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wiicompiled/aurora-main/lib/dolphin/mtx/mtx.c
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patchzyy ec226e8348 init
2026-08-23 17:10:50 +02:00

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#include <dolphin/mtx.h>
#include <assert.h>
#include <math.h>
void C_MTXIdentity(Mtx m) {
assert(m && "MtxIdentity(): NULL Mtx 'm' ");
m[0][0] = 1;
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = 1;
m[1][2] = 0;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = 1;
m[2][3] = 0;
}
void C_MTXCopy(const Mtx src, Mtx dst) {
assert(src && "MTXCopy(): NULL MtxPtr 'src' ");
assert(dst && "MTXCopy(): NULL MtxPtr 'dst' ");
if (src != dst) {
dst[0][0] = src[0][0];
dst[0][1] = src[0][1];
dst[0][2] = src[0][2];
dst[0][3] = src[0][3];
dst[1][0] = src[1][0];
dst[1][1] = src[1][1];
dst[1][2] = src[1][2];
dst[1][3] = src[1][3];
dst[2][0] = src[2][0];
dst[2][1] = src[2][1];
dst[2][2] = src[2][2];
dst[2][3] = src[2][3];
}
}
void C_MTXConcat(const Mtx a, const Mtx b, Mtx ab) {
Mtx mTmp;
MtxPtr m;
assert(a && "MTXConcat(): NULL MtxPtr 'a' ");
assert(b && "MTXConcat(): NULL MtxPtr 'b' ");
assert(ab && "MTXConcat(): NULL MtxPtr 'ab' ");
if (ab == a || ab == b) {
m = mTmp;
} else {
m = ab;
}
m[0][0] = 0 + a[0][2] * b[2][0] + ((a[0][0] * b[0][0]) + (a[0][1] * b[1][0]));
m[0][1] = 0 + a[0][2] * b[2][1] + ((a[0][0] * b[0][1]) + (a[0][1] * b[1][1]));
m[0][2] = 0 + a[0][2] * b[2][2] + ((a[0][0] * b[0][2]) + (a[0][1] * b[1][2]));
m[0][3] = a[0][3] + (a[0][2] * b[2][3] + (a[0][0] * b[0][3] + (a[0][1] * b[1][3])));
m[1][0] = 0 + a[1][2] * b[2][0] + ((a[1][0] * b[0][0]) + (a[1][1] * b[1][0]));
m[1][1] = 0 + a[1][2] * b[2][1] + ((a[1][0] * b[0][1]) + (a[1][1] * b[1][1]));
m[1][2] = 0 + a[1][2] * b[2][2] + ((a[1][0] * b[0][2]) + (a[1][1] * b[1][2]));
m[1][3] = a[1][3] + (a[1][2] * b[2][3] + (a[1][0] * b[0][3] + (a[1][1] * b[1][3])));
m[2][0] = 0 + a[2][2] * b[2][0] + ((a[2][0] * b[0][0]) + (a[2][1] * b[1][0]));
m[2][1] = 0 + a[2][2] * b[2][1] + ((a[2][0] * b[0][1]) + (a[2][1] * b[1][1]));
m[2][2] = 0 + a[2][2] * b[2][2] + ((a[2][0] * b[0][2]) + (a[2][1] * b[1][2]));
m[2][3] = a[2][3] + (a[2][2] * b[2][3] + (a[2][0] * b[0][3] + (a[2][1] * b[1][3])));
if (m == mTmp) {
C_MTXCopy(mTmp, ab);
}
}
void C_MTXConcatArray(const Mtx a, const Mtx* srcBase, Mtx* dstBase, u32 count) {
u32 i;
assert(a != 0 && "MTXConcatArray(): NULL MtxPtr 'a' ");
assert(srcBase != 0 && "MTXConcatArray(): NULL MtxPtr 'srcBase' ");
assert(dstBase != 0 && "MTXConcatArray(): NULL MtxPtr 'dstBase' ");
assert(count > 1 && "MTXConcatArray(): count must be greater than 1.");
for (i = 0; i < count; i++) {
C_MTXConcat(a, *srcBase, *dstBase);
srcBase++;
dstBase++;
}
}
void C_MTXTranspose(const Mtx src, Mtx xPose) {
Mtx mTmp;
MtxPtr m;
assert(src && "MTXTranspose(): NULL MtxPtr 'src' ");
assert(xPose && "MTXTranspose(): NULL MtxPtr 'xPose' ");
if (src == xPose) {
m = mTmp;
} else {
m = xPose;
}
m[0][0] = src[0][0];
m[0][1] = src[1][0];
m[0][2] = src[2][0];
m[0][3] = 0;
m[1][0] = src[0][1];
