constify BLI_math_matrix inputs
GPU_matrix needs this very soon, and it's good practice in general. also sprinkled in some TODOs for later
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@ -46,31 +46,31 @@ void unit_m2(float R[2][2]);
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void unit_m3(float R[3][3]);
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void unit_m4(float R[4][4]);
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void copy_m2_m2(float R[2][2], float A[2][2]);
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void copy_m3_m3(float R[3][3], float A[3][3]);
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void copy_m4_m4(float R[4][4], float A[4][4]);
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void copy_m3_m4(float R[3][3], float A[4][4]);
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void copy_m4_m3(float R[4][4], float A[3][3]);
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void copy_m2_m2(float R[2][2], const float A[2][2]);
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void copy_m3_m3(float R[3][3], const float A[3][3]);
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void copy_m4_m4(float R[4][4], const float A[4][4]);
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void copy_m3_m4(float R[3][3], const float A[4][4]);
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void copy_m4_m3(float R[4][4], const float A[3][3]);
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/* double->float */
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void copy_m3_m3d(float R[3][3], double A[3][3]);
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void copy_m3_m3d(float R[3][3], const double A[3][3]);
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void swap_m3m3(float A[3][3], float B[3][3]);
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void swap_m4m4(float A[4][4], float B[4][4]);
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/******************************** Arithmetic *********************************/
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void add_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
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void add_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
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void add_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
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void add_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
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void sub_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
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void sub_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
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void sub_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
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void sub_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
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void mul_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
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void mul_m4_m3m4(float R[4][4], float A[3][3], float B[4][4]);
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void mul_m4_m4m3(float R[4][4], float A[4][4], float B[3][3]);
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void mul_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
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void mul_m3_m3m4(float R[3][3], float A[4][4], float B[3][3]);
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void mul_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3]);
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void mul_m4_m3m4(float R[4][4], const float A[3][3], const float B[4][4]);
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void mul_m4_m4m3(float R[4][4], const float A[4][4], const float B[3][3]);
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void mul_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4]);
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void mul_m3_m3m4(float R[3][3], const float A[4][4], const float B[3][3]);
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/* mul_m3_series */
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void _va_mul_m3_series_3(float R[3][3], float M1[3][3], float M2[3][3]) ATTR_NONNULL();
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@ -100,27 +100,27 @@ void _va_mul_m4_series_9(float R[4][4], float M1[4][4], float M2[4][4], float M3
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#define mul_m3_series(...) VA_NARGS_CALL_OVERLOAD(_va_mul_m3_series_, __VA_ARGS__)
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#define mul_m4_series(...) VA_NARGS_CALL_OVERLOAD(_va_mul_m4_series_, __VA_ARGS__)
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void mul_m4_v3(float M[4][4], float r[3]);
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void mul_v3_m4v3(float r[3], float M[4][4], const float v[3]);
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void mul_v2_m4v3(float r[2], float M[4][4], const float v[3]);
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void mul_v2_m2v2(float r[2], float M[2][2], const float v[2]);
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void mul_m2v2(float M[2][2], float v[2]);
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void mul_mat3_m4_v3(float M[4][4], float r[3]);
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void mul_v3_mat3_m4v3(float r[3], float M[4][4], const float v[3]);
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void mul_m4_v4(float M[4][4], float r[4]);
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void mul_v4_m4v4(float r[4], float M[4][4], const float v[4]);
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void mul_project_m4_v3(float M[4][4], float vec[3]);
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void mul_v3_project_m4_v3(float r[3], float mat[4][4], const float vec[3]);
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void mul_v2_project_m4_v3(float r[2], float M[4][4], const float vec[3]);
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void mul_m4_v3(const float M[4][4], float r[3]);
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void mul_v3_m4v3(float r[3], const float M[4][4], const float v[3]);
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void mul_v2_m4v3(float r[2], const float M[4][4], const float v[3]);
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void mul_v2_m2v2(float r[2], const float M[2][2], const float v[2]);
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void mul_m2v2(const float M[2][2], float v[2]);
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void mul_mat3_m4_v3(const float M[4][4], float r[3]);
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void mul_v3_mat3_m4v3(float r[3], const float M[4][4], const float v[3]);
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void mul_m4_v4(const float M[4][4], float r[4]);
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void mul_v4_m4v4(float r[4], const float M[4][4], const float v[4]);
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void mul_project_m4_v3(const float M[4][4], float vec[3]);
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void mul_v3_project_m4_v3(float r[3], const float mat[4][4], const float vec[3]);
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void mul_v2_project_m4_v3(float r[2], const float M[4][4], const float vec[3]);
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void mul_m3_v2(float m[3][3], float r[2]);
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void mul_v2_m3v2(float r[2], float m[3][3], float v[2]);
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void mul_m3_v3(float M[3][3], float r[3]);
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void mul_v3_m3v3(float r[3], float M[3][3], const float a[3]);
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void mul_v2_m3v3(float r[2], float M[3][3], const float a[3]);
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void mul_transposed_m3_v3(float M[3][3], float r[3]);
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void mul_transposed_mat3_m4_v3(float M[4][4], float r[3]);
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void mul_m3_v3_double(float M[3][3], double r[3]);
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void mul_m3_v2(const float m[3][3], float r[2]);
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void mul_v2_m3v2(float r[2], const float m[3][3], const float v[2]);
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void mul_m3_v3(const float M[3][3], float r[3]);
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void mul_v3_m3v3(float r[3], const float M[3][3], const float a[3]);
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void mul_v2_m3v3(float r[2], const float M[3][3], const float a[3]);
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void mul_transposed_m3_v3(const float M[3][3], float r[3]);
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void mul_transposed_mat3_m4_v3(const float M[4][4], float r[3]);
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void mul_m3_v3_double(const float M[3][3], double r[3]);
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void mul_m3_fl(float R[3][3], float f);
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void mul_m4_fl(float R[4][4], float f);
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@ -131,103 +131,103 @@ void negate_mat3_m4(float R[4][4]);
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void negate_m4(float R[4][4]);
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bool invert_m3_ex(float m[3][3], const float epsilon);
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bool invert_m3_m3_ex(float m1[3][3], float m2[3][3], const float epsilon);
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bool invert_m3_m3_ex(float m1[3][3], const float m2[3][3], const float epsilon);
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bool invert_m3(float R[3][3]);
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bool invert_m3_m3(float R[3][3], float A[3][3]);
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bool invert_m3_m3(float R[3][3], const float A[3][3]);
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bool invert_m4(float R[4][4]);
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bool invert_m4_m4(float R[4][4], float A[4][4]);
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bool invert_m4_m4(float R[4][4], const float A[4][4]);
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/* double arithmetic (mixed float/double) */
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void mul_m4_v4d(float M[4][4], double r[4]);
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void mul_v4d_m4v4d(double r[4], float M[4][4], double v[4]);
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void mul_m4_v4d(const float M[4][4], double r[4]);
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void mul_v4d_m4v4d(double r[4], const float M[4][4], const double v[4]);
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/* double matrix functions (no mixing types) */
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void mul_v3_m3v3_db(double r[3], double M[3][3], const double a[3]);
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void mul_m3_v3_db(double M[3][3], double r[3]);
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void mul_v3_m3v3_db(double r[3], const double M[3][3], const double a[3]);
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void mul_m3_v3_db(const double M[3][3], double r[3]);
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/****************************** Linear Algebra *******************************/
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void transpose_m3(float R[3][3]);
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void transpose_m3_m3(float R[3][3], float A[3][3]);
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void transpose_m3_m4(float R[3][3], float A[4][4]);
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void transpose_m3_m3(float R[3][3], const float A[3][3]);
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void transpose_m3_m4(float R[3][3], const float A[4][4]);
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void transpose_m4(float R[4][4]);
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void transpose_m4_m4(float R[4][4], float A[4][4]);
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void transpose_m4_m4(float R[4][4], const float A[4][4]);
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int compare_m4m4(float mat1[4][4], float mat2[4][4], float limit);
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int compare_m4m4(const float mat1[4][4], const float mat2[4][4], float limit);
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void normalize_m3_ex(float R[3][3], float r_scale[3]) ATTR_NONNULL();
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void normalize_m3(float R[3][3]) ATTR_NONNULL();
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void normalize_m3_m3_ex(float R[3][3], float A[3][3], float r_scale[3]) ATTR_NONNULL();
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void normalize_m3_m3(float R[3][3], float A[3][3]) ATTR_NONNULL();
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void normalize_m3_m3_ex(float R[3][3], const float A[3][3], float r_scale[3]) ATTR_NONNULL();
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void normalize_m3_m3(float R[3][3], const float A[3][3]) ATTR_NONNULL();
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void normalize_m4_ex(float R[4][4], float r_scale[3]) ATTR_NONNULL();
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void normalize_m4(float R[4][4]) ATTR_NONNULL();
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void normalize_m4_m4_ex(float R[4][4], float A[4][4], float r_scale[3]) ATTR_NONNULL();
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void normalize_m4_m4(float R[4][4], float A[4][4]) ATTR_NONNULL();
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void normalize_m4_m4_ex(float R[4][4], const float A[4][4], float r_scale[3]) ATTR_NONNULL();
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void normalize_m4_m4(float R[4][4],const float A[4][4]) ATTR_NONNULL();
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void orthogonalize_m3(float R[3][3], int axis);
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void orthogonalize_m4(float R[4][4], int axis);
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bool is_orthogonal_m3(float mat[3][3]);
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bool is_orthogonal_m4(float mat[4][4]);
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bool is_orthonormal_m3(float mat[3][3]);
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bool is_orthonormal_m4(float mat[4][4]);
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bool is_orthogonal_m3(const float mat[3][3]);
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bool is_orthogonal_m4(const float mat[4][4]);
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bool is_orthonormal_m3(const float mat[3][3]);
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bool is_orthonormal_m4(const float mat[4][4]);
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bool is_uniform_scaled_m3(float mat[3][3]);
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bool is_uniform_scaled_m4(float m[4][4]);
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bool is_uniform_scaled_m3(const float mat[3][3]);
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bool is_uniform_scaled_m4(const float m[4][4]);
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/* Note: 'adjoint' here means the adjugate (adjunct, "classical adjoint") matrix!
