649 lines
19 KiB
C
649 lines
19 KiB
C
#ifndef _BASIC_GEOMETRY_MATRIX3X3_H_
|
|
#define _BASIC_GEOMETRY_MATRIX3X3_H_
|
|
|
|
#include "vector3.h"
|
|
#include "matrixes.h"
|
|
|
|
// =================== Reset ==================== //
|
|
|
|
static inline void fp32_matrix3x3_reset(fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = 0.0f;
|
|
matrix->r1c2 = 0.0f;
|
|
matrix->r1c3 = 0.0f;
|
|
|
|
matrix->r2c1 = 0.0f;
|
|
matrix->r2c2 = 0.0f;
|
|
matrix->r2c3 = 0.0f;
|
|
|
|
matrix->r3c1 = 0.0f;
|
|
matrix->r3c2 = 0.0f;
|
|
matrix->r3c3 = 0.0f;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_reset(fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = 0.0;
|
|
matrix->r1c2 = 0.0;
|
|
matrix->r1c3 = 0.0;
|
|
|
|
matrix->r2c1 = 0.0;
|
|
matrix->r2c2 = 0.0;
|
|
matrix->r2c3 = 0.0;
|
|
|
|
matrix->r3c1 = 0.0;
|
|
matrix->r3c2 = 0.0;
|
|
matrix->r3c3 = 0.0;
|
|
}
|
|
|
|
// ================== Identity ================== //
|
|
|
|
static inline void fp32_matrix3x3_set_to_identity(fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = 1.0f;
|
|
matrix->r1c2 = 0.0f;
|
|
matrix->r1c3 = 0.0f;
|
|
|
|
matrix->r2c1 = 0.0f;
|
|
matrix->r2c2 = 1.0f;
|
|
matrix->r2c3 = 0.0f;
|
|
|
|
matrix->r3c1 = 0.0f;
|
|
matrix->r3c2 = 0.0f;
|
|
matrix->r3c3 = 1.0f;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_to_identity(fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = 1.0;
|
|
matrix->r1c2 = 0.0;
|
|
matrix->r1c3 = 0.0;
|
|
|
|
matrix->r2c1 = 0.0;
|
|
matrix->r2c2 = 1.0;
|
|
matrix->r2c3 = 0.0;
|
|
|
|
matrix->r3c1 = 0.0;
|
|
matrix->r3c2 = 0.0;
|
|
matrix->r3c3 = 1.0;
|
|
}
|
|
|
|
// ================ Make Diagonal =============== //
|
|
|
|
static inline void fp32_matrix3x3_set_to_diagonal(const float d1, const float d2, const float d3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = d1;
|
|
matrix->r1c2 = 0.0f;
|
|
matrix->r1c3 = 0.0f;
|
|
|
|
matrix->r2c1 = 0.0f;
|
|
matrix->r2c2 = d2;
|
|
matrix->r2c3 = 0.0f;
|
|
|
|
matrix->r3c1 = 0.0f;
|
|
matrix->r3c2 = 0.0f;
|
|
matrix->r3c3 = d2;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_to_diagonal(const double d1, const double d2, const double d3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = d1;
|
|
matrix->r1c2 = 0.0;
|
|
matrix->r1c3 = 0.0;
|
|
|
|
matrix->r2c1 = 0.0;
|
|
matrix->r2c2 = d2;
|
|
matrix->r2c3 = 0.0;
|
|
|
|
matrix->r3c1 = 0.0;
|
|
matrix->r3c2 = 0.0;
|
|
matrix->r3c3 = d2;
|
|
}
|
|
|
|
// ==================== Copy ==================== //
|
|
|
|
static inline void fp32_matrix3x3_copy(const fp32_matrix3x3_t* from, fp32_matrix3x3_t* to)
|
|
{
|
|
to->r1c1 = from->r1c1;
|
|
to->r1c2 = from->r1c2;
|
|
to->r1c3 = from->r1c3;
|
|
|
|
to->r2c1 = from->r2c1;
|
|
to->r2c2 = from->r2c2;
|
|
to->r2c3 = from->r2c3;
|
|
|
|
to->r3c1 = from->r3c1;
|
|
to->r3c2 = from->r3c2;
|
|
to->r3c3 = from->r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_copy(const fp64_matrix3x3_t* from, fp64_matrix3x3_t* to)
|
|
{
|
|
to->r1c1 = from->r1c1;
|
|
to->r1c2 = from->r1c2;
|
|
to->r1c3 = from->r1c3;
|
|
|
|
to->r2c1 = from->r2c1;
|
|
to->r2c2 = from->r2c2;
|
|
to->r2c3 = from->r2c3;
|
|
|
|
to->r3c1 = from->r3c1;
|
|
to->r3c2 = from->r3c2;
|
|
to->r3c3 = from->r3c3;
|
|
}
|
|
|
|
// ==================== Swap ==================== //
|
|
|
|
static inline void fp32_matrix3x3_swap(fp32_matrix3x3_t* matrix1, fp32_matrix3x3_t* matrix2)
