/*
Copyright (c) 2008, Luke Benstead.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* 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.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "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 COPYRIGHT OWNER OR CONTRIBUTORS 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.
*/
/**
* @file mat4.c
*/
#include <memory.h>
#include <assert.h>
#include <stdlib.h>
#include "kazmath/utility.h"
#include "kazmath/vec3.h"
#include "kazmath/mat4.h"
#include "kazmath/mat3.h"
#include "kazmath/quaternion.h"
#include "kazmath/plane.h"
#include "kazmath/neon_matrix_impl.h"
/**
* Fills a kmMat4 structure with the values from a 16
* element array of floats
* @Params pOut - A pointer to the destination matrix
* pMat - A 16 element array of floats
* @Return Returns pOut so that the call can be nested
*/
kmMat4* const kmMat4Fill(kmMat4* pOut, const kmScalar* pMat)
{
memcpy(pOut->mat, pMat, sizeof(kmScalar) * 16);
return pOut;
}
/**
* Sets pOut to an identity matrix returns pOut
* @Params pOut - A pointer to the matrix to set to identity
* @Return Returns pOut so that the call can be nested
*/
kmMat4* const kmMat4Identity(kmMat4* pOut)
{
memset(pOut->mat, 0, sizeof(float) * 16);
pOut->mat[0] = pOut->mat[5] = pOut->mat[10] = pOut->mat[15] = 1.0f;
return pOut;
}
float get(const kmMat4 * pIn, int row, int col)
{
return pIn->mat[row + 4*col];
}
void set(kmMat4 * pIn, int row, int col, float value)
{
pIn->mat[row + 4*col] = value;
}
void swap(kmMat4 * pIn, int r1, int c1, int r2, int c2)
{
float tmp = get(pIn,r1,c1);
set(pIn,r1,c1,get(pIn,r2,c2));
set(pIn,r2,c2, tmp);
}
//Returns an upper and a lower triangular matrix which are L and R in the Gauss algorithm
int gaussj(kmMat4 *a, kmMat4 *b)
{
int i, icol = 0, irow = 0, j, k, l, ll, n = 4, m = 4;
float big, dum, pivinv;
int indxc[4] = {0};
int indxr[4] = {0};
int ipiv[4] = {0};
for (j = 0; j < n; j++) {
ipiv[j] = 0;
}
for (i = 0; i < n; i++) {
big = 0.0f;
for (j = 0; j < n; j++) {
if (ipiv[j] != 1) {
for (k = 0; k < n; k++) {
if (ipiv[k] == 0) {
if (abs(get(a,j, k)) >= big) {
big = abs(get(a,j, k));
irow = j;
icol = k;
}
}
}
}
}
++(ipiv[icol]);
if (irow != icol) {
for (l = 0; l < n; l++) {
swap(a,irow, l, icol, l);
}
for (l = 0; l < m; l++) {
swap(b,irow, l, icol, l);
}
}
indxr[i] = irow;
indxc[i] = icol;
if (get(a,icol, icol) == 0.0) {
return KM_FALSE;
}
pivinv = 1.0f / get(a,icol, icol);
set(a,icol, icol, 1.0f);
for (l = 0; l < n; l++) {
set(a,icol, l, get(a,icol, l) * pivinv);
}
for (l = 0; l < m; l++) {
set(b,icol, l, get(b,icol, l) * pivinv);
}
for (ll = 0; ll < n; ll++) {
if (ll != icol) {
dum = get(a,ll, icol);
set(a,ll, icol, 0.0f);
for (l = 0; l < n; l++) {
set(a,ll, l, get(a,ll, l) - get(a,icol, l) * dum);
}
for (l = 0; l < m; l++) {
set(b,ll, l, get(a,ll, l) - get(b,icol, l) * dum);
}
}
}
}
// This is the end of the main loop over columns of the reduction. It only remains to unscram-
// ble the solution in view of the column interchanges. We do this by interchanging pairs of
// columns in the reverse order that the permutation was built up.
for (l = n - 1; l >= 0; l--) {
if (indxr[l] != indxc[l]) {
for (k = 0; k < n; k++) {
swap(a,k, indxr[l], k, indxc[l]);
}
}
}
return KM_TRUE;
}
/**
* Calculates the inverse of pM and stores the result in
* pOut.
