diff options
Diffstat (limited to 'include/rvl/mtx.h')
| -rwxr-xr-x | include/rvl/mtx.h | 441 |
1 files changed, 441 insertions, 0 deletions
diff --git a/include/rvl/mtx.h b/include/rvl/mtx.h new file mode 100755 index 0000000..3bb804e --- /dev/null +++ b/include/rvl/mtx.h @@ -0,0 +1,441 @@ +#ifndef __MTX_H__
+#define __MTX_H__
+
+
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*---------------------------------------------------------------------------*
+ Default function binding configuration
+ *---------------------------------------------------------------------------*/
+// [Binding Rule]
+//
+// "MTX_USE_PS" -> When this flag is specified, it uses PS* (Paired-Single
+// assembler code) functions for non-prefixed function calls.
+// "MTX_USE_C " -> When this flag is specified, it uses C_* (C code) functions
+// for non-prefixed function calls.
+//
+// If both are specified, it will be treated as MTX_USE_PS.
+// If nothing is specified, NDEBUG build refers PS* functions and
+// DEBUG build uses C_* functions.
+
+// For non-Gekko HW (e.g. emulator)
+#ifndef GEKKO
+#define MTX_USE_C
+#undef MTX_USE_PS
+#endif
+
+#if ( !defined(MTX_USE_PS) && !defined(MTX_USE_C) )
+#ifndef _DEBUG
+#define MTX_USE_PS
+#endif
+#endif
+
+/*---------------------------------------------------------------------------*
+ Macro definitions
+ *---------------------------------------------------------------------------*/
+
+// MtxPtr offset to access next Mtx of an array
+#define MTX_PTR_OFFSET 3
+
+// Mtx44Ptr offset to access next Mtx44 of an array
+#define MTX44_PTR_OFFSET 4
+
+
+// matrix stack
+typedef struct
+{
+
+ u32 numMtx;
+ MtxPtr stackBase;
+ MtxPtr stackPtr;
+
+} MtxStack, *MtxStackPtr;
+
+
+// degree <--> radian conversion macros
+#define MTXDegToRad(a) ( (a) * 0.01745329252f )
+#define MTXRadToDeg(a) ( (a) * 57.29577951f )
+
+
+// Matrix-element-referencing macro.
+// Insulates user from changes from row-major to column-major and vice-versa.
+// Fully documents which index is row, which index is column.
+// XXX this version will change once matrices are transposed.
+
+#define MTXRowCol(m,r,c) ((m)[(r)][(c)])
+
+
+/*---------------------------------------------------------------------------*
+ GENERAL MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// C version
+void C_MTXIdentity ( Mtx m );
+void C_MTXCopy ( const Mtx src, Mtx dst );
+void C_MTXConcat ( const Mtx a, const Mtx b, Mtx ab );
+void C_MTXConcatArray ( const Mtx a, const Mtx* srcBase, Mtx* dstBase, u32 count );
+void C_MTXTranspose ( const Mtx src, Mtx xPose );
+u32 C_MTXInverse ( const Mtx src, Mtx inv );
+u32 C_MTXInvXpose ( const Mtx src, Mtx invX );
+
+// PS assembler version
+#ifdef GEKKO
+void PSMTXIdentity ( Mtx m );
+void PSMTXCopy ( const Mtx src, Mtx dst );
+void PSMTXConcat ( const Mtx a, const Mtx b, Mtx ab );
+void PSMTXConcatArray ( const Mtx a, const Mtx* srcBase, Mtx* dstBase, u32 count );
+void PSMTXTranspose ( const Mtx src, Mtx xPose );
+u32 PSMTXInverse ( const Mtx src, Mtx inv );
+u32 PSMTXInvXpose ( const Mtx src, Mtx invX );
+#endif
+
+// Bindings
+#ifdef MTX_USE_PS
+#define MTXIdentity PSMTXIdentity
+#define MTXCopy PSMTXCopy
+#define MTXConcat PSMTXConcat
