OOMatrix.m File Reference

#include "OOMaths.h"
import "OOOpenGLExtensionManager.h"

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Functions
OOMatrix	OOMatrixForRotation (Vector axis, OOScalar angle)
OOMatrix	OOMatrixForQuaternionRotation (Quaternion orientation)
bool	OOMatrixEqual (OOMatrix a, OOMatrix b)
OOMatrix	OOMatrixMultiply (OOMatrix a, OOMatrix b)
Vector	OOVectorMultiplyMatrix (Vector v, OOMatrix m)
HPVector	OOHPVectorMultiplyMatrix (HPVector v, OOMatrix m)
OOMatrix	OOMatrixOrthogonalize (OOMatrix m)
OOMatrix	OOMatrixForBillboard (HPVector bbPos, HPVector eyePos)
void	OOMatrixRowSwap (OOMatrix *M, int row1, int row2)
void	OOMatrixRowScale (OOMatrix *M, int row, OOScalar factor)
void	OOMatrixRowOperation (OOMatrix *M, int row1, OOScalar factor1, int row2, OOScalar factor2)
void	OOMatrixColumnSwap (OOMatrix *M, int column1, int column2)
void	OOMatrixColumnScale (OOMatrix *M, int column, OOScalar factor)
void	OOMatrixColumnOperation (OOMatrix *M, int column1, OOScalar factor1, int column2, OOScalar factor2)
OOMatrix	OOMatrixLeftTransform (OOMatrix A, OOMatrix B)
OOMatrix	OOMatrixRightTransform (OOMatrix A, OOMatrix B)
OOMatrix	OOMatrixInverse (OOMatrix M)
OOMatrix	OOMatrixInverseWithDeterminant (OOMatrix M, OOScalar *d)
void	GLUniformMatrix3 (int location, OOMatrix M)

Variables
const OOMatrix	kIdentityMatrix
const OOMatrix	kZeroMatrix

Function Documentation

GLUniformMatrix3()

void GLUniformMatrix3	(	int	location,
		OOMatrix	M )

Definition at line 457 of file OOMatrix.m.

{
    OOScalar m[9];
    m[0] = M.m[0][0];
    m[1] = M.m[0][1];
    m[2] = M.m[0][2];
    m[3] = M.m[1][0];
    m[4] = M.m[1][1];
    m[5] = M.m[1][2];
    m[6] = M.m[2][0];
    m[7] = M.m[2][1];
    m[8] = M.m[2][2];
    OOGL(glUniformMatrix3fvARB(location, 1, NO, m));
}

References OOGL.

OOHPVectorMultiplyMatrix()

HPVector OOHPVectorMultiplyMatrix	(	HPVector	v,
		OOMatrix	m )

Definition at line 145 of file OOMatrix.m.

{
    OOScalar x, y, z, w;
    
    x = m.m[0][0] * v.x + m.m[1][0] * v.y + m.m[2][0] * v.z + m.m[3][0];
    y = m.m[0][1] * v.x + m.m[1][1] * v.y + m.m[2][1] * v.z + m.m[3][1];
    z = m.m[0][2] * v.x + m.m[1][2] * v.y + m.m[2][2] * v.z + m.m[3][2];
    w = m.m[0][3] * v.x + m.m[1][3] * v.y + m.m[2][3] * v.z + m.m[3][3];
    
    w = 1.0f/w;
    return make_HPvector(x * w, y * w, z * w);
}

References x, and y.

OOMatrixColumnOperation()

void OOMatrixColumnOperation	(	OOMatrix *	M,
		int	column1,
		OOScalar	factor1,
		int	column2,
		OOScalar	factor2 )

Definition at line 287 of file OOMatrix.m.

{
    if (column1 < 0 || column1 >= 4 || column2 < 0 || column2 >= 4)
    {
        return;
    }
    int i;
    for (i = 0; i < 4; i++)
    {
        M->m[i][column1] = factor1 * M->m[i][column1] + factor2 * M->m[i][column2];
    }
    return;
}

Referenced by OOMatrixLeftTransform().