* @Return Returns NULL if there is no inverse, else pOut
*/
kmMat4* const kmMat4Inverse(kmMat4* pOut, const kmMat4* pM)
{
kmMat4 inv;
kmMat4 tmp;
kmMat4Assign(&inv, pM);
kmMat4Identity(&tmp);
if(gaussj(&inv, &tmp) == KM_FALSE) {
return NULL;
}
kmMat4Assign(pOut, &inv);
return pOut;
}
/**
* Returns KM_TRUE if pIn is an identity matrix
* KM_FALSE otherwise
*/
const int kmMat4IsIdentity(const kmMat4* pIn)
{
static const float identity [] = { 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f
};
return (memcmp(identity, pIn->mat, sizeof(float) * 16) == 0);
}
/**
* Sets pOut to the transpose of pIn, returns pOut
*/
kmMat4* const kmMat4Transpose(kmMat4* pOut, const kmMat4* pIn)
{
int x, z;
for (z = 0; z < 4; ++z) {
for (x = 0; x < 4; ++x) {
pOut->mat[(z * 4) + x] = pIn->mat[(x * 4) + z];
}
}
return pOut;
}
/**
* Multiplies pM1 with pM2, stores the result in pOut, returns pOut
*/
kmMat4* const kmMat4Multiply(kmMat4* pOut, const kmMat4* pM1, const kmMat4* pM2)
{
#if defined(__ARM_NEON__)
float mat[16];
// Invert column-order with row-order
NEON_Matrix4Mul( &pM2->mat[0], &pM1->mat[0], &mat[0] );
#else
float mat[16];
const float *m1 = pM1->mat, *m2 = pM2->mat;
mat[0] = m1[0] * m2[0] + m1[4] * m2[1] + m1[8] * m2[2] + m1[12] * m2[3];
mat[1] = m1[1] * m2[0] + m1[5] * m2[1] + m1[9] * m2[2] + m1[13] * m2[3];
mat[2] = m1[2] * m2[0] + m1[6] * m2[1] + m1[10] * m2[2] + m1[14] * m2[3];
mat[3] = m1[3] * m2[0] + m1[7] * m2[1] + m1[11] * m2[2] + m1[15] * m2[3];
mat[4] = m1[0] * m2[4] + m1[4] * m2[5] + m1[8] * m2[6] + m1[12] * m2[7];
mat[5] = m1[1] * m2[4] + m1[5] * m2[5] + m1[9] * m2[6] + m1[13] * m2[7];
mat[6] = m1[2] * m2[4] + m1[6] * m2[5] + m1[10] * m2[6] + m1[14] * m2[7];
mat[7] = m1[3] * m2[4] + m1[7] * m2[5] + m1[11] * m2[6] + m1[15] * m2[7];
mat[8] = m1[0] * m2[8] + m1[4] * m2[9] + m1[8] * m2[10] + m1[12] * m2[11];
mat[9] = m1[1] * m2[8] + m1[5] * m2[9] + m1[9] * m2[10] + m1[13] * m2[11];
mat[10] = m1[2] * m2[8] + m1[6] * m2[9] + m1[10] * m2[10] + m1[14] * m2[11];
mat[11] = m1[3] * m2[8] + m1[7] * m2[9] + m1[11] * m2[10] + m1[15] * m2[11];
mat[12] = m1[0] * m2[12] + m1[4] * m2[13] + m1[8] * m2[14] + m1[12] * m2[15];
mat[13] = m1[1] * m2[12] + m1[5] * m2[13] + m1[9] * m2[14] + m1[13] * m2[15];
mat[14] = m1[2] * m2[12] + m1[6] * m2[13] + m1[10] * m2[14] + m1[14] * m2[15];
mat[15] = m1[3] * m2[12] + m1[7] * m2[13] + m1[11] * m2[14] + m1[15] * m2[15];
