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mm/src/code/z_skin_matrix.c
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louist103 fcbd524b5d Debug display mostly OK (#399) 
* WIP

* done?

* remove something from variables.h

* missed a warning

* PR fixes (AngheloAlf)

* fix lights

* restore ZAPD makefile

* format

* format again

* fix a graph alloc

* Missed one in skin
2021-11-03 11:52:01 -03:00

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#include "global.h"
// clang-format off
MtxF sMtxFClear = {
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
};
// clang-format on
/**
* Multiplies a 4 component row vector [ src , 1 ] by the matrix mf and writes the resulting 4 components to xyzDest
* and wDest.
*
* \f[ [\texttt{xyzDest}, \texttt{wDest}] = [\texttt{src}, 1] \cdot [mf] \f]
*/
void SkinMatrix_Vec3fMtxFMultXYZW(MtxF* mf, Vec3f* src, Vec3f* xyzDest, f32* wDest) {
xyzDest->x = mf->wx + ((src->x * mf->xx) + (src->y * mf->yx) + (src->z * mf->zx));
xyzDest->y = mf->wy + ((src->x * mf->xy) + (src->y * mf->yy) + (src->z * mf->zy));
xyzDest->z = mf->wz + ((src->x * mf->xz) + (src->y * mf->yz) + (src->z * mf->zz));
*wDest = mf->ww + ((src->x * mf->xw) + (src->y * mf->yw) + (src->z * mf->zw));
}
/**
* Multiplies a 4 component row vector [ src , 1 ] by the matrix mf and writes the resulting xyz components to dest.
*
* \f[ [\texttt{dest}, -] = [\texttt{src}, 1] \cdot [mf] \f]
*/
void SkinMatrix_Vec3fMtxFMultXYZ(MtxF* mf, Vec3f* src, Vec3f* dest) {
f32 mx = mf->xx;
f32 my = mf->yx;
f32 mz = mf->zx;
f32 mw = mf->wx;
dest->x = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
mx = mf->xy;
my = mf->yy;
mz = mf->zy;
mw = mf->wy;
dest->y = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
mx = mf->xz;
my = mf->yz;
mz = mf->zz;
mw = mf->wz;
dest->z = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
}
/**
* Matrix multiplication, dest = mfA * mfB.
* mfA and dest should not be the same matrix.
*/
void SkinMatrix_MtxFMtxFMult(MtxF* mfB, MtxF* mfA, MtxF* dest) {
f32 rx;
f32 ry;
f32 rz;
f32 rw;
//---COL1---
f32 cx = mfB->xx;
f32 cy = mfB->yx;
f32 cz = mfB->zx;
f32 cw = mfB->wx;
//--------
rx = mfA->xx;
ry = mfA->xy;
rz = mfA->xz;
rw = mfA->xw;
dest->xx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->yx;
ry = mfA->yy;
rz = mfA->yz;
rw = mfA->yw;
dest->yx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->zx;
ry = mfA->zy;
rz = mfA->zz;
rw = mfA->zw;
dest->zx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->wx;
ry = mfA->wy;
rz = mfA->wz;
rw = mfA->ww;