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OOMatrixColumnScale()

void OOMatrixColumnScale	(	OOMatrix *	M,
		int	column,
		OOScalar	factor )

Definition at line 273 of file OOMatrix.m.

{
    if (column < 0 || column >= 4)
    {
        return;
    }
    int i;
    for (i = 0; i < 4; i++)
    {
        M->m[i][column] *= factor;
    }
    return;
}

Referenced by OOMatrixLeftTransform().

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OOMatrixColumnSwap()

void OOMatrixColumnSwap	(	OOMatrix *	M,
		int	column1,
		int	column2 )

Definition at line 256 of file OOMatrix.m.

{
    if (column1<0 || column1 >= 4 || column2 < 0 || column2 >= 4 || column1 == column2 )
    {
        return;
    }
    float x;
    int i;
    for (i = 0; i < 4; i++)
    {
        x = M->m[i][column1];
        M->m[i][column1] = M->m[i][column2];
        M->m[i][column2] = x;
    }
    return;
}

References x.

Referenced by OOMatrixLeftTransform().

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OOMatrixEqual()

bool OOMatrixEqual	(	OOMatrix	a,
		OOMatrix	b )

Definition at line 96 of file OOMatrix.m.

{
    OOScalar *ma = &a.m[0][0];
    OOScalar *mb = &b.m[0][0];
    
    unsigned i;
    for (i = 0; i < 16; i++)
    {
        if (*ma++ != *mb++)  return false;
    }
    
    return true;
}

OOMatrixForBillboard()

OOMatrix OOMatrixForBillboard	(	HPVector	bbPos,
		HPVector	eyePos )

Definition at line 191 of file OOMatrix.m.

{
    Vector          v0, v1, v2, arbv;
    
    v0 = HPVectorToVector(HPvector_subtract(bbPos, eyePos));
    // once the subtraction is done safe to lose precision since
    // we're now dealing with relatively small vectors
    v0 = vector_normal_or_fallback(v0, kBasisZVector);
    
    // arbitrary axis - not aligned with v0
    if (EXPECT_NOT(v0.x == 0.0 && v0.y == 0.0))  arbv = kBasisXVector;
    else  arbv = kBasisZVector;
    
    v1 = cross_product(v0, arbv); // 90 degrees to (v0 x arb1)
    v2 = cross_product(v0, v1);   // 90 degrees to (v0 x v1)
    
    return OOMatrixFromBasisVectors(v1, v2, v0);
}

References EXPECT_NOT, kBasisXVector, and kBasisZVector.

OOMatrixForQuaternionRotation()

OOMatrix OOMatrixForQuaternionRotation

(

Quaternion

orientation

)

Definition at line 65 of file OOMatrix.m.

{
    OOScalar    w, wz, wy, wx;
    OOScalar    x, xz, xy, xx;
    OOScalar    y, yz, yy;
    OOScalar    z, zz;
    
    Quaternion q = orientation;
    quaternion_normalize(&q);
    
    w = q.w;
    z = q.z;
    y = q.y;
    x = q.x;
    
    xx = 2.0f * x; yy = 2.0f * y; zz = 2.0f * z;
    wx = w * xx; wy = w * yy; wz = w * zz;
    xx = x * xx; xy = x * yy; xz = x * zz;
    yy = y * yy; yz = y * zz;
    zz = z * zz;
    
    return OOMatrixConstruct
    (
        1.0f - yy - zz, xy - wz,        xz + wy,        0.0f,
        xy + wz,        1.0f - xx - zz, yz - wx,        0.0f,
        xz - wy,        yz + wx,        1.0f - xx - yy, 0.0f,
        0.0f,           0.0f,           0.0f,           1.0f
    );
}

References x, and y.

Referenced by HeadUpDisplay::hudRotateViewpointForVirtualDepth.

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OOMatrixForRotation()

OOMatrix OOMatrixForRotation	(	Vector	axis,
		OOScalar	angle )

Definition at line 46 of file OOMatrix.m.