m[1][1] = src[1][1];
m[1][2] = src[2][1];
m[1][3] = 0;
m[2][0] = src[0][2];
m[2][1] = src[1][2];
m[2][2] = src[2][2];
m[2][3] = 0;
if (m == mTmp) {
C_MTXCopy(mTmp, xPose);
}
}
u32 C_MTXInverse(const Mtx src, Mtx inv) {
Mtx mTmp;
MtxPtr m;
f32 det;
assert(src && "MTXInverse(): NULL MtxPtr 'src' ");
assert(inv && "MTXInverse(): NULL MtxPtr 'inv' ");
if (src == inv) {
m = mTmp;
} else {
m = inv;
}
det = ((((src[2][1] * (src[0][2] * src[1][0]))
+ ((src[2][2] * (src[0][0] * src[1][1]))
+ (src[2][0] * (src[0][1] * src[1][2]))))
- (src[0][2] * (src[2][0] * src[1][1])))
- (src[2][2] * (src[1][0] * src[0][1])))
- (src[1][2] * (src[0][0] * src[2][1]));
if (0 == det) {
return 0;
}
det = 1 / det;
m[0][0] = (det * +((src[1][1] * src[2][2]) - (src[2][1] * src[1][2])));
m[0][1] = (det * -((src[0][1] * src[2][2]) - (src[2][1] * src[0][2])));
m[0][2] = (det * +((src[0][1] * src[1][2]) - (src[1][1] * src[0][2])));
m[1][0] = (det * -((src[1][0] * src[2][2]) - (src[2][0] * src[1][2])));
m[1][1] = (det * +((src[0][0] * src[2][2]) - (src[2][0] * src[0][2])));
m[1][2] = (det * -((src[0][0] * src[1][2]) - (src[1][0] * src[0][2])));
m[2][0] = (det * +((src[1][0] * src[2][1]) - (src[2][0] * src[1][1])));
m[2][1] = (det * -((src[0][0] * src[2][1]) - (src[2][0] * src[0][1])));
m[2][2] = (det * +((src[0][0] * src[1][1]) - (src[1][0] * src[0][1])));
m[0][3] = ((-m[0][0] * src[0][3]) - (m[0][1] * src[1][3])) - (m[0][2] * src[2][3]);
m[1][3] = ((-m[1][0] * src[0][3]) - (m[1][1] * src[1][3])) - (m[1][2] * src[2][3]);
m[2][3] = ((-m[2][0] * src[0][3]) - (m[2][1] * src[1][3])) - (m[2][2] * src[2][3]);
if (m == mTmp) {
C_MTXCopy(mTmp, inv);
}
return 1;
}
u32 C_MTXInvXpose(const Mtx src, Mtx invX) {
Mtx mTmp;
MtxPtr m;
f32 det;
assert(src && "MTXInvXpose(): NULL MtxPtr 'src' ");
assert(invX && "MTXInvXpose(): NULL MtxPtr 'invX' ");
if (src == invX) {
m = mTmp;
} else {
m = invX;
}
det = ((((src[2][1] * (src[0][2] * src[1][0]))
+ ((src[2][2] * (src[0][0] * src[1][1]))
+ (src[2][0] * (src[0][1] * src[1][2]))))
- (src[0][2] * (src[2][0] * src[1][1])))
- (src[2][2] * (src[1][0] * src[0][1])))
- (src[1][2] * (src[0][0] * src[2][1]));
if (0 == det) {
return 0;
}
det = 1 / det;
m[0][0] = (det * +((src[1][1] * src[2][2]) - (src[2][1] * src[1][2])));
m[0][1] = (det * -((src[1][0] * src[2][2]) - (src[2][0] * src[1][2])));
m[0][2] = (det * +((src[1][0] * src[2][1]) - (src[2][0] * src[1][1])));
m[1][0] = (det * -((src[0][1] * src[2][2]) - (src[2][1] * src[0][2])));
m[1][1] = (det * +((src[0][0] * src[2][2]) - (src[2][0] * src[0][2])));
m[1][2] = (det * -((src[0][0] * src[2][1]) - (src[2][0] * src[0][1])));
m[2][0] = (det * +((src[0][1] * src[1][2]) - (src[1][1] * src[0][2])));
m[2][1] = (det * -((src[0][0] * src[1][2]) - (src[1][0] * src[0][2])));
m[2][2] = (det * +((src[0][0] * src[1][1]) - (src[1][0] * src[0][1])));
m[0][3] = 0;
m[1][3] = 0;
m[2][3] = 0;
if (m == mTmp) {
C_MTXCopy(mTmp, invX);
}
return 1;
}
void C_MTXTrans(Mtx m, f32 xT, f32 yT, f32 zT) {
assert(m && "MTXTrans(): NULL MtxPtr 'm' ");
m[0][0] = 1;