+#define MTXConcatArray PSMTXConcatArray
+#define MTXTranspose PSMTXTranspose
+#define MTXInverse PSMTXInverse
+#define MTXInvXpose PSMTXInvXpose
+#else // MTX_USE_C
+#define MTXIdentity C_MTXIdentity
+#define MTXCopy C_MTXCopy
+#define MTXConcat C_MTXConcat
+#define MTXConcatArray C_MTXConcatArray
+#define MTXTranspose C_MTXTranspose
+#define MTXInverse C_MTXInverse
+#define MTXInvXpose C_MTXInvXpose
+#endif
+
+
+/*---------------------------------------------------------------------------*
+ MATRIX-VECTOR SECTION
+ *---------------------------------------------------------------------------*/
+// C version
+void C_MTXMultVec ( const Mtx m, const Vec *src, Vec *dst );
+void C_MTXMultVecArray ( const Mtx m, const Vec *srcBase, Vec *dstBase, u32 count );
+void C_MTXMultVecSR ( const Mtx m, const Vec *src, Vec *dst );
+void C_MTXMultVecArraySR ( const Mtx m, const Vec *srcBase, Vec *dstBase, u32 count );
+
+// PS assembler version
+#ifdef GEKKO
+void PSMTXMultVec ( const Mtx m, const Vec *src, Vec *dst );
+void PSMTXMultVecArray ( const Mtx m, const Vec *srcBase, Vec *dstBase, u32 count );
+void PSMTXMultVecSR ( const Mtx m, const Vec *src, Vec *dst );
+void PSMTXMultVecArraySR ( const Mtx m, const Vec *srcBase, Vec *dstBase, u32 count );
+#endif
+
+// Bindings
+#ifdef MTX_USE_PS
+#define MTXMultVec PSMTXMultVec
+#define MTXMultVecArray PSMTXMultVecArray
+#define MTXMultVecSR PSMTXMultVecSR
+#define MTXMultVecArraySR PSMTXMultVecArraySR
+#else // MTX_USE_C
+#define MTXMultVec C_MTXMultVec
+#define MTXMultVecArray C_MTXMultVecArray
+#define MTXMultVecSR C_MTXMultVecSR
+#define MTXMultVecArraySR C_MTXMultVecArraySR
+#endif
+
+
+/*---------------------------------------------------------------------------*
+ MODEL MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// C version
+void C_MTXQuat ( Mtx m, const Quaternion *q );
+void C_MTXReflect ( Mtx m, const Vec *p, const Vec *n );
+
+void C_MTXTrans ( Mtx m, f32 xT, f32 yT, f32 zT );
+void C_MTXTransApply ( const Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT );
+void C_MTXScale ( Mtx m, f32 xS, f32 yS, f32 zS );
+void C_MTXScaleApply ( const Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS );
+
+void C_MTXRotRad ( Mtx m, char axis, f32 rad );
+void C_MTXRotTrig ( Mtx m, char axis, f32 sinA, f32 cosA );
+void C_MTXRotAxisRad ( Mtx m, const Vec *axis, f32 rad );
+
+// PS assembler version
+#ifdef GEKKO
+void PSMTXQuat ( Mtx m, const Quaternion *q );
+void PSMTXReflect ( Mtx m, const Vec *p, const Vec *n );
+
+void PSMTXTrans ( Mtx m, f32 xT, f32 yT, f32 zT );
+void PSMTXTransApply ( const Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT );
+void PSMTXScale ( Mtx m, f32 xS, f32 yS, f32 zS );
+void PSMTXScaleApply ( const Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS );
+
+void PSMTXRotRad ( Mtx m, char axis, f32 rad );
+void PSMTXRotTrig ( Mtx m, char axis, f32 sinA, f32 cosA );
+void PSMTXRotAxisRad ( Mtx m, const Vec *axis, f32 rad );
+#endif
+
+// Bindings
+#ifdef MTX_USE_PS
+#define MTXQuat PSMTXQuat
+#define MTXReflect PSMTXReflect
+#define MTXTrans PSMTXTrans
+#define MTXTransApply PSMTXTransApply
+#define MTXScale PSMTXScale
+#define MTXScaleApply PSMTXScaleApply
