00001 #ifndef GIM_LINEAR_H_INCLUDED
00002 #define GIM_LINEAR_H_INCLUDED
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00038 #include "gim_math.h"
00039 #include "gim_geom_types.h"
00040
00041
00042
00043
00045 #define VEC_ZERO_2(a) \
00046 { \
00047 (a)[0] = (a)[1] = 0.0f; \
00048 }\
00049
00050
00052 #define VEC_ZERO(a) \
00053 { \
00054 (a)[0] = (a)[1] = (a)[2] = 0.0f; \
00055 }\
00056
00057
00059 #define VEC_ZERO_4(a) \
00060 { \
00061 (a)[0] = (a)[1] = (a)[2] = (a)[3] = 0.0f; \
00062 }\
00063
00064
00066 #define VEC_COPY_2(b,a) \
00067 { \
00068 (b)[0] = (a)[0]; \
00069 (b)[1] = (a)[1]; \
00070 }\
00071
00072
00074 #define VEC_COPY(b,a) \
00075 { \
00076 (b)[0] = (a)[0]; \
00077 (b)[1] = (a)[1]; \
00078 (b)[2] = (a)[2]; \
00079 }\
00080
00081
00083 #define VEC_COPY_4(b,a) \
00084 { \
00085 (b)[0] = (a)[0]; \
00086 (b)[1] = (a)[1]; \
00087 (b)[2] = (a)[2]; \
00088 (b)[3] = (a)[3]; \
00089 }\
00090
00091
00092 #define VEC_SWAP(b,a) \
00093 { \
00094 GIM_SWAP_NUMBERS((b)[0],(a)[0]);\
00095 GIM_SWAP_NUMBERS((b)[1],(a)[1]);\
00096 GIM_SWAP_NUMBERS((b)[2],(a)[2]);\
00097 }\
00098
00099
00100 #define VEC_DIFF_2(v21,v2,v1) \
00101 { \
00102 (v21)[0] = (v2)[0] - (v1)[0]; \
00103 (v21)[1] = (v2)[1] - (v1)[1]; \
00104 }\
00105
00106
00108 #define VEC_DIFF(v21,v2,v1) \
00109 { \
00110 (v21)[0] = (v2)[0] - (v1)[0]; \
00111 (v21)[1] = (v2)[1] - (v1)[1]; \
00112 (v21)[2] = (v2)[2] - (v1)[2]; \
00113 }\
00114
00115
00117 #define VEC_DIFF_4(v21,v2,v1) \
00118 { \
00119 (v21)[0] = (v2)[0] - (v1)[0]; \
00120 (v21)[1] = (v2)[1] - (v1)[1]; \
00121 (v21)[2] = (v2)[2] - (v1)[2]; \
00122 (v21)[3] = (v2)[3] - (v1)[3]; \
00123 }\
00124
00125
00127 #define VEC_SUM_2(v21,v2,v1) \
00128 { \
00129 (v21)[0] = (v2)[0] + (v1)[0]; \
00130 (v21)[1] = (v2)[1] + (v1)[1]; \
00131 }\
00132
00133
00135 #define VEC_SUM(v21,v2,v1) \
00136 { \
00137 (v21)[0] = (v2)[0] + (v1)[0]; \
00138 (v21)[1] = (v2)[1] + (v1)[1]; \
00139 (v21)[2] = (v2)[2] + (v1)[2]; \
00140 }\
00141
00142
00144 #define VEC_SUM_4(v21,v2,v1) \
00145 { \
00146 (v21)[0] = (v2)[0] + (v1)[0]; \
00147 (v21)[1] = (v2)[1] + (v1)[1]; \
00148 (v21)[2] = (v2)[2] + (v1)[2]; \
00149 (v21)[3] = (v2)[3] + (v1)[3]; \
00150 }\
00151
00152
00154 #define VEC_SCALE_2(c,a,b) \
00155 { \
00156 (c)[0] = (a)*(b)[0]; \
00157 (c)[1] = (a)*(b)[1]; \
00158 }\
00159
00160
00162 #define VEC_SCALE(c,a,b) \
00163 { \
00164 (c)[0] = (a)*(b)[0]; \
00165 (c)[1] = (a)*(b)[1]; \
00166 (c)[2] = (a)*(b)[2]; \
00167 }\
00168
00169
00171 #define VEC_SCALE_4(c,a,b) \
00172 { \
00173 (c)[0] = (a)*(b)[0]; \
00174 (c)[1] = (a)*(b)[1]; \
00175 (c)[2] = (a)*(b)[2]; \
00176 (c)[3] = (a)*(b)[3]; \
00177 }\
00178
00179
00181 #define VEC_ACCUM_2(c,a,b) \
00182 { \
00183 (c)[0] += (a)*(b)[0]; \
00184 (c)[1] += (a)*(b)[1]; \
00185 }\
00186
00187
00189 #define VEC_ACCUM(c,a,b) \
00190 { \
00191 (c)[0] += (a)*(b)[0]; \
00192 (c)[1] += (a)*(b)[1]; \
00193 (c)[2] += (a)*(b)[2]; \
00194 }\
00195
00196
00198 #define VEC_ACCUM_4(c,a,b) \
00199 { \
00200 (c)[0] += (a)*(b)[0]; \
00201 (c)[1] += (a)*(b)[1]; \
00202 (c)[2] += (a)*(b)[2]; \
00203 (c)[3] += (a)*(b)[3]; \
00204 }\
00205
00206
00208 #define VEC_DOT_2(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1])
00209
00210
00212 #define VEC_DOT(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2])
00213
00215 #define VEC_DOT_4(a,b) ((a)[0]*(b)[0] + (a)[1]*(b)[1] + (a)[2]*(b)[2] + (a)[3]*(b)[3])
00216
00218 #define VEC_IMPACT_SQ(bsq,direction,position) {\
00219 GREAL _llel_ = VEC_DOT(direction, position);\
00220 bsq = VEC_DOT(position, position) - _llel_*_llel_;\
00221 }\
00222
00223
00225 #define VEC_IMPACT(bsq,direction,position) {\
00226 VEC_IMPACT_SQ(bsq,direction,position); \
00227 GIM_SQRT(bsq,bsq); \
00228 }\
00229
00230
00231 #define VEC_LENGTH_2(a,l)\
00232 {\
00233 GREAL _pp = VEC_DOT_2(a,a);\
00234 GIM_SQRT(_pp,l);\
00235 }\
00236
00237
00239 #define VEC_LENGTH(a,l)\
00240 {\
00241 GREAL _pp = VEC_DOT(a,a);\
00242 GIM_SQRT(_pp,l);\
00243 }\
00244
00245
00247 #define VEC_LENGTH_4(a,l)\
00248 {\
00249 GREAL _pp = VEC_DOT_4(a,a);\
00250 GIM_SQRT(_pp,l);\
