NODE_IMPLEMENTATION(transpose_mXX, Pointer)
{
FixedArray* Aarray = NODE_ARG_OBJECT(0, FixedArray);
const Class* mtype = static_cast<const Class*>(Aarray->type());
FixedArray* Carray = static_cast<FixedArray*>(ClassInstance::allocate(mtype));
EigenMatXf A(Aarray->data<float>(), Aarray->size(0), Aarray->size(1));
EigenMatXf C(Carray->data<float>(), Aarray->size(0), Aarray->size(1));
C = A.transpose();
NODE_RETURN(Carray);
}
NODE_IMPLEMENTATION(inverse_m44, Pointer)
{
FixedArray* Aarray = NODE_ARG_OBJECT(0, FixedArray);
const Class* mtype = static_cast<const Class*>(Aarray->type());
FixedArray* Carray = static_cast<FixedArray*>(ClassInstance::allocate(mtype));
EigenMat44f A(Aarray->data<float>());
EigenMat44f C(Carray->data<float>());
C = A.inverse();
NODE_RETURN(Carray);
}
NODE_IMPLEMENTATION(mult_m33_m33, Pointer)
{
FixedArray* Aarray = NODE_ARG_OBJECT(0, FixedArray);
FixedArray* Barray = NODE_ARG_OBJECT(1, FixedArray);
const Class* mtype = static_cast<const Class*>(Aarray->type());
FixedArray* Carray = static_cast<FixedArray*>(ClassInstance::allocate(mtype));
EigenMat33f A(Aarray->data<float>());
EigenMat33f B(Barray->data<float>());
EigenMat33f C(Carray->data<float>());
C = A * B;
NODE_RETURN(Carray);
}
NODE_IMPLEMENTATION(mult_m44_v3, Vector3f)
{
FixedArray* Aarray = NODE_ARG_OBJECT(0, FixedArray);
Mu::Vector3f v = NODE_ARG(1, Mu::Vector3f);
const Class* mtype = static_cast<const Class*>(Aarray->type());
const float* m = Aarray->data<float>();
float x = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3];
float y = m[4] * v[0] + m[5] * v[1] + m[6] * v[2] + m[7];
float z = m[8] * v[0] + m[9] * v[1] + m[10] * v[2] + m[11];
float w = m[12] * v[0] + m[13] * v[1] + m[14] * v[2] + m[15];
NODE_RETURN(newVector(x / w, y / w, z / w));
}
NODE_IMPLEMENTATION(mult_m44_v4, Vector4f)
{
FixedArray* Aarray = NODE_ARG_OBJECT(0, FixedArray);
Mu::Vector4f v = NODE_ARG(1, Mu::Vector4f);
const Class* mtype = static_cast<const Class*>(Aarray->type());
const float* m = Aarray->data<float>();
Vector4f r =
newVector( m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3] * v[3],
m[4] * v[0] + m[5] * v[1] + m[6] * v[2] + m[7] * v[3],
m[8] * v[0] + m[9] * v[1] + m[10] * v[2] + m[11] * v[3],
m[12] * v[0] + m[13] * v[1] + m[14] * v[2] + m[15] * v[3] );
NODE_RETURN(r);
}