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* Nowadays 'adjoint' usually refers to the conjugate transpose,
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* which for real-valued matrices is simply the transpose.
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*/
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void adjoint_m2_m2(float R[2][2], float A[2][2]);
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void adjoint_m3_m3(float R[3][3], float A[3][3]);
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void adjoint_m4_m4(float R[4][4], float A[4][4]);
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void adjoint_m2_m2(float R[2][2], const float A[2][2]);
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void adjoint_m3_m3(float R[3][3], const float A[3][3]);
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void adjoint_m4_m4(float R[4][4], const float A[4][4]);
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float determinant_m2(float a, float b,
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float c, float d);
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float determinant_m3(float a, float b, float c,
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float d, float e, float f,
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float g, float h, float i);
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float determinant_m3_array(float m[3][3]);
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float determinant_m4(float A[4][4]);
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float determinant_m3_array(const float m[3][3]);
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float determinant_m4(const float A[4][4]);
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#define PSEUDOINVERSE_EPSILON 1e-8f
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void svd_m4(float U[4][4], float s[4], float V[4][4], float A[4][4]);
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void pseudoinverse_m4_m4(float Ainv[4][4], float A[4][4], float epsilon);
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void pseudoinverse_m3_m3(float Ainv[3][3], float A[3][3], float epsilon);
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void pseudoinverse_m4_m4(float Ainv[4][4], const float A[4][4], float epsilon);
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void pseudoinverse_m3_m3(float Ainv[3][3], const float A[3][3], float epsilon);
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bool has_zero_axis_m4(float matrix[4][4]);
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bool has_zero_axis_m4(const float matrix[4][4]);
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void invert_m4_m4_safe(float Ainv[4][4], float A[4][4]);
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void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4]);
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/****************************** Transformations ******************************/
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void scale_m3_fl(float R[3][3], float scale);
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void scale_m4_fl(float R[4][4], float scale);
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float mat3_to_scale(float M[3][3]);
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float mat4_to_scale(float M[4][4]);
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float mat3_to_scale(const float M[3][3]);
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float mat4_to_scale(const float M[4][4]);
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void size_to_mat3(float R[3][3], const float size[3]);
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void size_to_mat4(float R[4][4], const float size[3]);
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void mat3_to_size(float r[3], float M[3][3]);
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void mat4_to_size(float r[3], float M[4][4]);
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void mat3_to_size(float r[3], const float M[3][3]);
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void mat4_to_size(float r[3], const float M[4][4]);
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void translate_m4(float mat[4][4], float tx, float ty, float tz);
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void rotate_m4(float mat[4][4], const char axis, const float angle);
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void rotate_m2(float mat[2][2], const float angle);
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void transform_pivot_set_m4(float mat[4][4], const float pivot[3]);
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void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3]);
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void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4]);
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void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4]);
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void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]);
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void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3]);
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void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], const float wmat[4][4]);
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void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4]);
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void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4]);
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void mat3_polar_decompose(float mat3[3][3], float r_U[3][3], float r_P[3][3]);
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void mat3_polar_decompose(const float mat3[3][3], float r_U[3][3], float r_P[3][3]);
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void loc_eul_size_to_mat4(float R[4][4],
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const float loc[3], const float eul[3], const float size[3]);
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void loc_axisangle_size_to_mat4(float R[4][4],
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const float loc[3], const float axis[4], const float angle, const float size[3]);
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void blend_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t);
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void blend_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t);
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void blend_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t);
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void blend_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t);
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void interp_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t);
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void interp_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t);
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void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t);