00251 }\
00252
00253
00254 #define VEC_INV_LENGTH_2(a,l)\
00255 {\
00256 GREAL _pp = VEC_DOT_2(a,a);\
00257 GIM_INV_SQRT(_pp,l);\
00258 }\
00259
00260
00262 #define VEC_INV_LENGTH(a,l)\
00263 {\
00264 GREAL _pp = VEC_DOT(a,a);\
00265 GIM_INV_SQRT(_pp,l);\
00266 }\
00267
00268
00270 #define VEC_INV_LENGTH_4(a,l)\
00271 {\
00272 GREAL _pp = VEC_DOT_4(a,a);\
00273 GIM_INV_SQRT(_pp,l);\
00274 }\
00275
00276
00277
00279 #define VEC_DISTANCE(_len,_va,_vb) {\
00280 vec3f _tmp_; \
00281 VEC_DIFF(_tmp_, _vb, _va); \
00282 VEC_LENGTH(_tmp_,_len); \
00283 }\
00284
00285
00287 #define VEC_CONJUGATE_LENGTH(a,l)\
00288 {\
00289 GREAL _pp = 1.0 - a[0]*a[0] - a[1]*a[1] - a[2]*a[2];\
00290 GIM_SQRT(_pp,l);\
00291 }\
00292
00293
00295 #define VEC_NORMALIZE(a) { \
00296 GREAL len;\
00297 VEC_INV_LENGTH(a,len); \
00298 if(len<G_REAL_INFINITY)\
00299 {\
00300 a[0] *= len; \
00301 a[1] *= len; \
00302 a[2] *= len; \
00303 } \
00304 }\
00305
00306
00307 #define VEC_RENORMALIZE(a,newlen) { \
00308 GREAL len;\
00309 VEC_INV_LENGTH(a,len); \
00310 if(len<G_REAL_INFINITY)\
00311 {\
00312 len *= newlen;\
00313 a[0] *= len; \
00314 a[1] *= len; \
00315 a[2] *= len; \
00316 } \
00317 }\
00318
00319
00320 #define VEC_CROSS(c,a,b) \
00321 { \
00322 c[0] = (a)[1] * (b)[2] - (a)[2] * (b)[1]; \
00323 c[1] = (a)[2] * (b)[0] - (a)[0] * (b)[2]; \
00324 c[2] = (a)[0] * (b)[1] - (a)[1] * (b)[0]; \
00325 }\
00326
00327
00330 #define VEC_PERPENDICULAR(vp,v,n) \
00331 { \
00332 GREAL dot = VEC_DOT(v, n); \
00333 vp[0] = (v)[0] - dot*(n)[0]; \
00334 vp[1] = (v)[1] - dot*(n)[1]; \
00335 vp[2] = (v)[2] - dot*(n)[2]; \
00336 }\
00337
00338
00340 #define VEC_PARALLEL(vp,v,n) \
00341 { \
00342 GREAL dot = VEC_DOT(v, n); \
00343 vp[0] = (dot) * (n)[0]; \
00344 vp[1] = (dot) * (n)[1]; \
00345 vp[2] = (dot) * (n)[2]; \
00346 }\
00347
00348
00350 #define VEC_PROJECT(vp,v,n) \
00351 { \
00352 GREAL scalar = VEC_DOT(v, n); \
00353 scalar/= VEC_DOT(n, n); \
00354 vp[0] = (scalar) * (n)[0]; \
00355 vp[1] = (scalar) * (n)[1]; \
00356 vp[2] = (scalar) * (n)[2]; \
00357 }\
00358
00359
00361 #define VEC_UNPROJECT(vp,v,n) \
00362 { \
00363 GREAL scalar = VEC_DOT(v, n); \
00364 scalar = VEC_DOT(n, n)/scalar; \
00365 vp[0] = (scalar) * (n)[0]; \
00366 vp[1] = (scalar) * (n)[1]; \
00367 vp[2] = (scalar) * (n)[2]; \
00368 }\
00369
00370
00373 #define VEC_REFLECT(vr,v,n) \
00374 { \
00375 GREAL dot = VEC_DOT(v, n); \
00376 vr[0] = (v)[0] - 2.0 * (dot) * (n)[0]; \
00377 vr[1] = (v)[1] - 2.0 * (dot) * (n)[1]; \
00378 vr[2] = (v)[2] - 2.0 * (dot) * (n)[2]; \
00379 }\
00380
00381
00384 #define VEC_BLEND_AB(vr,sa,a,sb,b) \
00385 { \
00386 vr[0] = (sa) * (a)[0] + (sb) * (b)[0]; \
00387 vr[1] = (sa) * (a)[1] + (sb) * (b)[1]; \
00388 vr[2] = (sa) * (a)[2] + (sb) * (b)[2]; \
00389 }\
00390
00391
00393 #define VEC_BLEND(vr,a,b,s) VEC_BLEND_AB(vr,(1-s),a,s,b)
00394
00395 #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];
00396
00398 #define VEC_MAYOR_COORD(vec, maxc)\
00399 {\
00400 GREAL A[] = {fabs(vec[0]),fabs(vec[1]),fabs(vec[2])};\
00401 maxc = A[0]>A[1]?(A[0]>A[2]?0:2):(A[1]>A[2]?1:2);\
00402 }\
00403
00404
00405 #define VEC_MINOR_AXES(vec, i0, i1)\
00406 {\
00407 VEC_MAYOR_COORD(vec,i0);\
00408 i0 = (i0+1)%3;\
00409 i1 = (i0+1)%3;\
00410 }\
00411
00412
00413
00414
00415 #define VEC_EQUAL(v1,v2) (v1[0]==v2[0]&&v1[1]==v2[1]&&v1[2]==v2[2])
00416
00417 #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]))
00418
00419
00421 #define X_AXIS_CROSS_VEC(dst,src)\
00422 { \
00423 dst[0] = 0.0f; \
00424 dst[1] = -src[2]; \
00425 dst[2] = src[1]; \
00426 }\
00427
00428 #define Y_AXIS_CROSS_VEC(dst,src)\
00429 { \
00430 dst[0] = src[2]; \
00431 dst[1] = 0.0f; \
00432 dst[2] = -src[0]; \
00433 }\
00434
00435 #define Z_AXIS_CROSS_VEC(dst,src)\
00436 { \
00437 dst[0] = -src[1]; \
00438 dst[1] = src[0]; \
00439 dst[2] = 0.0f; \
00440 }\
00441
00442
00443
00444
00445
00446
00448 #define IDENTIFY_MATRIX_3X3(m) \
00449 { \
00450 m[0][0] = 1.0; \
00451 m[0][1] = 0.0; \
00452 m[0][2] = 0.0; \
00453 \
00454 m[1][0] = 0.0; \
00455 m[1][1] = 1.0; \
00456 m[1][2] = 0.0; \
00457 \