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = xT;
m[1][0] = 0;
m[1][1] = 1;
m[1][2] = 0;
m[1][3] = yT;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = 1;
m[2][3] = zT;
}
void C_MTXFrustum(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) {
f32 tmp;
assert(m && "MTXFrustum(): NULL Mtx44Ptr 'm' ");
assert(t != b && "MTXFrustum(): 't' and 'b' clipping planes are equal ");
assert(l != r && "MTXFrustum(): 'l' and 'r' clipping planes are equal ");
assert(n != f && "MTXFrustum(): 'n' and 'f' clipping planes are equal ");
tmp = 1 / (r - l);
m[0][0] = (2 * n * tmp);
m[0][1] = 0;
m[0][2] = (tmp * (r + l));
m[0][3] = 0;
tmp = 1 / (t - b);
m[1][0] = 0;
m[1][1] = (2 * n * tmp);
m[1][2] = (tmp * (t + b));
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
tmp = 1 / (f - n);
m[2][2] = (-n * tmp);
m[2][3] = (tmp * -(f * n));
m[3][0] = 0;
m[3][1] = 0;
m[3][2] = -1;
m[3][3] = 0;
}
void C_MTXOrtho(Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) {
f32 tmp;
assert(m && "MTXOrtho(): NULL Mtx44Ptr 'm' ");
assert(t != b && "MTXOrtho(): 't' and 'b' clipping planes are equal ");
assert(l != r && "MTXOrtho(): 'l' and 'r' clipping planes are equal ");
assert(n != f && "MTXOrtho(): 'n' and 'f' clipping planes are equal ");
tmp = 1 / (r - l);
m[0][0] = 2 * tmp;
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = (tmp * -(r + l));
tmp = 1 / (t - b);
m[1][0] = 0;
m[1][1] = 2 * tmp;
m[1][2] = 0;
m[1][3] = (tmp * -(t + b));
m[2][0] = 0;
m[2][1] = 0;
tmp = 1 / (f - n);
m[2][2] = (-1 * tmp);
m[2][3] = (-f * tmp);
m[3][0] = 0;
m[3][1] = 0;
m[3][2] = 0;
m[3][3] = 1;
}
void C_MTXQuat(Mtx m, const Quaternion* q) {
f32 s;
f32 xs;
f32 ys;
f32 zs;
f32 wx;
f32 wy;
f32 wz;
f32 xx;
f32 xy;
f32 xz;
f32 yy;
f32 yz;
f32 zz;
assert(m && "MTXQuat(): NULL MtxPtr 'm' ");
assert(q && "MTXQuat(): NULL QuaternionPtr 'q' ");
assert(q->x || q->y || q->z || q->w && "MTXQuat(): zero-value quaternion ");
s = 2 / ((q->w * q->w) + ((q->z * q->z) + ((q->x * q->x) + (q->y * q->y))));
xs = q->x * s;
ys = q->y * s;
zs = q->z * s;
wx = q->w * xs;
wy = q->w * ys;
wz = q->w * zs;
xx = q->x * xs;
xy = q->x * ys;
xz = q->x * zs;
yy = q->y * ys;
yz = q->y * zs;
zz = q->z * zs;
m[0][0] = (1 - (yy + zz));
m[0][1] = (xy - wz);
m[0][2] = (xz + wy);
m[0][3] = 0;
m[1][0] = (xy + wz);
m[1][1] = (1 - (xx + zz));
m[1][2] = (yz - wx);
m[1][3] = 0;
m[2][0] = (xz - wy);
m[2][1] = (yz + wx);
m[2][2] = (1 - (xx + yy));
m[2][3] = 0;
}
void C_MTXReflect(Mtx m, const Vec* p, const Vec* n) {
f32 vxy;
f32 vxz;
f32 vyz;
f32 pdotn;
vxy = -2 * n->x * n->y;
vxz = -2 * n->x * n->z;
vyz = -2 * n->y * n->z;
pdotn = 2 * C_VECDotProduct(p, n);
m[0][0] = (1 - (2 * n->x * n->x));
m[0][1] = vxy;
m[0][2] = vxz;
m[0][3] = (pdotn * n->x);
m[1][0] = vxy;
m[1][1] = (1 - (2 * n->y * n->y));
m[1][2] = vyz;
m[1][3] = (pdotn * n->y);
m[2][0] = vxz;
m[2][1] = vyz;
m[2][2] = (1 - (2 * n->z * n->z));
m[2][3] = (pdotn * n->z);
}
void C_MTXTransApply(const Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT) {
assert(src && "MTXTransApply(): NULL MtxPtr 'src' ");
