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Code-style consistency improvement:

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Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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349
examples/ThirdPartyLibs/glad/linmath.h
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@@ -7,43 +7,43 @@
#define inline __inline
#endif
#define LINMATH_H_DEFINE_VEC(n) \
typedef float vec##n[n]; \
static inline void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i] + b[i]; \
} \
static inline void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = a[i] - b[i]; \
} \
static inline void vec##n##_scale(vec##n r, vec##n const v, float const s) \
{ \
int i; \
for(i=0; i<n; ++i) \
r[i] = v[i] * s; \
} \
static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
{ \
float p = 0.; \
int i; \
for(i=0; i<n; ++i) \
p += b[i]*a[i]; \
return p; \
} \
static inline float vec##n##_len(vec##n const v) \
{ \
return (float) sqrt(vec##n##_mul_inner(v,v)); \
} \
static inline void vec##n##_norm(vec##n r, vec##n const v) \
{ \
float k = 1.f / vec##n##_len(v); \
vec##n##_scale(r, v, k); \
}
#define LINMATH_H_DEFINE_VEC(n) \
typedef float vec##n[n]; \
static inline void vec##n##_add(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for (i = 0; i < n; ++i) \
r[i] = a[i] + b[i]; \
} \
static inline void vec##n##_sub(vec##n r, vec##n const a, vec##n const b) \
{ \
int i; \
for (i = 0; i < n; ++i) \
r[i] = a[i] - b[i]; \
} \
static inline void vec##n##_scale(vec##n r, vec##n const v, float const s) \
{ \
int i; \
for (i = 0; i < n; ++i) \
r[i] = v[i] * s; \
} \
static inline float vec##n##_mul_inner(vec##n const a, vec##n const b) \
{ \
float p = 0.; \
int i; \
for (i = 0; i < n; ++i) \
p += b[i] * a[i]; \
return p; \
} \
static inline float vec##n##_len(vec##n const v) \
{ \
return (float)sqrt(vec##n##_mul_inner(v, v)); \
} \
static inline void vec##n##_norm(vec##n r, vec##n const v) \
{ \
float k = 1.f / vec##n##_len(v); \
vec##n##_scale(r, v, k); \
}
LINMATH_H_DEFINE_VEC(2)
LINMATH_H_DEFINE_VEC(3)
@@ -51,85 +51,85 @@ LINMATH_H_DEFINE_VEC(4)
static inline void vec3_mul_cross(vec3 r, vec3 const a, vec3 const b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
r[2] = a[0]*b[1] - a[1]*b[0];
r[0] = a[1] * b[2] - a[2] * b[1];
r[1] = a[2] * b[0] - a[0] * b[2];
r[2] = a[0] * b[1] - a[1] * b[0];
}
static inline void vec3_reflect(vec3 r, vec3 const v, vec3 const n)
{
float p = 2.f*vec3_mul_inner(v, n);
float p = 2.f * vec3_mul_inner(v, n);
int i;
for(i=0;i<3;++i)
r[i] = v[i] - p*n[i];
for (i = 0; i < 3; ++i)
r[i] = v[i] - p * n[i];
}
static inline void vec4_mul_cross(vec4 r, vec4 a, vec4 b)
{
r[0] = a[1]*b[2] - a[2]*b[1];
r[1] = a[2]*b[0] - a[0]*b[2];
r[2] = a[0]*b[1] - a[1]*b[0];
