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commonMath.c
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commonMath.c
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/*
* commonMath.c
* iGLView
*
* Created by David Petrie on 6/11/10.
* Copyright 2010 n/a. All rights reserved.
*
*/
#include "commonMath.h"
void Cross3(vec3_t vOut, const vec3_t a, const vec3_t b)
{
vec3Set(vOut,
(a[1] * b[2]) - (a[2] * b[1]),
(a[2] * b[0]) - (a[0] * b[2]),
(a[0] * b[1]) - (a[1] * b[0]));
}
void Normalize3(vec3_t vOut, const vec3_t vec)
{
float f;
double temp;
temp = (double)(vec[0] * vec[0] + vec[1] * vec[1] + vec[2] * vec[2]);
temp = 1.0 / sqrt(temp);
f = (float)temp;
vec3Set(vOut, vec[0] * f, vec[1] * f, vec[2] * f);
}
void MatrixTranslation(float *mOut, const float x, const float y, const float z)
{
mOut[__11] = 1; mOut[__12] = 0; mOut[__13] = 0; mOut[__14] = 0;
mOut[__21] = 0; mOut[__22] = 1; mOut[__23] = 0; mOut[__24] = 0;
mOut[__31] = 0; mOut[__32] = 0; mOut[__33] = 1; mOut[__34] = 0;
mOut[__41] = x; mOut[__42] = y; mOut[__43] = z; mOut[__44] = 1;
}
void MatrixRotationZ(float *mOut, const float angle)
{
float fsin = sinf(angle);
float fcos = cosf(angle);
mOut[__11] = fcos; mOut[__12] = fsin; mOut[__13] = 0; mOut[__14] = 0;
mOut[__21] = -fsin; mOut[__22] = fcos; mOut[__23] = 0; mOut[__24] = 0;
mOut[__31] = 0; mOut[__32] = 0; mOut[__33] = 1; mOut[__34] = 0;
mOut[__41] = 0; mOut[__42] = 0; mOut[__43] = 0; mOut[__44] = 1;
}
void MatrixMultiply(float *mOut, const float *mA, const float *mB)
{
mOut[__11] = mA[__11]*mB[__11] + mA[__12]*mB[__21] + mA[__13]*mB[__31] + mA[__14]*mB[__41];
mOut[__12] = mA[__11]*mB[__12] + mA[__12]*mB[__22] + mA[__13]*mB[__32] + mA[__14]*mB[__42];
mOut[__13] = mA[__11]*mB[__13] + mA[__12]*mB[__23] + mA[__13]*mB[__33] + mA[__14]*mB[__43];
mOut[__14] = mA[__11]*mB[__14] + mA[__12]*mB[__24] + mA[__13]*mB[__34] + mA[__14]*mB[__44];
mOut[__21] = mA[__21]*mB[__11] + mA[__22]*mB[__21] + mA[__23]*mB[__31] + mA[__24]*mB[__41];
mOut[__22] = mA[__21]*mB[__12] + mA[__22]*mB[__22] + mA[__23]*mB[__32] + mA[__24]*mB[__42];
mOut[__23] = mA[__21]*mB[__13] + mA[__22]*mB[__23] + mA[__23]*mB[__33] + mA[__24]*mB[__43];
mOut[__24] = mA[__21]*mB[__14] + mA[__22]*mB[__24] + mA[__23]*mB[__34] + mA[__24]*mB[__44];
mOut[__31] = mA[__31]*mB[__11] + mA[__32]*mB[__21] + mA[__33]*mB[__31] + mA[__34]*mB[__41];
mOut[__32] = mA[__31]*mB[__12] + mA[__32]*mB[__22] + mA[__33]*mB[__32] + mA[__34]*mB[__42];
mOut[__33] = mA[__31]*mB[__13] + mA[__32]*mB[__23] + mA[__33]*mB[__33] + mA[__34]*mB[__43];
mOut[__34] = mA[__31]*mB[__14] + mA[__32]*mB[__24] + mA[__33]*mB[__34] + mA[__34]*mB[__44];
mOut[__41] = mA[__41]*mB[__11] + mA[__42]*mB[__21] + mA[__43]*mB[__31] + mA[__44]*mB[__41];
mOut[__42] = mA[__41]*mB[__12] + mA[__42]*mB[__22] + mA[__43]*mB[__32] + mA[__44]*mB[__42];
mOut[__43] = mA[__41]*mB[__13] + mA[__42]*mB[__23] + mA[__43]*mB[__33] + mA[__44]*mB[__43];
mOut[__44] = mA[__41]*mB[__14] + mA[__42]*mB[__24] + mA[__43]*mB[__34] + mA[__44]*mB[__44];
}
void MatrixPerspectiveFovRH(float *mOut, const float FOVy, const float aspect, const float near, const float far)
{
float f, n, realAspect;
realAspect = aspect;
// cotangent(a) == 1.0f / tan(a);
f = 1.0f / (float)tan(FOVy * 0.5f);
n = 1.0f / (near - far);
mOut[ 0] = f / realAspect;
mOut[ 1] = 0;
mOut[ 2] = 0;
mOut[ 3] = 0;
mOut[ 4] = 0;
mOut[ 5] = f;
mOut[ 6] = 0;
mOut[ 7] = 0;
mOut[ 8] = 0;
mOut[ 9] = 0;
mOut[10] = (far + near) * n;
mOut[11] = -1;
mOut[12] = 0;
mOut[13] = 0;
mOut[14] = (2 * far * near) * n;
mOut[15] = 0;
}
void MatrixLookAtRH(float *mOut, const vec3_t vEye, const vec3_t vAt, const vec3_t vUp)
{
vec3_t f, vUpActual, s, u;
float t[16];
f[0] = vAt[0] - vEye[0];
f[1] = vAt[1] - vEye[1];
f[2] = vAt[2] - vEye[2];
Normalize3(f, f);
Normalize3(vUpActual, vUp);
Cross3(s, f, vUpActual);
Cross3(u, s, f);
mOut[ 0] = s[0];
mOut[ 1] = u[0];
mOut[ 2] = -f[0];
mOut[ 3] = 0;
mOut[ 4] = s[1];
mOut[ 5] = u[1];
mOut[ 6] = -f[1];
mOut[ 7] = 0;
mOut[ 8] = s[2];
mOut[ 9] = u[2];
mOut[10] = -f[2];
mOut[11] = 0;
mOut[12] = 0;
mOut[13] = 0;
mOut[14] = 0;
mOut[15] = 1;
MatrixTranslation(t, -vEye[0], -vEye[1], -vEye[2]);
MatrixMultiply(mOut, t, mOut);
}