Games/XInvaders3D/mat4x4.c

   1 /*------------------------------------------------------------------
   2   mat4x4.c:
   3
   4     XINVADERS 3D - 3d Shoot'em up
   5     Copyright (C) 2000 Don Llopis
   6
   7     This program is free software; you can redistribute it and/or modify
   8     it under the terms of the GNU General Public License as published by
   9     the Free Software Foundation; either version 2 of the License, or
  10     (at your option) any later version.
  11
  12     This program is distributed in the hope that it will be useful,
  13     but WITHOUT ANY WARRANTY; without even the implied warranty of
  14     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  15     GNU General Public License for more details.
  16
  17     You should have received a copy of the GNU General Public License
  18     along with this program; if not, write to the Free Software
  19     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  20
  21 ------------------------------------------------------------------*/
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <memory.h>
  25 #include <math.h>
  26 #include <string.h>
  27
  28 #include "mat4x4.h"
  29
  30
  31 /*================================================================*/
  32
  33 void Matrix_id ( MATRIX4 a )
  34 {
  35    memset ( a, 0, sizeof ( MATRIX4 ) );
  36    a[0][0] = a[1][1] = a[2][2] = a[3][3] = 1.0f;
  37 }
  38
  39 /*================================================================*/
  40
  41 void Matrix_zero ( MATRIX4 a )
  42 {
  43    memset ( a, 0, sizeof (MATRIX4 ) );
  44 }
  45
  46 /*================================================================*/
  47
  48 void Matrix_copy ( MATRIX4 a, MATRIX4 b )
  49 {
  50    memcpy ( b, a, sizeof ( MATRIX4 ) );
  51 }
  52
  53 /*================================================================*/
  54
  55 void Matrix_print ( MATRIX4 a )
  56 {
  57    int i, j;
  58
  59    for ( i=0; i<4; i++ )
  60    {
  61       for (j=0; j<4; j++ )
  62          fprintf ( stderr, "%5.5f ", a[i][j] );
  63
  64       fprintf ( stderr, "\n" );
  65    }
  66 }
  67
  68 /*================================================================*/
  69
  70 void Matrix_mult ( MATRIX4 a, MATRIX4 b, MATRIX4 c )
  71 {
  72    int i;
  73
  74    for ( i=0; i<4; i++ )
  75    {
  76       c[i][0] = ( a[i][0] * b[0][0] ) +
  77                   ( a[i][1] * b[1][0] ) +
  78                   ( a[i][2] * b[2][0] ) +
  79                   ( a[i][3] * b[3][0] );
  80
  81       c[i][1] = ( a[i][0] * b[0][1] ) +
  82                   ( a[i][1] * b[1][1] ) +
  83                   ( a[i][2] * b[2][1] ) +
  84                   ( a[i][3] * b[3][1] );
  85
  86       c[i][2] = ( a[i][0] * b[0][2] ) +
  87                   ( a[i][1] * b[1][2] ) +
  88                   ( a[i][2] * b[2][2] ) +
  89                   ( a[i][3] * b[3][2] );
  90
  91       c[i][3] = ( a[i][0] * b[0][3] ) +
  92                   ( a[i][1] * b[1][3] ) +
  93                   ( a[i][2] * b[2][3] ) +
  94                   ( a[i][3] * b[3][3] );
  95    }
  96 }
  97
  98 /*================================================================*/
  99
 100 void Matrix_transpose ( MATRIX4 a, MATRIX4 b )
 101 {
 102    b[0][0] = a[0][0];
 103    b[0][1] = a[1][0];
 104    b[0][2] = a[2][0];
 105    b[0][3] = b[3][0];
 106
 107    b[1][0] = a[0][1];
 108    b[1][1] = a[1][1];
 109    b[1][2] = a[2][1];
 110    b[1][3] = b[3][1];
 111
 112    b[2][0] = a[0][2];
 113    b[2][1] = a[1][2];
 114    b[2][2] = a[2][2];
 115    b[2][3] = b[3][2];
 116
 117    b[3][0] = a[0][3];
 118    b[3][1] = a[1][3];
 119    b[3][2] = a[2][3];
 120    b[3][3] = b[3][3];
 121 }
 122
 123 /*================================================================*/
 124
 125 void Matrix_vec_mult ( MATRIX4 a, VECTOR4 b, VECTOR4 c )
 126 {
 127    c[0] = ( a[0][0] * b[0] ) +
 128           ( a[0][1] * b[1] ) +
 129           ( a[0][2] * b[2] ) +
 130           ( a[0][3] * b[3] );
 131
 132    c[1] = ( a[1][0] * b[0] ) +
 133           ( a[1][1] * b[1] ) +