+#define MTXRotRad PSMTXRotRad
+#define MTXRotTrig PSMTXRotTrig
+#define MTXRotAxisRad PSMTXRotAxisRad
+
+#define MTXRotDeg( m, axis, deg ) \
+ PSMTXRotRad( m, axis, MTXDegToRad(deg) )
+#define MTXRotAxisDeg( m, axis, deg ) \
+ PSMTXRotAxisRad( m, axis, MTXDegToRad(deg) )
+
+#else // MTX_USE_C
+#define MTXQuat C_MTXQuat
+#define MTXReflect C_MTXReflect
+#define MTXTrans C_MTXTrans
+#define MTXTransApply C_MTXTransApply
+#define MTXScale C_MTXScale
+#define MTXScaleApply C_MTXScaleApply
+#define MTXRotRad C_MTXRotRad
+#define MTXRotTrig C_MTXRotTrig
+#define MTXRotAxisRad C_MTXRotAxisRad
+
+#define MTXRotDeg( m, axis, deg ) \
+ C_MTXRotRad( m, axis, MTXDegToRad(deg) )
+#define MTXRotAxisDeg( m, axis, deg ) \
+ C_MTXRotAxisRad( m, axis, MTXDegToRad(deg) )
+
+#endif
+
+
+// Obsolete. Don't use this if possible.
+#define MTXRotAxis MTXRotAxisDeg
+
+
+/*---------------------------------------------------------------------------*
+ VIEW MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// C version only so far
+void C_MTXLookAt ( Mtx m,
+ const Point3d *camPos,
+ const Vec *camUp,
+ const Point3d *target );
+
+// Bindings
+#define MTXLookAt C_MTXLookAt
+
+
+/*---------------------------------------------------------------------------*
+ PROJECTION MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// C version only so far
+void C_MTXFrustum ( Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f );
+void C_MTXPerspective ( Mtx44 m, f32 fovY, f32 aspect, f32 n, f32 f );
+void C_MTXOrtho ( Mtx44 m, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f );
+
+// Bindings
+#define MTXFrustum C_MTXFrustum
+#define MTXPerspective C_MTXPerspective
+#define MTXOrtho C_MTXOrtho
+
+
+/*---------------------------------------------------------------------------*
+ TEXTURE PROJECTION MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// C version only so far
+void C_MTXLightFrustum ( Mtx m, f32 t, f32 b, f32 l, f32 r, f32 n,
+ f32 scaleS, f32 scaleT, f32 transS,
+ f32 transT );
+
+void C_MTXLightPerspective ( Mtx m, f32 fovY, f32 aspect, f32 scaleS,
+ f32 scaleT, f32 transS, f32 transT );
+
+void C_MTXLightOrtho ( Mtx m, f32 t, f32 b, f32 l, f32 r, f32 scaleS,
+ f32 scaleT, f32 transS, f32 transT );
+
+// Bindings
+#define MTXLightFrustum C_MTXLightFrustum
+#define MTXLightPerspective C_MTXLightPerspective
+#define MTXLightOrtho C_MTXLightOrtho
+
+
+/*---------------------------------------------------------------------------*
+ VECTOR SECTION
+ *---------------------------------------------------------------------------*/
+// C version
+void C_VECAdd ( const Vec *a, const Vec *b, Vec *ab );
+void C_VECSubtract ( const Vec *a, const Vec *b, Vec *a_b );
+void C_VECScale ( const Vec *src, Vec *dst, f32 scale );
+void C_VECNormalize ( const Vec *src, Vec *unit );
+f32 C_VECSquareMag ( const Vec *v );
+f32 C_VECMag ( const Vec *v );
+f32 C_VECDotProduct ( const Vec *a, const Vec *b );
+void C_VECCrossProduct ( const Vec *a, const Vec *b, Vec *axb );
+f32 C_VECSquareDistance ( const Vec *a, const Vec *b );
+f32 C_VECDistance ( const Vec *a, const Vec *b );
+void C_VECReflect ( const Vec *src, const Vec *normal, Vec *dst );