00458 m[2][0] = 0.0; \
00459 m[2][1] = 0.0; \
00460 m[2][2] = 1.0; \
00461 }\
00462
00463
00464 #define IDENTIFY_MATRIX_4X4(m) \
00465 { \
00466 m[0][0] = 1.0; \
00467 m[0][1] = 0.0; \
00468 m[0][2] = 0.0; \
00469 m[0][3] = 0.0; \
00470 \
00471 m[1][0] = 0.0; \
00472 m[1][1] = 1.0; \
00473 m[1][2] = 0.0; \
00474 m[1][3] = 0.0; \
00475 \
00476 m[2][0] = 0.0; \
00477 m[2][1] = 0.0; \
00478 m[2][2] = 1.0; \
00479 m[2][3] = 0.0; \
00480 \
00481 m[3][0] = 0.0; \
00482 m[3][1] = 0.0; \
00483 m[3][2] = 0.0; \
00484 m[3][3] = 1.0; \
00485 }\
00486
00487
00488 #define ZERO_MATRIX_4X4(m) \
00489 { \
00490 m[0][0] = 0.0; \
00491 m[0][1] = 0.0; \
00492 m[0][2] = 0.0; \
00493 m[0][3] = 0.0; \
00494 \
00495 m[1][0] = 0.0; \
00496 m[1][1] = 0.0; \
00497 m[1][2] = 0.0; \
00498 m[1][3] = 0.0; \
00499 \
00500 m[2][0] = 0.0; \
00501 m[2][1] = 0.0; \
00502 m[2][2] = 0.0; \
00503 m[2][3] = 0.0; \
00504 \
00505 m[3][0] = 0.0; \
00506 m[3][1] = 0.0; \
00507 m[3][2] = 0.0; \
00508 m[3][3] = 0.0; \
00509 }\
00510
00511
00512 #define ROTX_CS(m,cosine,sine) \
00513 { \
00514 \
00515 \
00516 m[0][0] = 1.0; \
00517 m[0][1] = 0.0; \
00518 m[0][2] = 0.0; \
00519 m[0][3] = 0.0; \
00520 \
00521 m[1][0] = 0.0; \
00522 m[1][1] = (cosine); \
00523 m[1][2] = (sine); \
00524 m[1][3] = 0.0; \
00525 \
00526 m[2][0] = 0.0; \
00527 m[2][1] = -(sine); \
00528 m[2][2] = (cosine); \
00529 m[2][3] = 0.0; \
00530 \
00531 m[3][0] = 0.0; \
00532 m[3][1] = 0.0; \
00533 m[3][2] = 0.0; \
00534 m[3][3] = 1.0; \
00535 }\
00536
00537
00538 #define ROTY_CS(m,cosine,sine) \
00539 { \
00540 \
00541 \
00542 m[0][0] = (cosine); \
00543 m[0][1] = 0.0; \
00544 m[0][2] = -(sine); \
00545 m[0][3] = 0.0; \
00546 \
00547 m[1][0] = 0.0; \
00548 m[1][1] = 1.0; \
00549 m[1][2] = 0.0; \
00550 m[1][3] = 0.0; \
00551 \
00552 m[2][0] = (sine); \
00553 m[2][1] = 0.0; \
00554 m[2][2] = (cosine); \
00555 m[2][3] = 0.0; \
00556 \
00557 m[3][0] = 0.0; \
00558 m[3][1] = 0.0; \
00559 m[3][2] = 0.0; \
00560 m[3][3] = 1.0; \
00561 }\
00562
00563
00564 #define ROTZ_CS(m,cosine,sine) \
00565 { \
00566 \
00567 \
00568 m[0][0] = (cosine); \
00569 m[0][1] = (sine); \
00570 m[0][2] = 0.0; \
00571 m[0][3] = 0.0; \
00572 \
00573 m[1][0] = -(sine); \
00574 m[1][1] = (cosine); \
00575 m[1][2] = 0.0; \
00576 m[1][3] = 0.0; \
00577 \
00578 m[2][0] = 0.0; \
00579 m[2][1] = 0.0; \
00580 m[2][2] = 1.0; \
00581 m[2][3] = 0.0; \
00582 \
00583 m[3][0] = 0.0; \
00584 m[3][1] = 0.0; \
00585 m[3][2] = 0.0; \
00586 m[3][3] = 1.0; \
00587 }\
00588
00589
00590 #define COPY_MATRIX_2X2(b,a) \
00591 { \
00592 b[0][0] = a[0][0]; \
00593 b[0][1] = a[0][1]; \
00594 \
00595 b[1][0] = a[1][0]; \
00596 b[1][1] = a[1][1]; \
00597 \
00598 }\
00599
00600
00602 #define COPY_MATRIX_2X3(b,a) \
00603 { \
00604 b[0][0] = a[0][0]; \
00605 b[0][1] = a[0][1]; \
00606 b[0][2] = a[0][2]; \
00607 \
00608 b[1][0] = a[1][0]; \
00609 b[1][1] = a[1][1]; \
00610 b[1][2] = a[1][2]; \
00611 }\
00612
00613
00615 #define COPY_MATRIX_3X3(b,a) \
00616 { \
00617 b[0][0] = a[0][0]; \
00618 b[0][1] = a[0][1]; \
00619 b[0][2] = a[0][2]; \
00620 \
00621 b[1][0] = a[1][0]; \
00622 b[1][1] = a[1][1]; \
00623 b[1][2] = a[1][2]; \
00624 \
00625 b[2][0] = a[2][0]; \
00626 b[2][1] = a[2][1]; \
00627 b[2][2] = a[2][2]; \
00628 }\
00629
00630
00632 #define COPY_MATRIX_4X4(b,a) \
00633 { \
00634 b[0][0] = a[0][0]; \
00635 b[0][1] = a[0][1]; \
00636 b[0][2] = a[0][2]; \
00637 b[0][3] = a[0][3]; \
00638 \
00639 b[1][0] = a[1][0]; \
00640 b[1][1] = a[1][1]; \
00641 b[1][2] = a[1][2]; \
00642 b[1][3] = a[1][3]; \
00643 \
00644 b[2][0] = a[2][0]; \
00645 b[2][1] = a[2][1]; \
00646 b[2][2] = a[2][2]; \
00647 b[2][3] = a[2][3]; \
00648 \
00649 b[3][0] = a[3][0]; \
00650 b[3][1] = a[3][1]; \
00651 b[3][2] = a[3][2]; \
00652 b[3][3] = a[3][3]; \
00653 }\
00654
00655
00657 #define TRANSPOSE_MATRIX_2X2(b,a) \
00658 { \
00659 b[0][0] = a[0][0]; \
00660 b[0][1] = a[1][0]; \
00661 \
00662 b[1][0] = a[0][1]; \
00663 b[1][1] = a[1][1]; \
00664 }\
00665
00666
00668 #define TRANSPOSE_MATRIX_3X3(b,a) \
00669 { \
00670 b[0][0] = a[0][0]; \
00671 b[0][1] = a[1][0]; \