r[0] = a[1] * b[2] - a[2] * b[1];
r[1] = a[2] * b[0] - a[0] * b[2];
r[2] = a[0] * b[1] - a[1] * b[0];
r[3] = 1.f;
}
static inline void vec4_reflect(vec4 r, vec4 v, vec4 n)
{
float p = 2.f*vec4_mul_inner(v, n);
float p = 2.f * vec4_mul_inner(v, n);
int i;
for(i=0;i<4;++i)
r[i] = v[i] - p*n[i];
for (i = 0; i < 4; ++i)
r[i] = v[i] - p * n[i];
}
typedef vec4 mat4x4[4];
static inline void mat4x4_identity(mat4x4 M)
{
int i, j;
for(i=0; i<4; ++i)
for(j=0; j<4; ++j)
M[i][j] = i==j ? 1.f : 0.f;
for (i = 0; i < 4; ++i)
for (j = 0; j < 4; ++j)
M[i][j] = i == j ? 1.f : 0.f;
}
static inline void mat4x4_dup(mat4x4 M, mat4x4 N)
{
int i, j;
for(i=0; i<4; ++i)
for(j=0; j<4; ++j)
for (i = 0; i < 4; ++i)
for (j = 0; j < 4; ++j)
M[i][j] = N[i][j];
}
static inline void mat4x4_row(vec4 r, mat4x4 M, int i)
{
int k;
for(k=0; k<4; ++k)
for (k = 0; k < 4; ++k)
r[k] = M[k][i];
}
static inline void mat4x4_col(vec4 r, mat4x4 M, int i)
{
int k;
for(k=0; k<4; ++k)
for (k = 0; k < 4; ++k)
r[k] = M[i][k];
}
static inline void mat4x4_transpose(mat4x4 M, mat4x4 N)
{
int i, j;
for(j=0; j<4; ++j)
for(i=0; i<4; ++i)
for (j = 0; j < 4; ++j)
for (i = 0; i < 4; ++i)
M[i][j] = N[j][i];
}
static inline void mat4x4_add(mat4x4 M, mat4x4 a, mat4x4 b)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
vec4_add(M[i], a[i], b[i]);
}
static inline void mat4x4_sub(mat4x4 M, mat4x4 a, mat4x4 b)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
vec4_sub(M[i], a[i], b[i]);
}
static inline void mat4x4_scale(mat4x4 M, mat4x4 a, float k)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
vec4_scale(M[i], a[i], k);
}
static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, float z)
@@ -138,7 +138,8 @@ static inline void mat4x4_scale_aniso(mat4x4 M, mat4x4 a, float x, float y, floa
vec4_scale(M[0], a[0], x);
vec4_scale(M[1], a[1], y);
vec4_scale(M[2], a[2], z);
for(i = 0; i < 4; ++i) {
for (i = 0; i < 4; ++i)
{
M[3][i] = a[3][i];
}
}
@@ -146,19 +147,22 @@ static inline void mat4x4_mul(mat4x4 M, mat4x4 a, mat4x4 b)
{
mat4x4 temp;
int k, r, c;
for(c=0; c<4; ++c) for(r=0; r<4; ++r) {
temp[c][r] = 0.f;
for(k=0; k<4; ++k)
temp[c][r] += a[k][r] * b[c][k];
}
for (c = 0; c < 4; ++c)
for (r = 0; r < 4; ++r)
{
temp[c][r] = 0.f;
for (k = 0; k < 4; ++k)
temp[c][r] += a[k][r] * b[c][k];
}
mat4x4_dup(M, temp);
}
static inline void mat4x4_mul_vec4(vec4 r, mat4x4 M, vec4 v)
{
int i, j;
for(j=0; j<4; ++j) {
for (j = 0; j < 4; ++j)
{
r[j] = 0.f;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
r[j] += M[i][j] * v[i];
}
}
@@ -174,7 +178,8 @@ static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z
vec4 t = {x, y, z, 0};
vec4 r;
int i;
for (i = 0; i < 4; ++i) {
for (i = 0; i < 4; ++i)
{
mat4x4_row(r, M, i);
M[3][i] += vec4_mul_inner(r, t);
}