|
|
{
|
|
const float r1c1 = matrix2->r1c1;
|
|
const float r1c2 = matrix2->r1c2;
|
|
const float r1c3 = matrix2->r1c3;
|
|
|
|
const float r2c1 = matrix2->r2c1;
|
|
const float r2c2 = matrix2->r2c2;
|
|
const float r2c3 = matrix2->r2c3;
|
|
|
|
const float r3c1 = matrix2->r3c1;
|
|
const float r3c2 = matrix2->r3c2;
|
|
const float r3c3 = matrix2->r3c3;
|
|
|
|
matrix2->r1c1 = matrix1->r1c1;
|
|
matrix2->r1c2 = matrix1->r1c2;
|
|
matrix2->r1c3 = matrix1->r1c3;
|
|
|
|
matrix2->r2c1 = matrix1->r2c1;
|
|
matrix2->r2c2 = matrix1->r2c2;
|
|
matrix2->r2c3 = matrix1->r2c3;
|
|
|
|
matrix2->r3c1 = matrix1->r3c1;
|
|
matrix2->r3c2 = matrix1->r3c2;
|
|
matrix2->r3c3 = matrix1->r3c3;
|
|
|
|
matrix1->r1c1 = r1c1;
|
|
matrix1->r1c2 = r1c2;
|
|
matrix1->r1c3 = r1c3;
|
|
|
|
matrix1->r2c1 = r2c1;
|
|
matrix1->r2c2 = r2c2;
|
|
matrix1->r2c3 = r2c3;
|
|
|
|
matrix1->r3c1 = r3c1;
|
|
matrix1->r3c2 = r3c2;
|
|
matrix1->r3c3 = r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_swap(fp64_matrix3x3_t* matrix1, fp64_matrix3x3_t* matrix2)
|
|
{
|
|
const double r1c1 = matrix2->r1c1;
|
|
const double r1c2 = matrix2->r1c2;
|
|
const double r1c3 = matrix2->r1c3;
|
|
|
|
const double r2c1 = matrix2->r2c1;
|
|
const double r2c2 = matrix2->r2c2;
|
|
const double r2c3 = matrix2->r2c3;
|
|
|
|
const double r3c1 = matrix2->r3c1;
|
|
const double r3c2 = matrix2->r3c2;
|
|
const double r3c3 = matrix2->r3c3;
|
|
|
|
matrix2->r1c1 = matrix1->r1c1;
|
|
matrix2->r1c2 = matrix1->r1c2;
|
|
matrix2->r1c3 = matrix1->r1c3;
|
|
|
|
matrix2->r2c1 = matrix1->r2c1;
|
|
matrix2->r2c2 = matrix1->r2c2;
|
|
matrix2->r2c3 = matrix1->r2c3;
|
|
|
|
matrix2->r3c1 = matrix1->r3c1;
|
|
matrix2->r3c2 = matrix1->r3c2;
|
|
matrix2->r3c3 = matrix1->r3c3;
|
|
|
|
matrix1->r1c1 = r1c1;
|
|
matrix1->r1c2 = r1c2;
|
|
matrix1->r1c3 = r1c3;
|
|
|
|
matrix1->r2c1 = r2c1;
|
|
matrix1->r2c2 = r2c2;
|
|
matrix1->r2c3 = r2c3;
|
|
|
|
matrix1->r3c1 = r3c1;
|
|
matrix1->r3c2 = r3c2;
|
|
matrix1->r3c3 = r3c3;
|
|
}
|
|
|
|
// ============= Set from twin type ============= //
|
|
|
|
static inline void fp32_matrix3x3_set_from_fp64(const fp64_matrix3x3_t* from, fp32_matrix3x3_t* to)
|
|
{
|
|
to->r1c1 = (float) from->r1c1;
|
|
to->r1c2 = (float) from->r1c2;
|
|
to->r1c3 = (float) from->r1c3;
|
|
|
|
to->r2c1 = (float) from->r2c1;
|
|
to->r2c2 = (float) from->r2c2;
|
|
to->r2c3 = (float) from->r2c3;
|
|
|
|
to->r3c1 = (float) from->r3c1;
|
|
to->r3c2 = (float) from->r3c2;
|
|
to->r3c3 = (float) from->r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_from_fp32(const fp32_matrix3x3_t* from, fp64_matrix3x3_t* to)
|
|
{
|
|
to->r1c1 = from->r1c1;
|
|
to->r1c2 = from->r1c2;
|
|
to->r1c3 = from->r1c3;
|
|
|
|
to->r2c1 = from->r2c1;
|
|
to->r2c2 = from->r2c2;
|
|
to->r2c3 = from->r2c3;
|
|
|
|
to->r3c1 = from->r3c1;
|
|
to->r3c2 = from->r3c2;
|
|
to->r3c3 = from->r3c3;
|
|
}
|
|
|
|
// ================ Determinant ================= //
|
|
|
|
static inline float fp32_matrix3x3_get_determinant(const fp32_matrix3x3_t* matrix)
|
|
{
|
|
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
|
|
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
|
|
+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
|
|
}
|
|
|
|
static inline double fp64_matrix3x3_get_determinant(const fp64_matrix3x3_t* matrix)
|
|
{
|
|
return matrix->r1c1 * (matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2)