dest->wx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
//---2Col---
cx = mfB->xy;
cy = mfB->yy;
cz = mfB->zy;
cw = mfB->wy;
//--------
rx = mfA->xx;
ry = mfA->xy;
rz = mfA->xz;
rw = mfA->xw;
dest->xy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->yx;
ry = mfA->yy;
rz = mfA->yz;
rw = mfA->yw;
dest->yy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->zx;
ry = mfA->zy;
rz = mfA->zz;
rw = mfA->zw;
dest->zy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->wx;
ry = mfA->wy;
rz = mfA->wz;
rw = mfA->ww;
dest->wy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
//---3Col---
cx = mfB->xz;
cy = mfB->yz;
cz = mfB->zz;
cw = mfB->wz;
//--------
rx = mfA->xx;
ry = mfA->xy;
rz = mfA->xz;
rw = mfA->xw;
dest->xz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->yx;
ry = mfA->yy;
rz = mfA->yz;
rw = mfA->yw;
dest->yz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->zx;
ry = mfA->zy;
rz = mfA->zz;
rw = mfA->zw;
dest->zz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->wx;
ry = mfA->wy;
rz = mfA->wz;
rw = mfA->ww;
dest->wz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
//---4Col---
cx = mfB->xw;
cy = mfB->yw;
cz = mfB->zw;
cw = mfB->ww;
//--------
rx = mfA->xx;
ry = mfA->xy;
rz = mfA->xz;
rw = mfA->xw;
dest->xw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->yx;
ry = mfA->yy;
rz = mfA->yz;
rw = mfA->yw;
dest->yw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->zx;
ry = mfA->zy;
rz = mfA->zz;
rw = mfA->zw;
dest->zw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
rx = mfA->wx;
ry = mfA->wy;
rz = mfA->wz;
rw = mfA->ww;
dest->ww = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
}
/**
* "Clear" in this file means the identity matrix.
*/
void SkinMatrix_GetClear(MtxF** mfp) {
*mfp = &sMtxFClear;
}
void SkinMatrix_Clear(MtxF* mf) {
mf->xx = 1.0f;
mf->xy = 0.0f;
mf->xz = 0.0f;
mf->xw = 0.0f;
mf->yx = 0.0f;
mf->yy = 1.0f;
mf->yz = 0.0f;
mf->yw = 0.0f;
mf->zx = 0.0f;
mf->zy = 0.0f;
mf->zz = 1.0f;
mf->zw = 0.0f;
mf->wx = 0.0f;
mf->wy = 0.0f;
mf->wz = 0.0f;
mf->ww = 1.0f;
}
void SkinMatrix_MtxFCopy(MtxF* src, MtxF* dest) {
dest->xx = src->xx;
dest->xy = src->xy;
dest->xz = src->xz;
dest->xw = src->xw;
dest->yx = src->yx;
dest->yy = src->yy;
dest->yz = src->yz;
dest->yw = src->yw;
dest->zx = src->zx;
dest->zy = src->zy;
dest->zz = src->zz;
dest->zw = src->zw;
dest->wx = src->wx;
dest->wy = src->wy;
dest->wz = src->wz;
dest->ww = src->ww;
}
/**
* Inverts a matrix using a slight modification of the Gauss-Jordan method
* (column operations instead of row operations).
* returns 0 if successfully inverted
