/* ##H_FILE# ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ FILE : MTH3d.h MODULE : MTH (Common Mathematic Library) DESCRIPTION : 3D Vectorial implementation VERSION : MTH V5.0.13 / Alexandre LANGER [ALX] Ubi R&D / Add Comments ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ #ifndef MTH3D_H #define MTH3D_H #include "MTH_Real.h" /* ##TYPEDEF#---------------------------------------------------------------------------- Types definition ---------------------------------------------------------------------------------------*/ /* 3D Vector : */ typedef struct MTH3D_tdstVector_ { MTH_tdxReal xX; MTH_tdxReal xY; MTH_tdxReal xZ; } MTH3D_tdstVector; /* 3D Matrix */ typedef struct MTH3D_tdstMatrix_ { MTH3D_tdstVector stCol_0; MTH3D_tdstVector stCol_1; MTH3D_tdstVector stCol_2; } MTH3D_tdstMatrix; /* ##MACRO#---------------------------------------------------------------------------- MACRO definition ---------------------------------------------------------------------------------------*/ /* ##-###################################### ## MACRO AND FUNCTION FOR 3D MATHEMATICS ######################################### */ /* ##-########################### ## Vector Operations ############################## */ /* ##M================================================================================== NAME : MTH3D_M_vAddVector DESCRIPTION : Add two vectors : VectDest= VectA + VectB INPUT : VectDest, VectA, VectB : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vAddVector( VectDest, VectA, VectB) MTH3D_M_vAddVectorASM( VectDest, VectA, VectB) #else #define MTH3D_M_vAddVector( VectDest, VectA, VectB) MTH3D_M_vAddVectorC( VectDest, VectA, VectB) #endif #else #define MTH3D_M_vAddVector( VectDest, VectA, VectB) MTH3D_M_vAddVectorORG(VectDest, VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_vSubVector DESCRIPTION : Sub two vectors : VectDest= VectA - VectB INPUT : VectDest, VectA, VectB : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vSubVector( VectDest, VectA, VectB) MTH3D_M_vSubVectorASM( VectDest, VectA, VectB) #else #define MTH3D_M_vSubVector( VectDest, VectA, VectB) MTH3D_M_vSubVectorC( VectDest, VectA, VectB) #endif #else #define MTH3D_M_vSubVector( VectDest, VectA, VectB) MTH3D_M_vSubVectorORG(VectDest, VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_vNegVector DESCRIPTION : Negation of a vector : VectDest= - VectA INPUT : VectDest, VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vNegVector( VectDest, VectA) MTH3D_M_vNegVectorASM( VectDest, VectA) #else #define MTH3D_M_vNegVector( VectDest, VectA) MTH3D_M_vNegVectorC( VectDest, VectA) #endif #else #define MTH3D_M_vNegVector( VectDest, VectA) MTH3D_M_vNegVectorORG(VectDest, VectA) #endif /* ##M================================================================================== NAME : MTH3D_M_bEqualVector DESCRIPTION : Test if two vectors are equal INPUT : VectA, VectB : address of MTH3D_tdstVector OUTPUT : VectA==VectB : Boolean =======================================================================================*/ #define MTH3D_M_bEqualVector( VectA, VectB) \ ( \ (MTH_M_bEqual((VectA)->xX, (VectB)->xX)) && \ (MTH_M_bEqual((VectA)->xY, (VectB)->xY)) && \ (MTH_M_bEqual((VectA)->xZ, (VectB)->xZ)) \ ) /* ##M================================================================================== NAME : MTH3D_M_vAddScalarVector DESCRIPTION : Add a scalare with a vector : VectDest= a.Id + VectA INPUT : VectDest: address of MTH3D_tdstVector, a: MTH_tdxReal, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vAddScalarVector( VectDest, a, VectA) \ { \ (VectDest)->xX = MTH_M_xAdd((VectA)->xX, (a)); \ (VectDest)->xY = MTH_M_xAdd((VectA)->xY, (a)); \ (VectDest)->xZ = MTH_M_xAdd((VectA)->xZ, (a)); \ } /* ##M================================================================================== NAME : MTH3D_M_vSubScalarVector DESCRIPTION : Add a scalare with a vector : VectDest= VectA - a.Id INPUT : VectDest: address of MTH3D_tdstVector, a: MTH_tdxReal, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSubScalarVector( VectDest, a, VectA) \ { \ (VectDest)->xX = MTH_M_xSub((VectA)->xX, (a)); \ (VectDest)->xY = MTH_M_xSub((VectA)->xY, (a)); \ (VectDest)->xZ = MTH_M_xSub((VectA)->xZ, (a)); \ } /* ##M================================================================================== NAME : MTH3D_M_vAdd3ScalarVector DESCRIPTION : Add 3 scalare with a vector : VectDest= {x,y,z} + VectA INPUT : VectDest: address of MTH3D_tdstVector, x,y,z: MTH_tdxReal, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vAdd3( VectDest, VectA, x, y, z) #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vAdd3ScalarVector( VectDest, VectA, x, y, z) MTH3D_M_vAdd3ScalarVectorASM( VectDest, VectA, x, y, z) #else #define MTH3D_M_vAdd3ScalarVector( VectDest, VectA, x, y, z) MTH3D_M_vAdd3ScalarVectorC( VectDest, VectA, x, y, z) #endif #else #define MTH3D_M_vAdd3ScalarVector( VectDest, VectA, x, y, z) MTH3D_M_vAdd3ScalarVectorORG( VectDest, VectA, x, y, z) #endif /* ##M================================================================================== NAME : MTH3D_M_vMulScalarVector DESCRIPTION : Multiplicate a scalare with a vector : VectDest= a*VectA INPUT : VectDest: address of MTH3D_tdstVector, a: MTH_tdxReal, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) /* is slower than C version...*/ /* #define MTH3D_M_vMulScalarVector( VectDest, a, VectA) MTH3D_M_vMulScalarVectorASM( VectDest, a ,VectA)*/ #define MTH3D_M_vMulScalarVector( VectDest, a,VectA) MTH3D_M_vMulScalarVectorC( VectDest, a, VectA) #else #define MTH3D_M_vMulScalarVector( VectDest, a,VectA) MTH3D_M_vMulScalarVectorC( VectDest, a, VectA) #endif #else #define MTH3D_M_vMulScalarVector( VectDest, a, VectA) MTH3D_M_vMulScalarVectorORG(VectDest, a,VectA) #endif /* ##M================================================================================== NAME : MTH3D_M_vDivScalarVector DESCRIPTION : Divide a vector by a scalare : VectDest= VectA/a INPUT : VectDest, VectA: address of MTH3D_tdstVector, a: MTH_tdxReal OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vDivScalarVector( VectDest, VectA ,a) MTH3D_M_vDivScalarVectorASM( VectDest, VectA, a) #else #define MTH3D_M_vDivScalarVector( VectDest, VectA, a) MTH3D_M_vDivScalarVectorC( VectDest, VectA, a) #endif #else #define MTH3D_M_vDivScalarVector( VectDest, VectA, a) MTH3D_M_vDivScalarVectorORG(VectDest, VectA, a) #endif /* ##M================================================================================== NAME : MTH3D_M_xDotProductVector DESCRIPTION : Return the Dot Product of two vectors INPUT : VectA, VectB : address of MTH3D_tdstVector OUTPUT : VectA.VectB : MTH_tdxReal =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) /* this fonction shouldn't be used, because passing the parameters makes it finally slower than the normal inline macro... */ /* changed by yann le tensorer sept 21, 1998*/ /* #define MTH3D_M_xDotProductVector( VectA, VectB) MTH3D_M_xDotProductVectorASM( VectA, VectB)*/ #define MTH3D_M_xDotProductVector( VectA, VectB) MTH3D_M_xDotProductVectorC( VectA, VectB) #else #define MTH3D_M_xDotProductVector( VectA, VectB) MTH3D_M_xDotProductVectorC( VectA, VectB) #endif #else #define MTH3D_M_xDotProductVector( VectA, VectB) MTH3D_M_xDotProductVectorORG( VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_vCrossProductVectorWithoutBuffer DESCRIPTION : Calculate the cross product of two vectors : VectDest= VectA^VectB, VectDest must be a other vector INPUT : VectDest, VectA, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vCrossProductVectorWithoutBuffer(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorWithoutBufferASM(VectDest, VectA, VectB) #else #define MTH3D_M_vCrossProductVectorWithoutBuffer(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorWithoutBufferC(VectDest, VectA, VectB) #endif #else #define MTH3D_M_vCrossProductVectorWithoutBuffer(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorWithoutBufferORG(VectDest, VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_vCrossProductVector