{
    axis = vector_normal(axis);
    
    OOScalar x = axis.x, y = axis.y, z = axis.z;
    OOScalar s = sin(angle), c = cos(angle);
    OOScalar t = 1.0f - c;
    
    // Lots of opportunity for common subexpression elimintation here, but I'll leave it to the compiler for now.
    return OOMatrixConstruct
    (
        t * x * x + c,      t * x * y + s * z,  t * x * z - s * y,  0.0f,
        t * x * y - s * z,  t * y * y + c,      t * y * z + s * x,  0.0f,
        t * x * y + s * y,  t * y * z - s * x,  t * z * z + c,      0.0f,
        0.0f,               0.0f,               0.0f,               1.0f
    );
}

References x, and y.

OOMatrixInverse()

OOMatrix OOMatrixInverse

(

OOMatrix

M

)

Definition at line 393 of file OOMatrix.m.

{
    return OOMatrixLeftTransform(M, kIdentityMatrix);
}

References kIdentityMatrix, and OOMatrixLeftTransform().

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OOMatrixInverseWithDeterminant()

OOMatrix OOMatrixInverseWithDeterminant	(	OOMatrix	M,
		OOScalar *	d )

Definition at line 398 of file OOMatrix.m.

{
    int i, j;
    OOMatrix B = kIdentityMatrix;
    int best_row;
    float max_value;
 
    *d = 1.0;
    for (i = 0; i < 4; i++)
    {
        max_value = fabsf(M.m[i][i]);
        best_row = i;
        for (j = i+1; j < 4; j++)
        {
            if (fabs(M.m[j][i]) > max_value)
            {
                best_row = j;
                max_value = fabs(M.m[j][i]);
            }
        }
        if (max_value == 0.0)
        {
            *d = 0.0;
            return kZeroMatrix;
        }
        if (best_row != i)
        {
            OOMatrixRowSwap(&M,i,best_row);
            OOMatrixRowSwap(&B,i,best_row);
            *d *= -1;
        }
        *d /= M.m[i][i];
        OOMatrixRowScale(&B, i, 1/M.m[i][i]);
        OOMatrixRowScale(&M, i, 1/M.m[i][i]);
        for (j = i+1; j < 4; j++)
        {
            if (M.m[j][i] != 0.0)
            {
                OOMatrixRowOperation(&B, j, 1, i, -M.m[j][i]);
                OOMatrixRowOperation(&M, j, 1, i, -M.m[j][i]);
            }
        }
    }
    for (i = 3; i > 0; i--)
    {
        for (j = 0; j < i; j++)
        {
            if (M.m[j][i] != 0.0)
            {
                OOMatrixRowOperation(&B, j, 1, i, -M.m[j][i]);
                OOMatrixRowOperation(&M, j, 1, i, -M.m[j][i]);
            }
        }
    }
    return B;
}

References kIdentityMatrix, kZeroMatrix, OOMatrixRowOperation(), OOMatrixRowScale(), and OOMatrixRowSwap().

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OOMatrixLeftTransform()

OOMatrix OOMatrixLeftTransform	(	OOMatrix	A,
		OOMatrix	B )

Definition at line 301 of file OOMatrix.m.

{
    int i, j;
    bool found;
    for (i = 0; i < 4; i++)
    {
        if (A.m[i][i] == 0.0)
        {
            found = false;
            for (j = i+1; j < 4; j++)
            {
                if (A.m[j][i] != 0.0)
                {
                    found = true;
                    OOMatrixColumnSwap(&A,i,j);
                    OOMatrixColumnSwap(&B,i,j);
                    break;
                }
            }
            if (!found)
            {
                return kZeroMatrix;
            }
        }
        OOMatrixColumnScale(&B, i, 1/A.m[i][i]);
        OOMatrixColumnScale(&A, i, 1/A.m[i][i]);
        for (j = i+1; j < 4; j++)
        {
            OOMatrixColumnOperation(&B, j, 1, i, -A.m[i][j]);
            OOMatrixColumnOperation(&A, j, 1, i, -A.m[i][j]);
        }
    }
    for (i = 3; i > 0; i--)
    {
        for (j = 0; j < i; j++)
        {
            OOMatrixColumnOperation(&B, j, 1, i, -A.m[i][j]);
            OOMatrixColumnOperation(&A, j, 1, i, -A.m[i][j]);
        }
    }
    return B;
}