* returns 2 if matrix non-invertible (0 determinant)
*/
s32 SkinMatrix_Invert(MtxF* src, MtxF* dest) {
MtxF mfCopy;
s32 i;
f32 temp2;
s32 thisRow;
s32 thisCol;
SkinMatrix_MtxFCopy(src, &mfCopy);
SkinMatrix_Clear(dest);
for (thisRow = 0; thisRow < 4; thisRow++) {
thisCol = thisRow;
while ((thisCol < 4) && (fabsf(mfCopy.mf[thisRow][thisCol]) < 0.0005f)) {
thisCol++;
}
if (thisCol == 4) {
// reaching col = 4 means the row is either all 0 or a duplicate row.
// therefore singular matrix (0 determinant).
return 2;
}
if (thisCol != thisRow) { // responsible for swapping columns if zero on diagonal
for (i = 0; i < 4; i++) {
SWAP(f32, mfCopy.mf[i][thisCol], mfCopy.mf[i][thisRow]);
SWAP(f32, dest->mf[i][thisCol], dest->mf[i][thisRow]);
}
}
// Scale this whole column s.t. the diag element = 1
temp2 = mfCopy.mf[thisRow][thisRow];
for (i = 0; i < 4; i++) {
mfCopy.mf[i][thisRow] /= temp2;
dest->mf[i][thisRow] /= temp2;
}
for (thisCol = 0; thisCol < 4; thisCol++) {
if (thisCol != thisRow) {
temp2 = mfCopy.mf[thisRow][thisCol];
for (i = 0; i < 4; i++) {
mfCopy.mf[i][thisCol] -= mfCopy.mf[i][thisRow] * temp2;
dest->mf[i][thisCol] -= dest->mf[i][thisRow] * temp2;
}
}
}
}
return 0;
}
/**
* Produces a matrix which scales x,y,z components of vectors or x,y,z rows of matrices (when applied on LHS)
*/
void SkinMatrix_SetScale(MtxF* mf, f32 x, f32 y, f32 z) {
mf->xy = 0.0f;
mf->xz = 0.0f;
mf->xw = 0.0f;
mf->yx = 0.0f;
mf->yz = 0.0f;
mf->yw = 0.0f;
mf->zx = 0.0f;
mf->zy = 0.0f;
mf->zw = 0.0f;
mf->wx = 0.0f;
mf->wy = 0.0f;
mf->wz = 0.0f;
mf->ww = 1.0f;
mf->xx = x;
mf->yy = y;
mf->zz = z;
}
/**
* Produces a rotation matrix = (roll rotation matrix) * (pitch rotation matrix) * (yaw rotation matrix)
*/
void SkinMatrix_SetRotateRPY(MtxF* mf, s16 roll, s16 pitch, s16 yaw) {
f32 cos2;
f32 sin = Math_SinS(yaw);
f32 cos = Math_CosS(yaw);
f32 yx;
f32 sin2;
f32 zx;
f32 yy;
f32 zy;
mf->yy = cos;
mf->yx = -sin;
mf->xw = mf->yw = mf->zw = 0;
mf->wx = mf->wy = mf->wz = 0;
mf->ww = 1;
if (pitch != 0) {
sin2 = Math_SinS(pitch);
cos2 = Math_CosS(pitch);
mf->xx = cos * cos2;
mf->zx = cos * sin2;
mf->xy = sin * cos2;
mf->zy = sin * sin2;
mf->xz = -sin2;
mf->zz = cos2;
} else {
mf->xx = cos;
if (1) {}
if (1) {}
zx = sin; // required to match
mf->xy = sin;
mf->xz = mf->zx = mf->zy = 0;
mf->zz = 1;
}
if (roll != 0) {
sin2 = Math_SinS(roll);
cos2 = Math_CosS(roll);
yx = mf->yx;
zx = mf->zx;
mf->yx = (yx * cos2) + (zx * sin2);
mf->zx = (zx * cos2) - (yx * sin2);
if (1) {}
zy = mf->zy;
yy = mf->yy;
mf->yy = (yy * cos2) + (zy * sin2);