|
|
+ matrix->r1c2 * (matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3)
|
|
+ matrix->r1c3 * (matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1);
|
|
}
|
|
|
|
// ================== Singular ================== //
|
|
|
|
static inline int fp32_matrix3x3_is_singular(const fp32_matrix3x3_t* matrix)
|
|
{
|
|
const float determinant = fp32_matrix3x3_get_determinant(matrix);
|
|
|
|
return -FP32_EPSYLON <= determinant && determinant <= FP32_EPSYLON;
|
|
}
|
|
|
|
static inline int fp64_matrix3x3_is_singular(const fp64_matrix3x3_t* matrix)
|
|
{
|
|
const double determinant = fp64_matrix3x3_get_determinant(matrix);
|
|
|
|
return -FP64_EPSYLON <= determinant && determinant <= FP64_EPSYLON;
|
|
}
|
|
|
|
// ================= Inversion ================== //
|
|
|
|
int fp32_matrix3x3_invert(fp32_matrix3x3_t* matrix);
|
|
|
|
int fp64_matrix3x3_invert(fp64_matrix3x3_t* matrix);
|
|
|
|
// =============== Transposition ================ //
|
|
|
|
static inline void fp32_matrix3x3_transpose(fp32_matrix3x3_t* matrix)
|
|
{
|
|
float tmp = matrix->r1c2;
|
|
matrix->r1c2 = matrix->r2c1;
|
|
matrix->r2c1 = tmp;
|
|
|
|
tmp = matrix->r1c3;
|
|
matrix->r1c3 = matrix->r3c1;
|
|
matrix->r3c1 = tmp;
|
|
|
|
tmp = matrix->r2c3;
|
|
matrix->r2c3 = matrix->r3c2;
|
|
matrix->r3c2 = tmp;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_transpose(fp64_matrix3x3_t* matrix)
|
|
{
|
|
double tmp = matrix->r1c2;
|
|
matrix->r1c2 = matrix->r2c1;
|
|
matrix->r2c1 = tmp;
|
|
|
|
tmp = matrix->r1c3;
|
|
matrix->r1c3 = matrix->r3c1;
|
|
matrix->r3c1 = tmp;
|
|
|
|
tmp = matrix->r2c3;
|
|
matrix->r2c3 = matrix->r3c2;
|
|
matrix->r3c2 = tmp;
|
|
}
|
|
|
|
// ================ Make Inverted =============== //
|
|
|
|
int fp32_matrix3x3_set_inverted(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result);
|
|
|
|
int fp64_matrix3x3_set_inverted(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result);
|
|
|
|
// =============== Make Transposed ============== //
|
|
|
|
static inline void fp32_matrix3x3_set_transposed(const fp32_matrix3x3_t* matrix, fp32_matrix3x3_t* result)
|
|
{
|
|
if (matrix == result) {
|
|
fp32_matrix3x3_transpose(result);
|
|
return;
|
|
}
|
|
|
|
result->r1c1 = matrix->r1c1;
|
|
result->r1c2 = matrix->r2c1;
|
|
result->r1c3 = matrix->r3c1;
|
|
|
|
result->r2c1 = matrix->r1c2;
|
|
result->r2c2 = matrix->r2c2;
|
|
result->r2c3 = matrix->r3c2;
|
|
|
|
result->r3c1 = matrix->r1c3;
|
|
result->r3c2 = matrix->r2c3;
|
|
result->r3c3 = matrix->r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_transposed(const fp64_matrix3x3_t* matrix, fp64_matrix3x3_t* result)
|
|
{
|
|
if (matrix == result) {
|
|
fp64_matrix3x3_transpose(result);
|
|
return;
|
|
}
|
|
|
|
result->r1c1 = matrix->r1c1;
|
|
result->r1c2 = matrix->r2c1;
|
|
result->r1c3 = matrix->r3c1;
|
|
|
|
result->r2c1 = matrix->r1c2;
|
|
result->r2c2 = matrix->r2c2;
|
|
result->r2c3 = matrix->r3c2;
|
|
|
|
result->r3c1 = matrix->r1c3;
|
|
result->r3c2 = matrix->r2c3;
|
|
result->r3c3 = matrix->r3c3;
|
|
}
|
|
|
|
// ================= Set Row 1 ================== //
|
|
|
|
static inline void fp32_matrix3x3_set_row1(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = c1;
|
|
matrix->r1c2 = c2;
|
|
matrix->r1c3 = c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_row1(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = c1;