 134           ( a[1][2] * b[2] ) +
 135           ( a[1][3] * b[3] );
 136
 137    c[2] = ( a[2][0] * b[0] ) +
 138           ( a[2][1] * b[1] ) +
 139           ( a[2][2] * b[2] ) +
 140           ( a[2][3] * b[3] );
 141
 142    c[3] = ( a[3][0] * b[0] ) +
 143           ( a[3][1] * b[1] ) +
 144           ( a[3][2] * b[2] ) +
 145           ( a[3][3] * b[3] );
 146 }
 147
 148 /*================================================================*/
 149
 150 void Matrix_vec_multn ( MATRIX4 a, VECTOR4 b[], VECTOR4 c[], int num )
 151 {
 152    int i;
 153
 154    for ( i=0; i<num; i++ )
 155    {
 156       c[i][0] = ( a[0][0] * b[i][0] ) +
 157                 ( a[0][1] * b[i][1] ) +
 158                 ( a[0][2] * b[i][2] ) +
 159                 ( a[0][3] * b[i][3] );
 160
 161       c[i][1] = ( a[1][0] * b[i][0] ) +
 162                 ( a[1][1] * b[i][1] ) +
 163                 ( a[1][2] * b[i][2] ) +
 164                 ( a[1][3] * b[i][3] );
 165
 166       c[i][2] = ( a[2][0] * b[i][0] ) +
 167                 ( a[2][1] * b[i][1] ) +
 168                 ( a[2][2] * b[i][2] ) +
 169                 ( a[2][3] * b[i][3] );
 170
 171       c[i][3] = ( a[3][0] * b[i][0] ) +
 172                 ( a[3][1] * b[i][1] ) +
 173                 ( a[3][2] * b[i][2] ) +
 174                 ( a[3][3] * b[i][3] );
 175    }
 176 }
 177
 178 /*================================================================*/
 179
 180 void Matrix_x_rot ( MATRIX4 a, float rad )
 181 {
 182    float sine, cosine;
 183
 184    sine = (float) sin ( rad );
 185    cosine = (float) cos ( rad );
 186
 187    Matrix_id ( a );
 188    a[1][1] = cosine; a[1][2] = -sine;
 189    a[2][1] = sine;   a[2][2] = cosine;
 190 }
 191
 192 /*================================================================*/
 193
 194 void Matrix_y_rot ( MATRIX4 a, float rad )
 195 {
 196    float sine, cosine;
 197
 198    sine = (float) sin ( rad );
 199    cosine = (float) cos ( rad );
 200
 201    Matrix_id ( a );
 202    a[0][0] = cosine; a[0][2] = sine;
 203    a[2][0] = -sine;  a[2][2] = cosine;
 204 }
 205
 206 /*================================================================*/
 207
 208 void Matrix_z_rot ( MATRIX4 a, float rad )
 209 {
 210    float sine, cosine;
 211
 212    sine = sin ( rad );
 213    cosine = cos ( rad );
 214
 215    Matrix_id ( a );
 216    a[0][0] = cosine; a[0][1] = -sine;
 217    a[1][0] = sine;   a[1][1] = cosine;
 218 }
 219
 220 /*================================================================*/
 221
 222 void Matrix_set_xrow ( MATRIX4 a, VECTOR4 b )
 223 {
 224    a[0][0] = b[0];
 225    a[0][1] = b[1];
 226    a[0][2] = b[2];
 227 }
 228
 229 /*================================================================*/
 230
 231 void Matrix_set_yrow ( MATRIX4 a, VECTOR4 b )
 232 {
 233    a[1][0] = b[0];
 234    a[1][1] = b[1];
 235    a[1][2] = b[2];
 236 }
 237
 238 /*================================================================*/
 239
 240 void Matrix_set_zrow ( MATRIX4 a, VECTOR4 b )
 241 {
 242    a[2][0] = b[0];
 243    a[2][1] = b[1];
 244    a[2][2] = b[2];
 245 }
 246
 247 /*================================================================*/
 248
 249 void Matrix_set_xcol ( MATRIX4 a, VECTOR4 b )
 250 {
 251    a[0][0] = b[0];
 252    a[1][0] = b[1];
 253    a[2][0] = b[2];
 254 }
 255
 256 /*================================================================*/
 257
 258 void Matrix_set_ycol ( MATRIX4 a, VECTOR4 b )
 259 {
 260    a[0][1] = b[0];
 261    a[1][1] = b[1];
 262    a[2][1] = b[2];
 263 }
 264
 265 /*================================================================*/
 266
 267 void Matrix_set_zcol ( MATRIX4 a, VECTOR4 b )
 268 {
 269    a[0][2] = b[0];
 270    a[1][2] = b[1];
 271    a[2][2] = b[2];
 272 }
 273
 274 /*================================================================*/
 275
 276 void Matrix_set_trans ( MATRIX4 a, VECTOR4 b )
 277 {
 278    a[0][3] = b[0];
 279    a[1][3] = b[1];
 280    a[2][3] = b[2];
 281 }
 282
 283 /*================================================================*/