assert(dst && "MTXTransApply(): NULL MtxPtr 'src' "); //! wrong assert string
if (src != dst) {
dst[0][0] = src[0][0];
dst[0][1] = src[0][1];
dst[0][2] = src[0][2];
dst[1][0] = src[1][0];
dst[1][1] = src[1][1];
dst[1][2] = src[1][2];
dst[2][0] = src[2][0];
dst[2][1] = src[2][1];
dst[2][2] = src[2][2];
}
dst[0][3] = (src[0][3] + xT);
dst[1][3] = (src[1][3] + yT);
dst[2][3] = (src[2][3] + zT);
}
void C_MTXScale(Mtx m, f32 xS, f32 yS, f32 zS) {
assert(m && "MTXScale(): NULL MtxPtr 'm' ");
m[0][0] = xS;
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = yS;
m[1][2] = 0;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = zS;
m[2][3] = 0;
}
void C_MTXScaleApply(const Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS) {
assert(src && "MTXScaleApply(): NULL MtxPtr 'src' ");
assert(dst && "MTXScaleApply(): NULL MtxPtr 'dst' ");
dst[0][0] = (src[0][0] * xS);
dst[0][1] = (src[0][1] * xS);
dst[0][2] = (src[0][2] * xS);
dst[0][3] = (src[0][3] * xS);
dst[1][0] = (src[1][0] * yS);
dst[1][1] = (src[1][1] * yS);
dst[1][2] = (src[1][2] * yS);
dst[1][3] = (src[1][3] * yS);
dst[2][0] = (src[2][0] * zS);
dst[2][1] = (src[2][1] * zS);
dst[2][2] = (src[2][2] * zS);
dst[2][3] = (src[2][3] * zS);
}
void C_MTXRotRad(Mtx m, char axis, f32 rad) {
f32 sinA;
f32 cosA;
assert(m && "MTXRotRad(): NULL MtxPtr 'm' ");
sinA = sinf(rad);
cosA = cosf(rad);
C_MTXRotTrig(m, axis, sinA, cosA);
}
void C_MTXRotTrig(Mtx m, char axis, f32 sinA, f32 cosA) {
assert(m && "MTXRotTrig(): NULL MtxPtr 'm' ");
switch(axis) {
case 'x':
case 'X':
m[0][0] = 1;
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = cosA;
m[1][2] = -sinA;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = sinA;
m[2][2] = cosA;
m[2][3] = 0;
break;
case 'y':
case 'Y':
m[0][0] = cosA;
m[0][1] = 0;
m[0][2] = sinA;
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = 1;
m[1][2] = 0;
m[1][3] = 0;
m[2][0] = -sinA;
m[2][1] = 0;
m[2][2] = cosA;
m[2][3] = 0;
break;
case 'z':
case 'Z':
m[0][0] = cosA;
m[0][1] = -sinA;
m[0][2] = 0;
m[0][3] = 0;
m[1][0] = sinA;
m[1][1] = cosA;
m[1][2] = 0;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = 1;
m[2][3] = 0;
break;
default:
assert(0 && "MTXRotTrig(): invalid 'axis' value ");
break;
}
}
void C_MTXRotAxisRad(Mtx m, const Vec* axis, f32 rad) {
Vec vN;
f32 s;
f32 c;
f32 t;
f32 x;
f32 y;
f32 z;
f32 xSq;
f32 ySq;
f32 zSq;
assert(m && "MTXRotAxisRad(): NULL MtxPtr 'm' ");
assert(axis && "MTXRotAxisRad(): NULL VecPtr 'axis' ");
s = sinf(rad);
c = cosf(rad);
t = 1 - c;
C_VECNormalize(axis, &vN);
x = vN.x;
y = vN.y;
z = vN.z;
xSq = (x * x);
ySq = (y * y);
zSq = (z * z);
m[0][0] = (c + (t * xSq));
m[0][1] = (y * (t * x)) - (s * z);
m[0][2] = (z * (t * x)) + (s * y);
m[0][3] = 0;
m[1][0] = ((y * (t * x)) + (s * z));
m[1][1] = (c + (t * ySq));
m[1][2] = ((z * (t * y)) - (s * x));
m[1][3] = 0;
m[2][0] = ((z * (t * x)) - (s * y));
m[2][1] = ((z * (t * y)) + (s * x));
m[2][2] = (c + (t * zSq));
m[2][3] = 0;
}
void C_MTXReorder(const Mtx src, ROMtx dst)
{
u32 i;
u32 j;
for (i = 0; i < 3; i++) {