00672 b[0][2] = a[2][0]; \
00673 \
00674 b[1][0] = a[0][1]; \
00675 b[1][1] = a[1][1]; \
00676 b[1][2] = a[2][1]; \
00677 \
00678 b[2][0] = a[0][2]; \
00679 b[2][1] = a[1][2]; \
00680 b[2][2] = a[2][2]; \
00681 }\
00682
00683
00685 #define TRANSPOSE_MATRIX_4X4(b,a) \
00686 { \
00687 b[0][0] = a[0][0]; \
00688 b[0][1] = a[1][0]; \
00689 b[0][2] = a[2][0]; \
00690 b[0][3] = a[3][0]; \
00691 \
00692 b[1][0] = a[0][1]; \
00693 b[1][1] = a[1][1]; \
00694 b[1][2] = a[2][1]; \
00695 b[1][3] = a[3][1]; \
00696 \
00697 b[2][0] = a[0][2]; \
00698 b[2][1] = a[1][2]; \
00699 b[2][2] = a[2][2]; \
00700 b[2][3] = a[3][2]; \
00701 \
00702 b[3][0] = a[0][3]; \
00703 b[3][1] = a[1][3]; \
00704 b[3][2] = a[2][3]; \
00705 b[3][3] = a[3][3]; \
00706 }\
00707
00708
00710 #define SCALE_MATRIX_2X2(b,s,a) \
00711 { \
00712 b[0][0] = (s) * a[0][0]; \
00713 b[0][1] = (s) * a[0][1]; \
00714 \
00715 b[1][0] = (s) * a[1][0]; \
00716 b[1][1] = (s) * a[1][1]; \
00717 }\
00718
00719
00721 #define SCALE_MATRIX_3X3(b,s,a) \
00722 { \
00723 b[0][0] = (s) * a[0][0]; \
00724 b[0][1] = (s) * a[0][1]; \
00725 b[0][2] = (s) * a[0][2]; \
00726 \
00727 b[1][0] = (s) * a[1][0]; \
00728 b[1][1] = (s) * a[1][1]; \
00729 b[1][2] = (s) * a[1][2]; \
00730 \
00731 b[2][0] = (s) * a[2][0]; \
00732 b[2][1] = (s) * a[2][1]; \
00733 b[2][2] = (s) * a[2][2]; \
00734 }\
00735
00736
00738 #define SCALE_MATRIX_4X4(b,s,a) \
00739 { \
00740 b[0][0] = (s) * a[0][0]; \
00741 b[0][1] = (s) * a[0][1]; \
00742 b[0][2] = (s) * a[0][2]; \
00743 b[0][3] = (s) * a[0][3]; \
00744 \
00745 b[1][0] = (s) * a[1][0]; \
00746 b[1][1] = (s) * a[1][1]; \
00747 b[1][2] = (s) * a[1][2]; \
00748 b[1][3] = (s) * a[1][3]; \
00749 \
00750 b[2][0] = (s) * a[2][0]; \
00751 b[2][1] = (s) * a[2][1]; \
00752 b[2][2] = (s) * a[2][2]; \
00753 b[2][3] = (s) * a[2][3]; \
00754 \
00755 b[3][0] = s * a[3][0]; \
00756 b[3][1] = s * a[3][1]; \
00757 b[3][2] = s * a[3][2]; \
00758 b[3][3] = s * a[3][3]; \
00759 }\
00760
00761
00763 #define SCALE_VEC_MATRIX_2X2(b,svec,a) \
00764 { \
00765 b[0][0] = svec[0] * a[0][0]; \
00766 b[1][0] = svec[0] * a[1][0]; \
00767 \
00768 b[0][1] = svec[1] * a[0][1]; \
00769 b[1][1] = svec[1] * a[1][1]; \
00770 }\
00771
00772
00774 #define SCALE_VEC_MATRIX_3X3(b,svec,a) \
00775 { \
00776 b[0][0] = svec[0] * a[0][0]; \
00777 b[1][0] = svec[0] * a[1][0]; \
00778 b[2][0] = svec[0] * a[2][0]; \
00779 \
00780 b[0][1] = svec[1] * a[0][1]; \
00781 b[1][1] = svec[1] * a[1][1]; \
00782 b[2][1] = svec[1] * a[2][1]; \
00783 \
00784 b[0][2] = svec[2] * a[0][2]; \
00785 b[1][2] = svec[2] * a[1][2]; \
00786 b[2][2] = svec[2] * a[2][2]; \
00787 }\
00788
00789
00791 #define SCALE_VEC_MATRIX_4X4(b,svec,a) \
00792 { \
00793 b[0][0] = svec[0] * a[0][0]; \
00794 b[1][0] = svec[0] * a[1][0]; \
00795 b[2][0] = svec[0] * a[2][0]; \
00796 b[3][0] = svec[0] * a[3][0]; \
00797 \
00798 b[0][1] = svec[1] * a[0][1]; \
00799 b[1][1] = svec[1] * a[1][1]; \
00800 b[2][1] = svec[1] * a[2][1]; \
00801 b[3][1] = svec[1] * a[3][1]; \
00802 \
00803 b[0][2] = svec[2] * a[0][2]; \
00804 b[1][2] = svec[2] * a[1][2]; \
00805 b[2][2] = svec[2] * a[2][2]; \
00806 b[3][2] = svec[2] * a[3][2]; \
00807 \
00808 b[0][3] = svec[3] * a[0][3]; \
00809 b[1][3] = svec[3] * a[1][3]; \
00810 b[2][3] = svec[3] * a[2][3]; \
00811 b[3][3] = svec[3] * a[3][3]; \
00812 }\
00813
00814
00816 #define ACCUM_SCALE_MATRIX_2X2(b,s,a) \
00817 { \
00818 b[0][0] += (s) * a[0][0]; \
00819 b[0][1] += (s) * a[0][1]; \
00820 \
00821 b[1][0] += (s) * a[1][0]; \
00822 b[1][1] += (s) * a[1][1]; \
00823 }\
00824
00825
00827 #define ACCUM_SCALE_MATRIX_3X3(b,s,a) \
00828 { \
00829 b[0][0] += (s) * a[0][0]; \
00830 b[0][1] += (s) * a[0][1]; \
00831 b[0][2] += (s) * a[0][2]; \
00832 \
00833 b[1][0] += (s) * a[1][0]; \
00834 b[1][1] += (s) * a[1][1]; \
00835 b[1][2] += (s) * a[1][2]; \
00836 \
00837 b[2][0] += (s) * a[2][0]; \
00838 b[2][1] += (s) * a[2][1]; \
00839 b[2][2] += (s) * a[2][2]; \
00840 }\
00841
00842
00844 #define ACCUM_SCALE_MATRIX_4X4(b,s,a) \
00845 { \
00846 b[0][0] += (s) * a[0][0]; \
00847 b[0][1] += (s) * a[0][1]; \