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void interp_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t);
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bool is_negative_m3(float mat[3][3]);
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bool is_negative_m4(float mat[4][4]);
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bool is_negative_m3(const float mat[3][3]);
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bool is_negative_m4(const float mat[4][4]);
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bool is_zero_m3(float mat[3][3]);
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bool is_zero_m4(float mat[4][4]);
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bool is_zero_m3(const float mat[3][3]);
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bool is_zero_m4(const float mat[4][4]);
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bool equals_m3m3(float mat1[3][3], float mat2[3][3]);
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bool equals_m4m4(float mat1[4][4], float mat2[4][4]);
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bool equals_m3m3(const float mat1[3][3], const float mat2[3][3]);
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bool equals_m4m4(const float mat1[4][4], const float mat2[4][4]);
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/* SpaceTransform helper */
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typedef struct SpaceTransform {
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@ -260,8 +260,8 @@ typedef struct SpaceTransform {
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} SpaceTransform;
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void BLI_space_transform_from_matrices(struct SpaceTransform *data, float local[4][4], float target[4][4]);
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void BLI_space_transform_global_from_matrices(struct SpaceTransform *data, float local[4][4], float target[4][4]);
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void BLI_space_transform_from_matrices(struct SpaceTransform *data, const float local[4][4], const float target[4][4]);
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void BLI_space_transform_global_from_matrices(struct SpaceTransform *data, const float local[4][4], const float target[4][4]);
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void BLI_space_transform_apply(const struct SpaceTransform *data, float co[3]);
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void BLI_space_transform_invert(const struct SpaceTransform *data, float co[3]);
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void BLI_space_transform_apply_normal(const struct SpaceTransform *data, float no[3]);
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|
|
@ -272,8 +272,8 @@ void BLI_space_transform_invert_normal(const struct SpaceTransform *data, float
|
|||
|
||||
/*********************************** Other ***********************************/
|
||||
|
||||
void print_m3(const char *str, float M[3][3]);
|
||||
void print_m4(const char *str, float M[4][4]);
|
||||
void print_m3(const char *str, const float M[3][3]);
|
||||
void print_m4(const char *str, const float M[4][4]);
|
||||
|
||||
#define print_m3_id(M) print_m3(STRINGIFY(M), M)
|
||||
#define print_m4_id(M) print_m4(STRINGIFY(M), M)
|
||||
|
|
|
|||
|
|
@ -123,13 +123,13 @@ MINLINE void mul_v4_fl(float r[4], float f);
|
|||
MINLINE void mul_v4_v4fl(float r[3], const float a[3], float f);
|
||||
MINLINE void mul_v2_v2_cw(float r[2], const float mat[2], const float vec[2]);
|
||||
MINLINE void mul_v2_v2_ccw(float r[2], const float mat[2], const float vec[2]);
|
||||
MINLINE float mul_project_m4_v3_zfac(float mat[4][4], const float co[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_x(float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_y(float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_z(float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_x(float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_y(float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_z(float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float mul_project_m4_v3_zfac(const float mat[4][4], const float co[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_x(const float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_y(const float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m3_v3_row_z(const float M[3][3], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_x(const float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_y(const float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
MINLINE float dot_m4_v3_row_z(const float M[4][4], const float a[3]) ATTR_WARN_UNUSED_RESULT;
|
||||
|
||||
MINLINE void madd_v2_v2fl(float r[2], const float a[2], float f);
|
||||
MINLINE void madd_v3_v3fl(float r[3], const float a[3], float f);
|
||||
|
|
@ -171,7 +171,7 @@ MINLINE void cross_v3_v3v3(float r[3], const float a[3], const float b[3]);
|
|||
|
||||
MINLINE void add_newell_cross_v3_v3v3(float n[3], const float v_prev[3], const float v_curr[3]);
|
||||
|
||||
MINLINE void star_m3_v3(float rmat[3][3], float a[3]);
|
||||
MINLINE void star_m3_v3(float rmat[3][3], const float a[3]);
|
||||
|
||||
/*********************************** Length **********************************/
|
||||
|
||||
|
|
|
|||
|
|
@ -74,23 +74,23 @@ void unit_m4(float m[4][4])
|
|||
m[3][0] = m[3][1] = m[3][2] = 0.0f;
|
||||
}
|
||||
|
||||
void copy_m2_m2(float m1[2][2], float m2[2][2])
|
||||
void copy_m2_m2(float m1[2][2], const float m2[2][2])
|
||||
{
|
||||
memcpy(m1, m2, sizeof(float[2][2]));
|
||||
}
|
||||
|
||||
void copy_m3_m3(float m1[3][3], float m2[3][3])
|
||||
void copy_m3_m3(float m1[3][3], const float m2[3][3])
|
||||
{
|
||||
/* destination comes first: */
|
||||
memcpy(m1, m2, sizeof(float[3][3]));
|
||||
}
|
||||
|
||||
void copy_m4_m4(float m1[4][4], float m2[4][4])
|
||||
void copy_m4_m4(float m1[4][4], const float m2[4][4])
|
||||
{
|
||||
memcpy(m1, m2, sizeof(float[4][4]));
|
||||
}
|
||||
|
||||
void copy_m3_m4(float m1[3][3], float m2[4][4])
|
||||
void copy_m3_m4(float m1[3][3], const float m2[4][4])
|
||||
{
|
||||
m1[0][0] = m2[0][0];
|
||||
m1[0][1] = m2[0][1];
|
||||
|
|
@ -105,7 +105,7 @@ void copy_m3_m4(float m1[3][3], float m2[4][4])
|
|||
m1[2][2] = m2[2][2];
|
||||
}
|
||||
|
||||
void copy_m4_m3(float m1[4][4], float m2[3][3]) /* no clear */
|
||||
void copy_m4_m3(float m1[4][4], const float m2[3][3]) /* no clear */
|
||||
{
|
||||
m1[0][0] = m2[0][0];
|
||||
m1[0][1] = m2[0][1];
|
||||
|
|
@ -131,7 +131,7 @@ void copy_m4_m3(float m1[4][4], float m2[3][3]) /* no clear */
|
|||
|
||||
}
|
||||
|
||||
void copy_m3_m3d(float R[3][3], double A[3][3])
|
||||
void copy_m3_m3d(float R[3][3], const double A[3][3])
|
||||
{
|
||||
/* Keep it stupid simple for better data flow in CPU. */
|
||||
R[0][0] = (float)A[0][0];
|
||||
|
|
@ -177,11 +177,12 @@ void swap_m4m4(float m1[4][4], float m2[4][4])
|
|||
|
||||
/******************************** Arithmetic *********************************/
|
||||
|
||||
void mul_m4_m4m4(float m1[4][4], float m3_[4][4], float m2_[4][4])
|
||||
