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brender-v1.3.2/core/math/matrix23.c

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Adding source of the v1.3.2 version of BRender
2022-05-03 15:10:13 -05:00
/*
* Copyright (c) 1992,1993-1995 Argonaut Technologies Limited. All rights reserved.
*
* $Id: matrix23.c 1.5 1998/08/13 11:55:46 jon Exp $
* $Locker: $
*
* A very unoptimised set of transforms - these should each
* be re-done for the sparse multiplication.
*
* 3x4 Matrices
*
*/
#define NO_INLINE_MATH
#include "brender.h"
#include "shortcut.h"
#include "brassert.h"
BR_RCS_ID("$Id: matrix23.c 1.5 1998/08/13 11:55:46 jon Exp $")
/*
* A = B
*/
void BR_PUBLIC_ENTRY BrMatrix23Copy(br_matrix23 *A, br_matrix23 *B)
{
UASSERT_MESSAGE("Destination matrix is NULL", A != NULL);
UASSERT_MESSAGE("Source matrix is NULL", B != NULL);
A(0,0) = B(0,0);
A(0,1) = B(0,1);
A(1,0) = B(1,0);
A(1,1) = B(1,1);
A(2,0) = B(2,0);
A(2,1) = B(2,1);
}
/*
* A = B*C
*/
void BR_PUBLIC_ENTRY BrMatrix23Mul(br_matrix23 *A, br_matrix23 *B, br_matrix23 *C)
{
UASSERT_MESSAGE("Destination matrix is NULL", A != NULL);
UASSERT_MESSAGE("Left Hand Source matrix is NULL", B != NULL);
UASSERT_MESSAGE("Right Hand Source matrix is NULL", C != NULL);
A(0,0) = BR_MAC2(B(0,0),C(0,0), B(0,1),C(1,0));
A(0,1) = BR_MAC2(B(0,0),C(0,1), B(0,1),C(1,1));
A(1,0) = BR_MAC2(B(1,0),C(0,0), B(1,1),C(1,0));
A(1,1) = BR_MAC2(B(1,0),C(0,1), B(1,1),C(1,1));
A(2,0) = BR_MAC2(B(2,0),C(0,0), B(2,1),C(1,0)) + C(2,0);
A(2,1) = BR_MAC2(B(2,0),C(0,1), B(2,1),C(1,1)) + C(2,1);
}
void BR_PUBLIC_ENTRY BrMatrix23Identity(br_matrix23 *mat)
{
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = S1; M(0,1) = S0;
M(1,0) = S0; M(1,1) = S1;
M(2,0) = S0; M(2,1) = S0;
}
/*
* <EFBFBD> <EFBFBD>
* <EFBFBD> cos<EFBFBD> sin<EFBFBD> 0 <EFBFBD>
* <EFBFBD> <EFBFBD>
* <EFBFBD> -sin<EFBFBD> cos<EFBFBD> 0 <EFBFBD>
* R(<EFBFBD>) = <EFBFBD> <EFBFBD>
* <EFBFBD> 0 0 1 <EFBFBD>
* <EFBFBD> <EFBFBD>
*/
void BR_PUBLIC_ENTRY BrMatrix23Rotate(br_matrix23 *mat, br_angle rz)
{
br_scalar s = BR_SIN(rz);
br_scalar c = BR_COS(rz);
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = c; M(0,1) = s;
M(1,0) = -s; M(1,1) = c;
M(2,0) = S0; M(2,1) = S0;
}
/*
* <EFBFBD> <EFBFBD>
* <EFBFBD> 1 0 0 <EFBFBD>
* <EFBFBD> <EFBFBD>
* <EFBFBD> 0 1 0 <EFBFBD>
* T(dx,dy) = <EFBFBD> <EFBFBD>
* <EFBFBD> dx dy 1 <EFBFBD>
* <EFBFBD> <EFBFBD>
*/
void BR_PUBLIC_ENTRY BrMatrix23Translate(br_matrix23 *mat, br_scalar dx, br_scalar dy)
{
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = S1; M(0,1) = S0;
M(1,0) = S0; M(1,1) = S1;
M(2,0) = dx; M(2,1) = dy;
}
/*
* <EFBFBD> <EFBFBD>
* <EFBFBD> sx 0 0 <EFBFBD>
* <EFBFBD> <EFBFBD>
* <EFBFBD> 0 sy 0 <EFBFBD>
* S(sx,sy) = <EFBFBD> <EFBFBD>
* <EFBFBD> 0 0 1 <EFBFBD>
* <EFBFBD> <EFBFBD>
*/
void BR_PUBLIC_ENTRY BrMatrix23Scale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
{
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = sx; M(0,1) = S0;
M(1,0) = S0; M(1,1) = sy;
M(2,0) = S0; M(2,1) = S0;
}
/*
* <EFBFBD> <EFBFBD>
* <EFBFBD> 1 sy 0 <EFBFBD>
* <EFBFBD> <EFBFBD>
* <EFBFBD> 0 1 0 <EFBFBD>
* ShearX(sy) = <EFBFBD> <EFBFBD>
* <EFBFBD> 0 0 1 <EFBFBD>
* <EFBFBD> <EFBFBD>
*/
void BR_PUBLIC_ENTRY BrMatrix23ShearX(br_matrix23 *mat, br_scalar sy)
{
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = S1; M(0,1) = sy;
M(1,0) = S0; M(1,1) = S1;
M(2,0) = S0; M(2,1) = S0;
}
/*