00848 b[0][2] += (s) * a[0][2]; \
00849 b[0][3] += (s) * a[0][3]; \
00850 \
00851 b[1][0] += (s) * a[1][0]; \
00852 b[1][1] += (s) * a[1][1]; \
00853 b[1][2] += (s) * a[1][2]; \
00854 b[1][3] += (s) * a[1][3]; \
00855 \
00856 b[2][0] += (s) * a[2][0]; \
00857 b[2][1] += (s) * a[2][1]; \
00858 b[2][2] += (s) * a[2][2]; \
00859 b[2][3] += (s) * a[2][3]; \
00860 \
00861 b[3][0] += (s) * a[3][0]; \
00862 b[3][1] += (s) * a[3][1]; \
00863 b[3][2] += (s) * a[3][2]; \
00864 b[3][3] += (s) * a[3][3]; \
00865 }\
00866
00867
00869 #define MATRIX_PRODUCT_2X2(c,a,b) \
00870 { \
00871 c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]; \
00872 c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]; \
00873 \
00874 c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]; \
00875 c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]; \
00876 \
00877 }\
00878
00879
00881 #define MATRIX_PRODUCT_3X3(c,a,b) \
00882 { \
00883 c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0]; \
00884 c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1]; \
00885 c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2]; \
00886 \
00887 c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0]; \
00888 c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1]; \
00889 c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2]; \
00890 \
00891 c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0]; \
00892 c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1]; \
00893 c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2]; \
00894 }\
00895
00896
00899 #define MATRIX_PRODUCT_4X4(c,a,b) \
00900 { \
00901 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];\
00902 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];\
00903 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];\
00904 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];\
00905 \
00906 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];\
00907 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];\
00908 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];\
00909 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];\
00910 \
00911 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];\
00912 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];\
00913 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];\
00914 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];\
00915 \
00916 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];\
00917 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];\
00918 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];\
00919 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];\
00920 }\
00921
00922
00924 #define MAT_DOT_VEC_2X2(p,m,v) \
00925 { \
00926 p[0] = m[0][0]*v[0] + m[0][1]*v[1]; \
00927 p[1] = m[1][0]*v[0] + m[1][1]*v[1]; \
00928 }\
00929
00930
00932 #define MAT_DOT_VEC_3X3(p,m,v) \
00933 { \
00934 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2]; \
00935 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2]; \
00936 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2]; \
00937 }\
00938
00939
00943 #define MAT_DOT_VEC_4X4(p,m,v) \
00944 { \
00945 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]*v[3]; \
00946 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]*v[3]; \
00947 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]*v[3]; \
00948 p[3] = m[3][0]*v[0] + m[3][1]*v[1] + m[3][2]*v[2] + m[3][3]*v[3]; \
00949 }\
00950
00951
00956 #define MAT_DOT_VEC_3X4(p,m,v) \
00957 { \
00958 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2] + m[0][3]; \
00959 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2] + m[1][3]; \
00960 p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2] + m[2][3]; \
00961 }\
00962
00963
00966 #define VEC_DOT_MAT_3X3(p,v,m) \
00967 { \
00968 p[0] = v[0]*m[0][0] + v[1]*m[1][0] + v[2]*m[2][0]; \
00969 p[1] = v[0]*m[0][1] + v[1]*m[1][1] + v[2]*m[2][1]; \
00970 p[2] = v[0]*m[0][2] + v[1]*m[1][2] + v[2]*m[2][2]; \
00971 }\
00972
00973
00977 #define MAT_DOT_VEC_2X3(p,m,v) \
00978 { \
00979 p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]; \