void mul_m4_m4m4(float m1[4][4], const float m3_[4][4], const float m2_[4][4])
|
||||
{
|
||||
float m2[4][4], m3[4][4];
|
||||
|
||||
/* copy so it works when m1 is the same pointer as m2 or m3 */
|
||||
/* TODO: avoid copying when matrices are different */
|
||||
copy_m4_m4(m2, m2_);
|
||||
copy_m4_m4(m3, m3_);
|
||||
|
||||
|
|
@ -208,11 +209,12 @@ void mul_m4_m4m4(float m1[4][4], float m3_[4][4], float m2_[4][4])
|
|||
|
||||
}
|
||||
|
||||
void mul_m3_m3m3(float m1[3][3], float m3_[3][3], float m2_[3][3])
|
||||
void mul_m3_m3m3(float m1[3][3], const float m3_[3][3], const float m2_[3][3])
|
||||
{
|
||||
float m2[3][3], m3[3][3];
|
||||
|
||||
/* copy so it works when m1 is the same pointer as m2 or m3 */
|
||||
/* TODO: avoid copying when matrices are different */
|
||||
copy_m3_m3(m2, m2_);
|
||||
copy_m3_m3(m3, m3_);
|
||||
|
||||
|
|
@ -230,11 +232,12 @@ void mul_m3_m3m3(float m1[3][3], float m3_[3][3], float m2_[3][3])
|
|||
m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] * m3[2][2];
|
||||
}
|
||||
|
||||
void mul_m4_m4m3(float m1[4][4], float m3_[4][4], float m2_[3][3])
|
||||
void mul_m4_m4m3(float m1[4][4], const float m3_[4][4], const float m2_[3][3])
|
||||
{
|
||||
float m2[3][3], m3[4][4];
|
||||
|
||||
/* copy so it works when m1 is the same pointer as m2 or m3 */
|
||||
/* TODO: avoid copying when matrices are different */
|
||||
copy_m3_m3(m2, m2_);
|
||||
copy_m4_m4(m3, m3_);
|
||||
|
||||
|
|
@ -250,11 +253,12 @@ void mul_m4_m4m3(float m1[4][4], float m3_[4][4], float m2_[3][3])
|
|||
}
|
||||
|
||||
/* m1 = m2 * m3, ignore the elements on the 4th row/column of m3 */
|
||||
void mul_m3_m3m4(float m1[3][3], float m3_[4][4], float m2_[3][3])
|
||||
void mul_m3_m3m4(float m1[3][3], const float m3_[4][4], const float m2_[3][3])
|
||||
{
|
||||
float m2[3][3], m3[4][4];
|
||||
|
||||
/* copy so it works when m1 is the same pointer as m2 or m3 */
|
||||
/* TODO: avoid copying when matrices are different */
|
||||
copy_m3_m3(m2, m2_);
|
||||
copy_m4_m4(m3, m3_);
|
||||
|
||||
|
|
@ -272,11 +276,12 @@ void mul_m3_m3m4(float m1[3][3], float m3_[4][4], float m2_[3][3])
|
|||
m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] * m3[2][2];
|
||||
}
|
||||
|
||||
void mul_m4_m3m4(float m1[4][4], float m3_[3][3], float m2_[4][4])
|
||||
void mul_m4_m3m4(float m1[4][4], const float m3_[3][3], const float m2_[4][4])
|
||||
{
|
||||
float m2[4][4], m3[3][3];
|
||||
|
||||
/* copy so it works when m1 is the same pointer as m2 or m3 */
|
||||
/* TODO: avoid copying when matrices are different */
|
||||
copy_m4_m4(m2, m2_);
|
||||
copy_m3_m3(m3, m3_);
|
||||
|
||||
|
|
@ -434,7 +439,7 @@ void _va_mul_m4_series_9(
|
|||
}
|
||||
/** \} */
|
||||
|
||||
void mul_v2_m3v2(float r[2], float m[3][3], float v[2])
|
||||
void mul_v2_m3v2(float r[2], const float m[3][3], const float v[2])
|
||||
{
|
||||
float temp[3], warped[3];
|
||||
|
||||
|
|
@ -447,12 +452,12 @@ void mul_v2_m3v2(float r[2], float m[3][3], float v[2])
|
|||
r[1] = warped[1] / warped[2];
|
||||
}
|
||||
|
||||
void mul_m3_v2(float m[3][3], float r[2])
|
||||
void mul_m3_v2(const float m[3][3], float r[2])
|
||||
{
|
||||
mul_v2_m3v2(r, m, r);
|
||||
}
|
||||
|
||||
void mul_m4_v3(float mat[4][4], float vec[3])
|
||||
void mul_m4_v3(const float mat[4][4], float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -462,7 +467,7 @@ void mul_m4_v3(float mat[4][4], float vec[3])
|
|||
vec[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2] + mat[3][2];
|
||||
}
|
||||
|
||||
void mul_v3_m4v3(float r[3], float mat[4][4], const float vec[3])
|
||||
void mul_v3_m4v3(float r[3], const float mat[4][4], const float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -472,7 +477,7 @@ void mul_v3_m4v3(float r[3], float mat[4][4], const float vec[3])
|
|||
r[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2] + mat[3][2];
|
||||
}
|
||||
|
||||
void mul_v2_m4v3(float r[2], float mat[4][4], const float vec[3])
|
||||
void mul_v2_m4v3(float r[2], const float mat[4][4], const float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
|
||||
|
|
@ -480,7 +485,7 @@ void mul_v2_m4v3(float r[2], float mat[4][4], const float vec[3])
|
|||
r[1] = x * mat[0][1] + vec[1] * mat[1][1] + mat[2][1] * vec[2] + mat[3][1];
|
||||
}
|
||||
|
||||
void mul_v2_m2v2(float r[2], float mat[2][2], const float vec[2])
|
||||
void mul_v2_m2v2(float r[2], const float mat[2][2], const float vec[2])
|
||||
{
|
||||
const float x = vec[0];
|
||||
|
||||
|
|
@ -488,13 +493,13 @@ void mul_v2_m2v2(float r[2], float mat[2][2], const float vec[2])
|
|||
r[1] = mat[0][1] * x + mat[1][1] * vec[1];
|
||||
}
|
||||
|
||||
void mul_m2v2(float mat[2][2], float vec[2])
|
||||
void mul_m2v2(const float mat[2][2], float vec[2])
|
||||
{
|
||||
mul_v2_m2v2(vec, mat, vec);
|
||||
}
|
||||
|
||||
/* same as mul_m4_v3() but doesnt apply translation component */
|
||||
void mul_mat3_m4_v3(float mat[4][4], float vec[3])
|
||||
void mul_mat3_m4_v3(const float mat[4][4], float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -504,7 +509,7 @@ void mul_mat3_m4_v3(float mat[4][4], float vec[3])
|
|||
vec[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2];
|
||||
}
|
||||
|
||||
void mul_v3_mat3_m4v3(float r[3], float mat[4][4], const float vec[3])
|
||||
void mul_v3_mat3_m4v3(float r[3], const float mat[4][4], const float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -514,7 +519,7 @@ void mul_v3_mat3_m4v3(float r[3], float mat[4][4], const float vec[3])
|
|||
r[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2];
|
||||
}
|
||||
|
||||
void mul_project_m4_v3(float mat[4][4], float vec[3])
|
||||
void mul_project_m4_v3(const float mat[4][4], float vec[3])
|
||||
{
|
||||
/* absolute value to not flip the frustum upside down behind the camera */
|
||||
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
|
||||
|
|
@ -525,7 +530,7 @@ void mul_project_m4_v3(float mat[4][4], float vec[3])
|
|||
vec[2] /= w;
|
||||
}
|
||||
|
||||
void mul_v3_project_m4_v3(float r[3], float mat[4][4], const float vec[3])
|
||||
void mul_v3_project_m4_v3(float r[3], const float mat[4][4], const float vec[3])
|
||||
{
|
||||
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
|
||||
mul_v3_m4v3(r, mat, vec);
|
||||
|
|
@ -535,7 +540,7 @@ void mul_v3_project_m4_v3(float r[3], float mat[4][4], const float vec[3])
|
|||
r[2] /= w;
|
||||
}
|
||||
|
||||
void mul_v2_project_m4_v3(float r[2], float mat[4][4], const float vec[3])
|
||||
void mul_v2_project_m4_v3(float r[2], const float mat[4][4], const float vec[3])
|
||||
{
|
||||
const float w = fabsf(mul_project_m4_v3_zfac(mat, vec));
|
||||
mul_v2_m4v3(r, mat, vec);
|
||||
|
|
@ -544,7 +549,7 @@ void mul_v2_project_m4_v3(float r[2], float mat[4][4], const float vec[3])
|
|||
r[1] /= w;
|
||||
}
|
||||
|
||||
void mul_v4_m4v4(float r[4], float mat[4][4], const float v[4])
|
||||
void mul_v4_m4v4(float r[4], const float mat[4][4], const float v[4])
|
||||
{
|
||||
const float x = v[0];
|
||||
const float y = v[1];
|
||||
|
|
@ -556,12 +561,12 @@ void mul_v4_m4v4(float r[4], float mat[4][4], const float v[4])
|
|||
r[3] = x * mat[0][3] + y * mat[1][3] + z * mat[2][3] + mat[3][3] * v[3];
|
||||
}
|
||||
|