@@ -182,8 +187,9 @@ static inline void mat4x4_translate_in_place(mat4x4 M, float x, float y, float z
static inline void mat4x4_from_vec3_mul_outer(mat4x4 M, vec3 a, vec3 b)
{
int i, j;
for(i=0; i<4; ++i) for(j=0; j<4; ++j)
M[i][j] = i<3 && j<3 ? a[i] * b[j] : 0.f;
for (i = 0; i < 4; ++i)
for (j = 0; j < 4; ++j)
M[i][j] = i < 3 && j < 3 ? a[i] * b[j] : 0.f;
}
static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z, float angle)
{
@@ -191,17 +197,18 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
float c = cosf(angle);
vec3 u = {x, y, z};
if(vec3_len(u) > 1e-4) {
if (vec3_len(u) > 1e-4)
{
mat4x4 T, C, S = {{0}};
vec3_norm(u, u);
mat4x4_from_vec3_mul_outer(T, u, u);
S[1][2] = u[0];
S[1][2] = u[0];
S[2][1] = -u[0];
S[2][0] = u[1];
S[2][0] = u[1];
S[0][2] = -u[1];
S[0][1] = u[2];
S[0][1] = u[2];
S[1][0] = -u[2];
mat4x4_scale(S, S, s);
@@ -216,7 +223,9 @@ static inline void mat4x4_rotate(mat4x4 R, mat4x4 M, float x, float y, float z,
T[3][3] = 1.;
mat4x4_mul(R, M, T);
} else {
}
else
{
mat4x4_dup(R, M);
}
}
@@ -226,10 +235,9 @@ static inline void mat4x4_rotate_X(mat4x4 Q, mat4x4 M, float angle)
float c = cosf(angle);
mat4x4 R = {
{1.f, 0.f, 0.f, 0.f},
{0.f, c, s, 0.f},
{0.f, -s, c, 0.f},
{0.f, 0.f, 0.f, 1.f}
};
{0.f, c, s, 0.f},
{0.f, -s, c, 0.f},
{0.f, 0.f, 0.f, 1.f}};
mat4x4_mul(Q, M, R);
}
static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
@@ -237,11 +245,10 @@ static inline void mat4x4_rotate_Y(mat4x4 Q, mat4x4 M, float angle)
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
{ c, 0.f, s, 0.f},
{ 0.f, 1.f, 0.f, 0.f},
{ -s, 0.f, c, 0.f},
{ 0.f, 0.f, 0.f, 1.f}
};
{c, 0.f, s, 0.f},
{0.f, 1.f, 0.f, 0.f},
{-s, 0.f, c, 0.f},
{0.f, 0.f, 0.f, 1.f}};
mat4x4_mul(Q, M, R);
}
static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
@@ -249,11 +256,10 @@ static inline void mat4x4_rotate_Z(mat4x4 Q, mat4x4 M, float angle)
float s = sinf(angle);
float c = cosf(angle);
mat4x4 R = {
{ c, s, 0.f, 0.f},
{ -s, c, 0.f, 0.f},
{ 0.f, 0.f, 1.f, 0.f},
{ 0.f, 0.f, 0.f, 1.f}
};
{c, s, 0.f, 0.f},
{-s, c, 0.f, 0.f},
{0.f, 0.f, 1.f, 0.f},
{0.f, 0.f, 0.f, 1.f}};
mat4x4_mul(Q, M, R);
}
static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
@@ -261,42 +267,42 @@ static inline void mat4x4_invert(mat4x4 T, mat4x4 M)
float idet;
float s[6];
float c[6];
s[0] = M[0][0]*M[1][1] - M[1][0]*M[0][1];
s[1] = M[0][0]*M[1][2] - M[1][0]*M[0][2];
s[2] = M[0][0]*M[1][3] - M[1][0]*M[0][3];
s[3] = M[0][1]*M[1][2] - M[1][1]*M[0][2];
s[4] = M[0][1]*M[1][3] - M[1][1]*M[0][3];
s[5] = M[0][2]*M[1][3] - M[1][2]*M[0][3];
s[0] = M[0][0] * M[1][1] - M[1][0] * M[0][1];
s[1] = M[0][0] * M[1][2] - M[1][0] * M[0][2];
s[2] = M[0][0] * M[1][3] - M[1][0] * M[0][3];
s[3] = M[0][1] * M[1][2] - M[1][1] * M[0][2];
s[4] = M[0][1] * M[1][3] - M[1][1] * M[0][3];