00980 p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]; \
00981 }\
00982
00983
00984 #define MAT_TRANSFORM_PLANE_4X4(pout,m,plane)\
00985 { \
00986 pout[0] = m[0][0]*plane[0] + m[0][1]*plane[1] + m[0][2]*plane[2];\
00987 pout[1] = m[1][0]*plane[0] + m[1][1]*plane[1] + m[1][2]*plane[2];\
00988 pout[2] = m[2][0]*plane[0] + m[2][1]*plane[1] + m[2][2]*plane[2];\
00989 pout[3] = m[0][3]*pout[0] + m[1][3]*pout[1] + m[2][3]*pout[2] + plane[3];\
00990 }\
00991
00992
00993
01003 #define INV_TRANSP_MAT_DOT_VEC_2X2(p,m,v) \
01004 { \
01005 GREAL det; \
01006 \
01007 det = m[0][0]*m[1][1] - m[0][1]*m[1][0]; \
01008 p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \
01009 p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \
01010 \
01011 \
01012 if ((det!=1.0f) && (det != 0.0f)) { \
01013 det = 1.0f / det; \
01014 p[0] *= det; \
01015 p[1] *= det; \
01016 } \
01017 }\
01018
01019
01027 #define NORM_XFORM_2X2(p,m,v) \
01028 { \
01029 GREAL len; \
01030 \
01031
01032 \
01033 if ((m[0][1] != 0.0) || (m[1][0] != 0.0) || (m[0][0] != m[1][1])) { \
01034 p[0] = m[1][1]*v[0] - m[1][0]*v[1]; \
01035 p[1] = - m[0][1]*v[0] + m[0][0]*v[1]; \
01036 \
01037 len = p[0]*p[0] + p[1]*p[1]; \
01038 GIM_INV_SQRT(len,len); \
01039 p[0] *= len; \
01040 p[1] *= len; \
01041 } else { \
01042 VEC_COPY_2 (p, v); \
01043 } \
01044 }\
01045
01046
01052 #define OUTER_PRODUCT_2X2(m,v,t) \
01053 { \
01054 m[0][0] = v[0] * t[0]; \
01055 m[0][1] = v[0] * t[1]; \
01056 \
01057 m[1][0] = v[1] * t[0]; \
01058 m[1][1] = v[1] * t[1]; \
01059 }\
01060
01061
01067 #define OUTER_PRODUCT_3X3(m,v,t) \
01068 { \
01069 m[0][0] = v[0] * t[0]; \
01070 m[0][1] = v[0] * t[1]; \
01071 m[0][2] = v[0] * t[2]; \
01072 \
01073 m[1][0] = v[1] * t[0]; \
01074 m[1][1] = v[1] * t[1]; \
01075 m[1][2] = v[1] * t[2]; \
01076 \
01077 m[2][0] = v[2] * t[0]; \
01078 m[2][1] = v[2] * t[1]; \
01079 m[2][2] = v[2] * t[2]; \
01080 }\
01081
01082
01088 #define OUTER_PRODUCT_4X4(m,v,t) \
01089 { \
01090 m[0][0] = v[0] * t[0]; \
01091 m[0][1] = v[0] * t[1]; \
01092 m[0][2] = v[0] * t[2]; \
01093 m[0][3] = v[0] * t[3]; \
01094 \
01095 m[1][0] = v[1] * t[0]; \
01096 m[1][1] = v[1] * t[1]; \
01097 m[1][2] = v[1] * t[2]; \
01098 m[1][3] = v[1] * t[3]; \
01099 \
01100 m[2][0] = v[2] * t[0]; \
01101 m[2][1] = v[2] * t[1]; \
01102 m[2][2] = v[2] * t[2]; \
01103 m[2][3] = v[2] * t[3]; \
01104 \
01105 m[3][0] = v[3] * t[0]; \
01106 m[3][1] = v[3] * t[1]; \
01107 m[3][2] = v[3] * t[2]; \
01108 m[3][3] = v[3] * t[3]; \
01109 }\
01110
01111
01117 #define ACCUM_OUTER_PRODUCT_2X2(m,v,t) \
01118 { \
01119 m[0][0] += v[0] * t[0]; \
01120 m[0][1] += v[0] * t[1]; \
01121 \
01122 m[1][0] += v[1] * t[0]; \
01123 m[1][1] += v[1] * t[1]; \
01124 }\
01125
01126
01132 #define ACCUM_OUTER_PRODUCT_3X3(m,v,t) \
01133 { \
01134 m[0][0] += v[0] * t[0]; \
01135 m[0][1] += v[0] * t[1]; \
01136 m[0][2] += v[0] * t[2]; \
01137 \
01138 m[1][0] += v[1] * t[0]; \
01139 m[1][1] += v[1] * t[1]; \
01140 m[1][2] += v[1] * t[2]; \
01141 \
01142 m[2][0] += v[2] * t[0]; \
01143 m[2][1] += v[2] * t[1]; \
01144 m[2][2] += v[2] * t[2]; \
01145 }\
01146
01147
01153 #define ACCUM_OUTER_PRODUCT_4X4(m,v,t) \
01154 { \
01155 m[0][0] += v[0] * t[0]; \
01156 m[0][1] += v[0] * t[1]; \
01157 m[0][2] += v[0] * t[2]; \
01158 m[0][3] += v[0] * t[3]; \
01159 \
01160 m[1][0] += v[1] * t[0]; \
01161 m[1][1] += v[1] * t[1]; \
01162 m[1][2] += v[1] * t[2]; \
01163 m[1][3] += v[1] * t[3]; \
01164 \
01165 m[2][0] += v[2] * t[0]; \
01166 m[2][1] += v[2] * t[1]; \
01167 m[2][2] += v[2] * t[2]; \
01168 m[2][3] += v[2] * t[3]; \
01169 \
01170 m[3][0] += v[3] * t[0]; \
01171 m[3][1] += v[3] * t[1]; \
01172 m[3][2] += v[3] * t[2]; \
01173 m[3][3] += v[3] * t[3]; \
01174 }\
01175
01176
01181 #define DETERMINANT_2X2(d,m) \
01182 { \
01183 d = m[0][0] * m[1][1] - m[0][1] * m[1][0]; \
01184 }\
01185
01186
01191 #define DETERMINANT_3X3(d,m) \
01192 { \
01193 d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]); \
01194 d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]); \
01195 d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]); \