|
|
matrix->r1c2 = c2;
|
|
matrix->r1c3 = c3;
|
|
}
|
|
|
|
// ================= Set Row 2 ================== //
|
|
|
|
static inline void fp32_matrix3x3_set_row2(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r2c1 = c1;
|
|
matrix->r2c2 = c2;
|
|
matrix->r2c3 = c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_row2(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r2c1 = c1;
|
|
matrix->r2c2 = c2;
|
|
matrix->r2c3 = c3;
|
|
}
|
|
|
|
// ================= Set Row 3 ================== //
|
|
|
|
static inline void fp32_matrix3x3_set_row3(const float c1, const float c2, const float c3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r3c1 = c1;
|
|
matrix->r3c2 = c2;
|
|
matrix->r3c3 = c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_row3(const double c1, const double c2, const double c3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r3c1 = c1;
|
|
matrix->r3c2 = c2;
|
|
matrix->r3c3 = c3;
|
|
}
|
|
|
|
// ================ Set Column 1 ================ //
|
|
|
|
static inline void fp32_matrix3x3_set_column1(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = r1;
|
|
matrix->r2c1 = r2;
|
|
matrix->r3c1 = r3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_column1(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c1 = r1;
|
|
matrix->r2c1 = r2;
|
|
matrix->r3c1 = r3;
|
|
}
|
|
|
|
// ================ Set Column 2 ================ //
|
|
|
|
static inline void fp32_matrix3x3_set_column2(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c2 = r1;
|
|
matrix->r2c2 = r2;
|
|
matrix->r3c2 = r3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_column2(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c2 = r1;
|
|
matrix->r2c2 = r2;
|
|
matrix->r3c2 = r3;
|
|
}
|
|
|
|
// ================ Set Column 3 ================ //
|
|
|
|
static inline void fp32_matrix3x3_set_column3(const float r1, const float r2, const float r3, fp32_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c3 = r1;
|
|
matrix->r2c3 = r2;
|
|
matrix->r3c3 = r3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_set_column3(const double r1, const double r2, const double r3, fp64_matrix3x3_t* matrix)
|
|
{
|
|
matrix->r1c3 = r1;
|
|
matrix->r2c3 = r2;
|
|
matrix->r3c3 = r3;
|
|
}
|
|
|
|
// ================ Append scaled =============== //
|
|
|
|
static inline void fp32_matrix3x3_append_scaled(fp32_matrix3x3_t* basic_vector, const fp32_matrix3x3_t* scalable_vector, const float scale)
|
|
{
|
|
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
|
|
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
|
|
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
|
|
|
|
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
|
|
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
|
|
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
|
|
|
|
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
|
|
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
|
|
basic_vector->r3c3 += scalable_vector->r3c3 * scale;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_append_scaled(fp64_matrix3x3_t* basic_vector, const fp64_matrix3x3_t* scalable_vector, const double scale)
|
|
{
|
|
basic_vector->r1c1 += scalable_vector->r1c1 * scale;
|
|
basic_vector->r1c2 += scalable_vector->r1c2 * scale;
|
|
basic_vector->r1c3 += scalable_vector->r1c3 * scale;