||||
void mul_m4_v4(float mat[4][4], float r[4])
|
||||
void mul_m4_v4(const float mat[4][4], float r[4])
|
||||
{
|
||||
mul_v4_m4v4(r, mat, r);
|
||||
}
|
||||
|
||||
void mul_v4d_m4v4d(double r[4], float mat[4][4], double v[4])
|
||||
void mul_v4d_m4v4d(double r[4], const float mat[4][4], const double v[4])
|
||||
{
|
||||
const double x = v[0];
|
||||
const double y = v[1];
|
||||
|
|
@ -573,12 +578,12 @@ void mul_v4d_m4v4d(double r[4], float mat[4][4], double v[4])
|
|||
r[3] = x * (double)mat[0][3] + y * (double)mat[1][3] + z * (double)mat[2][3] + (double)mat[3][3] * v[3];
|
||||
}
|
||||
|
||||
void mul_m4_v4d(float mat[4][4], double r[4])
|
||||
void mul_m4_v4d(const float mat[4][4], double r[4])
|
||||
{
|
||||
mul_v4d_m4v4d(r, mat, r);
|
||||
}
|
||||
|
||||
void mul_v3_m3v3(float r[3], float M[3][3], const float a[3])
|
||||
void mul_v3_m3v3(float r[3], const float M[3][3], const float a[3])
|
||||
{
|
||||
BLI_assert(r != a);
|
||||
|
||||
|
|
@ -587,7 +592,7 @@ void mul_v3_m3v3(float r[3], float M[3][3], const float a[3])
|
|||
r[2] = M[0][2] * a[0] + M[1][2] * a[1] + M[2][2] * a[2];
|
||||
}
|
||||
|
||||
void mul_v3_m3v3_db(double r[3], double M[3][3], const double a[3])
|
||||
void mul_v3_m3v3_db(double r[3], const double M[3][3], const double a[3])
|
||||
{
|
||||
BLI_assert(r != a);
|
||||
|
||||
|
|
@ -596,7 +601,7 @@ void mul_v3_m3v3_db(double r[3], double M[3][3], const double a[3])
|
|||
r[2] = M[0][2] * a[0] + M[1][2] * a[1] + M[2][2] * a[2];
|
||||
}
|
||||
|
||||
void mul_v2_m3v3(float r[2], float M[3][3], const float a[3])
|
||||
void mul_v2_m3v3(float r[2], const float M[3][3], const float a[3])
|
||||
{
|
||||
BLI_assert(r != a);
|
||||
|
||||
|
|
@ -604,17 +609,17 @@ void mul_v2_m3v3(float r[2], float M[3][3], const float a[3])
|
|||
r[1] = M[0][1] * a[0] + M[1][1] * a[1] + M[2][1] * a[2];
|
||||
}
|
||||
|
||||
void mul_m3_v3(float M[3][3], float r[3])
|
||||
void mul_m3_v3(const float M[3][3], float r[3])
|
||||
{
|
||||
mul_v3_m3v3(r, M, (const float[3]){UNPACK3(r)});
|
||||
}
|
||||
|
||||
void mul_m3_v3_db(double M[3][3], double r[3])
|
||||
void mul_m3_v3_db(const double M[3][3], double r[3])
|
||||
{
|
||||
mul_v3_m3v3_db(r, M, (const double[3]){UNPACK3(r)});
|
||||
}
|
||||
|
||||
void mul_transposed_m3_v3(float mat[3][3], float vec[3])
|
||||
void mul_transposed_m3_v3(const float mat[3][3], float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -624,7 +629,7 @@ void mul_transposed_m3_v3(float mat[3][3], float vec[3])
|
|||
vec[2] = x * mat[2][0] + y * mat[2][1] + mat[2][2] * vec[2];
|
||||
}
|
||||
|
||||
void mul_transposed_mat3_m4_v3(float mat[4][4], float vec[3])
|
||||
void mul_transposed_mat3_m4_v3(const float mat[4][4], float vec[3])
|
||||
{
|
||||
const float x = vec[0];
|
||||
const float y = vec[1];
|
||||
|
|
@ -688,7 +693,7 @@ void negate_m4(float m[4][4])
|
|||
m[i][j] *= -1.0f;
|
||||
}
|
||||
|
||||
void mul_m3_v3_double(float mat[3][3], double vec[3])
|
||||
void mul_m3_v3_double(const float mat[3][3], double vec[3])
|
||||
{
|
||||
const double x = vec[0];
|
||||
const double y = vec[1];
|
||||
|
|
@ -698,7 +703,7 @@ void mul_m3_v3_double(float mat[3][3], double vec[3])
|
|||
vec[2] = x * (double)mat[0][2] + y * (double)mat[1][2] + (double)mat[2][2] * vec[2];
|
||||
}
|
||||
|
||||
void add_m3_m3m3(float m1[3][3], float m2[3][3], float m3[3][3])
|
||||
void add_m3_m3m3(float m1[3][3], const float m2[3][3], const float m3[3][3])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -707,7 +712,7 @@ void add_m3_m3m3(float m1[3][3], float m2[3][3], float m3[3][3])
|
|||
m1[i][j] = m2[i][j] + m3[i][j];
|
||||
}
|
||||
|
||||
void add_m4_m4m4(float m1[4][4], float m2[4][4], float m3[4][4])
|
||||
void add_m4_m4m4(float m1[4][4], const float m2[4][4], const float m3[4][4])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -716,7 +721,7 @@ void add_m4_m4m4(float m1[4][4], float m2[4][4], float m3[4][4])
|
|||
m1[i][j] = m2[i][j] + m3[i][j];
|
||||
}
|
||||
|
||||
void sub_m3_m3m3(float m1[3][3], float m2[3][3], float m3[3][3])
|
||||
void sub_m3_m3m3(float m1[3][3], const float m2[3][3], const float m3[3][3])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -725,7 +730,7 @@ void sub_m3_m3m3(float m1[3][3], float m2[3][3], float m3[3][3])
|
|||
m1[i][j] = m2[i][j] - m3[i][j];
|
||||
}
|
||||
|
||||
void sub_m4_m4m4(float m1[4][4], float m2[4][4], float m3[4][4])
|
||||
void sub_m4_m4m4(float m1[4][4], const float m2[4][4], const float m3[4][4])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -734,7 +739,7 @@ void sub_m4_m4m4(float m1[4][4], float m2[4][4], float m3[4][4])
|
|||
m1[i][j] = m2[i][j] - m3[i][j];
|
||||
}
|
||||
|
||||
float determinant_m3_array(float m[3][3])
|
||||
float determinant_m3_array(const float m[3][3])
|
||||
{
|
||||
return (m[0][0] * (m[1][1] * m[2][2] - m[1][2] * m[2][1]) -
|
||||
m[1][0] * (m[0][1] * m[2][2] - m[0][2] * m[2][1]) +
|
||||
|
|
@ -750,7 +755,7 @@ bool invert_m3_ex(float m[3][3], const float epsilon)
|
|||
return success;
|
||||
}
|
||||
|
||||
bool invert_m3_m3_ex(float m1[3][3], float m2[3][3], const float epsilon)
|
||||
bool invert_m3_m3_ex(float m1[3][3], const float m2[3][3], const float epsilon)
|
||||
{
|
||||
float det;
|
||||
int a, b;
|
||||
|
|
@ -786,7 +791,7 @@ bool invert_m3(float m[3][3])
|
|||
return success;
|
||||
}
|
||||
|
||||
bool invert_m3_m3(float m1[3][3], float m2[3][3])
|
||||
bool invert_m3_m3(float m1[3][3], const float m2[3][3])
|
||||
{
|
||||
float det;
|
||||
int a, b;
|
||||
|
|
@ -830,7 +835,7 @@ bool invert_m4(float m[4][4])
|
|||
* Mark Segal - 1992
|
||||
*/
|
||||
|
||||
bool invert_m4_m4(float inverse[4][4], float mat[4][4])
|
||||
bool invert_m4_m4(float inverse[4][4], const float mat[4][4])
|
||||
{
|
||||
int i, j, k;
|
||||
double temp;
|
||||
|
|
@ -908,7 +913,7 @@ void transpose_m3(float mat[3][3])
|
|||
mat[2][1] = t;
|
||||
}
|
||||
|
||||
void transpose_m3_m3(float rmat[3][3], float mat[3][3])
|
||||
void transpose_m3_m3(float rmat[3][3], const float mat[3][3])
|
||||
{
|
||||
BLI_assert(rmat != mat);
|
||||
|
||||
|
|
@ -924,7 +929,7 @@ void transpose_m3_m3(float rmat[3][3], float mat[3][3])
|
|||
}
|
||||
|
||||
/* seems obscure but in-fact a common operation */
|
||||
void transpose_m3_m4(float rmat[3][3], float mat[4][4])
|
||||
void transpose_m3_m4(float rmat[3][3], const float mat[4][4])
|
||||
{
|
||||
BLI_assert(&rmat[0][0] != &mat[0][0]);
|
||||
|
||||
|
|
@ -965,7 +970,7 @@ void transpose_m4(float mat[4][4])
|
|||
mat[3][2] = t;
|
||||
}
|
||||
|
||||
void transpose_m4_m4(float rmat[4][4], float mat[4][4])
|
||||
void transpose_m4_m4(float rmat[4][4], const float mat[4][4])
|
||||
{
|
||||
BLI_assert(rmat != mat);
|
||||
|
||||
|
|
@ -987,7 +992,8 @@ void transpose_m4_m4(float rmat[4][4], float mat[4][4])
|
|||
rmat[3][3] = mat[3][3];
|
||||
}
|
||||
|
||||
int compare_m4m4(float mat1[4][4], float mat2[4][4], float limit)
|
||||
/* TODO: return bool */
|
||||
int compare_m4m4(const float mat1[4][4], const float mat2[4][4], float limit)
|
||||
{
|
||||
if (compare_v4v4(mat1[0], mat2[0], limit))
|
||||
if (compare_v4v4(mat1[1], mat2[1], limit))
|
||||
|
|
@ -1165,7 +1171,7 @@ void orthogonalize_m4(float mat[4][4], int axis)