+void C_VECHalfAngle ( const Vec *a, const Vec *b, Vec *half );
+
+// PS assembler version
+#ifdef GEKKO
+void PSVECAdd ( const Vec *a, const Vec *b, Vec *ab );
+void PSVECSubtract ( const Vec *a, const Vec *b, Vec *a_b );
+void PSVECScale ( const Vec *src, Vec *dst, f32 scale );
+void PSVECNormalize ( const Vec *src, Vec *unit );
+f32 PSVECSquareMag ( const Vec *v );
+f32 PSVECMag ( const Vec *v );
+f32 PSVECDotProduct ( const Vec *a, const Vec *b );
+void PSVECCrossProduct ( const Vec *a, const Vec *b, Vec *axb );
+f32 PSVECSquareDistance ( const Vec *a, const Vec *b );
+f32 PSVECDistance ( const Vec *a, const Vec *b );
+#endif
+
+// Bindings
+#ifdef MTX_USE_PS
+#define VECAdd PSVECAdd
+#define VECSubtract PSVECSubtract
+#define VECScale PSVECScale
+#define VECNormalize PSVECNormalize
+#define VECSquareMag PSVECSquareMag
+#define VECMag PSVECMag
+#define VECDotProduct PSVECDotProduct
+#define VECCrossProduct PSVECCrossProduct
+#define VECSquareDistance PSVECSquareDistance
+#define VECDistance PSVECDistance
+#else // MTX_USE_C
+#define VECAdd C_VECAdd
+#define VECSubtract C_VECSubtract
+#define VECScale C_VECScale
+#define VECNormalize C_VECNormalize
+#define VECSquareMag C_VECSquareMag
+#define VECMag C_VECMag
+#define VECDotProduct C_VECDotProduct
+#define VECCrossProduct C_VECCrossProduct
+#define VECSquareDistance C_VECSquareDistance
+#define VECDistance C_VECDistance
+#endif
+
+#define VECReflect C_VECReflect
+#define VECHalfAngle C_VECHalfAngle
+
+
+/*---------------------------------------------------------------------------*
+ QUATERNION SECTION
+ *---------------------------------------------------------------------------*/
+// C version
+void C_QUATAdd ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void C_QUATSubtract ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void C_QUATMultiply ( const Quaternion *p, const Quaternion *q, Quaternion *pq );
+void C_QUATDivide ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void C_QUATScale ( const Quaternion *q, Quaternion *r, f32 scale );
+f32 C_QUATDotProduct ( const Quaternion *p, const Quaternion *q );
+void C_QUATNormalize ( const Quaternion *src, Quaternion *unit );
+void C_QUATInverse ( const Quaternion *src, Quaternion *inv );
+void C_QUATExp ( const Quaternion *q, Quaternion *r );
+void C_QUATLogN ( const Quaternion *q, Quaternion *r );
+
+void C_QUATMakeClosest ( const Quaternion *q, const Quaternion *qto, Quaternion *r );
+void C_QUATRotAxisRad ( Quaternion *r, const Vec *axis, f32 rad );
+void C_QUATMtx ( Quaternion *r, const Mtx m );
+
+void C_QUATLerp ( const Quaternion *p, const Quaternion *q, Quaternion *r, f32 t );
+void C_QUATSlerp ( const Quaternion *p, const Quaternion *q, Quaternion *r, f32 t );
+void C_QUATSquad ( const Quaternion *p, const Quaternion *a, const Quaternion *b,
+ const Quaternion *q, Quaternion *r, f32 t );
+void C_QUATCompA ( const Quaternion *qprev, const Quaternion *q,
+ const Quaternion *qnext, Quaternion *a );
+
+
+// PS assembler version
+#ifdef GEKKO
+void PSQUATAdd ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void PSQUATSubtract ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void PSQUATMultiply ( const Quaternion *p, const Quaternion *q, Quaternion *pq );
