152 lines
8.7 KiB
C
152 lines
8.7 KiB
C
#include "matrix3x3.h"
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extern inline void bgc_fp32_matrix3x3_reset(BGC_FP32_Matrix3x3* matrix);
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extern inline void bgc_fp64_matrix3x3_reset(BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_matrix3x3_make_identity(BGC_FP32_Matrix3x3* matrix);
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extern inline void bgc_fp64_matrix3x3_make_identity(BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_matrix3x3_make_diagonal(BGC_FP32_Matrix3x3* matrix, const float d1, const float d2, const float d3);
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extern inline void bgc_fp64_matrix3x3_make_diagonal(BGC_FP64_Matrix3x3* matrix, const double d1, const double d2, const double d3);
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extern inline void bgc_fp32_matrix3x3_copy(BGC_FP32_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);
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extern inline void bgc_fp64_matrix3x3_copy(BGC_FP64_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);
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extern inline void bgc_fp32_matrix3x3_swap(BGC_FP32_Matrix3x3* matrix1, BGC_FP32_Matrix3x3* matrix2);
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extern inline void bgc_fp64_matrix3x3_swap(BGC_FP64_Matrix3x3* matrix1, BGC_FP64_Matrix3x3* matrix2);
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extern inline void bgc_fp64_matrix3x3_convert_to_fp32(BGC_FP32_Matrix3x3* destination, const BGC_FP64_Matrix3x3* source);
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extern inline void bgc_fp32_matrix3x3_convert_to_fp64(BGC_FP64_Matrix3x3* destination, const BGC_FP32_Matrix3x3* source);
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extern inline float bgc_fp32_matrix3x3_get_determinant(const BGC_FP32_Matrix3x3* matrix);
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extern inline double bgc_fp64_matrix3x3_get_determinant(const BGC_FP64_Matrix3x3* matrix);
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extern inline int bgc_fp32_matrix3x3_is_identity(const BGC_FP32_Matrix3x3* matrix);
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extern inline int bgc_fp64_matrix3x3_is_identity(const BGC_FP64_Matrix3x3* matrix);
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extern inline int bgc_fp32_matrix3x3_is_singular(const BGC_FP32_Matrix3x3* matrix);
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extern inline int bgc_fp64_matrix3x3_is_singular(const BGC_FP64_Matrix3x3* matrix);
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extern inline int bgc_fp32_matrix3x3_is_rotation(const BGC_FP32_Matrix3x3* matrix);
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extern inline int bgc_fp64_matrix3x3_is_rotation(const BGC_FP64_Matrix3x3* matrix);
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extern inline int bgc_fp32_matrix3x3_invert(BGC_FP32_Matrix3x3* matrix);
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extern inline int bgc_fp64_matrix3x3_invert(BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_matrix3x3_transpose(BGC_FP32_Matrix3x3* matrix);
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extern inline void bgc_fp64_matrix3x3_transpose(BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_matrix3x3_get_transposed(BGC_FP32_Matrix3x3* transposed, const BGC_FP32_Matrix3x3* matrix);
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extern inline void bgc_fp64_matrix3x3_get_transposed(BGC_FP64_Matrix3x3* transposed, const BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_matrix3x3_get_row(BGC_FP32_Vector3* row, const BGC_FP32_Matrix3x3* matrix, const int row_number);
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extern inline void bgc_fp64_matrix3x3_get_row(BGC_FP64_Vector3* row, const BGC_FP64_Matrix3x3* matrix, const int row_number);
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extern inline void bgc_fp32_matrix3x3_set_row(BGC_FP32_Matrix3x3* matrix, const int row_number, const BGC_FP32_Vector3* row);
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extern inline void bgc_fp64_matrix3x3_set_row(BGC_FP64_Matrix3x3* matrix, const int row_number, const BGC_FP64_Vector3* row);
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extern inline void bgc_fp32_matrix3x3_get_column(BGC_FP32_Vector3* column, const BGC_FP32_Matrix3x3* matrix, const int column_number);
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extern inline void bgc_fp64_matrix3x3_get_column(BGC_FP64_Vector3* column, const BGC_FP64_Matrix3x3* matrix, const int column_number);
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extern inline void bgc_fp32_matrix3x3_set_column(BGC_FP32_Matrix3x3* matrix, const int column_number, const BGC_FP32_Vector3* column);
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extern inline void bgc_fp64_matrix3x3_set_column(BGC_FP64_Matrix3x3* matrix, const int column_number, const BGC_FP64_Vector3* column);
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extern inline void bgc_fp32_matrix3x3_add(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* matrix1, const BGC_FP32_Matrix3x3* matrix2);
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extern inline void bgc_fp64_matrix3x3_add(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* matrix1, const BGC_FP64_Matrix3x3* matrix2);
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extern inline void bgc_fp32_matrix3x3_add_scaled(BGC_FP32_Matrix3x3* sum, const BGC_FP32_Matrix3x3* basic_matrix, const BGC_FP32_Matrix3x3* scalable_matrix, const float scale);
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extern inline void bgc_fp64_matrix3x3_add_scaled(BGC_FP64_Matrix3x3* sum, const BGC_FP64_Matrix3x3* basic_matrix, const BGC_FP64_Matrix3x3* scalable_matrix, const double scale);
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extern inline void bgc_fp32_matrix3x3_subtract(BGC_FP32_Matrix3x3* difference, const BGC_FP32_Matrix3x3* minuend, const BGC_FP32_Matrix3x3* subtrahend);
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extern inline void bgc_fp64_matrix3x3_subtract(BGC_FP64_Matrix3x3* difference, const BGC_FP64_Matrix3x3* minuend, const BGC_FP64_Matrix3x3* subtrahend);
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extern inline void bgc_fp32_matrix3x3_multiply(BGC_FP32_Matrix3x3* product, const BGC_FP32_Matrix3x3* multiplicand, const float multiplier);
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extern inline void bgc_fp64_matrix3x3_multiply(BGC_FP64_Matrix3x3* product, const BGC_FP64_Matrix3x3* multiplicand, const double multiplier);