s[5] = M[0][2] * M[1][3] - M[1][2] * M[0][3];
c[0] = M[2][0]*M[3][1] - M[3][0]*M[2][1];
c[1] = M[2][0]*M[3][2] - M[3][0]*M[2][2];
c[2] = M[2][0]*M[3][3] - M[3][0]*M[2][3];
c[3] = M[2][1]*M[3][2] - M[3][1]*M[2][2];
c[4] = M[2][1]*M[3][3] - M[3][1]*M[2][3];
c[5] = M[2][2]*M[3][3] - M[3][2]*M[2][3];
c[0] = M[2][0] * M[3][1] - M[3][0] * M[2][1];
c[1] = M[2][0] * M[3][2] - M[3][0] * M[2][2];
c[2] = M[2][0] * M[3][3] - M[3][0] * M[2][3];
c[3] = M[2][1] * M[3][2] - M[3][1] * M[2][2];
c[4] = M[2][1] * M[3][3] - M[3][1] * M[2][3];
c[5] = M[2][2] * M[3][3] - M[3][2] * M[2][3];
/* Assumes it is invertible */
idet = 1.0f/( s[0]*c[5]-s[1]*c[4]+s[2]*c[3]+s[3]*c[2]-s[4]*c[1]+s[5]*c[0] );
idet = 1.0f / (s[0] * c[5] - s[1] * c[4] + s[2] * c[3] + s[3] * c[2] - s[4] * c[1] + s[5] * c[0]);
T[0][0] = ( M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
T[0][0] = (M[1][1] * c[5] - M[1][2] * c[4] + M[1][3] * c[3]) * idet;
T[0][1] = (-M[0][1] * c[5] + M[0][2] * c[4] - M[0][3] * c[3]) * idet;
T[0][2] = ( M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
T[0][2] = (M[3][1] * s[5] - M[3][2] * s[4] + M[3][3] * s[3]) * idet;
T[0][3] = (-M[2][1] * s[5] + M[2][2] * s[4] - M[2][3] * s[3]) * idet;
T[1][0] = (-M[1][0] * c[5] + M[1][2] * c[2] - M[1][3] * c[1]) * idet;
T[1][1] = ( M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet;
T[1][1] = (M[0][0] * c[5] - M[0][2] * c[2] + M[0][3] * c[1]) * idet;
T[1][2] = (-M[3][0] * s[5] + M[3][2] * s[2] - M[3][3] * s[1]) * idet;
T[1][3] = ( M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet;
T[1][3] = (M[2][0] * s[5] - M[2][2] * s[2] + M[2][3] * s[1]) * idet;
T[2][0] = ( M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet;
T[2][0] = (M[1][0] * c[4] - M[1][1] * c[2] + M[1][3] * c[0]) * idet;
T[2][1] = (-M[0][0] * c[4] + M[0][1] * c[2] - M[0][3] * c[0]) * idet;
T[2][2] = ( M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet;
T[2][2] = (M[3][0] * s[4] - M[3][1] * s[2] + M[3][3] * s[0]) * idet;
T[2][3] = (-M[2][0] * s[4] + M[2][1] * s[2] - M[2][3] * s[0]) * idet;
T[3][0] = (-M[1][0] * c[3] + M[1][1] * c[1] - M[1][2] * c[0]) * idet;
T[3][1] = ( M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet;
T[3][1] = (M[0][0] * c[3] - M[0][1] * c[1] + M[0][2] * c[0]) * idet;
T[3][2] = (-M[3][0] * s[3] + M[3][1] * s[1] - M[3][2] * s[0]) * idet;
T[3][3] = ( M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
T[3][3] = (M[2][0] * s[3] - M[2][1] * s[1] + M[2][2] * s[0]) * idet;
}
static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
{
@@ -324,41 +330,41 @@ static inline void mat4x4_orthonormalize(mat4x4 R, mat4x4 M)
static inline void mat4x4_frustum(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
M[0][0] = 2.f*n/(r-l);
M[0][0] = 2.f * n / (r - l);
M[0][1] = M[0][2] = M[0][3] = 0.f;