* <EFBFBD> <EFBFBD>
* <EFBFBD> 1 0 0 <EFBFBD>
* <EFBFBD> <EFBFBD>
* <EFBFBD> sx 1 0 <EFBFBD>
* ShearY(sx) = <EFBFBD> <EFBFBD>
* <EFBFBD> 0 0 1 <EFBFBD>
* <EFBFBD> <EFBFBD>
*/
void BR_PUBLIC_ENTRY BrMatrix23ShearY(br_matrix23 *mat, br_scalar sx)
{
UASSERT_MESSAGE("Destination matrix is NULL", mat != NULL);
M(0,0) = S1; M(0,1) = S0;
M(1,0) = sx; M(1,1) = S1;
M(2,0) = S0; M(2,1) = S0;
}
/*
* Computes the inverse of a 2D affine matrix;
*/
#define PRECISION_LIMIT BR_SCALAR(1e-15)
br_scalar BR_PUBLIC_ENTRY BrMatrix23Inverse(br_matrix23 *B, br_matrix23 *A)
{
br_scalar det,idet,pos = 0,neg = 0;
UASSERT_MESSAGE("Destination matrix is NULL", A != NULL);
UASSERT_MESSAGE("Source matrix is NULL", B != NULL);
UASSERT_MESSAGE("Source may not be destination", A != B);
det = BR_MUL(A(0,0),A(1,1));
if (det>=0)
pos += det;
else
neg += det;
det = BR_MUL(-A(1,0),A(0,1));
if (det>=0)
pos += det;
else
neg += det;
det = pos+neg;
if (BR_ABS(det)<=BR_SCALAR_EPSILON*2)
return S0;
if (BR_DIV(det,pos-neg)<PRECISION_LIMIT)
return S0;
idet = BR_RCP(det);
B(0,0) = BR_MUL(A(1,1),idet);
B(0,1) = -BR_MUL(A(0,1),idet);
B(1,0) = -BR_MUL(A(1,0),idet);
B(1,1) = BR_MUL(A(0,0),idet);
B(2,0) = BR_MUL(BR_MUL(A(1,0),A(2,1))-BR_MUL(A(1,1),A(2,0)),idet);
B(2,1) = BR_MUL(BR_MUL(A(0,1),A(2,0))-BR_MUL(A(0,0),A(2,1)),idet);
return det;
}
/*
* Invert a length preserving matrix
*/
void BR_PUBLIC_ENTRY BrMatrix23LPInverse(br_matrix23 *B, br_matrix23 *A)
{
UASSERT_MESSAGE("Destination matrix is NULL", A != NULL);
UASSERT_MESSAGE("Source matrix is NULL", B != NULL);
UASSERT_MESSAGE("Source may not be destination", A != B);
B(0,0) = A(1,1);
B(0,1) = -A(0,1);
B(1,0) = -A(1,0);
B(1,1) = A(0,0);
B(2,0) = BR_MUL(A(1,0),A(2,1))-BR_MUL(A(1,1),A(2,0));
B(2,1) = BR_MUL(A(0,1),A(2,0))-BR_MUL(A(0,0),A(2,1));
}
void BR_PUBLIC_ENTRY BrMatrix23LPNormalise(br_matrix23 *A, br_matrix23 *B)
{
UASSERT_MESSAGE("Destination matrix is NULL", A != NULL);
UASSERT_MESSAGE("Source matrix is NULL", B != NULL);
BrVector2Normalise((br_vector2 *)A->m[Y],(br_vector2 *)B->m[Y]);
A(0,0) = A(1,1);
A(0,1) = -A(1,0);
A(2,0) = B(2,0);
A(2,1) = B(2,1);
}
/*
* [a b ] = [ e f ] . M
*/
void BR_PUBLIC_ENTRY BrMatrix23ApplyP(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
{
UASSERT_MESSAGE("Destination vector is NULL", A != NULL);
UASSERT_MESSAGE("Source vector is NULL", B != NULL);
UASSERT_MESSAGE("Transform matrix is NULL", C != NULL);
UASSERT_MESSAGE("Source may not be Destination", A != B);
A->v[0] = BR_MAC2(B->v[0],C(0,0), B->v[1],C(1,0)) + C(2,0);
A->v[1] = BR_MAC2(B->v[0],C(0,1), B->v[1],C(1,1)) + C(2,1);
}
/*
* [a b c] = [ e f 0 ] . M
*/
void BR_PUBLIC_ENTRY BrMatrix23ApplyV(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
{
UASSERT_MESSAGE("Destination vector is NULL", A != NULL);
UASSERT_MESSAGE("Source vector is NULL", B != NULL);
UASSERT_MESSAGE("Transform matrix is NULL", C != NULL);
UASSERT_MESSAGE("Source may not be Destination", A != B);
A->v[0] = BR_MAC2(B->v[0],C(0,0), B->v[1],C(1,0));
A->v[1] = BR_MAC2(B->v[0],C(0,1), B->v[1],C(1,1));
}
/*
* [a b] = [ e f] . transpose(M)
*/
void BR_PUBLIC_ENTRY BrMatrix23TApplyP(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
{
UASSERT_MESSAGE("Destination vector is NULL", A != NULL);
UASSERT_MESSAGE("Source vector is NULL", B != NULL);
UASSERT_MESSAGE("Transform matrix is NULL", C != NULL);
UASSERT_MESSAGE("Source may not be Destination", A != B);
