2 * \brief Matrix 3d implementation
3 * \author Sylvain Gaeremynck <sylvain.gaeremynck@parrot.fr>
6 * \warning Subject to completion
9 #include <Maths/matrix3d.h>
10 #include <Maths/matrices.h>
12 #include <VP_Os/vp_os_malloc.h>
16 matrix3d_t matrix3d_id = {
17 1.0f, 0.0f, 0.0f, 0.0f,
18 0.0f, 1.0f, 0.0f, 1.0f,
19 0.0f, 0.0f, 1.0f, 0.0f,
20 0.0f, 0.0f, 0.0f, 1.0f
23 static void vector_X( vector31_t* v )
30 static void vector_Y( vector31_t* v )
37 #if 0 // it is not used ... fix warning
38 static void vector_Z( vector31_t* v )
46 void matrix3d_zero(matrix3d_t* m)
48 m->m00 = m->m01 = m->m02 = m->m03 = 0.0f;
49 m->m10 = m->m11 = m->m12 = m->m13 = 0.0f;
50 m->m20 = m->m21 = m->m22 = m->m23 = 0.0f;
51 m->m30 = m->m31 = m->m32 = m->m33 = 0.0f;
54 void matrix3d_identity(matrix3d_t* m)
56 m->m00 = m->m11 = m->m22 = m->m33 = 1.0f;
58 m->m01 = m->m02 = m->m03 = 0.0f;
59 m->m10 = m->m12 = m->m13 = 0.0f;
60 m->m20 = m->m21 = m->m23 = 0.0f;
61 m->m30 = m->m31 = m->m32 = 0.0f;
64 C_RESULT matrix3d_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi)
66 float32_t c_phi, s_phi, c_theta, s_theta, c_psi, s_psi;
70 c_theta = cosf( theta );
71 s_theta = sinf( theta );
77 m->m00 = c_theta * c_psi;
78 m->m01 = c_theta * s_psi;
81 m->m10 = s_phi * s_theta * c_psi - c_phi * s_psi;
82 m->m11 = s_phi * s_theta * s_psi + c_phi * c_psi;
83 m->m12 = s_phi * c_theta;
85 m->m20 = c_phi * s_theta * c_psi + s_phi * s_psi;
86 m->m21 = c_phi * s_theta * s_psi - s_phi * c_psi;
87 m->m22 = c_phi * c_theta;
92 C_RESULT matrix3d_vector(matrix3d_t* m, vector31_t* pos, vector31_t* dir, vector31_t* right, vector31_t* up)
97 cross_vec( right, dir, up );
98 if( normalize_vec( right ) )
100 cross_vec( up, right, dir );
106 cross_vec( up, right, dir );
107 cross_vec( right, dir, up );
108 normalize_vec( right );
113 return matrix3d_orientation( m, pos, dir, right, up );
116 C_RESULT matrix3d_orientation(matrix3d_t* m, const vector31_t* pos, const vector31_t* dir,
117 const vector31_t* right, const vector31_t* up)
119 float32_t d0, d1, d2;
133 dot_vec( &d0, right, pos );
134 dot_vec( &d1, up, pos );
135 dot_vec( &d2, dir, pos );
149 #define MATRIX_EXCHANGE( out, in ) temp = out; out = in; in = out
151 C_RESULT matrix3d_transpose(matrix3d_t* out, matrix3d_t* in)
179 MATRIX_EXCHANGE( out->m01, out->m10 );
180 MATRIX_EXCHANGE( out->m02, out->m20 );
181 MATRIX_EXCHANGE( out->m03, out->m30 );
182 MATRIX_EXCHANGE( out->m12, out->m21 );
183 MATRIX_EXCHANGE( out->m13, out->m31 );
184 MATRIX_EXCHANGE( out->m23, out->m32 );
190 C_RESULT matrix3d_add(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
192 out->m00 = m1->m00 + m2->m00;
193 out->m01 = m1->m01 + m2->m01;
194 out->m02 = m1->m02 + m2->m02;
195 out->m03 = m1->m03 + m2->m03;
197 out->m10 = m1->m10 + m2->m10;