M[1][1] = 2.f*n/(t-b);
M[1][1] = 2.f * n / (t - b);
M[1][0] = M[1][2] = M[1][3] = 0.f;
M[2][0] = (r+l)/(r-l);
M[2][1] = (t+b)/(t-b);
M[2][2] = -(f+n)/(f-n);
M[2][0] = (r + l) / (r - l);
M[2][1] = (t + b) / (t - b);
M[2][2] = -(f + n) / (f - n);
M[2][3] = -1.f;
M[3][2] = -2.f*(f*n)/(f-n);
M[3][2] = -2.f * (f * n) / (f - n);
M[3][0] = M[3][1] = M[3][3] = 0.f;
}
static inline void mat4x4_ortho(mat4x4 M, float l, float r, float b, float t, float n, float f)
{
M[0][0] = 2.f/(r-l);
M[0][0] = 2.f / (r - l);
M[0][1] = M[0][2] = M[0][3] = 0.f;
M[1][1] = 2.f/(t-b);
M[1][1] = 2.f / (t - b);
M[1][0] = M[1][2] = M[1][3] = 0.f;
M[2][2] = -2.f/(f-n);
M[2][2] = -2.f / (f - n);
M[2][0] = M[2][1] = M[2][3] = 0.f;
M[3][0] = -(r+l)/(r-l);
M[3][1] = -(t+b)/(t-b);
M[3][2] = -(f+n)/(f-n);
M[3][0] = -(r + l) / (r - l);
M[3][1] = -(t + b) / (t - b);
M[3][2] = -(f + n) / (f - n);
M[3][3] = 1.f;
}
static inline void mat4x4_perspective(mat4x4 m, float y_fov, float aspect, float n, float f)
{
/* NOTE: Degrees are an unhandy unit to work with.
* linmath.h uses radians for everything! */
float const a = 1.f / (float) tan(y_fov / 2.f);
float const a = 1.f / (float)tan(y_fov / 2.f);
m[0][0] = a / aspect;
m[0][1] = 0.f;
@@ -400,25 +406,25 @@ static inline void mat4x4_look_at(mat4x4 m, vec3 eye, vec3 center, vec3 up)
vec3_mul_cross(t, s, f);
m[0][0] = s[0];
m[0][1] = t[0];
m[0][0] = s[0];
m[0][1] = t[0];
m[0][2] = -f[0];
m[0][3] = 0.f;
m[0][3] = 0.f;
m[1][0] = s[1];
m[1][1] = t[1];
m[1][0] = s[1];
m[1][1] = t[1];
m[1][2] = -f[1];
m[1][3] = 0.f;
m[1][3] = 0.f;
m[2][0] = s[2];
m[2][1] = t[2];
m[2][0] = s[2];
m[2][1] = t[2];
m[2][2] = -f[2];
m[2][3] = 0.f;
m[2][3] = 0.f;
m[3][0] = 0.f;
m[3][1] = 0.f;
m[3][2] = 0.f;
m[3][3] = 1.f;
m[3][0] = 0.f;
m[3][1] = 0.f;
m[3][2] = 0.f;
m[3][3] = 1.f;
mat4x4_translate_in_place(m, -eye[0], -eye[1], -eye[2]);
}
@@ -432,13 +438,13 @@ static inline void quat_identity(quat q)
static inline void quat_add(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
r[i] = a[i] + b[i];
}
static inline void quat_sub(quat r, quat a, quat b)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
r[i] = a[i] - b[i];
}
static inline void quat_mul(quat r, quat p, quat q)
@@ -449,41 +455,42 @@ static inline void quat_mul(quat r, quat p, quat q)
vec3_add(r, r, w);
vec3_scale(w, q, p[3]);
vec3_add(r, r, w);
r[3] = p[3]*q[3] - vec3_mul_inner(p, q);
r[3] = p[3] * q[3] - vec3_mul_inner(p, q);
}
static inline void quat_scale(quat r, quat v, float s)
{
int i;
for(i=0; i<4; ++i)
for (i = 0; i < 4; ++i)
r[i] = v[i] * s;
}
static inline float quat_inner_product(quat a, quat b)
{
float p = 0.f;
int i;
for(i=0; i<4; ++i)
p += b[i]*a[i];
for (i = 0; i < 4; ++i)
p += b[i] * a[i];
return p;
}
static inline void quat_conj(quat r, quat q)