+void PSQUATDivide ( const Quaternion *p, const Quaternion *q, Quaternion *r );
+void PSQUATScale ( const Quaternion *q, Quaternion *r, f32 scale );
+f32 PSQUATDotProduct ( const Quaternion *p, const Quaternion *q );
+void PSQUATNormalize ( const Quaternion *src, Quaternion *unit );
+void PSQUATInverse ( const Quaternion *src, Quaternion *inv );
+#endif
+
+
+// Bindings
+#ifdef MTX_USE_PS
+#define QUATAdd PSQUATAdd
+#define QUATSubtract PSQUATSubtract
+#define QUATMultiply PSQUATMultiply
+#define QUATDivide PSQUATDivide
+#define QUATScale PSQUATScale
+#define QUATDotProduct PSQUATDotProduct
+#define QUATNormalize PSQUATNormalize
+#define QUATInverse PSQUATInverse
+#else // MTX_USE_C
+#define QUATAdd C_QUATAdd
+#define QUATSubtract C_QUATSubtract
+#define QUATMultiply C_QUATMultiply
+#define QUATDivide C_QUATDivide
+#define QUATScale C_QUATScale
+#define QUATDotProduct C_QUATDotProduct
+#define QUATNormalize C_QUATNormalize
+#define QUATInverse C_QUATInverse
+#endif
+
+#define QUATExp C_QUATExp
+#define QUATLogN C_QUATLogN
+#define QUATMakeClosest C_QUATMakeClosest
+#define QUATRotAxisRad C_QUATRotAxisRad
+#define QUATMtx C_QUATMtx
+#define QUATLerp C_QUATLerp
+#define QUATSlerp C_QUATSlerp
+#define QUATSquad C_QUATSquad
+#define QUATCompA C_QUATCompA
+
+
+/*---------------------------------------------------------------------------*
+ SPECIAL PURPOSE MATRIX SECTION
+ *---------------------------------------------------------------------------*/
+// Only PS assembler versions are available
+#ifdef GEKKO
+void PSMTXReorder ( const Mtx src, ROMtx dest );
+void PSMTXROMultVecArray ( const ROMtx m, const Vec *srcBase, Vec *dstBase, u32 count );
+void PSMTXROSkin2VecArray ( const ROMtx m0, const ROMtx m1, const f32 *wtBase, const Vec *srcBase, Vec *dstBase, u32 count);
+void PSMTXMultS16VecArray ( const Mtx m, const S16Vec *srcBase, Vec *dstBase, u32 count );
+void PSMTXROMultS16VecArray( const ROMtx m, const S16Vec *srcBase, Vec *dstBase, u32 count );
+#endif
+
+
+/*---------------------------------------------------------------------------*
+ MATRIX STACK SECTION
+ *---------------------------------------------------------------------------*/
+void MTXInitStack ( MtxStack *sPtr, u32 numMtx );
+MtxPtr MTXPush ( MtxStack *sPtr, const Mtx m );
+MtxPtr MTXPushFwd ( MtxStack *sPtr, const Mtx m );
+MtxPtr MTXPushInv ( MtxStack *sPtr, const Mtx m );
+MtxPtr MTXPushInvXpose ( MtxStack *sPtr, const Mtx m );
+MtxPtr MTXPop ( MtxStack *sPtr );
+MtxPtr MTXGetStackPtr ( const MtxStack *sPtr );
+
+
+// macro to create a matrix stack.
+// the macro exposes the use of OSAlloc() for
+// ease of replacement if desired.
+#define MTXAllocStack( sPtr, numMtx ) ( ((MtxStackPtr)(sPtr))->stackBase = (MtxPtr)OSAlloc( ( (numMtx) * sizeof(Mtx) ) ) )
+
+// macro to free a matrix stack
+#define MTXFreeStack( sPtr ) ( OSFree( (void*)( ((MtxStackPtr)(sPtr))->stackBase ) ) )
+
+
+/*---------------------------------------------------------------------------*/
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __MTX_H__
+
+/*===========================================================================*/
+
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