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Diffstat (limited to '3rdparty/bx/src/fpumath.cpp')
-rw-r--r-- | 3rdparty/bx/src/fpumath.cpp | 100 |
1 files changed, 100 insertions, 0 deletions
diff --git a/3rdparty/bx/src/fpumath.cpp b/3rdparty/bx/src/fpumath.cpp new file mode 100644 index 00000000000..da463e08767 --- /dev/null +++ b/3rdparty/bx/src/fpumath.cpp @@ -0,0 +1,100 @@ +/* + * Copyright 2011-2017 Branimir Karadzic. All rights reserved. + * License: https://github.com/bkaradzic/bx#license-bsd-2-clause + */ + +#include <bx/fpumath.h> + +namespace bx +{ + const float pi = 3.14159265358979323846f; + const float invPi = 1.0f/3.14159265358979323846f; + const float piHalf = 1.57079632679489661923f; + const float sqrt2 = 1.41421356237309504880f; +#if BX_COMPILER_MSVC + const float huge = float(HUGE_VAL); +#else + const float huge = HUGE_VALF; +#endif // BX_COMPILER_MSVC + + void mtx3Inverse(float* __restrict _result, const float* __restrict _a) + { + float xx = _a[0]; + float xy = _a[1]; + float xz = _a[2]; + float yx = _a[3]; + float yy = _a[4]; + float yz = _a[5]; + float zx = _a[6]; + float zy = _a[7]; + float zz = _a[8]; + + float det = 0.0f; + det += xx * (yy*zz - yz*zy); + det -= xy * (yx*zz - yz*zx); + det += xz * (yx*zy - yy*zx); + + float invDet = 1.0f/det; + + _result[0] = +(yy*zz - yz*zy) * invDet; + _result[1] = -(xy*zz - xz*zy) * invDet; + _result[2] = +(xy*yz - xz*yy) * invDet; + + _result[3] = -(yx*zz - yz*zx) * invDet; + _result[4] = +(xx*zz - xz*zx) * invDet; + _result[5] = -(xx*yz - xz*yx) * invDet; + + _result[6] = +(yx*zy - yy*zx) * invDet; + _result[7] = -(xx*zy - xy*zx) * invDet; + _result[8] = +(xx*yy - xy*yx) * invDet; + } + + void mtxInverse(float* __restrict _result, const float* __restrict _a) + { + float xx = _a[ 0]; + float xy = _a[ 1]; + float xz = _a[ 2]; + float xw = _a[ 3]; + float yx = _a[ 4]; + float yy = _a[ 5]; + float yz = _a[ 6]; + float yw = _a[ 7]; + float zx = _a[ 8]; + float zy = _a[ 9]; + float zz = _a[10]; + float zw = _a[11]; + float wx = _a[12]; + float wy = _a[13]; + float wz = _a[14]; + float ww = _a[15]; + + float det = 0.0f; + det += xx * (yy*(zz*ww - zw*wz) - yz*(zy*ww - zw*wy) + yw*(zy*wz - zz*wy) ); + det -= xy * (yx*(zz*ww - zw*wz) - yz*(zx*ww - zw*wx) + yw*(zx*wz - zz*wx) ); + det += xz * (yx*(zy*ww - zw*wy) - yy*(zx*ww - zw*wx) + yw*(zx*wy - zy*wx) ); + det -= xw * (yx*(zy*wz - zz*wy) - yy*(zx*wz - zz*wx) + yz*(zx*wy - zy*wx) ); + + float invDet = 1.0f/det; + + _result[ 0] = +(yy*(zz*ww - wz*zw) - yz*(zy*ww - wy*zw) + yw*(zy*wz - wy*zz) ) * invDet; + _result[ 1] = -(xy*(zz*ww - wz*zw) - xz*(zy*ww - wy*zw) + xw*(zy*wz - wy*zz) ) * invDet; + _result[ 2] = +(xy*(yz*ww - wz*yw) - xz*(yy*ww - wy*yw) + xw*(yy*wz - wy*yz) ) * invDet; + _result[ 3] = -(xy*(yz*zw - zz*yw) - xz*(yy*zw - zy*yw) + xw*(yy*zz - zy*yz) ) * invDet; + + _result[ 4] = -(yx*(zz*ww - wz*zw) - yz*(zx*ww - wx*zw) + yw*(zx*wz - wx*zz) ) * invDet; + _result[ 5] = +(xx*(zz*ww - wz*zw) - xz*(zx*ww - wx*zw) + xw*(zx*wz - wx*zz) ) * invDet; + _result[ 6] = -(xx*(yz*ww - wz*yw) - xz*(yx*ww - wx*yw) + xw*(yx*wz - wx*yz) ) * invDet; + _result[ 7] = +(xx*(yz*zw - zz*yw) - xz*(yx*zw - zx*yw) + xw*(yx*zz - zx*yz) ) * invDet; + + _result[ 8] = +(yx*(zy*ww - wy*zw) - yy*(zx*ww - wx*zw) + yw*(zx*wy - wx*zy) ) * invDet; + _result[ 9] = -(xx*(zy*ww - wy*zw) - xy*(zx*ww - wx*zw) + xw*(zx*wy - wx*zy) ) * invDet; + _result[10] = +(xx*(yy*ww - wy*yw) - xy*(yx*ww - wx*yw) + xw*(yx*wy - wx*yy) ) * invDet; + _result[11] = -(xx*(yy*zw - zy*yw) - xy*(yx*zw - zx*yw) + xw*(yx*zy - zx*yy) ) * invDet; + + _result[12] = -(yx*(zy*wz - wy*zz) - yy*(zx*wz - wx*zz) + yz*(zx*wy - wx*zy) ) * invDet; + _result[13] = +(xx*(zy*wz - wy*zz) - xy*(zx*wz - wx*zz) + xz*(zx*wy - wx*zy) ) * invDet; + _result[14] = -(xx*(yy*wz - wy*yz) - xy*(yx*wz - wx*yz) + xz*(yx*wy - wx*yy) ) * invDet; + _result[15] = +(xx*(yy*zz - zy*yz) - xy*(yx*zz - zx*yz) + xz*(yx*zy - zx*yy) ) * invDet; + } + +} // namespace bx |