References kZeroMatrix, OOMatrixColumnOperation(), OOMatrixColumnScale(), and OOMatrixColumnSwap().

Referenced by OOMatrixInverse().

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OOMatrixMultiply()

OOMatrix OOMatrixMultiply	(	OOMatrix	a,
		OOMatrix	b )

Definition at line 111 of file OOMatrix.m.

{
    unsigned            i = 0;
    OOMatrix            r;
    
    // This is amenable to significant optimization with Altivec, and presumably also SSE.
    for (i = 0; i != 4; ++i)
    {
        r.m[i][0] = a.m[i][0] * b.m[0][0] + a.m[i][1] * b.m[1][0] + a.m[i][2] * b.m[2][0] + a.m[i][3] * b.m[3][0];
        r.m[i][1] = a.m[i][0] * b.m[0][1] + a.m[i][1] * b.m[1][1] + a.m[i][2] * b.m[2][1] + a.m[i][3] * b.m[3][1];
        r.m[i][2] = a.m[i][0] * b.m[0][2] + a.m[i][1] * b.m[1][2] + a.m[i][2] * b.m[2][2] + a.m[i][3] * b.m[3][2];
        r.m[i][3] = a.m[i][0] * b.m[0][3] + a.m[i][1] * b.m[1][3] + a.m[i][2] * b.m[2][3] + a.m[i][3] * b.m[3][3];
    }
    
    return r;
}

OOMatrixOrthogonalize()

OOMatrix OOMatrixOrthogonalize

(

OOMatrix

m

)

Definition at line 159 of file OOMatrix.m.

{
    //  Simple orthogonalization: make everything orthogonal to everything else.
    
    Vector i;// = { m.m[0][0], m.m[1][0], m.m[2][0] };  // Overwritten without being used
    Vector j = { m.m[0][1], m.m[1][1], m.m[2][1] };
    Vector k = { m.m[0][2], m.m[1][2], m.m[2][2] };
    
    k = vector_normal(k);
    i = vector_normal(cross_product(j, k));
    j = cross_product(k, i);
    
    m.m[0][0] = i.x; m.m[1][0] = i.y; m.m[2][0] = i.z;
    m.m[0][1] = j.x; m.m[1][1] = j.y; m.m[2][1] = j.z;
    m.m[0][2] = k.x; m.m[1][2] = k.y; m.m[2][2] = k.z;
    
    return m;
}

OOMatrixRightTransform()

OOMatrix OOMatrixRightTransform	(	OOMatrix	A,
		OOMatrix	B )

Definition at line 344 of file OOMatrix.m.

{
    int i, j;
    bool found;
    for (i = 0; i < 4; i++)
    {
        if (A.m[i][i] == 0.0)
        {
            found = false;
            for (j = i+1; j < 4; j++)
            {
                if (A.m[j][i] != 0.0)
                {
                    found = true;
                    OOMatrixRowSwap(&A,i,j);
                    OOMatrixRowSwap(&B,i,j);
                    break;
                }
            }
            if (!found)
            {
                return kZeroMatrix;
            }
        }
        OOMatrixRowScale(&B, i, 1/A.m[i][i]);
        OOMatrixRowScale(&A, i, 1/A.m[i][i]);
        for (j = i+1; j < 4; j++)
        {
            if (A.m[j][i] != 0.0)
            {
                OOMatrixRowOperation(&B, j, 1, i, -A.m[j][i]);
                OOMatrixRowOperation(&A, j, 1, i, -A.m[j][i]);
            }
        }
    }
    for (i = 3; i > 0; i--)
    {
        for (j = 0; j < i; j++)
        {
            if (A.m[j][i] != 0.0)
            {
                OOMatrixRowOperation(&B, j, 1, i, -A.m[j][i]);
                OOMatrixRowOperation(&A, j, 1, i, -A.m[j][i]);
            }
        }
    }
    return B;
}

References kZeroMatrix, OOMatrixRowOperation(), OOMatrixRowScale(), and OOMatrixRowSwap().

