Revision: 49662
http://projects.blender.org/scm/viewvc.php?view=rev&root=bf-blender&revision=49662
Author: alexk
Date: 2012-08-07 16:23:31 +0000 (Tue, 07 Aug 2012)
Log Message:
-----------
Adding new functions to BLI_math_matrix
mult_m4_m3m4_q multiples 4x4 and 3x3 matrices and outputs 4x4 (needed for
rotation). It doesn't do safe check!
mul_v4_m4v3 multiples 4x4 matrix by 3d vector and outputs 4d vector
mul_v3_m4v3_q multiples 4x4 matrix by 3d vector and outputs 3d vector. It
doesn't do safe check!
rotate_m4_right rotates 4x4 matrix by 90 degrees. Acceptable paxis values are
'X', 'Y', 'Z', -'X', -'Y', -'Z'. Negative char rotatates -90 degrees.
Modified Paths:
--------------
branches/soc-2012-swiss_cheese/source/blender/blenlib/BLI_math_matrix.h
branches/soc-2012-swiss_cheese/source/blender/blenlib/intern/math_matrix.c
Modified:
branches/soc-2012-swiss_cheese/source/blender/blenlib/BLI_math_matrix.h
===================================================================
--- branches/soc-2012-swiss_cheese/source/blender/blenlib/BLI_math_matrix.h
2012-08-07 16:09:42 UTC (rev 49661)
+++ branches/soc-2012-swiss_cheese/source/blender/blenlib/BLI_math_matrix.h
2012-08-07 16:23:31 UTC (rev 49662)
@@ -67,6 +67,7 @@
void sub_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
void sub_m4_m4m4(float R[4][4], float A[4][4], float B[4][4]);
void mult_m4_m4m4_q(float m1[4][4], float m3[4][4], float m2[4][4]);
+void mult_m4_m3m4_q(float m1[4][4], float m3[4][4], float m2[3][3]);
void mul_m3_m3m3(float R[3][3], float A[3][3], float B[3][3]);
void mul_m4_m3m4(float R[4][4], float A[3][3], float B[4][4]);
@@ -85,6 +86,8 @@
void mul_m4_v3(float M[4][4], float r[3]);
void mul_v3_m4v3(float r[3], float M[4][4], const float v[3]);
+void mul_v4_m4v3(float r[4], float M[4][4], const float v[3]);
+void mul_v3_m4v3_q(float r[3], float M[4][4], const float v[3]);
void mul_mat3_m4_v3(float M[4][4], float r[3]);
void mul_m4_v4(float M[4][4], float r[4]);
void mul_v4_m4v4(float r[4], float M[4][4], float v[4]);
@@ -160,6 +163,7 @@
void translate_m4(float mat[4][4], float tx, float ty, float tz);
void rotate_m4(float mat[4][4], const char axis, const float angle);
+void rotate_m4_right(float mat[4][4], const char axis);
void mat3_to_rot_size(float rot[3][3], float size[3], float mat3[][3]);
Modified:
branches/soc-2012-swiss_cheese/source/blender/blenlib/intern/math_matrix.c
===================================================================
--- branches/soc-2012-swiss_cheese/source/blender/blenlib/intern/math_matrix.c
2012-08-07 16:09:42 UTC (rev 49661)
+++ branches/soc-2012-swiss_cheese/source/blender/blenlib/intern/math_matrix.c
2012-08-07 16:23:31 UTC (rev 49662)
@@ -167,6 +167,31 @@
}
+void mult_m4_m3m4_q(float m1[][4], float m3[][4], float m2[][3])
+{
+ /* matrix product: m1[j][k] = m2[j][i].m3[i][k] */
+ m1[0][0] = m2[0][0] * m3[0][0] + m2[0][1] * m3[1][0] + m2[0][2] *
m3[2][0];
+ m1[0][1] = m2[0][0] * m3[0][1] + m2[0][1] * m3[1][1] + m2[0][2] *
m3[2][1];
