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#include "config.h"
#include "point.h"
#include "vector.h"
#include "matrix.h"
void apply_to_point(struct matrix * m, struct point * p,
/*out*/ struct point * r)
{
r->x = m->xx * p->x + m->xy * p->y + m->xz * p->z + m->xt;
r->y = m->yx * p->x + m->yy * p->y + m->yz * p->z + m->yt;
r->z = m->zx * p->x + m->zy * p->y + m->zz * p->z + m->zt;
}
void apply_to_vect(struct matrix * m, struct vector * v,
/*out*/ struct vector * r)
{
r->dx = m->xx * v->dx + m->xy * v->dy + m->xz * v->dz;
r->dy = m->yx * v->dx + m->yy * v->dy + m->yz * v->dz;
r->dz = m->zx * v->dx + m->zy * v->dy + m->zz * v->dz;
}
static struct matrix matrix_identity = {
1.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0,
0.0, 0.0, 1.0, 0.0,
};
struct matrix * mid = &matrix_identity;
struct matrix * mtranslate(flt sx, flt sy, flt sz)
{
struct matrix * m = arena_alloc(sizeof(struct matrix));
m->xx = 1.0; m->xy = 0.0; m->xz = 0.0; m->xt = sx;
m->yx = 0.0; m->yy = 1.0; m->yz = 0.0; m->yt = sy;
m->zx = 0.0; m->zy = 0.0; m->zz = 1.0; m->zt = sz;
return m;
}
struct matrix * mscale(flt sx, flt sy, flt sz)
{
struct matrix * m = arena_alloc(sizeof(struct matrix));
m->xx = sx; m->xy = 0.0; m->xz = 0.0; m->xt = 0.0;
m->yx = 0.0; m->yy = sy ; m->yz = 0.0; m->yt = 0.0;
m->zx = 0.0; m->zy = 0.0; m->zz = sz ; m->zt = 0.0;
return m;
}
struct matrix * mrotatex(flt a)
{
struct matrix * m = arena_alloc(sizeof(struct matrix));
flt c = cos(a);
flt s = sin(a);
m->xx = 1.0; m->xy = 0.0; m->xz = 0.0; m->xt = 0.0;
m->yx = 0.0; m->yy = c; m->yz = - s; m->yt = 0.0;
m->zx = 0.0; m->zy = s; m->zz = c; m->zt = 0.0;
return m;
}
struct matrix * mrotatey(flt a)
{
struct matrix * m = arena_alloc(sizeof(struct matrix));
flt c = cos(a);
flt s = sin(a);
m->xx = c; m->xy = 0.0; m->xz = s; m->xt = 0.0;
m->yx = 0.0; m->yy = 1.0; m->yz = 0.0; m->yt = 0.0;
m->zx = - s; m->zy = 0.0; m->zz = c; m->zt = 0.0;
return m;
}
struct matrix * mrotatez(flt a)
{
struct matrix * m = arena_alloc(sizeof(struct matrix));
flt c = cos(a);
flt s = sin(a);
m->xx = c; m->xy = - s; m->xz = 0.0; m->xt = 0.0;
m->yx = s; m->yy = c; m->yz = 0.0; m->yt = 0.0;
m->zx = 0.0; m->zy = 0.0; m->zz = 1.0; m->zt = 0.0;
return m;
}
struct matrix * mcompose(struct matrix * m, struct matrix * n)
{
struct matrix * r = arena_alloc(sizeof(struct matrix));
r->xx = m->xx * n->xx + m->xy * n->yx + m->xz * n->zx;
r->xy = m->xx * n->xy + m->xy * n->yy + m->xz * n->zy;
r->xz = m->xx * n->xz + m->xy * n->yz + m->xz * n->zz;
r->xt = m->xx * n->xt + m->xy * n->yt + m->xz * n->zt + m->xt;
r->yx = m->yx * n->xx + m->yy * n->yx + m->yz * n->zx;
r->yy = m->yx * n->xy + m->yy * n->yy + m->yz * n->zy;
r->yz = m->yx * n->xz + m->yy * n->yz + m->yz * n->zz;
r->yt = m->yx * n->xt + m->yy * n->yt + m->yz * n->zt + m->yt;
r->zx = m->zx * n->xx + m->zy * n->yx + m->zz * n->zx;
r->zy = m->zx * n->xy + m->zy * n->yy + m->zz * n->zy;
r->zz = m->zx * n->xz + m->zy * n->yz + m->zz * n->zz;
r->zt = m->zx * n->xt + m->zy * n->yt + m->zz * n->zt + m->zt;
return r;
}
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