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extern inline void bgc_fp32_matrix3x3_divide(BGC_FP32_Matrix3x3* quotient, const BGC_FP32_Matrix3x3* dividend, const float divisor);
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extern inline void bgc_fp64_matrix3x3_divide(BGC_FP64_Matrix3x3* quotient, const BGC_FP64_Matrix3x3* dividend, const double divisor);
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extern inline void bgc_fp32_matrix3x3_interpolate(BGC_FP32_Matrix3x3* interpolation, const BGC_FP32_Matrix3x3* first, const BGC_FP32_Matrix3x3* second, const float phase);
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extern inline void bgc_fp64_matrix3x3_interpolate(BGC_FP64_Matrix3x3* interpolation, const BGC_FP64_Matrix3x3* first, const BGC_FP64_Matrix3x3* second, const double phase);
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extern inline void bgc_fp32_multiply_vector3_by_matrix3x3(BGC_FP32_Vector3* product, const BGC_FP32_Vector3* vector, const BGC_FP32_Matrix3x3* matrix);
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extern inline void bgc_fp64_multiply_vector3_by_matrix3x3(BGC_FP64_Vector3* product, const BGC_FP64_Vector3* vector, const BGC_FP64_Matrix3x3* matrix);
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extern inline void bgc_fp32_multiply_matrix3x3_by_vector3(BGC_FP32_Vector3* product, const BGC_FP32_Matrix3x3* matrix, const BGC_FP32_Vector3* vector);
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extern inline void bgc_fp64_multiply_matrix3x3_by_vector3(BGC_FP64_Vector3* product, const BGC_FP64_Matrix3x3* matrix, const BGC_FP64_Vector3* vector);
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// ================ Get Inverse ================= //
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int bgc_fp32_matrix3x3_get_inverse(BGC_FP32_Matrix3x3* inverse, const BGC_FP32_Matrix3x3* matrix)
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{
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const float determinant = bgc_fp32_matrix3x3_get_determinant(matrix);
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if (bgc_fp32_is_zero(determinant)) {
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return 0;
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}
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const float r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const float r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const float r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const float r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const float r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const float r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const float r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const float r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const float r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const float multiplier = 1.0f / determinant;
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inverse->r1c1 = r1c1 * multiplier;
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inverse->r1c2 = r1c2 * multiplier;
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inverse->r1c3 = r1c3 * multiplier;
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inverse->r2c1 = r2c1 * multiplier;
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inverse->r2c2 = r2c2 * multiplier;
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inverse->r2c3 = r2c3 * multiplier;
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inverse->r3c1 = r3c1 * multiplier;
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inverse->r3c2 = r3c2 * multiplier;
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inverse->r3c3 = r3c3 * multiplier;
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return 1;
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}
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int bgc_fp64_matrix3x3_get_inverse(BGC_FP64_Matrix3x3* inverse, const BGC_FP64_Matrix3x3* matrix)
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{
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const double determinant = bgc_fp64_matrix3x3_get_determinant(matrix);
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if (bgc_fp64_is_zero(determinant)) {
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return 0;
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}
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const double r1c1 = matrix->r2c2 * matrix->r3c3 - matrix->r2c3 * matrix->r3c2;
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const double r1c2 = matrix->r1c3 * matrix->r3c2 - matrix->r1c2 * matrix->r3c3;
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const double r1c3 = matrix->r1c2 * matrix->r2c3 - matrix->r1c3 * matrix->r2c2;
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const double r2c1 = matrix->r2c3 * matrix->r3c1 - matrix->r2c1 * matrix->r3c3;
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const double r2c2 = matrix->r1c1 * matrix->r3c3 - matrix->r1c3 * matrix->r3c1;
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const double r2c3 = matrix->r1c3 * matrix->r2c1 - matrix->r1c1 * matrix->r2c3;
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const double r3c1 = matrix->r2c1 * matrix->r3c2 - matrix->r2c2 * matrix->r3c1;
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const double r3c2 = matrix->r1c2 * matrix->r3c1 - matrix->r1c1 * matrix->r3c2;
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const double r3c3 = matrix->r1c1 * matrix->r2c2 - matrix->r1c2 * matrix->r2c1;
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const double multiplier = 1.0 / determinant;
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inverse->r1c1 = r1c1 * multiplier;
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inverse->r1c2 = r1c2 * multiplier;
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inverse->r1c3 = r1c3 * multiplier;
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inverse->r2c1 = r2c1 * multiplier;
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inverse->r2c2 = r2c2 * multiplier;
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inverse->r2c3 = r2c3 * multiplier;
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inverse->r3c1 = r3c1 * multiplier;
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inverse->r3c2 = r3c2 * multiplier;
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inverse->r3c3 = r3c3 * multiplier;
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return 1;
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}
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