|
|||
mul_v3_fl(mat[2], size[2]);
|
||||
}
|
||||
|
||||
bool is_orthogonal_m3(float m[3][3])
|
||||
bool is_orthogonal_m3(const float m[3][3])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -1179,7 +1185,7 @@ bool is_orthogonal_m3(float m[3][3])
|
|||
return true;
|
||||
}
|
||||
|
||||
bool is_orthogonal_m4(float m[4][4])
|
||||
bool is_orthogonal_m4(const float m[4][4])
|
||||
{
|
||||
int i, j;
|
||||
|
||||
|
|
@ -1194,7 +1200,7 @@ bool is_orthogonal_m4(float m[4][4])
|
|||
return true;
|
||||
}
|
||||
|
||||
bool is_orthonormal_m3(float m[3][3])
|
||||
bool is_orthonormal_m3(const float m[3][3])
|
||||
{
|
||||
if (is_orthogonal_m3(m)) {
|
||||
int i;
|
||||
|
|
@ -1209,7 +1215,7 @@ bool is_orthonormal_m3(float m[3][3])
|
|||
return false;
|
||||
}
|
||||
|
||||
bool is_orthonormal_m4(float m[4][4])
|
||||
bool is_orthonormal_m4(const float m[4][4])
|
||||
{
|
||||
if (is_orthogonal_m4(m)) {
|
||||
int i;
|
||||
|
|
@ -1224,7 +1230,7 @@ bool is_orthonormal_m4(float m[4][4])
|
|||
return false;
|
||||
}
|
||||
|
||||
bool is_uniform_scaled_m3(float m[3][3])
|
||||
bool is_uniform_scaled_m3(const float m[3][3])
|
||||
{
|
||||
const float eps = 1e-7f;
|
||||
float t[3][3];
|
||||
|
|
@ -1252,7 +1258,7 @@ bool is_uniform_scaled_m3(float m[3][3])
|
|||
return false;
|
||||
}
|
||||
|
||||
bool is_uniform_scaled_m4(float m[4][4])
|
||||
bool is_uniform_scaled_m4(const float m[4][4])
|
||||
{
|
||||
float t[3][3];
|
||||
copy_m3_m4(t, m);
|
||||
|
|
@ -1274,14 +1280,14 @@ void normalize_m3(float mat[3][3])
|
|||
}
|
||||
}
|
||||
|
||||
void normalize_m3_m3_ex(float rmat[3][3], float mat[3][3], float r_scale[3])
|
||||
void normalize_m3_m3_ex(float rmat[3][3], const float mat[3][3], float r_scale[3])
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3; i++) {
|
||||
r_scale[i] = normalize_v3_v3(rmat[i], mat[i]);
|
||||
}
|
||||
}
|
||||
void normalize_m3_m3(float rmat[3][3], float mat[3][3])
|
||||
void normalize_m3_m3(float rmat[3][3], const float mat[3][3])
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3; i++) {
|
||||
|
|
@ -1310,7 +1316,7 @@ void normalize_m4(float mat[4][4])
|
|||
}
|
||||
}
|
||||
|
||||
void normalize_m4_m4_ex(float rmat[4][4], float mat[4][4], float r_scale[3])
|
||||
void normalize_m4_m4_ex(float rmat[4][4], const float mat[4][4], float r_scale[3])
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3; i++) {
|
||||
|
|
@ -1319,7 +1325,7 @@ void normalize_m4_m4_ex(float rmat[4][4], float mat[4][4], float r_scale[3])
|
|||
}
|
||||
copy_v4_v4(rmat[3], mat[3]);
|
||||
}
|
||||
void normalize_m4_m4(float rmat[4][4], float mat[4][4])
|
||||
void normalize_m4_m4(float rmat[4][4], const float mat[4][4])
|
||||
{
|
||||
int i;
|
||||
for (i = 0; i < 3; i++) {
|
||||
|
|
@ -1329,7 +1335,7 @@ void normalize_m4_m4(float rmat[4][4], float mat[4][4])
|
|||
copy_v4_v4(rmat[3], mat[3]);
|
||||
}
|
||||
|
||||
void adjoint_m2_m2(float m1[2][2], float m[2][2])
|
||||
void adjoint_m2_m2(float m1[2][2], const float m[2][2])
|
||||
{
|
||||
BLI_assert(m1 != m);
|
||||
m1[0][0] = m[1][1];
|
||||
|
|
@ -1338,7 +1344,7 @@ void adjoint_m2_m2(float m1[2][2], float m[2][2])
|
|||
m1[1][1] = m[0][0];
|
||||
}
|
||||
|
||||
void adjoint_m3_m3(float m1[3][3], float m[3][3])
|
||||
void adjoint_m3_m3(float m1[3][3], const float m[3][3])
|
||||
{
|
||||
BLI_assert(m1 != m);
|
||||
m1[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];
|
||||
|
|
@ -1354,7 +1360,7 @@ void adjoint_m3_m3(float m1[3][3], float m[3][3])
|
|||
m1[2][2] = m[0][0] * m[1][1] - m[0][1] * m[1][0];
|
||||
}
|
||||
|
||||
void adjoint_m4_m4(float out[4][4], float in[4][4]) /* out = ADJ(in) */
|
||||
void adjoint_m4_m4(float out[4][4], const float in[4][4]) /* out = ADJ(in) */
|
||||
{
|
||||
float a1, a2, a3, a4, b1, b2, b3, b4;
|
||||
float c1, c2, c3, c4, d1, d2, d3, d4;
|
||||
|
|
@ -1420,7 +1426,7 @@ float determinant_m3(float a1, float a2, float a3,
|
|||
return ans;
|
||||
}
|
||||
|
||||
float determinant_m4(float m[4][4])
|
||||
float determinant_m4(const float m[4][4])
|
||||
{
|
||||
float ans;
|
||||
float a1, a2, a3, a4, b1, b2, b3, b4, c1, c2, c3, c4, d1, d2, d3, d4;
|
||||
|
|
@ -1488,14 +1494,14 @@ void size_to_mat4(float mat[4][4], const float size[3])
|
|||
mat[3][3] = 1.0f;
|
||||
}
|
||||
|
||||
void mat3_to_size(float size[3], float mat[3][3])
|
||||
void mat3_to_size(float size[3], const float mat[3][3])
|
||||
{
|
||||
size[0] = len_v3(mat[0]);
|
||||
size[1] = len_v3(mat[1]);
|
||||
size[2] = len_v3(mat[2]);
|
||||
}
|
||||
|
||||
void mat4_to_size(float size[3], float mat[4][4])
|
||||
void mat4_to_size(float size[3], const float mat[4][4])
|
||||
{
|
||||
size[0] = len_v3(mat[0]);
|
||||
size[1] = len_v3(mat[1]);
|
||||
|
|
@ -1505,7 +1511,7 @@ void mat4_to_size(float size[3], float mat[4][4])
|
|||
/* this gets the average scale of a matrix, only use when your scaling
|
||||
* data that has no idea of scale axis, examples are bone-envelope-radius
|
||||
* and curve radius */
|
||||
float mat3_to_scale(float mat[3][3])
|
||||
float mat3_to_scale(const float mat[3][3])
|
||||
{
|
||||
/* unit length vector */
|
||||
float unit_vec[3];
|
||||
|
|
@ -1514,7 +1520,7 @@ float mat3_to_scale(float mat[3][3])
|
|||
return len_v3(unit_vec);
|
||||
}
|
||||
|
||||
float mat4_to_scale(float mat[4][4])
|
||||
float mat4_to_scale(const float mat[4][4])
|
||||
{
|
||||
/* unit length vector */
|
||||
float unit_vec[3];
|
||||
|
|
@ -1523,7 +1529,7 @@ float mat4_to_scale(float mat[4][4])
|
|||
return len_v3(unit_vec);
|
||||
}
|
||||
|
||||
void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3])
|
||||
void mat3_to_rot_size(float rot[3][3], float size[3], const float mat3[3][3])
|
||||
{
|
||||
/* keep rot as a 3x3 matrix, the caller can convert into a quat or euler */
|
||||
size[0] = normalize_v3_v3(rot[0], mat3[0]);
|
||||
|
|
@ -1535,7 +1541,7 @@ void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[3][3])
|
|||
}
|
||||
}
|
||||
|
||||
void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wmat[4][4])
|
||||
void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], const float wmat[4][4])
|
||||
{
|
||||
float mat3[3][3]; /* wmat -> 3x3 */
|
||||
|
||||
|
|
@ -1546,7 +1552,7 @@ void mat4_to_loc_rot_size(float loc[3], float rot[3][3], float size[3], float wm
|
|||
copy_v3_v3(loc, wmat[3]);
|
||||
}
|
||||
|
||||
void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4])
|
||||
void mat4_to_loc_quat(float loc[3], float quat[4], const float wmat[4][4])
|
||||
{
|
||||
float mat3[3][3];
|
||||
float mat3_n[3][3]; /* normalized mat3 */
|
||||
|
|
@ -1564,7 +1570,7 @@ void mat4_to_loc_quat(float loc[3], float quat[4], float wmat[4][4])
|
|||
copy_v3_v3(loc, wmat[3]);
|
||||
}
|
||||
|
||||
void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4])
|
||||
void mat4_decompose(float loc[3], float quat[4], float size[3], const float wmat[4][4])
|
||||
{
|
||||
float rot[3][3];
|
||||
mat4_to_loc_rot_size(loc, rot, size, wmat);
|
||||
|
|
@ -1581,7 +1587,7 @@ void mat4_decompose(float loc[3], float quat[4], float size[3], float wmat[4][4]
|
|||
* See https://en.wikipedia.org/wiki/Polar_decomposition for more.
