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#include <BH/Math/Mat3f.h>
#include <BH/Math/Vec3f.h>
#include <string.h>
#include <math.h>
#define EPSILON 0.00001f
#define PI 3.14159265358979323846f
#define SET_ROW(row, val) row[0] = row[1] = row[2] = val
void BH_Mat3fIdentity(float out[9])
{
static const float ident[9] =
{
1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 1.0f
};
memcpy(out, ident, sizeof(ident));
}
void BH_Mat3fAdd(const float a[9],
const float b[9],
float out[9])
{
BH_Vec3fAdd(&a[0], &b[0], &out[0]);
BH_Vec3fAdd(&a[3], &b[3], &out[3]);
BH_Vec3fAdd(&a[6], &b[6], &out[6]);
}
void BH_Mat3fSub(const float a[9],
const float b[9],
float out[9])
{
BH_Vec3fSub(&a[0], &b[0], &out[0]);
BH_Vec3fSub(&a[3], &b[3], &out[3]);
BH_Vec3fSub(&a[6], &b[6], &out[6]);
}
void BH_Mat3fMul(const float a[9],
const float b[9],
float out[9])
{
float tmp[9], row[3];
SET_ROW(row, b[0]); BH_Vec3fMul(&a[0], row, &tmp[0]);
SET_ROW(row, b[1]); BH_Vec3fMulAdd(&a[3], row, &tmp[0], &tmp[0]);
SET_ROW(row, b[2]); BH_Vec3fMulAdd(&a[6], row, &tmp[0], &tmp[0]);
SET_ROW(row, b[3]); BH_Vec3fMul(&a[0], row, &tmp[3]);
SET_ROW(row, b[4]); BH_Vec3fMulAdd(&a[3], row, &tmp[3], &tmp[3]);
SET_ROW(row, b[5]); BH_Vec3fMulAdd(&a[6], row, &tmp[3], &tmp[3]);
SET_ROW(row, b[6]); BH_Vec3fMul(&a[0], row, &tmp[6]);
SET_ROW(row, b[7]); BH_Vec3fMulAdd(&a[3], row, &tmp[6], &tmp[6]);
SET_ROW(row, b[8]); BH_Vec3fMulAdd(&a[6], row, &tmp[6], &tmp[6]);
memcpy(out, tmp, sizeof(tmp));
}
void BH_Mat3fScale(const float a[9],
float b,
float out[9])
{
BH_Vec3fScale(&a[0], b, &out[0]);
BH_Vec3fScale(&a[3], b, &out[3]);
BH_Vec3fScale(&a[6], b, &out[6]);
}
void BH_Mat3fTranspose(const float in[9],
float out[9])
{
float tmp[9];
tmp[0] = in[0]; tmp[3] = in[1]; tmp[6] = in[2];
tmp[1] = in[3]; tmp[4] = in[4]; tmp[7] = in[5];
tmp[2] = in[6]; tmp[5] = in[7]; tmp[8] = in[8];
memcpy(out, tmp, sizeof(tmp));
}
float BH_Mat3fTrace(const float in[9])
{
return in[0] + in[4] + in[8];
}
float BH_Mat3fDet(const float in[9])
{
float a, b, c, result;
a = in[4] * in[8] - in[7] * in[5];
b = in[1] * in[8] - in[7] * in[2];
c = in[1] * in[5] - in[4] * in[2];
result = 0.0f;
result += in[0] * a;
result -= in[3] * b;
result += in[6] * c;
return result;
}
int BH_Mat3fInverse(const float in[9],
float out[9])
{
float a, b, c, det;
float tmp[16];
a = in[4] * in[8] - in[7] * in[5];
b = in[1] * in[8] - in[7] * in[2];
c = in[1] * in[5] - in[4] * in[2];
tmp[0] = a;
tmp[1] = -b;
tmp[2] = c;
det = 0.0f;
det += in[0] * tmp[0];
det += in[3] * tmp[1];
det += in[6] * tmp[2];
if (fabsf(det) < EPSILON)
return BH_ERROR;
a = in[3] * in[8] - in[6] * in[5];
b = in[0] * in[8] - in[6] * in[2];
c = in[0] * in[5] - in[3] * in[2];
tmp[3] = -a;
tmp[4] = b;
tmp[5] = -c;
a = in[3] * in[7] - in[6] * in[4];
b = in[0] * in[7] - in[6] * in[1];
c = in[0] * in[4] - in[3] * in[1];
tmp[6] = a;
tmp[7] = -b;
tmp[8] = c;
BH_Mat3fScale(tmp, 1.0f / det, out);
return BH_OK;
}
void BH_Mat3fFromScale(float x,
float y,
float out[9])
{
BH_Mat3fIdentity(out);
out[0] = x;
out[4] = y;
}
void BH_Mat3fFromTranslation(float x,
float y,
float out[9])
{
BH_Mat3fIdentity(out);
out[6] = x;
out[7] = y;
}
void BH_Mat3fFromRotation(float angle,
float out[9])
{
float c, s;
c = cosf(angle);
s = sinf(angle);
BH_Mat3fIdentity(out);
out[0] = c;
out[1] = s;
out[3] = -s;
out[4] = c;
}
void BH_Mat3fApplyVec3f(float a[9],
float b[3],
float out[3])
{
float tmp[3], row[3];
SET_ROW(row, b[0]); BH_Vec3fMul(&a[0], row, tmp);
SET_ROW(row, b[1]); BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
SET_ROW(row, b[2]); BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
memcpy(out, tmp, sizeof(tmp));
}
void BH_Mat3fApplyVec2f(float a[9],
float b[2],
float out[2])
{
float tmp[3], row[3];
SET_ROW(row, b[0]); BH_Vec3fMul(&a[0], row, tmp);
SET_ROW(row, b[1]); BH_Vec3fMulAdd(&a[3], row, tmp, tmp);
SET_ROW(row, 1.0f); BH_Vec3fMulAdd(&a[6], row, tmp, tmp);
memcpy(out, tmp, sizeof(float) * 2);
}
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