DESCRIPTION : Calculate the cross product of two vectors : VectDest= VectA^VectB INPUT : VectDest, VectA, VectA: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vCrossProductVector(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorASM(VectDest, VectA, VectB) #else #define MTH3D_M_vCrossProductVector(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorC(VectDest, VectA, VectB) #endif #else #define MTH3D_M_vCrossProductVector(VectDest, VectA, VectB) MTH3D_M_vCrossProductVectorORG(VectDest, VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_xSqrVector DESCRIPTION : Return the square of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : VectA.VectA : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xSqrVector( VectA) \ MTH_M_xAdd( \ MTH_M_xAdd( \ MTH_M_xSqr((VectA)->xX), \ MTH_M_xSqr((VectA)->xY) \ ), \ MTH_M_xSqr((VectA)->xZ) ) /* ##M================================================================================== NAME : MTH3D_M_xNormVector DESCRIPTION : Return the norm of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : ||VectA|| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xNormVector( VectA ) \ MTH_M_xSqrt( MTH3D_M_xSqrVector( VectA ) ) /* ##M================================================================================== NAME : MTH3D_M_xInvNormVector DESCRIPTION : Return the inverse of the norm of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : 1/||VectA|| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xInvNormVector( VectA ) \ MTH_M_xInvSqrt( MTH3D_M_xSqrVector( VectA ) ) /* ##M================================================================================== NAME : MTH3D_M_xQuickNormVector DESCRIPTION : Return the norm of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : ||VectA|| : MTH_tdxReal AUTHOR: Yann Le Tensorer =======================================================================================*/ #define MTH3D_M_xQuickNormVector( VectA ) \ MTH_M_xSqrtLow( MTH3D_M_xSqrVector( VectA ) ) /* ##M================================================================================== NAME : MTH3D_M_xQuickInvNormVector DESCRIPTION : Return the inverse of the norm of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : 1/||VectA|| : MTH_tdxReal AUTHOR: Yann Le Tensorer =======================================================================================*/ #define MTH3D_M_xQuickInvNormVector( VectA ) \ MTH_M_xInvSqrtLow( MTH3D_M_xSqrVector( VectA ) ) /* ##M================================================================================== NAME : MTH3D_M_xVectorGapSqr DESCRIPTION : Return the square Gap between two vectors INPUT : VectA, VectB : address of MTH3D_tdstVector OUTPUT : Sqr(||VectA-VectB||) : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xVectorGapSqr(VectA, VectB) \ (MTH_M_xSqrAddSqrAddSqr( \ MTH_M_xSub( (VectA)->xX, (VectB)->xX), \ MTH_M_xSub( (VectA)->xY, (VectB)->xY), \ MTH_M_xSub( (VectA)->xZ, (VectB)->xZ) ) ) /* ##M================================================================================== NAME : MTH3D_M_xVectorGap DESCRIPTION : Return the Gap between two vectors INPUT : VectA, VectB : address of MTH3D_tdstVector OUTPUT : ||VectA-VectB|| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xVectorGap(VectA, VectB) \ (MTH_M_xSqrt( MTH3D_M_xVectorGapSqr(VectA, VectB) )) /* ##M================================================================================== NAME : MTH3D_M_vFillVector DESCRIPTION : Fill each vector element with a value INPUT : VectA: address of MTH3D_tdstVector, a: MTH_tdxReal OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* only one computation of a an then copy without use of FPU*/ #define MTH3D_M_vFillVector( VectDest, a) \ { (VectDest)->xZ=(VectDest)->xY=(VectDest)->xX = (a); \ } #else #define MTH3D_M_vFillVector( VectDest, a) \ { (VectDest)->xX = (a); \ (VectDest)->xY = (a); \ (VectDest)->xZ = (a); \ } #endif /* ##M================================================================================== NAME : MTH3D_M_vNormalizeVector DESCRIPTION : Normalize a vector : VectDest= VectA/||VectA|| INPUT : VectDest, VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #ifndef U64 #define MTH3D_M_vNormalizeVector(VectDest, VectA) \ { \ register MTH_tdxReal inv_norm= MTH3D_M_xInvNormVector( VectA); \ MTH3D_M_vMulScalarVector(VectDest, (inv_norm), VectA ); \ } #else /* U64 */ #define MTH3D_M_vNormalizeVector(VectDest, VectA) \ { \ register MTH_tdxReal xNorm= MTH3D_M_xNormVector( VectA); \ if( MTH_M_bDifferentZero(xNorm) ) \ { \ xNorm = MTH_M_xInv(xNorm); \ MTH3D_M_vMulScalarVector(VectDest, xNorm, VectA ); \ } \ } #endif /* U64 */ /* ##M================================================================================== NAME : MTH3D_M_vQuickNormalizeVector DESCRIPTION : Normalize a vector : VectDest= VectA/||VectA|| INPUT : VectDest, VectA : address of MTH3D_tdstVector OUTPUT : void AUTHOR: Yann Le Tensorer =======================================================================================*/ #ifndef U64 #define MTH3D_M_vQuickNormalizeVector(VectDest, VectA) \ { \ register MTH_tdxReal inv_norm= MTH3D_M_xQuickInvNormVector( VectA); \ MTH3D_M_vMulScalarVector(VectDest, (inv_norm), VectA ); \ } #else /* U64 */ #define MTH3D_M_vQuickNormalizeVector(VectDest, VectA) MTH3D_M_vNormalizeVector(VectDest,VectA) #endif /* U64 */ /* ##M================================================================================== NAME : MTH3D_M_vGetVectorElements DESCRIPTION : Get x, y, z values of a vector INPUT : x, y, z : address of MTH_tdxReal, VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetVectorElements( Vx, Vy, Vz, VectA) \ { *Vx = (VectA)->xX; \ *Vy = (VectA)->xY; \ *Vz = (VectA)->xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetVectorElements DESCRIPTION : Set a vector with x, y, z values INPUT : VectDest : address of MTH3D_tdstVector, x, y, z : address of MTH_tdxReal, OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetVectorElements( VectDest, Vx, Vy, Vz) \ { (VectDest)->xX = (Vx); \ (VectDest)->xY = (Vy); \ (VectDest)->xZ = (Vz); } /* ##M================================================================================== NAME : MTH3D_M_xGetXofVector DESCRIPTION : Return x element of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : x : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xGetXofVector( VectA ) (VectA)->xX /* ##M================================================================================== NAME : MTH3D_M_vSetXofVector DESCRIPTION : Set x element of a vector INPUT : VectDest : address of MTH3D_tdstVector, Vx : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetXofVector( VectDest, Vx) { (VectDest)->xX = (Vx); } /* ##M================================================================================== NAME : MTH3D_M_xGetYofVector DESCRIPTION : Return y element of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : y : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xGetYofVector( VectA ) (VectA)->xY /* ##M================================================================================== NAME : MTH3D_M_vSetYofVector DESCRIPTION : Set y element of a vector INPUT : VectDest : address of MTH3D_tdstVector, Vy : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetYofVector( VectDest, Vy) { (VectDest)->xY = (Vy); } /* ##M================================================================================== NAME : MTH3D_M_xGetZofVector DESCRIPTION : Return z element of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : z : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xGetZofVector( VectA ) (VectA)->xZ /* ##M================================================================================== NAME : MTH3D_M_vSetZofVector DESCRIPTION : Set z element of a vector INPUT : VectDest : address of MTH3D_tdstVector, Vz : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetZofVector( VectDest, Vz) { (VectDest)->xZ = (Vz); } /* ##M================================================================================== NAME : MTH3D_M_vCopyVector DESCRIPTION : Copy a vector : VectDest=VectA INPUT : VectDest, VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if (defined(OPTIMIZED_FOR_PC_FLOATS) || defined(MTH_RealIsFloat)) /* no fpu, no call to function*/ /*#define MTH3D_M_vCopyVector( VectDest, VectA) \ { (VectDest)->xX = (VectA)->xX; \ (VectDest)->xY = (VectA)->xY; \ (VectDest)->xZ = (VectA)->xZ; \ } */ #define MTH3D_M_vCopyVector( VectDest, VectA) \ { ((unsigned long *) (VectDest))[0]= ((unsigned long *) (VectA))[0]; \ ((unsigned long *) (VectDest))[1]= ((unsigned long *) (VectA))[1]; \ ((unsigned long *) (VectDest))[2]= ((unsigned long *) (VectA))[2]; \ } #else #define MTH3D_M_vCopyVector( VectDest, VectA) \ { memcpy(VectDest, VectA, sizeof(MTH3D_tdstVector)); } #endif /* ##M================================================================================== NAME : MTH3D_M_vNullVector DESCRIPTION : Set all elements of a vector to zero INPUT : VectDest : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #define MTH3D_M_vNullVector( VectDest) { (VectDest)->xZ=(VectDest)->xY=(VectDest)->xX=MTH_C_ZERO; } #else #define MTH3D_M_vNullVector( VectDest) \ { (VectDest)->xX = MTH_C_ZERO; \ (VectDest)->xY = MTH_C_ZERO; \ (VectDest)->xZ = MTH_C_ZERO; } #endif /* ##M================================================================================== NAME : MTH3D_M_vScaleVector DESCRIPTION : Set each element of VectDest with the multiplication of element of VectA by element of VectB INPUT : VectDest, VectA, VectB : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vScaleVector( VectDest, VectA, VectB ) MTH3D_M_vScaleVectorASM( VectDest, VectA, VectB) #else #define MTH3D_M_vScaleVector( VectDest, VectA, VectB) MTH3D_M_vScaleVectorC( VectDest, VectA, VectB) #endif #else #define MTH3D_M_vScaleVector( VectDest, VectA, VectB) MTH3D_M_vScaleVectorORG(VectDest, VectA, VectB) #endif /* ##M================================================================================== NAME : MTH3D_M_vMiddleVector DESCRIPTION : Calculate the middle of two vectors : VectDest= (VectA+VectB)/2 INPUT : VectDest, VectA, VectB : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vMiddleVector( VectDest, VectA, VectB ) \ { MTH3D_M_vAddVector( VectDest, VectA, VectB ); \ MTH3D_M_vMulScalarVector( VectDest, MTH_C_Inv2 , VectDest); } /* ##M================================================================================== NAME : MTH3D_M_vLinearInterpolVector DESCRIPTION : Calculate the linear interpolation of two vectors : VectDest= VectA + t.(VectB-VectA) INPUT : VectDest, VectA, VectB: address of MTH3D_tdstVector, t: MTH_tdxReal OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vLinearInterpolVector( VectDest, VectA, VectB, t) MTH3D_M_vLinearInterpolVectorASM( VectDest, VectA, VectB, t) #else #define MTH3D_M_vLinearInterpolVector( VectDest, VectA, VectB, t) MTH3D_M_vLinearInterpolVectorC( VectDest, VectA, VectB, t) #endif #else #define MTH3D_M_vLinearInterpolVector( VectDest, VectA, VectB,t) MTH3D_M_vLinearInterpolVectorORG(VectDest, VectA, VectB, t) #endif /* ##M================================================================================== NAME : MTH3D_M_vLinearScaleVector DESCRIPTION : Calculate the linear interpolation of two vectors : VectDest= VectA + VectC*(VectB-VectA) INPUT : VectDest, VectA, VectB, VectC: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vLinearScaleVector( VectDest, VectA, VectB, VectC) MTH3D_M_vLinearScaleVectorASM( VectDest, VectA, VectB, VectC) #else #define MTH3D_M_vLinearScaleVector( VectDest, VectA, VectB, VectC) MTH3D_M_vLinearScaleVectorC( VectDest, VectA, VectB, VectC) #endif #else #define MTH3D_M_vLinearScaleVector( VectDest, VectA, VectB, VectC) MTH3D_M_vLinearScaleVectorORG(VectDest, VectA, VectB, VectC) #endif /* ##M================================================================================== NAME : MTH3D_M_vMaxVector DESCRIPTION : Make a vector with max elements of two other vectors INPUT : VectDest, VectA, VectB: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vMaxVector( VectDest, VectA, VectB) \ { (VectDest)->xX= MTH_M_xMax( (VectA)->xX, (VectB)->xX ); \ (VectDest)->xY= MTH_M_xMax( (VectA)->xY, (VectB)->xY ); \ (VectDest)->xZ= MTH_M_xMax( (VectA)->xZ, (VectB)->xZ ); } /* ##M================================================================================== NAME : MTH3D_M_vMinVector DESCRIPTION : Make a vector with min elements of two other vectors INPUT : VectDest, VectA, VectB: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vMinVector( VectDest, VectA, VectB) \ { (VectDest)->xX= MTH_M_xMin( (VectA)->xX, (VectB)->xX ); \ (VectDest)->xY= MTH_M_xMin( (VectA)->xY, (VectB)->xY ); \ (VectDest)->xZ= MTH_M_xMin( (VectA)->xZ, (VectB)->xZ ); } /* ##M================================================================================== NAME : MTH3D_M_xDetXYVector DESCRIPTION : Return the 2D determinant between X and Y elements INPUT : VectA, VectB: address of MTH3D_tdstVector OUTPUT : DetXY |VectA, VectB| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xDetXYVector( VectA, VectB ) MTH_M_xMulSubMul( (VectA)->xX, (VectB)->xY, (VectA)->xY, (VectB)->xX) /* ##M================================================================================== NAME : MTH3D_M_xDetYZVector DESCRIPTION : Return the 2D determinant between Y and Z elements INPUT : VectA, VectB: address of MTH3D_tdstVector OUTPUT : DetYZ |VectA, VectB| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xDetYZVector( VectA, VectB ) MTH_M_xMulSubMul( (VectA)->xY, (VectB)->xZ, (VectA)->xZ, (VectB)->xY) /* ##M================================================================================== NAME : MTH3D_M_xDetZXVector DESCRIPTION : Return the 2D determinant between Z and X elements INPUT : VectA, VectB: address of MTH3D_tdstVector OUTPUT : DetZX |VectA, VectB| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xDetZXVector( VectA, VectB ) MTH_M_xMulSubMul( (VectA)->xZ, (VectB)->xX, (VectA)->xX, (VectB)->xZ) /* ##M================================================================================== NAME : MTH3D_M_bIsNullVector DESCRIPTION : Test if a vector is null INPUT : VectA : address of MTH3D_tdstVector OUTPUT : VectA==Null vector : Boolean =======================================================================================*/ #define MTH3D_M_bIsNullVector( VectA ) ( MTH_M_bEqualZero((VectA)->xX) && MTH_M_bEqualZero((VectA)->xY) && MTH_M_bEqualZero((VectA)->xZ) ) /* ##M================================================================================== NAME : MTH3D_M_vMulAddVector DESCRIPTION : Multiply a scalar to a vector, and add it to a other vector: VectDest = x.VectA + VectB INPUT : VectDest: address of MTH3D_tdstVector, x: MTH_tdxReal, VectA, VectB : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMulAddVector( VectDest, x,VectA, VectB ) MTH3D_M_vMulAddVectorASM( VectDest, x,VectA, VectB) #else #define MTH3D_M_vMulAddVector( VectDest, x,VectA, VectB) MTH3D_M_vMulAddVectorC( VectDest, x,VectA, VectB) #endif #else #define MTH3D_M_vMulAddVector( VectDest, x,VectA, VectB) MTH3D_M_vMulAddVectorORG(VectDest, x,VectA, VectB) #endif /* MTH3D_M_vMullAddVector( VectDest, x, VectA, VectB) : VectDest = x.VectA + VectB */ #define MTH3D_M_vMullAddVector MTH3D_M_vMulAddVector /* ##M================================================================================== NAME : MTH3D_M_vMul3AddVector DESCRIPTION : VectDest = x.VectA + y.VectB + z.VectC INPUT : VectDest: address of MTH3D_tdstVector, x,y,z: MTH_tdxReal, VectA, VectB, VectC : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMul3AddVector( VectDest, x,VectA, y,VectB, z,VectC) MTH3D_M_vMul3AddVectorASM( VectDest, x,VectA, y,VectB, z,VectC) #else #define MTH3D_M_vMul3AddVector( VectDest, x,VectA, y,VectB, z,VectC) MTH3D_M_vMul3AddVectorC( VectDest, x,VectA, y,VectB, z,VectC) #endif #else #define MTH3D_M_vMul3AddVector( VectDest, x,VectA, y,VectB, z,VectC) MTH3D_M_vMul3AddVectorORG(VectDest, x,VectA, y,VectB, z,VectC) #endif /* ##M================================================================================== NAME : MTH3D_M_vMul4AddVector DESCRIPTION : VectDest = x.VectA + y.VectB + z.VectC + w.VectD INPUT : VectDest: address of MTH3D_tdstVector, x,y,z,w: MTH_tdxReal, VectA, VectB, VectC, VectD : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMul4AddVector( VectDest, x,VectA, y,VectB, z,VectC, w,VectD) MTH3D_M_vMul4AddVectorASM( VectDest, x,VectA, y,VectB, z,VectC, w,VectD) #else #define MTH3D_M_vMul4AddVector( VectDest, x,VectA, y,VectB, z,VectC, w,VectD) MTH3D_M_vMul4AddVectorC( VectDest, x,VectA, y,VectB, z,VectC, w,VectD) #endif #else #define MTH3D_M_vMul4AddVector( VectDest, x,VectA, y,VectB, z,VectC, w,VectD) MTH3D_M_vMul4AddVectorORG(VectDest, x,VectA, y,VectB, z,VectC, w,VectD) #endif /* ##M================================================================================== NAME : MTH3D_M_vSetBaseIVector DESCRIPTION : Set a vector to Ox base vector : VectDest = ( 1, 0, 0 ) INPUT : VectDest: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetBaseIVector( VectDest ) { (VectDest)->xX = MTH_C_ONE; (VectDest)->xZ = (VectDest)->xY = MTH_C_ZERO; } /* ##M================================================================================== NAME : MTH3D_M_vSetBaseJVector DESCRIPTION : Set a vector to Oy base vector : VectDest = ( 0, 1, 0 ) INPUT : VectDest: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetBaseJVector( VectDest ) { (VectDest)->xX = MTH_C_ZERO; (VectDest)->xY = MTH_C_ONE; (VectDest)->xZ = MTH_C_ZERO; } /* ##M================================================================================== NAME : MTH3D_M_vSetBaseKVector DESCRIPTION : Set a vector to Oz base vector : VectDest = ( 0, 0, 1 ) INPUT : VectDest: address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetBaseKVector( VectDest ) { (VectDest)->xY = (VectDest)->xX = MTH_C_ZERO; (VectDest)->xZ = MTH_C_ONE; } /* ##M================================================================================== NAME : MTH3D_M_xNorm1Vector DESCRIPTION : Return the norm 1 of a vector INPUT : VectA : address of MTH3D_tdstVector OUTPUT : |VectA->x| + |VectA->y| + |VectA->z| : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xNorm1Vector( VectA ) MTH_M_xAdd3( MTH_M_xAbs((VectA)->xX) , MTH_M_xAbs((VectA)->xY) , MTH_M_xAbs((VectA)->xZ) ) /* ##-########################### ## Matrix operations ############################## */ /* ##M================================================================================== NAME : MTH3D_M_vCopyMatrix DESCRIPTION : Copy MatA in MatDest INPUT : MatDest, MatA: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* 9 clocks when good pairing else always less than 18 clocks : much better than memcpy*/ /* doesn't use FPU but only the "mov" instructions*/ #define MTH3D_M_vCopyMatrix( MatDest, MatA) \ { MTH3D_M_vCopyVector(&((MatDest)->stCol_0),&((MatA)->stCol_0) ); \ MTH3D_M_vCopyVector(&((MatDest)->stCol_1),&((MatA)->stCol_1) ); \ MTH3D_M_vCopyVector(&((MatDest)->stCol_2),&((MatA)->stCol_2) ); \ } #else #define MTH3D_M_vCopyMatrix( MatDest, MatA) \ { memcpy(MatDest, MatA, sizeof(MTH3D_tdstMatrix)); } #endif /* ##M================================================================================== NAME : MTH3D_M_vAddMatrix DESCRIPTION : Add two matrix : MatDest= MatA + MatB INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vAddMatrix( MatDest, MatA, MatB) \ { MTH3D_M_vAddVector( &((MatDest)->stCol_0), \ &((MatA)->stCol_0), &((MatB)->stCol_0)); \ MTH3D_M_vAddVector( &((MatDest)->stCol_1), \ &((MatA)->stCol_1), &((MatB)->stCol_1)); \ MTH3D_M_vAddVector( &((MatDest)->stCol_2), \ &((MatA)->stCol_2), &((MatB)->stCol_2)); } /* ##M================================================================================== NAME : MTH3D_M_vSubMatrix DESCRIPTION : Sub two matrix : MatDest= MatA - MatB INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSubMatrix( MatDest, MatA, MatB) \ { MTH3D_M_vSubVector( &((MatDest)->stCol_0), \ &((MatA)->stCol_0), &((MatB)->stCol_0)); \ MTH3D_M_vSubVector( &((MatDest)->stCol_1), \ &((MatA)->stCol_1), &((MatB)->stCol_1)); \ MTH3D_M_vSubVector( &((MatDest)->stCol_2), \ &((MatA)->stCol_2), &((MatB)->stCol_2)); } /* ##M================================================================================== NAME : MTH3D_M_vNegMatrix DESCRIPTION : Make the Nagation of a matrix : MatDest= -MatA INPUT : MatDest, MatA: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vNegMatrix( MatDest, MatA) \ { MTH3D_M_vNegVector( &((MatDest)->stCol_0), \ &((MatA)->stCol_0)); \ MTH3D_M_vNegVector( &((MatDest)->stCol_1), \ &((MatA)->stCol_1)); \ MTH3D_M_vNegVector( &((MatDest)->stCol_2), \ &((MatA)->stCol_2)); } /* ##M================================================================================== NAME : MTH3D_M_vMulMatrixMatrixWithoutBuffer DESCRIPTION : Multiply two matrix : MatDest= MatA*MatB, MatDest must be a other matrix INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMulMatrixMatrixWithoutBuffer(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixWithoutBufferASM(MatDest, MatA, MatB) #elif defined(OPTIMIZED_FOR_U64_ASM) #define MTH3D_M_vMulMatrixMatrixWithoutBuffer(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixWithoutBufferU64ASM(MatDest, MatA, MatB) #else #define MTH3D_M_vMulMatrixMatrixWithoutBuffer(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixWithoutBufferC(MatDest, MatA, MatB) #endif #else #define MTH3D_M_vMulMatrixMatrixWithoutBuffer(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixWithoutBufferORG(MatDest, MatA, MatB) #endif /* ##M================================================================================== NAME : MTH3D_M_vMulMatrixMatrix DESCRIPTION : Multiply two matrix : MatDest= MatA*MatB INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMulMatrixMatrix(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixASM(MatDest, MatA, MatB) #else #define MTH3D_M_vMulMatrixMatrix(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixC(MatDest, MatA, MatB) #endif #else #define MTH3D_M_vMulMatrixMatrix(MatDest, MatA, MatB) MTH3D_M_vMulMatrixMatrixORG(MatDest, MatA, MatB) #endif /* ##M================================================================================== NAME : MTH3D_M_vMulTranspMatrixMatrixWithoutBuffer DESCRIPTION : Multiply the transposed matrix to a other: MatDest= (transp MatA)*MatB, MatDest must be a other matrix INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vMulTranspMatrixMatrixWithoutBuffer(MatDest, MatA, MatB) \ { \ (MatDest)->stCol_0.xX = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_0.xX, (MatB)->stCol_0.xX, \ (MatA)->stCol_0.xY, (MatB)->stCol_0.xY, \ (MatA)->stCol_0.xZ, (MatB)->stCol_0.xZ ); \ (MatDest)->stCol_0.xY = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_1.xX, (MatB)->stCol_0.xX, \ (MatA)->stCol_1.xY, (MatB)->stCol_0.xY, \ (MatA)->stCol_1.xZ, (MatB)->stCol_0.xZ ); \ (MatDest)->stCol_0.xZ = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_2.xX, (MatB)->stCol_0.xX, \ (MatA)->stCol_2.xY, (MatB)->stCol_0.xY, \ (MatA)->stCol_2.xZ, (MatB)->stCol_0.xZ ); \ \ (MatDest)->stCol_1.xX = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_0.xX, (MatB)->stCol_1.xX, \ (MatA)->stCol_0.xY, (MatB)->stCol_1.xY, \ (MatA)->stCol_0.xZ, (MatB)->stCol_1.xZ ); \ (MatDest)->stCol_1.xY = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_1.xX, (MatB)->stCol_1.xX, \ (MatA)->stCol_1.xY, (MatB)->stCol_1.xY, \ (MatA)->stCol_1.xZ, (MatB)->stCol_1.xZ ); \ (MatDest)->stCol_1.xZ = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_2.xX, (MatB)->stCol_1.xX, \ (MatA)->stCol_2.xY, (MatB)->stCol_1.xY, \ (MatA)->stCol_2.xZ, (MatB)->stCol_1.xZ ); \ \ (MatDest)->stCol_2.xX = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_0.xX, (MatB)->stCol_2.xX, \ (MatA)->stCol_0.xY, (MatB)->stCol_2.xY, \ (MatA)->stCol_0.xZ, (MatB)->stCol_2.xZ ); \ (MatDest)->stCol_2.xY = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_1.xX, (MatB)->stCol_2.xX, \ (MatA)->stCol_1.xY, (MatB)->stCol_2.xY, \ (MatA)->stCol_1.xZ, (MatB)->stCol_2.xZ ); \ (MatDest)->stCol_2.xZ = MTH_M_xMulAddMulAddMul( \ (MatA)->stCol_2.xX, (MatB)->stCol_2.xX, \ (MatA)->stCol_2.xY, (MatB)->stCol_2.xY, \ (MatA)->stCol_2.xZ, (MatB)->stCol_2.xZ ); \ } /* ##M================================================================================== NAME : MTH3D_M_vMulTranspMatrixMatrix DESCRIPTION : Multiply the transposed matrix to a other: MatDest= (transp MatA)*MatB, INPUT : MatDest, MatA, MatB: address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vMulTranspMatrixMatrix(Mat_Dest, Mat_A, Mat_B) \ if( (Mat_Dest==Mat_A) || (Mat_Dest==Mat_B) ) \ { \ MTH3D_tdstMatrix Mtemp; \ \ MTH3D_M_vMulTranspMatrixMatrixWithoutBuffer( \ &Mtemp, Mat_A, Mat_B); \ MTH3D_M_vCopyMatrix( Mat_Dest, &Mtemp); \ } \ else \ { \ MTH3D_M_vMulTranspMatrixMatrixWithoutBuffer(Mat_Dest, \ Mat_A, Mat_B); \ } /* ##M================================================================================== NAME : MTH3D_M_vMulScalarMatrix DESCRIPTION : Multiply a scalar with a matrix : MatDest= a*MatA INPUT : MatDest : address of MTH3D_tdstMatrix a: MTH_tdxReal, MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* only one computation of a*/ #define MTH3D_M_vMulScalarMatrix(MatDest, a, MatA) \ { register MTH_tdxReal xTempMTH3D_M_vMulScalarMatrix=(a); \ MTH3D_M_vMulScalarVector( &((MatDest)->stCol_0), xTempMTH3D_M_vMulScalarMatrix, &((MatA)->stCol_0)); \ MTH3D_M_vMulScalarVector( &((MatDest)->stCol_1), xTempMTH3D_M_vMulScalarMatrix, &((MatA)->stCol_1)); \ MTH3D_M_vMulScalarVector( &((MatDest)->stCol_2), xTempMTH3D_M_vMulScalarMatrix, &((MatA)->stCol_2)); } #else #define MTH3D_M_vMulScalarMatrix(MatDest, a, MatA) \ { MTH3D_M_vMulScalarVector( &((MatDest)->stCol_0), (a), &((MatA)->stCol_0)); \ MTH3D_M_vMulScalarVector( &((MatDest)->stCol_1), (a), &((MatA)->stCol_1)); \ MTH3D_M_vMulScalarVector( &((MatDest)->stCol_2), (a), &((MatA)->stCol_2)); } #endif /* ##M================================================================================== NAME : MTH3D_M_vDivScalarMatrix DESCRIPTION : Divide a matrix by a scalar : MatDest= MatA/a INPUT : MatDest : address of MTH3D_tdstMatrix MatA : address of MTH3D_tdstMatrix, a: MTH_tdxReal OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* only one division and one computation of 1/a*/ #define MTH3D_M_vDivScalarMatrix(MatDest, MatA, a) \ MTH3D_M_vMulScalarMatrix(MatDest, MTH_M_xDiv(MTH_C_ONE,(a)), MatA); #else #define MTH3D_M_vDivScalarMatrix(MatDest, MatA, a) \ { MTH3D_M_vDivScalarVector( &((MatDest)->stCol_0), \ &((MatA)->stCol_0), (a)); \ MTH3D_M_vDivScalarVector( &((MatDest)->stCol_1), \ &((MatA)->stCol_1), (a)); \ MTH3D_M_vDivScalarVector( &((MatDest)->stCol_2), \ &((MatA)->stCol_2), (a)); } #endif /* ##M================================================================================== NAME : MTH3D_M_vSqrMatrix DESCRIPTION : Square a matrix : MatDest= MatA*MatA INPUT : MatDest : address of MTH3D_tdstMatrix MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSqrMatrix(MatDest, MatA) { MTH3D_M_vMulMatrixMatrix( MatDest, MatA, MatA); } /* ##M================================================================================== NAME : MTH3D_M_vTranspMatrixWithoutBuffer DESCRIPTION : Transpose a matrix : MatDest= transp MatA, Matdest must be a other matrix INPUT : MatDest : address of MTH3D_tdstMatrix MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vTranspMatrixWithoutBuffer(MatDest, MatA) \ { (MatDest)->stCol_0.xX = (MatA)->stCol_0.xX; \ (MatDest)->stCol_0.xY = (MatA)->stCol_1.xX; \ (MatDest)->stCol_0.xZ = (MatA)->stCol_2.xX; \ (MatDest)->stCol_1.xX = (MatA)->stCol_0.xY; \ (MatDest)->stCol_1.xY = (MatA)->stCol_1.xY; \ (MatDest)->stCol_1.xZ = (MatA)->stCol_2.xY; \ (MatDest)->stCol_2.xX = (MatA)->stCol_0.xZ; \ (MatDest)->stCol_2.xY = (MatA)->stCol_1.xZ; \ (MatDest)->stCol_2.xZ = (MatA)->stCol_2.xZ; } /* MTH3D_M_vTranpMatrixWithoutBuffer(MatDest, MatA) : MatDest= transp MatA */ #define MTH3D_M_vTranpMatrixWithoutBuffer MTH3D_M_vTranspMatrixWithoutBuffer /* ##M================================================================================== NAME : MTH3D_M_vTranspMatrix DESCRIPTION : Transpose a matrix : MatDest= transp MatA INPUT : MatDest : address of MTH3D_tdstMatrix MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* no copy, direct transposition => swap coefficients*/ #define MTH3D_M_vTranspMatrix(Mat_Dest, Mat_A) \ if( Mat_Dest==Mat_A ) \ { \ long lTemp0=*((long*) &((Mat_Dest)->stCol_0.xY)); \ long lTemp1=*((long*) &((Mat_Dest)->stCol_0.xZ)); \ long lTemp2=*((long*) &((Mat_Dest)->stCol_1.xZ)); \ (Mat_Dest)->stCol_0.xY=(Mat_Dest)->stCol_1.xX; \ (Mat_Dest)->stCol_0.xZ=(Mat_Dest)->stCol_2.xX; \ (Mat_Dest)->stCol_1.xZ=(Mat_Dest)->stCol_2.xY; \ *((long*) &((Mat_Dest)->stCol_1.xX))=lTemp0; \ *((long*) &((Mat_Dest)->stCol_2.xX))=lTemp1; \ *((long*) &((Mat_Dest)->stCol_2.xY))=lTemp2; \ } \ else \ { \ MTH3D_M_vTranspMatrixWithoutBuffer(Mat_Dest, Mat_A); \ } #else #define MTH3D_M_vTranspMatrix(Mat_Dest, Mat_A) \ if( Mat_Dest==Mat_A ) \ { \ MTH3D_tdstMatrix Mtemp; \ \ MTH3D_M_vTranspMatrixWithoutBuffer(&Mtemp, Mat_A); \ MTH3D_M_vCopyMatrix( Mat_Dest, &Mtemp); \ } \ else \ { \ MTH3D_M_vTranspMatrixWithoutBuffer(Mat_Dest, Mat_A); \ } #endif /* MTH3D_M_vTranpMatrix(MatDest, MatA) : MatDest= transp MatA */ #define MTH3D_M_vTranpMatrix MTH3D_M_vTranspMatrix /* ##M================================================================================== NAME : MTH3D_M_xTraceMatrix DESCRIPTION : Return the trace of a matrix INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : trace MatA : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xTraceMatrix(MatA) MTH_M_xAdd3((MatA)->stCol_0.xX, (MatA)->stCol_1.xY, (MatA)->stCol_2.xZ) /* ##M================================================================================== NAME : MTH3D_M_vSetIdentityMatrix DESCRIPTION : Set a matrix to the Identity matrix : MatDest= Id INPUT : MatDest : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetIdentityMatrix(MatDest) \ { (MatDest)->stCol_0.xX = MTH_C_ONE; \ (MatDest)->stCol_0.xY = MTH_C_ZERO; \ (MatDest)->stCol_0.xZ = MTH_C_ZERO; \ (MatDest)->stCol_1.xX = MTH_C_ZERO; \ (MatDest)->stCol_1.xY = MTH_C_ONE; \ (MatDest)->stCol_1.xZ = MTH_C_ZERO; \ (MatDest)->stCol_2.xX = MTH_C_ZERO; \ (MatDest)->stCol_2.xY = MTH_C_ZERO; \ (MatDest)->stCol_2.xZ = MTH_C_ONE; } /* ##M================================================================================== NAME : MTH3D_M_bEqualMatrix DESCRIPTION : Test if two matrix are equal INPUT : MatA, MatB : address of MTH3D_tdstMatrix OUTPUT : MatA==MatB : Boolean =======================================================================================*/ #define MTH3D_M_bEqualMatrix(MatA, MatB) \ ( \ MTH_M_bEqual( (MatA)->stCol_0.xX, (MatB)->stCol_0.xX) && \ MTH_M_bEqual( (MatA)->stCol_0.xY, (MatB)->stCol_0.xY) && \ MTH_M_bEqual( (MatA)->stCol_0.xZ, (MatB)->stCol_0.xZ) && \ MTH_M_bEqual( (MatA)->stCol_1.xX, (MatB)->stCol_1.xX) && \ MTH_M_bEqual( (MatA)->stCol_1.xY, (MatB)->stCol_1.xY) && \ MTH_M_bEqual( (MatA)->stCol_1.xZ, (MatB)->stCol_1.xZ) && \ MTH_M_bEqual( (MatA)->stCol_2.xX, (MatB)->stCol_2.xX) && \ MTH_M_bEqual( (MatA)->stCol_2.xY, (MatB)->stCol_2.xY) && \ MTH_M_bEqual( (MatA)->stCol_2.xZ, (MatB)->stCol_2.xZ) \ ) /* ##M================================================================================== NAME : MTH3D_M_bMatchMatrix DESCRIPTION : Test if two matrix are neary equal INPUT : MatA, MatB : address of MTH3D_tdstMatrix eps : MTH_tdxReal OUTPUT : (MatA match MatB to within about eps) : Boolean =======================================================================================*/ #define MTH3D_M_bMatchMatrix(MatA, MatB, eps) \ ( \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_0.xX, (MatB)->stCol_0.xX, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_0.xY, (MatB)->stCol_0.xY, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_0.xZ, (MatB)->stCol_0.xZ, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_1.xX, (MatB)->stCol_1.xX, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_1.xY, (MatB)->stCol_1.xY, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_1.xZ, (MatB)->stCol_1.xZ, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_2.xX, (MatB)->stCol_2.xX, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_2.xY, (MatB)->stCol_2.xY, eps) && \ MTH_M_bEqualWithEpsilon( (MatA)->stCol_2.xZ, (MatB)->stCol_2.xZ, eps) \ ) /* ##M================================================================================== NAME : MTH3D_M_vFillMatrix DESCRIPTION : Fill each matrix element with "a" value INPUT : MatDest : address of MTH3D_tdstMatrix a : MTH_tdxReal OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* avoid recomputation of a*/ #define MTH3D_M_vFillMatrix(MatDest, b) \ { register MTH_tdxReal a=(b); \ (MatDest)->stCol_0.xX = (a); (MatDest)->stCol_0.xY = (a); (MatDest)->stCol_0.xZ = (a); \ (MatDest)->stCol_1.xX = (a); (MatDest)->stCol_1.xY = (a); (MatDest)->stCol_1.xZ = (a); \ (MatDest)->stCol_2.xX = (a); (MatDest)->stCol_2.xY = (a); (MatDest)->stCol_2.xZ = (a); \ } #else #define MTH3D_M_vFillMatrix(MatDest, a) \ { (MatDest)->stCol_0.xX = (a); (MatDest)->stCol_0.xY = (a); (MatDest)->stCol_0.xZ = (a); \ (MatDest)->stCol_1.xX = (a); (MatDest)->stCol_1.xY = (a); (MatDest)->stCol_1.xZ = (a); \ (MatDest)->stCol_2.xX = (a); (MatDest)->stCol_2.xY = (a); (MatDest)->stCol_2.xZ = (a); } #endif /* ##M================================================================================== NAME : MTH3D_M_xDetMatrix DESCRIPTION : Return the determinant of a matrix INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : det MatA : MTH_tdxReal =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_xDetMatrix(MatA) MTH3D_M_xDetMatrixASM(MatA) #else #define MTH3D_M_xDetMatrix(MatA) MTH3D_M_xDetMatrixC(MatA) #endif #else #define MTH3D_M_xDetMatrix(MatA) MTH3D_M_xDetMatrixORG(MatA) #endif /* ##M================================================================================== NAME : MTH3D_M_vComMatrixWithoutBuffer DESCRIPTION : Calculate the Cofactor Matrix of a matrix : MatDest= Cofactor Matrix of MatA INPUT : Matdest, MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* avoid 4 MTH_M_xNeg : 8 clocks*/ #define MTH3D_M_vComMatrixWithoutBuffer(MatDest, MatA) \ { (MatDest)->stCol_0.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xY); \ (MatDest)->stCol_0.xY= MTH_M_xMulSubMul((MatA)->stCol_1.xZ,(MatA)->stCol_2.xX,(MatA)->stCol_1.xX,(MatA)->stCol_2.xZ); \ (MatDest)->stCol_0.xZ= MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xY,(MatA)->stCol_1.xY,(MatA)->stCol_2.xX); \ (MatDest)->stCol_1.xX= MTH_M_xMulSubMul((MatA)->stCol_0.xZ,(MatA)->stCol_2.xY,(MatA)->stCol_0.xY,(MatA)->stCol_2.xZ); \ (MatDest)->stCol_1.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xX); \ (MatDest)->stCol_1.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_2.xX,(MatA)->stCol_0.xX,(MatA)->stCol_2.xY); \ (MatDest)->stCol_2.xX= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xY); \ (MatDest)->stCol_2.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xZ,(MatA)->stCol_1.xX,(MatA)->stCol_0.xX,(MatA)->stCol_1.xZ); \ (MatDest)->stCol_2.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xY,(MatA)->stCol_0.xY,(MatA)->stCol_1.xX); } #else #define MTH3D_M_vComMatrixWithoutBuffer(MatDest, MatA) \ { (MatDest)->stCol_0.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xY); \ (MatDest)->stCol_0.xY= MTH_M_xNeg( MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xX)); \ (MatDest)->stCol_0.xZ= MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xY,(MatA)->stCol_1.xY,(MatA)->stCol_2.xX); \ (MatDest)->stCol_1.xX= MTH_M_xNeg(MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xY)); \ (MatDest)->stCol_1.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xX); \ (MatDest)->stCol_1.xZ= MTH_M_xNeg(MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xY,(MatA)->stCol_0.xY,(MatA)->stCol_2.xX)); \ (MatDest)->stCol_2.xX= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xY); \ (MatDest)->stCol_2.xY= MTH_M_xNeg( MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xX)); \ (MatDest)->stCol_2.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xY,(MatA)->stCol_0.xY,(MatA)->stCol_1.xX); } #endif /* the same but already transposed*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) /* avoid 4 MTH_M_xNeg : 8 clocks*/ #define MTH3D_M_vTransComMatrixWithoutBuffer(MatDest, MatA) \ { (MatDest)->stCol_0.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xY); \ (MatDest)->stCol_0.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xZ,(MatA)->stCol_2.xY,(MatA)->stCol_0.xY,(MatA)->stCol_2.xZ); \ (MatDest)->stCol_0.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xY); \ (MatDest)->stCol_1.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xZ,(MatA)->stCol_2.xX,(MatA)->stCol_1.xX,(MatA)->stCol_2.xZ); \ (MatDest)->stCol_1.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xX); \ (MatDest)->stCol_1.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xZ,(MatA)->stCol_1.xX,(MatA)->stCol_0.xX,(MatA)->stCol_1.xZ); \ (MatDest)->stCol_2.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xY,(MatA)->stCol_1.xY,(MatA)->stCol_2.xX); \ (MatDest)->stCol_2.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_2.xX,(MatA)->stCol_0.xX,(MatA)->stCol_2.xY); \ (MatDest)->stCol_2.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xY,(MatA)->stCol_0.xY,(MatA)->stCol_1.xX); } #else #define MTH3D_M_vTransComMatrixWithoutBuffer(MatDest, MatA) \ { (MatDest)->stCol_0.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xY); \ (MatDest)->stCol_1.xX= MTH_M_xNeg( MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_1.xZ,(MatA)->stCol_2.xX)); \ (MatDest)->stCol_2.xX= MTH_M_xMulSubMul((MatA)->stCol_1.xX,(MatA)->stCol_2.xY,(MatA)->stCol_1.xY,(MatA)->stCol_2.xX); \ (MatDest)->stCol_0.xY= MTH_M_xNeg(MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xY)); \ (MatDest)->stCol_1.xY= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_2.xX); \ (MatDest)->stCol_2.xY= MTH_M_xNeg(MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_2.xY,(MatA)->stCol_0.xY,(MatA)->stCol_2.xX)); \ (MatDest)->stCol_0.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xY,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xY); \ (MatDest)->stCol_1.xZ= MTH_M_xNeg( MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xZ,(MatA)->stCol_0.xZ,(MatA)->stCol_1.xX)); \ (MatDest)->stCol_2.xZ= MTH_M_xMulSubMul((MatA)->stCol_0.xX,(MatA)->stCol_1.xY,(MatA)->stCol_0.xY,(MatA)->stCol_1.xX); } #endif #define MTH3D_M_vTranspComMatrixWithoutBuffer(MatDest, MatA) MTH3D_M_vTransComMatrixWithoutBuffer(MatDest, MatA) \ /* ##M================================================================================== NAME : MTH3D_M_vInverMatrix DESCRIPTION : Invert a matrix : MatDest= Inv MatA INPUT : Matdest, MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vInverMatrix(MatDest, MatA) MTH3D_M_vInverMatrixASM(MatDest, MatA) #else #define MTH3D_M_vInverMatrix(MatDest, MatA) MTH3D_M_vInverMatrixC(MatDest, MatA) #endif #else #define MTH3D_M_vInverMatrix(MatDest, MatA) MTH3D_M_vInverMatrixORG(MatDest, MatA) #endif /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixColumnElements DESCRIPTION : Get x, y, z column col values in MatA INPUT : x, y, z : MTH_tdxReal col : int MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixColumnElements( Vx, Vy, Vz, col, MatA) \ if( (col)==0 ) \ { *Vx= (MatA)->stCol_0.xX; *Vy= (MatA)->stCol_0.xY; *Vz= (MatA)->stCol_0.xZ; } \ else \ if( (col)==1 ) \ { *Vx= (MatA)->stCol_1.xX; *Vy= (MatA)->stCol_1.xY; *Vz= (MatA)->stCol_1.xZ; } \ else \ { *Vx= (MatA)->stCol_2.xX; *Vy= (MatA)->stCol_2.xY; *Vz= (MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixColumnElements DESCRIPTION : Set column col x, y, z values in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix x, y, z : MTH_tdxReal col : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixColumnElements( MatDest, Vx, Vy, Vz, col) \ if( (col)==0 ) \ {(MatDest)->stCol_0.xX= (Vx); (MatDest)->stCol_0.xY= (Vy); (MatDest)->stCol_0.xZ= (Vz); } \ else \ if( (col)==1 ) \ {(MatDest)->stCol_1.xX= (Vx); (MatDest)->stCol_1.xY= (Vy); (MatDest)->stCol_1.xZ= (Vz); } \ else \ {(MatDest)->stCol_2.xX= (Vx); (MatDest)->stCol_2.xY= (Vy); (MatDest)->stCol_2.xZ= (Vz); } /* ##M================================================================================== NAME : MTH3D_M_xGetMatrixElement DESCRIPTION : Return element at (lin, col) in MatASet INPUT : MatA : address of MTH3D_tdstMatrix lin, col : int OUTPUT : a : MTH_tdxReal =======================================================================================*/ #define MTH3D_M_xGetMatrixElement( lin, col, MatA) \ ( (col)==0 ) ? \ (/* col 0 : */( (lin)==0 ) ? (MatA)->stCol_0.xX : ( ( (lin)==1 ) ? (MatA)->stCol_0.xY : (MatA)->stCol_0.xZ ) ) : \ ( \ ( (col)==1 ) ? \ (/* col 1 : */( (lin)==0 ) ? (MatA)->stCol_1.xX : ( ( (lin)==1 ) ? (MatA)->stCol_1.xY : (MatA)->stCol_1.xZ ) ) : \ (/* col 2 : */( (lin)==0 ) ? (MatA)->stCol_2.xX : ( ( (lin)==1 ) ? (MatA)->stCol_2.xY : (MatA)->stCol_2.xZ ) ) \ ) /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixElement DESCRIPTION : Set a element in MatDest at (lin, col) INPUT : MatDest : address of MTH3D_tdstMatrix a : MTH_tdxReal lin, col : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixElement( MatDest, a, lin, col) \ if( (col)==0 ) \ { if((lin)==0){(MatDest)->stCol_0.xX=(a);}else if((lin)==1){(MatDest)->stCol_0.xY=(a);}else{(MatDest)->stCol_0.xZ=(a);}} \ else \ if( (col)==1) \ { if((lin)==0){(MatDest)->stCol_1.xX=(a);}else if((lin)==1){(MatDest)->stCol_1.xY=(a);}else{(MatDest)->stCol_1.xZ=(a);}} \ else \ { if((lin)==0){(MatDest)->stCol_2.xX=(a);}else if((lin)==1){(MatDest)->stCol_2.xY=(a);}else{(MatDest)->stCol_2.xZ=(a);}} /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixCol0Elements DESCRIPTION : Set x, y, z values of column 0 in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix Vx, Vy, Vz : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixCol0Elements( MatDest, Vx, Vy, Vz) \ {(MatDest)->stCol_0.xX= (Vx); (MatDest)->stCol_0.xY= (Vy); (MatDest)->stCol_0.xZ= (Vz); } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixCol1Elements DESCRIPTION : Set x, y, z values of column 1 in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix Vx, Vy, Vz : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixCol1Elements( MatDest, Vx, Vy, Vz) \ {(MatDest)->stCol_1.xX= (Vx); (MatDest)->stCol_1.xY= (Vy); (MatDest)->stCol_1.xZ= (Vz); } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixCol2Elements DESCRIPTION : Set x, y, z values of column 2 in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix Vx, Vy, Vz : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixCol2Elements( MatDest, Vx, Vy, Vz) \ {(MatDest)->stCol_2.xX= (Vx); (MatDest)->stCol_2.xY= (Vy); (MatDest)->stCol_2.xZ= (Vz); } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixLineXElements DESCRIPTION : Set x elements of all columns in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix V0, V0, V0 : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixLineXElements( MatDest, V0, V1, V2) \ {(MatDest)->stCol_0.xX= (V0); (MatDest)->stCol_1.xX= (V1); (MatDest)->stCol_2.xX= (V2); } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixLineYElements DESCRIPTION : Set y elements of all columns in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix V0, V0, V0 : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixLineYElements( MatDest, V0, V1, V2) \ {(MatDest)->stCol_0.xY= (V0); (MatDest)->stCol_1.xY= (V1); (MatDest)->stCol_2.xY= (V2); } /* ##M================================================================================== NAME : MTH3D_M_vSetMatrixLineZElements DESCRIPTION : Set z elements of all columns in MatDest INPUT : MatDest : address of MTH3D_tdstMatrix V0, V0, V0 : MTH_tdxReal OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetMatrixLineZElements( MatDest, V0, V1, V2) \ {(MatDest)->stCol_0.xZ= (V0); (MatDest)->stCol_1.xZ= (V1); (MatDest)->stCol_2.xZ= (V2); } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixCol0Elements DESCRIPTION : Get x, y, z values of column 0 in MatA Vx, Vy, Vz : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixCol0Elements( Vx, Vy, Vz, MatA) \ {Vx= (MatA)->stCol_0.xX; Vy= (MatA)->stCol_0.xY; Vz= (MatA)->stCol_0.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixCol1Elements DESCRIPTION : Get x, y, z values of column 1 in MatA Vx, Vy, Vz : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixCol1Elements( Vx, Vy, Vz, MatA) \ {Vx= (MatA)->stCol_1.xX; Vy= (MatA)->stCol_1.xY; Vz= (MatA)->stCol_1.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixCol2Elements DESCRIPTION : Get x, y, z values of column 2 in MatA Vx, Vy, Vz : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixCol2Elements( Vx, Vy, Vz, MatA) \ {Vx= (MatA)->stCol_2.xX; Vy= (MatA)->stCol_2.xY; Vz= (MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixLineXElements DESCRIPTION : Get x elements of all columns in MatA V0, V0, V0 : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixLineXElements( V0, V1, V2, MatA) \ {V0= (MatA)->stCol_0.xX; V1= (MatA)->stCol_1.xX; V2= (MatA)->stCol_2.xX; } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixLineYElements DESCRIPTION : Get y elements of all columns in MatA V0, V0, V0 : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixLineYElements( V0, V1, V2, MatA) \ {V0= (MatA)->stCol_0.xY; V1= (MatA)->stCol_1.xY; V2= (MatA)->stCol_2.xY; } /* ##M================================================================================== NAME : MTH3D_M_vGetMatrixLineZElements DESCRIPTION : Get z elements of all columns in MatA V0, V0, V0 : MTH_tdxReal INPUT : MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetMatrixLineZElements( V0, V1, V2, MatA) \ {V0= (MatA)->stCol_0.xZ; V1= (MatA)->stCol_1.xZ; V2= (MatA)->stCol_2.xZ; } /* ##-########################### ## Matrix-Vector operations ############################## */ /* ##M================================================================================== NAME : MTH3D_M_vMulMatrixVectorWithoutBuffer DESCRIPTION : Multiply a Matrix to a Vector : VectDest= MatA*VectA, VectDest must be a other vector INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMulMatrixVectorWithoutBuffer( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorWithoutBufferASM(VectDest, MatA, VectA) #elif defined(OPTIMIZED_FOR_U64_ASM) #define MTH3D_M_vMulMatrixVectorWithoutBuffer( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorWithoutBufferU64ASM(VectDest, MatA, VectA) #else #define MTH3D_M_vMulMatrixVectorWithoutBuffer( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorWithoutBufferC(VectDest, MatA, VectA) #endif #else #define MTH3D_M_vMulMatrixVectorWithoutBuffer( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorWithoutBufferORG(VectDest, MatA, VectA) #endif /* ##M================================================================================== NAME : MTH3D_M_vMulMatrixVector DESCRIPTION : Multiply a Matrix to a Vector : VectDest= MatA*VectA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vMulMatrixVector( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorASM(VectDest, MatA, VectA) #elif defined(OPTIMIZED_FOR_U64_ASM) #define MTH3D_M_vMulMatrixVector( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorU64ASM(VectDest, MatA, VectA) #else #define MTH3D_M_vMulMatrixVector( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorC(VectDest, MatA, VectA) #endif #else #define MTH3D_M_vMulMatrixVector( VectDest, MatA, VectA) MTH3D_M_vMulMatrixVectorORG(VectDest, MatA, VectA) #endif /* ##M================================================================================== NAME : MTH3D_M_vGetColumn0InMatrix DESCRIPTION : Get a Vector column of a Matrix to a Vector : VectDest= columm 0 of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetColumn0InMatrix( VectDest, MatA) \ { (VectDest)->xX=(MatA)->stCol_0.xX; \ (VectDest)->xY=(MatA)->stCol_0.xY; \ (VectDest)->xZ=(MatA)->stCol_0.