01196 }\
01197
01198
01202 #define COFACTOR_4X4_IJ(fac,m,i,j) \
01203 { \
01204 GUINT __ii[4], __jj[4], __k; \
01205 \
01206 for (__k=0; __k<i; __k++) __ii[__k] = __k; \
01207 for (__k=i; __k<3; __k++) __ii[__k] = __k+1; \
01208 for (__k=0; __k<j; __k++) __jj[__k] = __k; \
01209 for (__k=j; __k<3; __k++) __jj[__k] = __k+1; \
01210 \
01211 (fac) = m[__ii[0]][__jj[0]] * (m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[2]] \
01212 - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[1]]); \
01213 (fac) -= m[__ii[0]][__jj[1]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[2]] \
01214 - m[__ii[1]][__jj[2]]*m[__ii[2]][__jj[0]]);\
01215 (fac) += m[__ii[0]][__jj[2]] * (m[__ii[1]][__jj[0]]*m[__ii[2]][__jj[1]] \
01216 - m[__ii[1]][__jj[1]]*m[__ii[2]][__jj[0]]);\
01217 \
01218 __k = i+j; \
01219 if ( __k != (__k/2)*2) { \
01220 (fac) = -(fac); \
01221 } \
01222 }\
01223
01224
01229 #define DETERMINANT_4X4(d,m) \
01230 { \
01231 GREAL cofac; \
01232 COFACTOR_4X4_IJ (cofac, m, 0, 0); \
01233 d = m[0][0] * cofac; \
01234 COFACTOR_4X4_IJ (cofac, m, 0, 1); \
01235 d += m[0][1] * cofac; \
01236 COFACTOR_4X4_IJ (cofac, m, 0, 2); \
01237 d += m[0][2] * cofac; \
01238 COFACTOR_4X4_IJ (cofac, m, 0, 3); \
01239 d += m[0][3] * cofac; \
01240 }\
01241
01242
01247 #define COFACTOR_2X2(a,m) \
01248 { \
01249 a[0][0] = (m)[1][1]; \
01250 a[0][1] = - (m)[1][0]; \
01251 a[1][0] = - (m)[0][1]; \
01252 a[1][1] = (m)[0][0]; \
01253 }\
01254
01255
01260 #define COFACTOR_3X3(a,m) \
01261 { \
01262 a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \
01263 a[0][1] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \
01264 a[0][2] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \
01265 a[1][0] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \
01266 a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \
01267 a[1][2] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \
01268 a[2][0] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \
01269 a[2][1] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \
01270 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
01271 }\
01272
01273
01278 #define COFACTOR_4X4(a,m) \
01279 { \
01280 int i,j; \
01281 \
01282 for (i=0; i<4; i++) { \
01283 for (j=0; j<4; j++) { \
01284 COFACTOR_4X4_IJ (a[i][j], m, i, j); \
01285 } \
01286 } \
01287 }\
01288
01289
01295 #define ADJOINT_2X2(a,m) \
01296 { \
01297 a[0][0] = (m)[1][1]; \
01298 a[1][0] = - (m)[1][0]; \
01299 a[0][1] = - (m)[0][1]; \
01300 a[1][1] = (m)[0][0]; \
01301 }\
01302
01303
01309 #define ADJOINT_3X3(a,m) \
01310 { \
01311 a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1]; \
01312 a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]); \
01313 a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0]; \
01314 a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]); \
01315 a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0]; \
01316 a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]); \
01317 a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1]; \
01318 a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]); \
01319 a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0]); \
01320 }\
01321
01322
01328 #define ADJOINT_4X4(a,m) \
01329 { \
01330 char _i_,_j_; \
01331 \
01332 for (_i_=0; _i_<4; _i_++) { \
01333 for (_j_=0; _j_<4; _j_++) { \
01334 COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \
01335 } \
01336 } \
01337 }\
01338
01339
01344 #define SCALE_ADJOINT_2X2(a,s,m) \
01345 { \
01346 a[0][0] = (s) * m[1][1]; \
01347 a[1][0] = - (s) * m[1][0]; \
01348 a[0][1] = - (s) * m[0][1]; \
01349 a[1][1] = (s) * m[0][0]; \
01350 }\
01351
01352
01357 #define SCALE_ADJOINT_3X3(a,s,m) \
01358 { \
01359 a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]); \
01360 a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]); \
01361 a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]); \
01362 \
01363 a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]); \
01364 a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]); \
01365 a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]); \