mf->zy = (zy * cos2) - (yy * sin2);
if (cos2) {}
mf->yz = mf->zz * sin2;
mf->zz = mf->zz * cos2;
} else {
mf->yz = 0;
}
}
/**
* Produces a rotation matrix = (yaw rotation matrix) * (roll rotation matrix) * (pitch rotation matrix)
*/
void SkinMatrix_SetRotateYRP(MtxF* mf, s16 yaw, s16 roll, s16 pitch) {
f32 cos2;
f32 sin;
f32 cos;
f32 xz;
f32 sin2;
f32 yz;
f32 xx;
f32 yx;
sin = Math_SinS(roll);
cos = Math_CosS(roll);
mf->xx = cos;
mf->xz = -sin;
mf->zw = 0;
mf->yw = 0;
mf->xw = 0;
mf->wz = 0;
mf->wy = 0;
mf->wx = 0;
mf->ww = 1;
if (yaw != 0) {
sin2 = Math_SinS(yaw);
cos2 = Math_CosS(yaw);
mf->zz = cos * cos2;
mf->yz = cos * sin2;
mf->zx = sin * cos2;
mf->yx = sin * sin2;
mf->zy = -sin2;
mf->yy = cos2;
} else {
mf->zz = cos;
if (1) {}
if (1) {}
yx = sin; // required to match
mf->zx = sin;
mf->yx = mf->yz = mf->zy = 0;
mf->yy = 1;
}
if (pitch != 0) {
sin2 = Math_SinS(pitch);
cos2 = Math_CosS(pitch);
xx = mf->xx;
yx = mf->yx;
mf->xx = (xx * cos2) + (yx * sin2);
mf->yx = yx * cos2 - (xx * sin2);
if (1) {}
yz = mf->yz;
xz = mf->xz;
mf->xz = (xz * cos2) + (yz * sin2);
mf->yz = (yz * cos2) - (xz * sin2);
if (cos2) {}
mf->xy = mf->yy * sin2;
mf->yy = mf->yy * cos2;
} else {
mf->xy = 0;
}
}
/**
* Produces a matrix which translates a vector by amounts in the x, y and z directions
*/
void SkinMatrix_SetTranslate(MtxF* mf, f32 x, f32 y, f32 z) {
mf->xy = 0.0f;
mf->xz = 0.0f;
mf->xw = 0.0f;
mf->yx = 0.0f;
mf->yz = 0.0f;
mf->yw = 0.0f;
mf->zx = 0.0f;
mf->zy = 0.0f;
mf->zw = 0.0f;
mf->xx = 1.0f;
mf->yy = 1.0f;
mf->zz = 1.0f;
mf->ww = 1.0f;
mf->wx = x;
mf->wy = y;
mf->wz = z;
}
/**
* Produces a matrix which scales, then rotates (RPY), then translates a vector
*/
void SkinMatrix_SetScaleRotateRPYTranslate(MtxF* mf, f32 scaleX, f32 scaleY, f32 scaleZ, s16 roll, s16 pitch, s16 yaw,
f32 dx, f32 dy, f32 dz) {
MtxF mft1;
MtxF mft2;
SkinMatrix_SetTranslate(mf, dx, dy, dz);
SkinMatrix_SetRotateRPY(&mft1, roll, pitch, yaw);
SkinMatrix_MtxFMtxFMult(mf, &mft1, &mft2);
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
}
/**
* Produces a matrix which scales, then rotates (YRP), then translates a vector
*/
void SkinMatrix_SetScaleRotateYRPTranslate(MtxF* mf, f32 scaleX, f32 scaleY, f32 scaleZ, s16 yaw, s16 roll, s16 pitch,
f32 dx, f32 dy, f32 dz) {
MtxF mft1;
MtxF mft2;
SkinMatrix_SetTranslate(mf, dx, dy, dz);
SkinMatrix_SetRotateYRP(&mft1, yaw, roll, pitch);
SkinMatrix_MtxFMtxFMult(mf, &mft1, &mft2);
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
}
/**
* Produces a matrix which rotates (RPY), then translates a vector
*/