198 out->m11 = m1->m11 + m2->m11;
199 out->m12 = m1->m12 + m2->m12;
200 out->m13 = m1->m13 + m2->m13;
202 out->m20 = m1->m20 + m2->m20;
203 out->m21 = m1->m21 + m2->m21;
204 out->m22 = m1->m22 + m2->m22;
205 out->m23 = m1->m23 + m2->m23;
207 out->m30 = m1->m30 + m2->m30;
208 out->m31 = m1->m31 + m2->m31;
209 out->m32 = m1->m32 + m2->m32;
210 out->m33 = m1->m33 + m2->m33;
215 C_RESULT matrix3d_sub(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
217 out->m00 = m1->m00 - m2->m00;
218 out->m01 = m1->m01 - m2->m01;
219 out->m02 = m1->m02 - m2->m02;
220 out->m03 = m1->m03 - m2->m03;
222 out->m10 = m1->m10 - m2->m10;
223 out->m11 = m1->m11 - m2->m11;
224 out->m12 = m1->m12 - m2->m12;
225 out->m13 = m1->m13 - m2->m13;
227 out->m20 = m1->m20 - m2->m20;
228 out->m21 = m1->m21 - m2->m21;
229 out->m22 = m1->m22 - m2->m22;
230 out->m23 = m1->m23 - m2->m23;
232 out->m30 = m1->m30 - m2->m30;
233 out->m31 = m1->m31 - m2->m31;
234 out->m32 = m1->m32 - m2->m32;
235 out->m33 = m1->m33 - m2->m33;
240 #define MATRIX_MUL_PART(a,b) \
241 t1 = ( M1[a*4 + 0] * M2[b + 0 ] ); \
242 t2 = ( M1[a*4 + 1] * M2[b + 4 ] ); \
243 t3 = ( M1[a*4 + 2] * M2[b + 8 ] ); \
244 t4 = ( M1[a*4 + 3] * M2[b + 12] ); \
245 MOUT[a*4 + b] = ( t1 + t2 + t3 + t4 );
247 C_RESULT matrix3d_mul(matrix3d_t* out, matrix3d_t* m1, matrix3d_t* m2)
249 float32_t t1, t2, t3, t4;
251 float32_t* MOUT = (float32_t*) out;
252 float32_t* M1 = (float32_t*) m1;
253 float32_t* M2 = (float32_t*) m2;
255 MATRIX_MUL_PART( 0, 0 ); MATRIX_MUL_PART( 0, 1 ); MATRIX_MUL_PART( 0, 2 ); MATRIX_MUL_PART( 0, 3 );
256 MATRIX_MUL_PART( 1, 0 ); MATRIX_MUL_PART( 1, 1 ); MATRIX_MUL_PART( 1, 2 ); MATRIX_MUL_PART( 1, 3 );
257 MATRIX_MUL_PART( 2, 0 ); MATRIX_MUL_PART( 2, 1 ); MATRIX_MUL_PART( 2, 2 ); MATRIX_MUL_PART( 2, 3 );
258 MATRIX_MUL_PART( 3, 0 ); MATRIX_MUL_PART( 3, 1 ); MATRIX_MUL_PART( 3, 2 ); MATRIX_MUL_PART( 3, 3 );
263 C_RESULT matrix3d_translate(matrix3d_t* m, vector31_t* tr)
273 C_RESULT matrix3d_add_translate(matrix3d_t* m, vector31_t* tr)
283 C_RESULT matrix3d_rotate_euler(matrix3d_t* m, float32_t phi, float32_t theta, float32_t psi)
288 matrix3d_euler(&mat_rot, phi, theta, psi);
289 matrix3d_mul(&mat_res, &mat_rot, m);
291 vp_os_memcpy( (void *)m, (void *)&mat_res, sizeof(matrix3d_t) );
296 C_RESULT matrix3d_rotate_axis(matrix3d_t* m, vector31_t* axis, float32_t value)
301 C_RESULT matrix3d_transform(matrix3d_t* m1, struct _vector31_t* v1)
303 float32_t x = (m1->m00) * (v1->x) + (m1->m01) * (v1->y) + (m1->m02) * (v1->z) + m1->m30;
304 float32_t y = (m1->m10) * (v1->x) + (m1->m11) * (v1->y) + (m1->m12) * (v1->z) + m1->m31;
305 float32_t z = (m1->m20) * (v1->x) + (m1->m21) * (v1->y) + (m1->m22) * (v1->z) + m1->m32;
306 float32_t w = (m1->m30) * (v1->x) + (m1->m31) * (v1->y) + (m1->m32) * (v1->z) + m1->m33;