|
||||
*/
|
||||
#ifndef MATH_STANDALONE
|
||||
void mat3_polar_decompose(float mat3[3][3], float r_U[3][3], float r_P[3][3])
|
||||
void mat3_polar_decompose(const float mat3[3][3], float r_U[3][3], float r_P[3][3])
|
||||
{
|
||||
/* From svd decomposition (M = WSV*), we have:
|
||||
* U = WV*
|
||||
|
|
@ -1625,6 +1631,7 @@ void translate_m4(float mat[4][4], float Tx, float Ty, float Tz)
|
|||
mat[3][2] += (Tx * mat[0][2] + Ty * mat[1][2] + Tz * mat[2][2]);
|
||||
}
|
||||
|
||||
/* TODO: enum for axis */
|
||||
void rotate_m4(float mat[4][4], const char axis, const float angle)
|
||||
{
|
||||
int col;
|
||||
|
|
@ -1694,7 +1701,7 @@ void transform_pivot_set_m4(float mat[4][4], const float pivot[3])
|
|||
mul_m4_m4m4(mat, mat, tmat);
|
||||
}
|
||||
|
||||
void blend_m3_m3m3(float out[3][3], float dst[3][3], float src[3][3], const float srcweight)
|
||||
void blend_m3_m3m3(float out[3][3], const float dst[3][3], const float src[3][3], const float srcweight)
|
||||
{
|
||||
float srot[3][3], drot[3][3];
|
||||
float squat[4], dquat[4], fquat[4];
|
||||
|
|
@ -1717,7 +1724,7 @@ void blend_m3_m3m3(float out[3][3], float dst[3][3], float src[3][3], const floa
|
|||
mul_m3_m3m3(out, rmat, smat);
|
||||
}
|
||||
|
||||
void blend_m4_m4m4(float out[4][4], float dst[4][4], float src[4][4], const float srcweight)
|
||||
void blend_m4_m4m4(float out[4][4], const float dst[4][4], const float src[4][4], const float srcweight)
|
||||
{
|
||||
float sloc[3], dloc[3], floc[3];
|
||||
float srot[3][3], drot[3][3];
|
||||
|
|
@ -1755,7 +1762,7 @@ void blend_m4_m4m4(float out[4][4], float dst[4][4], float src[4][4], const floa
|
|||
* @param B the intput matrix which is totally effective with \a t = 1.0.
|
||||
* @param t the interpolation factor.
|
||||
*/
|
||||
void interp_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t)
|
||||
void interp_m3_m3m3(float R[3][3], const float A[3][3], const float B[3][3], const float t)
|
||||
{
|
||||
/* 'Rotation' component ('U' part of polar decomposition, the closest orthogonal matrix to M3 rot/scale
|
||||
* transformation matrix), spherically interpolated. */
|
||||
|
|
@ -1790,7 +1797,7 @@ void interp_m3_m3m3(float R[3][3], float A[3][3], float B[3][3], const float t)
|
|||
* @param B the intput matrix which is totally effective with \a t = 1.0.
|
||||
* @param t the interpolation factor.
|
||||
*/
|
||||
void interp_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t)
|
||||
void interp_m4_m4m4(float R[4][4], const float A[4][4], const float B[4][4], const float t)
|
||||
{
|
||||
float A3[3][3], B3[3][3], R3[3][3];
|
||||
|
||||
|
|
@ -1811,27 +1818,27 @@ void interp_m4_m4m4(float R[4][4], float A[4][4], float B[4][4], const float t)
|
|||
}
|
||||
#endif /* MATH_STANDALONE */
|
||||
|
||||
bool is_negative_m3(float mat[3][3])
|
||||
bool is_negative_m3(const float mat[3][3])
|
||||
{
|
||||
float vec[3];
|
||||
cross_v3_v3v3(vec, mat[0], mat[1]);
|
||||
return (dot_v3v3(vec, mat[2]) < 0.0f);
|
||||
}
|
||||
|
||||
bool is_negative_m4(float mat[4][4])
|
||||
bool is_negative_m4(const float mat[4][4])
|
||||
{
|
||||
float vec[3];
|
||||
cross_v3_v3v3(vec, mat[0], mat[1]);
|
||||
return (dot_v3v3(vec, mat[2]) < 0.0f);
|
||||
}
|
||||
|
||||
bool is_zero_m3(float mat[3][3])
|
||||
bool is_zero_m3(const float mat[3][3])
|
||||
{
|
||||
return (is_zero_v3(mat[0]) &&
|
||||
is_zero_v3(mat[1]) &&
|
||||
is_zero_v3(mat[2]));
|
||||
}
|
||||
bool is_zero_m4(float mat[4][4])
|
||||
bool is_zero_m4(const float mat[4][4])
|
||||
{
|
||||
return (is_zero_v4(mat[0]) &&
|
||||
is_zero_v4(mat[1]) &&
|
||||
|
|
@ -1839,14 +1846,14 @@ bool is_zero_m4(float mat[4][4])
|
|||
is_zero_v4(mat[3]));
|
||||
}
|
||||
|
||||
bool equals_m3m3(float mat1[3][3], float mat2[3][3])
|
||||
bool equals_m3m3(const float mat1[3][3], const float mat2[3][3])
|
||||
{
|
||||
return (equals_v3v3(mat1[0], mat2[0]) &&
|
||||
equals_v3v3(mat1[1], mat2[1]) &&
|
||||
equals_v3v3(mat1[2], mat2[2]));
|
||||
}
|
||||
|
||||
bool equals_m4m4(float mat1[4][4], float mat2[4][4])
|
||||
bool equals_m4m4(const float mat1[4][4], const float mat2[4][4])
|
||||
{
|
||||
return (equals_v4v4(mat1[0], mat2[0]) &&
|
||||
equals_v4v4(mat1[1], mat2[1]) &&
|
||||
|
|
@ -1937,7 +1944,7 @@ void loc_axisangle_size_to_mat4(float mat[4][4], const float loc[3], const float
|
|||
|
||||
/*********************************** Other ***********************************/
|
||||
|
||||
void print_m3(const char *str, float m[3][3])
|
||||
void print_m3(const char *str, const float m[3][3])
|
||||
{
|
||||
printf("%s\n", str);
|
||||
printf("%f %f %f\n", m[0][0], m[1][0], m[2][0]);
|
||||
|
|
@ -1946,7 +1953,7 @@ void print_m3(const char *str, float m[3][3])
|
|||
printf("\n");
|
||||
}
|
||||
|
||||
void print_m4(const char *str, float m[4][4])
|
||||
void print_m4(const char *str, const float m[4][4])
|
||||
{
|
||||
printf("%s\n", str);
|
||||
printf("%f %f %f %f\n", m[0][0], m[1][0], m[2][0], m[3][0]);
|
||||
|
|
@ -2400,7 +2407,7 @@ void svd_m4(float U[4][4], float s[4], float V[4][4], float A_[4][4])
|
|||
}
|
||||
}
|
||||
|
||||
void pseudoinverse_m4_m4(float Ainv[4][4], float A_[4][4], float epsilon)
|
||||