01366 \
01367 a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]); \
01368 a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]); \
01369 a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]); \
01370 }\
01371
01372
01377 #define SCALE_ADJOINT_4X4(a,s,m) \
01378 { \
01379 char _i_,_j_; \
01380 for (_i_=0; _i_<4; _i_++) { \
01381 for (_j_=0; _j_<4; _j_++) { \
01382 COFACTOR_4X4_IJ (a[_j_][_i_], m, _i_, _j_); \
01383 a[_j_][_i_] *= s; \
01384 } \
01385 } \
01386 }\
01387
01388
01393 #define INVERT_2X2(b,det,a) \
01394 { \
01395 GREAL _tmp_; \
01396 DETERMINANT_2X2 (det, a); \
01397 _tmp_ = 1.0 / (det); \
01398 SCALE_ADJOINT_2X2 (b, _tmp_, a); \
01399 }\
01400
01401
01407 #define INVERT_3X3(b,det,a) \
01408 { \
01409 GREAL _tmp_; \
01410 DETERMINANT_3X3 (det, a); \
01411 _tmp_ = 1.0 / (det); \
01412 SCALE_ADJOINT_3X3 (b, _tmp_, a); \
01413 }\
01414
01415
01421 #define INVERT_4X4(b,det,a) \
01422 { \
01423 GREAL _tmp_; \
01424 DETERMINANT_4X4 (det, a); \
01425 _tmp_ = 1.0 / (det); \
01426 SCALE_ADJOINT_4X4 (b, _tmp_, a); \
01427 }\
01428
01429
01430 #define MAT_GET_ROW(mat,vec3,rowindex)\
01431 {\
01432 vec3[0] = mat[rowindex][0];\
01433 vec3[1] = mat[rowindex][1];\
01434 vec3[2] = mat[rowindex][2]; \
01435 }\
01436
01437
01438 #define MAT_GET_ROW2(mat,vec2,rowindex)\
01439 {\
01440 vec2[0] = mat[rowindex][0];\
01441 vec2[1] = mat[rowindex][1];\
01442 }\
01443
01444
01446 #define MAT_GET_ROW4(mat,vec4,rowindex)\
01447 {\
01448 vec4[0] = mat[rowindex][0];\
01449 vec4[1] = mat[rowindex][1];\
01450 vec4[2] = mat[rowindex][2];\
01451 vec4[3] = mat[rowindex][3];\
01452 }\
01453
01454
01455 #define MAT_GET_COL(mat,vec3,colindex)\
01456 {\
01457 vec3[0] = mat[0][colindex];\
01458 vec3[1] = mat[1][colindex];\
01459 vec3[2] = mat[2][colindex]; \
01460 }\
01461
01462
01463 #define MAT_GET_COL2(mat,vec2,colindex)\
01464 {\
01465 vec2[0] = mat[0][colindex];\
01466 vec2[1] = mat[1][colindex];\
01467 }\
01468
01469
01471 #define MAT_GET_COL4(mat,vec4,colindex)\
01472 {\
01473 vec4[0] = mat[0][colindex];\
01474 vec4[1] = mat[1][colindex];\
01475 vec4[2] = mat[2][colindex];\
01476 vec4[3] = mat[3][colindex];\
01477 }\
01478
01479
01480 #define MAT_GET_X(mat,vec3)\
01481 {\
01482 MAT_GET_COL(mat,vec3,0);\
01483 }\
01484
01485
01486 #define MAT_GET_Y(mat,vec3)\
01487 {\
01488 MAT_GET_COL(mat,vec3,1);\
01489 }\
01490
01491
01492 #define MAT_GET_Z(mat,vec3)\
01493 {\
01494 MAT_GET_COL(mat,vec3,2);\
01495 }\
01496
01497
01499 #define MAT_SET_X(mat,vec3)\
01500 {\
01501 mat[0][0] = vec3[0];\
01502 mat[1][0] = vec3[1];\
01503 mat[2][0] = vec3[2];\
01504 }\
01505
01506
01507 #define MAT_SET_Y(mat,vec3)\
01508 {\
01509 mat[0][1] = vec3[0];\
01510 mat[1][1] = vec3[1];\
01511 mat[2][1] = vec3[2];\
01512 }\
01513
01514
01515 #define MAT_SET_Z(mat,vec3)\
01516 {\
01517 mat[0][2] = vec3[0];\
01518 mat[1][2] = vec3[1];\
01519 mat[2][2] = vec3[2];\
01520 }\
01521
01522
01524 #define MAT_GET_TRANSLATION(mat,vec3)\
01525 {\
01526 vec3[0] = mat[0][3];\
01527 vec3[1] = mat[1][3];\
01528 vec3[2] = mat[2][3]; \
01529 }\
01530
01531
01532 #define MAT_SET_TRANSLATION(mat,vec3)\
01533 {\
01534 mat[0][3] = vec3[0];\
01535 mat[1][3] = vec3[1];\
01536 mat[2][3] = vec3[2]; \
01537 }\
01538
01539
01540
01542 #define MAT_DOT_ROW(mat,vec3,rowindex) (vec3[0]*mat[rowindex][0] + vec3[1]*mat[rowindex][1] + vec3[2]*mat[rowindex][2])
01543
01545 #define MAT_DOT_ROW2(mat,vec2,rowindex) (vec2[0]*mat[rowindex][0] + vec2[1]*mat[rowindex][1])
01546
01548 #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])
01549
01550
01552 #define MAT_DOT_COL(mat,vec3,colindex) (vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex])
01553
01555 #define MAT_DOT_COL2(mat,vec2,colindex) (vec2[0]*mat[0][colindex] + vec2[1]*mat[1][colindex])
01556
01558 #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])
01559
01564 #define INV_MAT_DOT_VEC_3X3(p,m,v) \
01565 { \
01566 p[0] = MAT_DOT_COL(m,v,0); \
01567 p[1] = MAT_DOT_COL(m,v,1); \
01568 p[2] = MAT_DOT_COL(m,v,2); \
01569 }\
01570
01571
01572
01573 #endif // GIM_VECTOR_H_INCLUDED
