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Merge 2c579fe0c4 into 3bb5c459d6

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ndogxj 2016-07-04 18:59:53 +00:00 committed by GitHub
commit 4b714c269e
1 changed files with 14 additions and 12 deletions
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26
deps/linmath.h vendored
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@ -192,19 +192,21 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
vec3 u = {x, y, z}; vec3 u = {x, y, z};
if(vec3_len(u) > 1e-4) { if(vec3_len(u) > 1e-4) {
vec3_norm(u, u);
mat4x4 T; mat4x4 T;
mat4x4_from_vec3_mul_outer(T, u, u); mat4x4 C;
mat4x4 S = { mat4x4 S = {
{ 0, u[2], -u[1], 0}, { 0, u[2], -u[1], 0},
{-u[2], 0, u[0], 0}, {-u[2], 0, u[0], 0},
{ u[1], -u[0], 0, 0}, { u[1], -u[0], 0, 0},
{ 0, 0, 0, 0} { 0, 0, 0, 0}
}; };
vec3_norm(u, u);
mat4x4_from_vec3_mul_outer(T, u, u);
mat4x4_scale(S, S, s); mat4x4_scale(S, S, s);
mat4x4 C;
mat4x4_identity(C); mat4x4_identity(C);
mat4x4_sub(C, C, T); mat4x4_sub(C, C, T);
@ -259,6 +261,9 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
{ {
float s[6]; float s[6];
float c[6]; float c[6];
/* Assumes it is invertible */
float idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] );
s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1]; s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1];
s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2]; s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2];
s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3]; s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3];
@ -272,10 +277,7 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2]; c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2];
c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3]; c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3];
c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3]; c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3];
/* Assumes it is invertible */
float idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] );
T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet; T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet; T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet;
T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet; T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
@ -298,9 +300,9 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
} }
static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M) static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
{ {
mat4x4_dup(R, M);
float s = 1.; float s = 1.;
vec3 h; vec3 h;
mat4x4_dup(R, M);
vec3_norm(R[2], R[2]); vec3_norm(R[2], R[2]);
@ -387,14 +389,14 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
/* TODO: The negation of of can be spared by swapping the order of /* TODO: The negation of of can be spared by swapping the order of
* operands in the following cross products in the right way. */ * operands in the following cross products in the right way. */
vec3 f; vec3 f;
vec3 s;
vec3 t;
vec3_sub(f, center, eye); vec3_sub(f, center, eye);
vec3_norm(f, f); vec3_norm(f, f);
vec3 s;
vec3_mul_cross(s, f, up); vec3_mul_cross(s, f, up);
vec3_norm(s, s); vec3_norm(s, s);
vec3 t;
vec3_mul_cross(t, s, f); vec3_mul_cross(t, s, f);
m[0][0] = s[0]; m[0][0] = s[0];
@ -471,8 +473,8 @@ static inline void quat_conj(quat r, quat q)
} }
static inline void quat_rotate(quat r, float angle, vec3 axis) { static inline void quat_rotate(quat r, float angle, vec3 axis) {
vec3 v; vec3 v;
vec3_scale(v, axis, sinf(angle / 2));
int i; int i;
vec3_scale(v, axis, sinf(angle / 2));
for(i=0; i<3; ++i) for(i=0; i<3; ++i)
r[i] = v[i]; r[i] = v[i];
r[3] = cosf(angle / 2); r[3] = cosf(angle / 2);