for (j = 0; j < 4; j++) {
dst[j][i] = src[i][j];
}
}
}
void C_MTXLookAt(Mtx m, const Point3d* camPos, const Vec* camUp, const Point3d* target) {
Vec vLook;
Vec vRight;
Vec vUp;
assert(m && "MTXLookAt(): NULL MtxPtr 'm' ");
assert(camPos && "MTXLookAt(): NULL VecPtr 'camPos' ");
assert(camUp && "MTXLookAt(): NULL VecPtr 'camUp' ");
assert(target && "MTXLookAt(): NULL Point3dPtr 'target' ");
vLook.x = camPos->x - target->x;
vLook.y = camPos->y - target->y;
vLook.z = camPos->z - target->z;
VECNormalize(&vLook, &vLook);
VECCrossProduct(camUp, &vLook, &vRight);
VECNormalize(&vRight, &vRight);
VECCrossProduct(&vLook, &vRight, &vUp);
m[0][0] = vRight.x;
m[0][1] = vRight.y;
m[0][2] = vRight.z;
m[0][3] = -((camPos->z * vRight.z) + ((camPos->x * vRight.x) + (camPos->y * vRight.y)));
m[1][0] = vUp.x;
m[1][1] = vUp.y;
m[1][2] = vUp.z;
m[1][3] = -((camPos->z * vUp.z) + ((camPos->x * vUp.x) + (camPos->y * vUp.y)));
m[2][0] = vLook.x;
m[2][1] = vLook.y;
m[2][2] = vLook.z;
m[2][3] = -((camPos->z * vLook.z) + ((camPos->x * vLook.x) + (camPos->y * vLook.y)));
}
void C_MTXLightFrustum(Mtx m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 scaleS, f32 scaleT, f32 transS, f32 transT) {
f32 tmp;
assert(m && "MTXLightFrustum(): NULL MtxPtr 'm' ");
assert((t != b) && "MTXLightFrustum(): 't' and 'b' clipping planes are equal ");
assert((l != r) && "MTXLightFrustum(): 'l' and 'r' clipping planes are equal ");
tmp = 1 / (r - l);
m[0][0] = (scaleS * (2 * n * tmp));
m[0][1] = 0;
m[0][2] = (scaleS * (tmp * (r + l))) - transS;
m[0][3] = 0;
tmp = 1 / (t - b);
m[1][0] = 0;
m[1][1] = (scaleT * (2 * n * tmp));
m[1][2] = (scaleT * (tmp * (t + b))) - transT;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = -1;
m[2][3] = 0;
}
void C_MTXLightPerspective(Mtx m, f32 fovY, f32 aspect, f32 scaleS, f32 scaleT, f32 transS, f32 transT) {
f32 angle;
f32 cot;
assert(m && "MTXLightPerspective(): NULL MtxPtr 'm' ");
assert((fovY > 0.0) && (fovY < 180.0) && "MTXLightPerspective(): 'fovY' out of range ");
assert(0 != aspect && "MTXLightPerspective(): 'aspect' is 0 ");
angle = (0.5f * fovY);
angle = MTXDegToRad(angle);
cot = 1 / tanf(angle);
m[0][0] = (scaleS * (cot / aspect));
m[0][1] = 0;
m[0][2] = -transS;
m[0][3] = 0;
m[1][0] = 0;
m[1][1] = (cot * scaleT);
m[1][2] = -transT;
m[1][3] = 0;
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = -1;
m[2][3] = 0;
}
void C_MTXLightOrtho(Mtx m, f32 t, f32 b, f32 l, f32 r, f32 scaleS, f32 scaleT, f32 transS, f32 transT) {
f32 tmp;
assert(m && "MTXLightOrtho(): NULL MtxPtr 'm' ");
assert((t != b) && "MTXLightOrtho(): 't' and 'b' clipping planes are equal ");
assert((l != r) && "MTXLightOrtho(): 'l' and 'r' clipping planes are equal ");
tmp = 1 / (r - l);
m[0][0] = (2 * tmp * scaleS);
m[0][1] = 0;
m[0][2] = 0;
m[0][3] = (transS + (scaleS * (tmp * -(r + l))));
tmp = 1/ (t - b);
m[1][0] = 0;
m[1][1] = (2 * tmp * scaleT);
m[1][2] = 0;
m[1][3] = (transT + (scaleT * (tmp * -(t + b))));
m[2][0] = 0;
m[2][1] = 0;
m[2][2] = 0;
m[2][3] = 1;
}
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