{
int i;
for(i=0; i<3; ++i)
for (i = 0; i < 3; ++i)
r[i] = -q[i];
r[3] = q[3];
}
static inline void quat_rotate(quat r, float angle, vec3 axis) {
static inline void quat_rotate(quat r, float angle, vec3 axis)
{
int i;
vec3 v;
vec3_scale(v, axis, sinf(angle / 2));
for(i=0; i<3; ++i)
for (i = 0; i < 3; ++i)
r[i] = v[i];
r[3] = cosf(angle / 2);
}
#define quat_norm vec4_norm
static inline void quat_mul_vec3(vec3 r, quat q, vec3 v)
{
/*
/*
* Method by Fabian 'ryg' Giessen (of Farbrausch)
t = 2 * cross(q.xyz, v)
v' = v + q.w * t + cross(q.xyz, t)
@@ -506,23 +513,23 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q)
float b = q[0];
float c = q[1];
float d = q[2];
float a2 = a*a;
float b2 = b*b;
float c2 = c*c;
float d2 = d*d;
float a2 = a * a;
float b2 = b * b;
float c2 = c * c;
float d2 = d * d;
M[0][0] = a2 + b2 - c2 - d2;
M[0][1] = 2.f*(b*c + a*d);
M[0][2] = 2.f*(b*d - a*c);
M[0][1] = 2.f * (b * c + a * d);
M[0][2] = 2.f * (b * d - a * c);
M[0][3] = 0.f;
M[1][0] = 2*(b*c - a*d);
M[1][0] = 2 * (b * c - a * d);
M[1][1] = a2 - b2 + c2 - d2;
M[1][2] = 2.f*(c*d + a*b);
M[1][2] = 2.f * (c * d + a * b);
M[1][3] = 0.f;
M[2][0] = 2.f*(b*d + a*c);
M[2][1] = 2.f*(c*d - a*b);
M[2][0] = 2.f * (b * d + a * c);
M[2][1] = 2.f * (c * d - a * b);
M[2][2] = a2 - b2 - c2 + d2;
M[2][3] = 0.f;
@@ -532,8 +539,8 @@ static inline void mat4x4_from_quat(mat4x4 M, quat q)
static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
{
/* XXX: The way this is written only works for othogonal matrices. */
/* TODO: Take care of non-orthogonal case. */
/* XXX: The way this is written only works for othogonal matrices. */
/* TODO: Take care of non-orthogonal case. */
quat_mul_vec3(R[0], q, M[0]);
quat_mul_vec3(R[1], q, M[1]);
quat_mul_vec3(R[2], q, M[2]);
@@ -543,32 +550,34 @@ static inline void mat4x4o_mul_quat(mat4x4 R, mat4x4 M, quat q)
}
static inline void quat_from_mat4x4(quat q, mat4x4 M)
{
float r=0.f;
float r = 0.f;
int i;
int perm[] = { 0, 1, 2, 0, 1 };
int perm[] = {0, 1, 2, 0, 1};
int *p = perm;
for(i = 0; i<3; i++) {
for (i = 0; i < 3; i++)
{
float m = M[i][i];
if( m < r )
if (m < r)
continue;
m = r;
p = &perm[i];
}
r = (float) sqrt(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]] );
r = (float)sqrt(1.f + M[p[0]][p[0]] - M[p[1]][p[1]] - M[p[2]][p[2]]);
if(r < 1e-6) {
if (r < 1e-6)
{
q[0] = 1.f;
q[1] = q[2] = q[3] = 0.f;
return;
}
q[0] = r/2.f;
q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]])/(2.f*r);
q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]])/(2.f*r);
q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]])/(2.f*r);
q[0] = r / 2.f;
q[1] = (M[p[0]][p[1]] - M[p[1]][p[0]]) / (2.f * r);
q[2] = (M[p[2]][p[0]] - M[p[0]][p[2]]) / (2.f * r);
q[3] = (M[p[2]][p[1]] - M[p[1]][p[2]]) / (2.f * r);
}
#endif