void SkinMatrix_SetRotateRPYTranslate(MtxF* mf, s16 roll, s16 pitch, s16 yaw, f32 dx, f32 dy, f32 dz) {
MtxF mft1;
MtxF mft2;
SkinMatrix_SetTranslate(&mft2, dx, dy, dz);
SkinMatrix_SetRotateRPY(&mft1, roll, pitch, yaw);
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
}
void SkinMatrix_Vec3fToVec3s(Vec3f* src, Vec3s* dest) {
dest->x = src->x;
dest->y = src->y;
dest->z = src->z;
}
void SkinMatrix_Vec3sToVec3f(Vec3s* src, Vec3f* dest) {
dest->x = src->x;
dest->y = src->y;
dest->z = src->z;
}
void SkinMatrix_MtxFToMtx(MtxF* src, Mtx* dest) {
s32 temp;
u16* m1 = (u16*)&dest->m[0][0];
u16* m2 = (u16*)&dest->m[2][0];
temp = src->xx * 0x10000;
m1[0] = (temp >> 0x10);
m1[16 + 0] = temp & 0xFFFF;
temp = src->xy * 0x10000;
m1[1] = (temp >> 0x10);
m1[16 + 1] = temp & 0xFFFF;
temp = src->xz * 0x10000;
m1[2] = (temp >> 0x10);
m1[16 + 2] = temp & 0xFFFF;
temp = src->xw * 0x10000;
m1[3] = (temp >> 0x10);
m1[16 + 3] = temp & 0xFFFF;
temp = src->yx * 0x10000;
m1[4] = (temp >> 0x10);
m1[16 + 4] = temp & 0xFFFF;
temp = src->yy * 0x10000;
m1[5] = (temp >> 0x10);
m1[16 + 5] = temp & 0xFFFF;
temp = src->yz * 0x10000;
m1[6] = (temp >> 0x10);
m1[16 + 6] = temp & 0xFFFF;
temp = src->yw * 0x10000;
m1[7] = (temp >> 0x10);
m1[16 + 7] = temp & 0xFFFF;
temp = src->zx * 0x10000;
m1[8] = (temp >> 0x10);
m1[16 + 8] = temp & 0xFFFF;
temp = src->zy * 0x10000;
m1[9] = (temp >> 0x10);
m2[9] = temp & 0xFFFF;
temp = src->zz * 0x10000;
m1[10] = (temp >> 0x10);
m2[10] = temp & 0xFFFF;
temp = src->zw * 0x10000;
m1[11] = (temp >> 0x10);
m2[11] = temp & 0xFFFF;
temp = src->wx * 0x10000;
m1[12] = (temp >> 0x10);
m2[12] = temp & 0xFFFF;
temp = src->wy * 0x10000;
m1[13] = (temp >> 0x10);
m2[13] = temp & 0xFFFF;
temp = src->wz * 0x10000;
m1[14] = (temp >> 0x10);
m2[14] = temp & 0xFFFF;
temp = src->ww * 0x10000;
m1[15] = (temp >> 0x10);
m2[15] = temp & 0xFFFF;
}
Mtx* SkinMatrix_MtxFToNewMtx(GraphicsContext* gfxCtx, MtxF* src) {
Mtx* mtx = GRAPH_ALLOC(gfxCtx, sizeof(Mtx));
if (mtx == NULL) {
return NULL;
}
SkinMatrix_MtxFToMtx(src, mtx);
return mtx;
}
/**
* Produces a matrix which rotates vectors by angle a around a unit vector with components (x,y,z)
*/
void SkinMatrix_SetRotateAroundVec(MtxF* mf, s16 a, f32 x, f32 y, f32 z) {
f32 sinA;
f32 cosA;
f32 xx;
f32 yy;
f32 zz;
f32 xy;
f32 yz;
f32 xz;
f32 pad;
sinA = Math_SinS(a);
cosA = Math_CosS(a);
xx = x * x;
yy = y * y;
zz = z * z;
xy = x * y;
yz = y * z;
xz = x * z;
mf->xx = (1.0f - xx) * cosA + xx;
mf->xy = (1.0f - cosA) * xy + z * sinA;
mf->xz = (1.0f - cosA) * xz - y * sinA;
mf->xw = 0.0f;
mf->yx = (1.0f - cosA) * xy - z * sinA;