A->v[0] = BR_MAC2(B->v[0],C(0,0), B->v[1],C(0,1));
A->v[1] = BR_MAC2(B->v[0],C(1,0), B->v[1],C(1,1));
}
/*
* [a b c] = [ e f 0 ] . transpose(M)
*/
void BR_PUBLIC_ENTRY BrMatrix23TApplyV(br_vector2 *A, br_vector2 *B, br_matrix23 *C)
{
UASSERT_MESSAGE("Destination vector is NULL", A != NULL);
UASSERT_MESSAGE("Source vector is NULL", B != NULL);
UASSERT_MESSAGE("Transform matrix is NULL", C != NULL);
UASSERT_MESSAGE("Source may not be Destination", A != B);
A->v[0] = BR_MAC2(B->v[0],C(0,0), B->v[1],C(0,1));
A->v[1] = BR_MAC2(B->v[0],C(1,0), B->v[1],C(1,1));
}
/*
* Composite matrix operations -
* pre and post-multiply with an existing matrix
*/
void BR_PUBLIC_ENTRY BrMatrix23Pre(br_matrix23 *mat , br_matrix23 *A)
{
br_matrix23 mattmp;
UASSERT_MESSAGE("Subject matrix is NULL", mat != NULL);
UASSERT_MESSAGE("Pre-multiplying matrix is NULL", A != NULL);
BrMatrix23Mul(&mattmp,A,mat);
BrMatrix23Copy(mat,&mattmp);
}
void BR_PUBLIC_ENTRY BrMatrix23Post(br_matrix23 *mat , br_matrix23 *A)
{
br_matrix23 mattmp;
UASSERT_MESSAGE("Subject matrix is NULL", mat != NULL);
UASSERT_MESSAGE("Post-multiplying matrix is NULL", A != NULL);
BrMatrix23Mul(&mattmp,mat,A);
BrMatrix23Copy(mat,&mattmp);
}
void BR_PUBLIC_ENTRY BrMatrix23PreRotate(br_matrix23 *mat, br_angle rz)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23Rotate(&mattmp1,rz);
BrMatrix23Mul(&mattmp2,&mattmp1,mat);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PostRotate(br_matrix23 *mat, br_angle rz)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23Rotate(&mattmp1,rz);
BrMatrix23Mul(&mattmp2,mat,&mattmp1);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PreTranslate(br_matrix23 *mat, br_scalar x, br_scalar y)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23Translate(&mattmp1,x,y);
BrMatrix23Mul(&mattmp2,&mattmp1,mat);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PostTranslate(br_matrix23 *A, br_scalar x, br_scalar y)
{
UASSERT_MESSAGE("Matrix is NULL", A != NULL);
A(2,0) += x;
A(2,1) += y;
}
void BR_PUBLIC_ENTRY BrMatrix23PreScale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23Scale(&mattmp1,sx,sy);
BrMatrix23Mul(&mattmp2,&mattmp1,mat);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PostScale(br_matrix23 *mat, br_scalar sx, br_scalar sy)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23Scale(&mattmp1,sx,sy);
BrMatrix23Mul(&mattmp2,mat,&mattmp1);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PreShearX(br_matrix23 *mat, br_scalar sy)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23ShearX(&mattmp1,sy);
BrMatrix23Mul(&mattmp2,&mattmp1,mat);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PostShearX(br_matrix23 *mat, br_scalar sy)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23ShearX(&mattmp1,sy);
BrMatrix23Mul(&mattmp2,mat,&mattmp1);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PreShearY(br_matrix23 *mat, br_scalar sx)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23ShearY(&mattmp1,sx);
BrMatrix23Mul(&mattmp2,&mattmp1,mat);
BrMatrix23Copy(mat,&mattmp2);
}
void BR_PUBLIC_ENTRY BrMatrix23PostShearY(br_matrix23 *mat, br_scalar sx)
{
br_matrix23 mattmp1,mattmp2;
UASSERT_MESSAGE("Matrix is NULL", mat != NULL);
BrMatrix23ShearY(&mattmp1,sx);
BrMatrix23Mul(&mattmp2,mat,&mattmp1);
BrMatrix23Copy(mat,&mattmp2);
}
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