#endif
memcpy(pOut->mat, mat, sizeof(float)*16);
return pOut;
}
/**
* Assigns
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cocos2dx2.0.4 (524个子文件)
libcurl.a 1.15MB
mat4.c 22KB
quaternion.c 17KB
mat3.c 10KB
vec3.c 7KB
matrix.c 6KB
ray2.c 5KB
vec4.c 5KB
plane.c 5KB
vec2.c 3KB
neon_matrix_impl.c 3KB
mat4stack.c 3KB
aabb.c 2KB
utility.c 2KB
ChangeLog 25KB
unzip.cpp 69KB
CCActionInterval.cpp 56KB
CCTransition.cpp 47KB
CCLabelBMFont.cpp 41KB
CCParticleSystem.cpp 38KB
CCNodeLoader.cpp 36KB
b2World.cpp 36KB
CCActionEase.cpp 31KB
CCSprite.cpp 30KB
CCScale9Sprite.cpp 29KB
b2ContactSolver.cpp 27KB
CCActionTiledGrid.cpp 27KB
CCTextureCache.cpp 27KB
CCMenuItem.cpp 27KB
CCNode.cpp 26KB
CCParticleExamples.cpp 25KB
CCScheduler.cpp 25KB
CCTexture2D.cpp 23KB
CCDirector.cpp 23KB
CCLayer.cpp 23KB
CCTMXXMLParser.cpp 23KB
CCTMXLayer.cpp 22KB
CCBReader.cpp 21KB
CCActionGrid3D.cpp 21KB
CCControlButton.cpp 21KB
CCSpriteBatchNode.cpp 21KB
CCBAnimationManager.cpp 20KB
CCScrollView.cpp 19KB
b2DynamicTree.cpp 19KB
CCTextureAtlas.cpp 19KB
b2CollideEdge.cpp 19KB
b2PrismaticJoint.cpp 19KB
CCParticleSystemQuad.cpp 18KB
b2Island.cpp 18KB
CCGrid.cpp 18KB
CCProgressTimer.cpp 17KB
CCMenu.cpp 17KB
CCRenderTexture.cpp 16KB
b2Distance.cpp 16KB
CCTexturePVR.cpp 16KB
CCParticleBatchNode.cpp 15KB
HttpClient.cpp 15KB
b2RevoluteJoint.cpp 15KB
b2TimeOfImpact.cpp 14KB
CCTouchDispatcher.cpp 14KB
CCSpriteFrameCache.cpp 14KB
CCActionInstant.cpp 14KB
CCControlSwitch.cpp 14KB
CCTableView.cpp 14KB
CCDrawingPrimitives.cpp 14KB
CCTransitionProgress.cpp 13KB
b2GearJoint.cpp 13KB
b2Body.cpp 12KB
ccCArray.cpp 12KB
CCActionCatmullRom.cpp 12KB
b2WheelJoint.cpp 11KB
CCGLProgram.cpp 11KB
CCActionManager.cpp 11KB
b2PolygonShape.cpp 10KB
CCMotionStreak.cpp 10KB
CCActionGrid.cpp 10KB
CCControlStepper.cpp 10KB
TGAlib.cpp 10KB
CCControl.cpp 10KB
CCArray.cpp 10KB
b2CollidePolygon.cpp 10KB
b2WeldJoint.cpp 9KB
CCIMEDispatcher.cpp 9KB
CCTileMapAtlas.cpp 9KB
CCDictionary.cpp 9KB
b2Fixture.cpp 9KB
b2PulleyJoint.cpp 9KB
CCTMXTiledMap.cpp 9KB
CCAnimationCache.cpp 9KB
CCControlSlider.cpp 9KB
CCEGLViewProtocol.cpp 9KB
CCTextFieldTTF.cpp 9KB
CCShaderCache.cpp 8KB
CCUserDefault.cpp 8KB
CCLabelTTF.cpp 8KB
HelloWorldScene.cpp 8KB
CCAction.cpp 8KB
CCControlSaturationBrightnessPicker.cpp 8KB
ioapi.cpp 8KB
b2ContactManager.cpp 8KB
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