mf->yy = (1.0f - yy) * cosA + yy;
mf->yz = (1.0f - cosA) * yz + x * sinA;
mf->yw = 0.0f;
mf->zx = (1.0f - cosA) * xz + y * sinA;
mf->zy = (1.0f - cosA) * yz - x * sinA;
mf->zz = (1.0f - zz) * cosA + zz;
mf->zw = 0.0f;
mf->wx = mf->wy = mf->wz = 0.0f;
mf->ww = 1.0f;
}
void SkinMatrix_SetXRotation(MtxF* mf, s16 a) {
f32 sinA;
f32 cosA;
if (a != 0) {
sinA = Math_SinS(a);
cosA = Math_CosS(a);
} else {
sinA = 0.0f;
cosA = 1.0f;
}
mf->xy = 0.0f;
mf->xz = 0.0f;
mf->xw = 0.0f;
mf->yx = 0.0f;
mf->yw = 0.0f;
mf->zx = 0.0f;
mf->zw = 0.0f;
mf->wx = 0.0f;
mf->wy = 0.0f;
mf->wz = 0.0f;
mf->xx = 1.0f;
mf->ww = 1.0f;
mf->yy = cosA;
mf->zz = cosA;
mf->yz = sinA;
mf->zy = -sinA;
}
void SkinMatrix_MulXRotation(MtxF* mf, s16 a) {
f32 sinA;
f32 cosA;
f32 ry;
f32 rz;
if (a != 0) {
sinA = Math_SinS(a);
cosA = Math_CosS(a);
ry = mf->yx;
rz = mf->zx;
mf->yx = ry * cosA + rz * sinA;
mf->zx = rz * cosA - ry * sinA;
ry = mf->yy;
rz = mf->zy;
mf->yy = ry * cosA + rz * sinA;
mf->zy = rz * cosA - ry * sinA;
ry = mf->yz;
rz = mf->zz;
mf->yz = ry * cosA + rz * sinA;
mf->zz = rz * cosA - ry * sinA;
ry = mf->yw;
rz = mf->zw;
mf->yw = ry * cosA + rz * sinA;
mf->zw = rz * cosA - ry * sinA;
}
}
void SkinMatrix_SetYRotation(MtxF* mf, s16 a) {
f32 sinA;
f32 cosA;
if (a != 0) {
sinA = Math_SinS(a);
cosA = Math_CosS(a);
} else {
sinA = 0.0f;
cosA = 1.0f;
}
mf->xy = 0.0f;
mf->xw = 0.0f;
mf->yx = 0.0f;
mf->yz = 0.0f;
mf->yw = 0.0f;
mf->zy = 0.0f;
mf->zw = 0.0f;
mf->wx = 0.0f;
mf->wy = 0.0f;
mf->wz = 0.0f;
mf->yy = 1.0f;
mf->ww = 1.0f;
mf->xx = cosA;
mf->zz = cosA;
mf->xz = -sinA;
mf->zx = sinA;
}
void SkinMatrix_MulYRotation(MtxF* mf, s16 a) {
f32 sinA;
f32 cosA;
f32 rx;
f32 rz;
if (a != 0) {
sinA = Math_SinS(a);
cosA = Math_CosS(a);
rx = mf->xx;
rz = mf->zx;
mf->xx = rx * cosA - rz * sinA;
mf->zx = rx * sinA + rz * cosA;
rx = mf->xy;
rz = mf->zy;
mf->xy = rx * cosA - rz * sinA;
mf->zy = rx * sinA + rz * cosA;
rx = mf->xz;
rz = mf->zz;
mf->xz = rx * cosA - rz * sinA;
mf->zz = rx * sinA + rz * cosA;
rx = mf->xw;
rz = mf->zw;
mf->xw = rx * cosA - rz * sinA;
mf->zw = rx * sinA + rz * cosA;
}
}
void SkinMatrix_SetZRotation(MtxF* mf, s16 a) {
f32 sinA;
f32 cosA;
if (a != 0) {
sinA = Math_SinS(a);
cosA = Math_CosS(a);
} else {
sinA = 0.0f;
cosA = 1.0f;
}
mf->xz = 0.0f;
mf->xw = 0.0f;
mf->yz = 0.0f;
mf->yw = 0.0f;
mf->zx = 0.0f;
mf->zy = 0.0f;
mf->zw = 0.0f;
mf->wx = 0.0f;
mf->wy = 0.0f;
mf->wz = 0.0f;
mf->zz = 1.0f;
mf->ww = 1.0f;
mf->xx = cosA;
mf->yy = cosA;
mf->xy = sinA;
mf->yx = -sinA;
}
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