+ m1[0][2] = m2[0][0] * m3[0][2] + m2[0][1] * m3[1][2] + m2[0][2] *
m3[2][2];
+ m1[0][3] = m2[0][0] * m3[0][3] + m2[0][1] * m3[1][3] + m2[0][2] *
m3[2][3];
+
+ m1[1][0] = m2[1][0] * m3[0][0] + m2[1][1] * m3[1][0] + m2[1][2] *
m3[2][0];
+ m1[1][1] = m2[1][0] * m3[0][1] + m2[1][1] * m3[1][1] + m2[1][2] *
m3[2][1];
+ m1[1][2] = m2[1][0] * m3[0][2] + m2[1][1] * m3[1][2] + m2[1][2] *
m3[2][2];
+ m1[1][3] = m2[1][0] * m3[0][3] + m2[1][1] * m3[1][3] + m2[1][2] *
m3[2][3];
+
+ m1[2][0] = m2[2][0] * m3[0][0] + m2[2][1] * m3[1][0] + m2[2][2] *
m3[2][0];
+ m1[2][1] = m2[2][0] * m3[0][1] + m2[2][1] * m3[1][1] + m2[2][2] *
m3[2][1];
+ m1[2][2] = m2[2][0] * m3[0][2] + m2[2][1] * m3[1][2] + m2[2][2] *
m3[2][2];
+ m1[2][3] = m2[2][0] * m3[0][3] + m2[2][1] * m3[1][3] + m2[2][2] *
m3[2][3];
+
+ m1[3][0] = m3[3][0];
+ m1[3][1] = m3[3][1];
+ m1[3][2] = m3[3][2];
+ m1[3][3] = m3[3][3];
+
+}
+
void mult_m4_m4m4(float m1[][4], float m3_[][4], float m2_[][4])
{
float m2[4][4], m3[4][4];
@@ -339,6 +364,23 @@
in[2] = x * mat[0][2] + y * mat[1][2] + mat[2][2] * vec[2] + mat[3][2];
}
+
+void mul_v4_m4v3(float out[4], float mat[][4], const float vec[3])
+{
+ out[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] + mat[2][0] * vec[2] +
mat[3][0];
+ out[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] + mat[2][1] * vec[2] +
mat[3][1];
+ out[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] + mat[2][2] * vec[2] +
mat[3][2];
+ out[3] = vec[0] * mat[0][3] + vec[1] * mat[1][3] + mat[2][3] * vec[2] +
mat[3][3];
+}
+
+void mul_v3_m4v3_q(float out[3], float mat[][4], const float vec[3])
+{
+ out[0] = vec[0] * mat[0][0] + vec[1] * mat[1][0] + mat[2][0] * vec[2] +
mat[3][0];
+ out[1] = vec[0] * mat[0][1] + vec[1] * mat[1][1] + mat[2][1] * vec[2] +
mat[3][1];
+ out[2] = vec[0] * mat[0][2] + vec[1] * mat[1][2] + mat[2][2] * vec[2] +
mat[3][2];
+
+}
+
/* same as mul_m4_v3() but doesnt apply translation component */
void mul_mat3_m4_v3(float mat[][4], float vec[3])
{
@@ -1225,6 +1267,61 @@
}
}
+void rotate_m4_right(float mat[][4], const char axis)
+{
+#define COORD(x,y) (4*x + y)
+ const static char mrotx[] = {1, 2};
+ const static char mrotxn[] = {2, 1};
+
+ const static char mroty[] = {2, 0};
+ const static char mrotyn[] = {0, 2};
+
+ const static char mrotz[] = {0, 1};
+ const static char mrotzn[] = {1, 0};
+
+#undef COORD
+
+ const char * rotmat;
+ float tmpf;
+ int i;
+
+
+ switch(axis)
+ {
+ case 'X':
+ rotmat = mrotx;
+ break;
+ case (char)-'X':
+ rotmat = mrotxn;
+ break;
+ case 'Y':
+ rotmat = mroty;
+ break;
+ case (char)-'Y':
+ rotmat = mrotyn;
+ break;
+ case 'Z':
+ rotmat = mrotz;
+ break;
+ case (char)-'Z':
+ rotmat = mrotzn;
+ break;
+ default:
+ BLI_assert(0);
+
+ }
+
+ for(i=0; i<3; i++)
+ {
+ tmpf = mat[rotmat[1]][i];
+ mat[rotmat[1]][i] = -1.0*mat[rotmat[0]][i];
+ mat[rotmat[0]][i] = tmpf;
+
+ }
+
+}
+
+
void blend_m3_m3m3(float out[][3], float dst[][3], float src[][3], const float
srcweight)
{
float srot[3][3], drot[3][3];
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