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetColumn1InMatrix DESCRIPTION : Get a Vector column of a Matrix to a Vector : VectDest= columm 1 of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetColumn1InMatrix( VectDest, MatA) \ { (VectDest)->xX=(MatA)->stCol_1.xX; \ (VectDest)->xY=(MatA)->stCol_1.xY; \ (VectDest)->xZ=(MatA)->stCol_1.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetColumn2InMatrix DESCRIPTION : Get a Vector column of a Matrix to a Vector : VectDest= columm 2 of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetColumn2InMatrix( VectDest, MatA) \ { (VectDest)->xX=(MatA)->stCol_2.xX; \ (VectDest)->xY=(MatA)->stCol_2.xY; \ (VectDest)->xZ=(MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetColumnInMatrix DESCRIPTION : Get a Vector column of a Matrix to a Vector : VectDest= columm col of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix col : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetColumnInMatrix( VectDest, MatA, col ) \ if( col==0 ) \ { (VectDest)->xX=(MatA)->stCol_0.xX; \ (VectDest)->xY=(MatA)->stCol_0.xY; \ (VectDest)->xZ=(MatA)->stCol_0.xZ; } \ else \ if( col==1 ) \ { (VectDest)->xX=(MatA)->stCol_1.xX; \ (VectDest)->xY=(MatA)->stCol_1.xY; \ (VectDest)->xZ=(MatA)->stCol_1.xZ; } \ else \ { (VectDest)->xX=(MatA)->stCol_2.xX; \ (VectDest)->xY=(MatA)->stCol_2.xY; \ (VectDest)->xZ=(MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetColumnInMatrix DESCRIPTION : Put a Vector to a column of a Matrix : Set columm col of MatDest with VectA INPUT : MatDest : address of MTH3D_tdstMatrix VectA : address of MTH3D_tdstVector col : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetColumnInMatrix( MatDest, VectA, col) \ if( col==0 ) \ { (MatDest)->stCol_0.xX=(VectA)->xX; \ (MatDest)->stCol_0.xY=(VectA)->xY; \ (MatDest)->stCol_0.xZ=(VectA)->xZ; } \ else \ if( col==1 ) \ { (MatDest)->stCol_1.xX=(VectA)->xX; \ (MatDest)->stCol_1.xY=(VectA)->xY; \ (MatDest)->stCol_1.xZ=(VectA)->xZ; } \ else \ { (MatDest)->stCol_2.xX=(VectA)->xX; \ (MatDest)->stCol_2.xY=(VectA)->xY; \ (MatDest)->stCol_2.xZ=(VectA)->xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetLineInMatrix DESCRIPTION : Get a Vector line of a Matrix to a Vector : VectDest= line lin of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix lin : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetLineInMatrix( VectDest, MatA, lin ) \ if( lin==0 ) \ { (VectDest)->xX=(MatA)->stCol_0.xX; \ (VectDest)->xY=(MatA)->stCol_1.xX; \ (VectDest)->xZ=(MatA)->stCol_2.xX; } \ else \ if( lin==1 ) \ { (VectDest)->xX=(MatA)->stCol_0.xY; \ (VectDest)->xY=(MatA)->stCol_1.xY; \ (VectDest)->xZ=(MatA)->stCol_2.xY; } \ else \ { (VectDest)->xX=(MatA)->stCol_0.xZ; \ (VectDest)->xY=(MatA)->stCol_1.xZ; \ (VectDest)->xZ=(MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetLineInMatrix DESCRIPTION : Put a Vector to a line of a Matrix : Set line lin of MatDest with VectA INPUT : MatDest : address of MTH3D_tdstMatrix VectA : address of MTH3D_tdstVector lin : int OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetLineInMatrix( MatDest, VectA, lin) \ if( lin==0 ) \ { (MatDest)->stCol_0.xX=(VectA)->xX; \ (MatDest)->stCol_1.xX=(VectA)->xY; \ (MatDest)->stCol_2.xX=(VectA)->xZ; } \ else \ if( lin==1 ) \ { (MatDest)->stCol_0.xY=(VectA)->xX; \ (MatDest)->stCol_1.xY=(VectA)->xY; \ (MatDest)->stCol_2.xY=(VectA)->xZ; } \ else \ { (MatDest)->stCol_0.xZ=(VectA)->xX; \ (MatDest)->stCol_1.xZ=(VectA)->xY; \ (MatDest)->stCol_2.xZ=(VectA)->xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetDiagInMatrix DESCRIPTION : Get a Vector diagonal of a Matrix to a Vector : VectDest= diagonal of MatA INPUT : VectDest : address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetDiagInMatrix( VectDest, MatA) \ { (VectDest)->xX= (MatA)->stCol_0.xX; \ (VectDest)->xY= (MatA)->stCol_1.xY; \ (VectDest)->xZ= (MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetDiagInMatrix DESCRIPTION : Put a Vector to a diagonal of a Matrix : Set diagonal of MatDest with VectA INPUT : MatDest : address of MTH3D_tdstMatrix VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetDiagInMatrix( MatDest, VectA) \ { (MatDest)->stCol_0.xX= (VectA)->xX; \ (MatDest)->stCol_1.xY= (VectA)->xY; \ (MatDest)->stCol_2.xZ= (VectA)->xZ; } /* ##M================================================================================== NAME : MTH3D_M_vGetVectorsInMatrix DESCRIPTION : Get all column Matrix to two Vectors INPUT : VaDest, VbDest, VcDest: address of MTH3D_tdstVector MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vGetVectorsInMatrix( VaDest, VbDest, VcDest, MatA) \ { (VaDest)->xX=(MatA)->stCol_0.xX; \ (VaDest)->xY=(MatA)->stCol_0.xY; \ (VaDest)->xZ=(MatA)->stCol_0.xZ; \ (VbDest)->xX=(MatA)->stCol_1.xX; \ (VbDest)->xY=(MatA)->stCol_1.xY; \ (VbDest)->xZ=(MatA)->stCol_1.xZ; \ (VcDest)->xX=(MatA)->stCol_2.xX; \ (VcDest)->xY=(MatA)->stCol_2.xY; \ (VcDest)->xZ=(MatA)->stCol_2.xZ; } /* ##M================================================================================== NAME : MTH3D_M_vSetVectorsInMatrix DESCRIPTION : Set all column Matrix with two Vectors INPUT : MatDest : address of MTH3D_tdstMatrix VectA, VectB, VectC : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vSetVectorsInMatrix( MatDest, VectA, VectB, VectC) \ { (MatDest)->stCol_0.xX=(VectA)->xX; \ (MatDest)->stCol_0.xY=(VectA)->xY; \ (MatDest)->stCol_0.xZ=(VectA)->xZ; \ (MatDest)->stCol_1.xX=(VectB)->xX; \ (MatDest)->stCol_1.xY=(VectB)->xY; \ (MatDest)->stCol_1.xZ=(VectB)->xZ; \ (MatDest)->stCol_2.xX=(VectC)->xX; \ (MatDest)->stCol_2.xY=(VectC)->xY; \ (MatDest)->stCol_2.xZ=(VectC)->xZ; } /* ##M================================================================================== NAME : MTH3D_M_vPrintfVector DESCRIPTION : Print a Vector : Name + its values INPUT : Name : string VectA : address of MTH3D_tdstVector OUTPUT : void =======================================================================================*/ #define MTH3D_M_vPrintfVector( Name, VectA) \ { printf("%s = \n |%e", (Name), (VectA)->xX); \ printf("\n |%e", (VectA)->xY); \ printf("\n |%e\n", (VectA)->xZ); } /* ##M================================================================================== NAME : MTH3D_M_vPrintfMatrix DESCRIPTION : Print a Matrix : Name + its values INPUT : Name : string MatA : address of MTH3D_tdstMatrix OUTPUT : void =======================================================================================*/ #define MTH3D_M_vPrintfMatrix( Name, MatA) \ { printf("%s = \n |%e %e %e|", (Name), (MatA)->stCol_0.xX, (MatA)->stCol_1.xX, (MatA)->stCol_2.xX); \ printf("\n |%e %e %e|", (MatA)->stCol_0.xY, (MatA)->stCol_1.xY, (MatA)->stCol_2.xY ); \ printf("\n |%e %e %e|\n", (MatA)->stCol_0.xZ, (MatA)->stCol_1.xZ, (MatA)->stCol_2.xZ ); } #define MTH3D_M_vPrintfReal( Name, RealA) \ { printf("%s = \n %e\n", (Name), (RealA) ); } #if defined(OPTIMIZED_FOR_PC_FLOATS) #if defined(OPTIMIZED_FOR_PC_FLOATS_WITH_ASM) #define MTH3D_M_vTransformVectorWithoutBuffer( VectDest, MatA, VectA, VectB) MTH3D_M_vTransformVectorWithoutBufferASM(VectDest, MatA, VectA, VectB) #elif defined(OPTIMIZED_FOR_U64_ASM) #define MTH3D_M_vTransformVectorWithoutBuffer( VectDest, MatA, VectA, VectB) MTH3D_M_vTransformVectorWithoutBufferU64ASM(VectDest, MatA, VectA, VectB) #else #define MTH3D_M_vTransformVectorWithoutBuffer( VectDest, MatA, VectA, VectB) MTH3D_M_vTransformVectorWithoutBufferC(VectDest, MatA, VectA, VectB) #endif #else #define MTH3D_M_vTransformVectorWithoutBuffer( VectDest, MatA, VectA, VectB) MTH3D_M_vTransformVectorWithoutBufferORG(VectDest, MatA, VectA, VectB) #endif #include "MTH3dopt.h" #endif /* MTH3D_H */