|
|
|
|
basic_vector->r2c1 += scalable_vector->r2c1 * scale;
|
|
basic_vector->r2c2 += scalable_vector->r2c2 * scale;
|
|
basic_vector->r2c3 += scalable_vector->r2c3 * scale;
|
|
|
|
basic_vector->r3c1 += scalable_vector->r3c1 * scale;
|
|
basic_vector->r3c2 += scalable_vector->r3c2 * scale;
|
|
basic_vector->r3c3 += scalable_vector->r3c3 * scale;
|
|
}
|
|
|
|
// ================== Addition ================== //
|
|
|
|
static inline void fp32_matrix3x3_add(const fp32_matrix3x3_t* matrix1, const fp32_matrix3x3_t* matrix2, fp32_matrix3x3_t* sum)
|
|
{
|
|
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
|
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
|
sum->r1c3 = matrix1->r1c3 + matrix2->r1c3;
|
|
|
|
sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
|
|
sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
|
|
sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
|
|
|
|
sum->r3c1 = matrix1->r3c1 + matrix2->r3c1;
|
|
sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
|
|
sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_add(const fp64_matrix3x3_t* matrix1, const fp64_matrix3x3_t* matrix2, fp64_matrix3x3_t* sum)
|
|
{
|
|
sum->r1c1 = matrix1->r1c1 + matrix2->r1c1;
|
|
sum->r1c2 = matrix1->r1c2 + matrix2->r1c2;
|
|
sum->r1c3 = matrix1->r1c3 + matrix2->r1c3;
|
|
|
|
sum->r2c1 = matrix1->r2c1 + matrix2->r2c1;
|
|
sum->r2c2 = matrix1->r2c2 + matrix2->r2c2;
|
|
sum->r2c3 = matrix1->r2c3 + matrix2->r2c3;
|
|
|
|
sum->r3c1 = matrix1->r3c1 + matrix2->r3c1;
|
|
sum->r3c2 = matrix1->r3c2 + matrix2->r3c2;
|
|
sum->r3c3 = matrix1->r3c3 + matrix2->r3c3;
|
|
}
|
|
|
|
// ================ Subtraction ================= //
|
|
|
|
static inline void fp32_matrix3x3_subtract(const fp32_matrix3x3_t* minuend, const fp32_matrix3x3_t* subtrahend, fp32_matrix3x3_t* difference)
|
|
{
|
|
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
|
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
|
difference->r1c3 = minuend->r1c3 - subtrahend->r1c3;
|
|
|
|
difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
|
|
difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
|
|
difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
|
|
|
|
difference->r3c1 = minuend->r3c1 - subtrahend->r3c1;
|
|
difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
|
|
difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_subtract(const fp64_matrix3x3_t* minuend, const fp64_matrix3x3_t* subtrahend, fp64_matrix3x3_t* difference)
|
|
{
|
|
difference->r1c1 = minuend->r1c1 - subtrahend->r1c1;
|
|
difference->r1c2 = minuend->r1c2 - subtrahend->r1c2;
|
|
difference->r1c3 = minuend->r1c3 - subtrahend->r1c3;
|
|
|
|
difference->r2c1 = minuend->r2c1 - subtrahend->r2c1;
|
|
difference->r2c2 = minuend->r2c2 - subtrahend->r2c2;
|
|
difference->r2c3 = minuend->r2c3 - subtrahend->r2c3;
|
|
|
|
difference->r3c1 = minuend->r3c1 - subtrahend->r3c1;
|
|
difference->r3c2 = minuend->r3c2 - subtrahend->r3c2;
|
|
difference->r3c3 = minuend->r3c3 - subtrahend->r3c3;
|
|
}
|
|
|
|
// =============== Multiplication =============== //
|
|
|
|
static inline void fp32_matrix3x3_multiply(const fp32_matrix3x3_t* multiplicand, const float multiplier, fp32_matrix3x3_t* product)
|
|
{
|
|
product->r1c1 = multiplicand->r1c1 * multiplier;
|
|
product->r1c2 = multiplicand->r1c2 * multiplier;
|
|
