rowindex][3])
|
1549
|
-
|
1550
|
-
|
1551
|
-
//! Returns the dot product between a vec3f and the col of a matrix
|
1552
|
-
#define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex])
|
1553
|
-
|
1554
|
-
//! Returns the dot product between a vec2f and the col of a matrix
|
1555
|
-
#define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]*mat[0][colindex] + vec2[1]*mat[1][colindex])
|
1556
|
-
|
1557
|
-
//! Returns the dot product between a vec4f and the col of a matrix
|
1558
|
-
#define MAT_DOT_COL4(mat,vec4,colindex) (vec4[0]*mat[0][colindex] + vec4[1]*mat[1][colindex] + vec4[2]*mat[2][colindex] + vec4[3]*mat[3][colindex])
|
1559
|
-
|
1560
|
-
/*!Transpose matrix times vector
|
1561
|
-
v is a vec3f
|
1562
|
-
and m is a mat4f<br>
|
1563
|
-
*/
|
1564
|
-
#define INV_MAT_DOT_VEC_3X3(p,m,v) \
|
1565
|
-
{ \
|
1566
|
-
p[0] = MAT_DOT_COL(m,v,0); \
|
1567
|
-
p[1] = MAT_DOT_COL(m,v,1); \
|
1568
|
-
p[2] = MAT_DOT_COL(m,v,2); \
|
1569
|
-
}\
|
1570
|
-
|
1571
|
-
|
1572
|
-
|
1573
|
-
#endif // GIM_VECTOR_H_INCLUDED
|