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OOMatrixRowOperation()

void OOMatrixRowOperation	(	OOMatrix *	M,
		int	row1,
		OOScalar	factor1,
		int	row2,
		OOScalar	factor2 )

Definition at line 242 of file OOMatrix.m.

{
    if (row1 < 0 || row1 >= 4 || row2 < 0 || row2 >= 4)
    {
        return;
    }
    int i;
    for (i = 0; i < 4; i++)
    {
        M->m[row1][i] = factor1 * M->m[row1][i] + factor2 * M->m[row2][i];
    }
    return;
}

Referenced by OOMatrixInverseWithDeterminant(), and OOMatrixRightTransform().

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OOMatrixRowScale()

void OOMatrixRowScale	(	OOMatrix *	M,
		int	row,
		OOScalar	factor )

Definition at line 228 of file OOMatrix.m.

{
    if (row < 0 || row >= 4)
    {
        return;
    }
    int i;
    for (i = 0; i < 4; i++)
    {
        M->m[row][i] *= factor;
    }
    return;
}

Referenced by OOMatrixInverseWithDeterminant(), and OOMatrixRightTransform().

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OOMatrixRowSwap()

void OOMatrixRowSwap	(	OOMatrix *	M,
		int	row1,
		int	row2 )

Definition at line 211 of file OOMatrix.m.

{
    if (row1<0 || row1 >= 4 || row2 < 0 || row2 >= 4 || row1 == row2 )
    {
        return;
    }
    float x;
    int i;
    for (i = 0; i < 4; i++)
    {
        x = M->m[row1][i];
        M->m[row1][i] = M->m[row2][i];
        M->m[row2][i] = x;
    }
    return;
}

References x.

Referenced by OOMatrixInverseWithDeterminant(), and OOMatrixRightTransform().

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OOVectorMultiplyMatrix()

Vector OOVectorMultiplyMatrix	(	Vector	v,
		OOMatrix	m )

Definition at line 129 of file OOMatrix.m.

{
    OOScalar x, y, z, w;
    
    x = m.m[0][0] * v.x + m.m[1][0] * v.y + m.m[2][0] * v.z + m.m[3][0];
    y = m.m[0][1] * v.x + m.m[1][1] * v.y + m.m[2][1] * v.z + m.m[3][1];
    z = m.m[0][2] * v.x + m.m[1][2] * v.y + m.m[2][2] * v.z + m.m[3][2];
    w = m.m[0][3] * v.x + m.m[1][3] * v.y + m.m[2][3] * v.z + m.m[3][3];
    
    w = 1.0f/w;
    return make_vector(x * w, y * w, z * w);
}

References x, and y.

Variable Documentation

kIdentityMatrix

const OOMatrix kIdentityMatrix

Initial value:

= 
                                { .m = {
                                    {1.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 1.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 1.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 1.0f}
                                }}

Definition at line 31 of file OOMatrix.m.

                                { .m = {
                                    {1.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 1.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 1.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 1.0f}
                                }};

Referenced by OOMatrixInverse(), and OOMatrixInverseWithDeterminant().

kZeroMatrix

const OOMatrix kZeroMatrix

Initial value:

= { .m = {
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                }}

Definition at line 38 of file OOMatrix.m.

                                  { .m = {
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                    {0.0f, 0.0f, 0.0f, 0.0f},
                                }};

Referenced by OOMatrixInverseWithDeterminant(), OOMatrixLeftTransform(), and OOMatrixRightTransform().