product->r1c3 = multiplicand->r1c3 * multiplier;
|
|
|
|
product->r2c1 = multiplicand->r2c1 * multiplier;
|
|
product->r2c2 = multiplicand->r2c2 * multiplier;
|
|
product->r2c3 = multiplicand->r2c3 * multiplier;
|
|
|
|
product->r3c1 = multiplicand->r3c1 * multiplier;
|
|
product->r3c2 = multiplicand->r3c2 * multiplier;
|
|
product->r3c3 = multiplicand->r3c3 * multiplier;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_multiply(const fp64_matrix3x3_t* multiplicand, const double multiplier, fp64_matrix3x3_t* product)
|
|
{
|
|
product->r1c1 = multiplicand->r1c1 * multiplier;
|
|
product->r1c2 = multiplicand->r1c2 * multiplier;
|
|
product->r1c3 = multiplicand->r1c3 * multiplier;
|
|
|
|
product->r2c1 = multiplicand->r2c1 * multiplier;
|
|
product->r2c2 = multiplicand->r2c2 * multiplier;
|
|
product->r2c3 = multiplicand->r2c3 * multiplier;
|
|
|
|
product->r3c1 = multiplicand->r3c1 * multiplier;
|
|
product->r3c2 = multiplicand->r3c2 * multiplier;
|
|
product->r3c3 = multiplicand->r3c3 * multiplier;
|
|
}
|
|
|
|
// ================== Division ================== //
|
|
|
|
static inline void fp32_matrix3x3_divide(const fp32_matrix3x3_t* dividend, const float divisor, fp32_matrix3x3_t* quotient)
|
|
{
|
|
fp32_matrix3x3_multiply(dividend, 1.0f / divisor, quotient);
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_divide(const fp64_matrix3x3_t* dividend, const double divisor, fp64_matrix3x3_t* quotient)
|
|
{
|
|
fp64_matrix3x3_multiply(dividend, 1.0 / divisor, quotient);
|
|
}
|
|
|
|
// ============ Left Vector Product ============= //
|
|
|
|
static inline void fp32_matrix3x3_left_product(const fp32_vector3_t* vector, const fp32_matrix3x3_t* matrix, fp32_vector3_t* result)
|
|
{
|
|
const float x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
|
const float x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
|
const float x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_left_product(const fp64_vector3_t* vector, const fp64_matrix3x3_t* matrix, fp64_vector3_t* result)
|
|
{
|
|
const double x1 = vector->x1 * matrix->r1c1 + vector->x2 * matrix->r2c1 + vector->x3 * matrix->r3c1;
|
|
const double x2 = vector->x1 * matrix->r1c2 + vector->x2 * matrix->r2c2 + vector->x3 * matrix->r3c2;
|
|
const double x3 = vector->x1 * matrix->r1c3 + vector->x2 * matrix->r2c3 + vector->x3 * matrix->r3c3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
// ============ Right Vector Product ============ //
|
|
|
|
static inline void fp32_matrix3x3_right_product(const fp32_matrix3x3_t* matrix, const fp32_vector3_t* vector, fp32_vector3_t* result)
|
|
{
|
|
const float x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
|
const float x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
|
const float x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
static inline void fp64_matrix3x3_right_product(const fp64_matrix3x3_t* matrix, const fp64_vector3_t* vector, fp64_vector3_t* result)
|
|
{
|
|
const double x1 = matrix->r1c1 * vector->x1 + matrix->r1c2 * vector->x2 + matrix->r1c3 * vector->x3;
|
|
const double x2 = matrix->r2c1 * vector->x1 + matrix->r2c2 * vector->x2 + matrix->r2c3 * vector->x3;
|
|
const double x3 = matrix->r3c1 * vector->x1 + matrix->r3c2 * vector->x2 + matrix->r3c3 * vector->x3;
|
|
|
|
result->x1 = x1;
|
|
result->x2 = x2;
|
|
result->x3 = x3;
|
|
}
|
|
|
|
#endif
|