void pseudoinverse_m4_m4(float Ainv[4][4], const float A_[4][4], float epsilon)
|
||||
{
|
||||
/* compute Moore-Penrose pseudo inverse of matrix, singular values
|
||||
* below epsilon are ignored for stability (truncated SVD) */
|
||||
|
|
@ -2421,7 +2428,7 @@ void pseudoinverse_m4_m4(float Ainv[4][4], float A_[4][4], float epsilon)
|
|||
mul_m4_series(Ainv, U, Wm, V);
|
||||
}
|
||||
|
||||
void pseudoinverse_m3_m3(float Ainv[3][3], float A[3][3], float epsilon)
|
||||
void pseudoinverse_m3_m3(float Ainv[3][3], const float A[3][3], float epsilon)
|
||||
{
|
||||
/* try regular inverse when possible, otherwise fall back to slow svd */
|
||||
if (!invert_m3_m3(Ainv, A)) {
|
||||
|
|
@ -2433,14 +2440,14 @@ void pseudoinverse_m3_m3(float Ainv[3][3], float A[3][3], float epsilon)
|
|||
}
|
||||
}
|
||||
|
||||
bool has_zero_axis_m4(float matrix[4][4])
|
||||
bool has_zero_axis_m4(const float matrix[4][4])
|
||||
{
|
||||
return len_squared_v3(matrix[0]) < FLT_EPSILON ||
|
||||
len_squared_v3(matrix[1]) < FLT_EPSILON ||
|
||||
len_squared_v3(matrix[2]) < FLT_EPSILON;
|
||||
}
|
||||
|
||||
void invert_m4_m4_safe(float Ainv[4][4], float A[4][4])
|
||||
void invert_m4_m4_safe(float Ainv[4][4], const float A[4][4])
|
||||
{
|
||||
if (!invert_m4_m4(Ainv, A)) {
|
||||
float Atemp[4][4];
|
||||
|
|
@ -2488,7 +2495,7 @@ void invert_m4_m4_safe(float Ainv[4][4], float A[4][4])
|
|||
* this defines a transform matrix TM such that (x', y', z') = TM * (x, y, z)
|
||||
* where (x', y', z') are the coordinates of P' in target space such that it keeps (X, Y, Z) coordinates in global space.
|
||||
*/
|
||||
void BLI_space_transform_from_matrices(SpaceTransform *data, float local[4][4], float target[4][4])
|
||||
void BLI_space_transform_from_matrices(SpaceTransform *data, const float local[4][4], const float target[4][4])
|
||||
{
|
||||
float itarget[4][4];
|
||||
invert_m4_m4(itarget, target);
|
||||
|
|
@ -2506,7 +2513,7 @@ void BLI_space_transform_from_matrices(SpaceTransform *data, float local[4][4],
|
|||
* this defines a transform matrix TM such that (X', Y', Z') = TM * (X, Y, Z)
|
||||
* where (X', Y', Z') are the coordinates of p' in global space such that it keeps (x, y, z) coordinates in target space.
|
||||
*/
|
||||
void BLI_space_transform_global_from_matrices(SpaceTransform *data, float local[4][4], float target[4][4])
|
||||
void BLI_space_transform_global_from_matrices(SpaceTransform *data, const float local[4][4], const float target[4][4])
|
||||
{
|
||||
float ilocal[4][4];
|
||||
invert_m4_m4(ilocal, local);
|
||||
|
|
|
|||
|
|
@ -480,7 +480,7 @@ MINLINE void mul_v2_v2_ccw(float r[2], const float mat[2], const float vec[2])
|
|||
}
|
||||
|
||||
/* note: could add a matrix inline */
|
||||
MINLINE float mul_project_m4_v3_zfac(float mat[4][4], const float co[3])
|
||||
MINLINE float mul_project_m4_v3_zfac(const float mat[4][4], const float co[3])
|
||||
{
|
||||
return (mat[0][3] * co[0]) +
|
||||
(mat[1][3] * co[1]) +
|
||||
|
|
@ -490,15 +490,15 @@ MINLINE float mul_project_m4_v3_zfac(float mat[4][4], const float co[3])
|
|||
/**
|
||||
* Has the effect of #mul_m3_v3(), on a single axis.
|
||||
*/
|
||||
MINLINE float dot_m3_v3_row_x(float M[3][3], const float a[3])
|
||||
MINLINE float dot_m3_v3_row_x(const float M[3][3], const float a[3])
|
||||
{
|
||||
return M[0][0] * a[0] + M[1][0] * a[1] + M[2][0] * a[2];
|
||||
}
|
||||
MINLINE float dot_m3_v3_row_y(float M[3][3], const float a[3])
|
||||
MINLINE float dot_m3_v3_row_y(const float M[3][3], const float a[3])
|
||||
{
|
||||
return M[0][1] * a[0] + M[1][1] * a[1] + M[2][1] * a[2];
|
||||
}
|
||||
MINLINE float dot_m3_v3_row_z(float M[3][3], const float a[3])
|
||||
MINLINE float dot_m3_v3_row_z(const float M[3][3], const float a[3])
|
||||
{
|
||||
return M[0][2] * a[0] + M[1][2] * a[1] + M[2][2] * a[2];
|
||||
}
|
||||
|
|
@ -507,15 +507,15 @@ MINLINE float dot_m3_v3_row_z(float M[3][3], const float a[3])
|
|||
* Has the effect of #mul_mat3_m4_v3(), on a single axis.
|
||||
* (no adding translation)
|
||||
*/
|
||||
MINLINE float dot_m4_v3_row_x(float M[4][4], const float a[3])
|
||||
MINLINE float dot_m4_v3_row_x(const float M[4][4], const float a[3])
|
||||
{
|
||||
return M[0][0] * a[0] + M[1][0] * a[1] + M[2][0] * a[2];
|
||||
}
|
||||
MINLINE float dot_m4_v3_row_y(float M[4][4], const float a[3])
|
||||
MINLINE float dot_m4_v3_row_y(const float M[4][4], const float a[3])
|
||||
{
|
||||
return M[0][1] * a[0] + M[1][1] * a[1] + M[2][1] * a[2];
|
||||
}
|
||||
MINLINE float dot_m4_v3_row_z(float M[4][4], const float a[3])
|
||||
MINLINE float dot_m4_v3_row_z(const float M[4][4], const float a[3])
|
||||
{
|
||||
return M[0][2] * a[0] + M[1][2] * a[1] + M[2][2] * a[2];
|
||||
}
|
||||
|
|
@ -745,7 +745,7 @@ MINLINE void add_newell_cross_v3_v3v3(float n[3], const float v_prev[3], const f
|
|||
n[2] += (v_prev[0] - v_curr[0]) * (v_prev[1] + v_curr[1]);
|
||||
}
|
||||
|
||||
MINLINE void star_m3_v3(float rmat[3][3], float a[3])
|
||||
MINLINE void star_m3_v3(float rmat[3][3], const float a[3])
|
||||
{
|
||||
rmat[0][0] = rmat[1][1] = rmat[2][2] = 0.0;
|
||||
rmat[0][1] = -a[2];
|
||||
|
|
|
|||
Loading…
Reference in New Issue