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-rw-r--r--3rdparty/tinygl-0.4-ugfx/src/zmath.c275
1 files changed, 275 insertions, 0 deletions
diff --git a/3rdparty/tinygl-0.4-ugfx/src/zmath.c b/3rdparty/tinygl-0.4-ugfx/src/zmath.c
new file mode 100644
index 00000000..8ef48d48
--- /dev/null
+++ b/3rdparty/tinygl-0.4-ugfx/src/zmath.c
@@ -0,0 +1,275 @@
+/* Some simple mathematical functions. Don't look for some logic in
+ the function names :-) */
+
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include "zmath.h"
+
+
+/* ******* Gestion des matrices 4x4 ****** */
+
+void gl_M4_Id(M4 *a)
+{
+ int i,j;
+ for(i=0;i<4;i++)
+ for(j=0;j<4;j++)
+ if (i==j) a->m[i][j]=1.0; else a->m[i][j]=0.0;
+}
+
+int gl_M4_IsId(M4 *a)
+{
+ int i,j;
+ for(i=0;i<4;i++)
+ for(j=0;j<4;j++) {
+ if (i==j) {
+ if (a->m[i][j] != 1.0) return 0;
+ } else if (a->m[i][j] != 0.0) return 0;
+ }
+ return 1;
+}
+
+void gl_M4_Mul(M4 *c,M4 *a,M4 *b)
+{
+ int i,j,k;
+ float s;
+ for(i=0;i<4;i++)
+ for(j=0;j<4;j++) {
+ s=0.0;
+ for(k=0;k<4;k++) s+=a->m[i][k]*b->m[k][j];
+ c->m[i][j]=s;
+ }
+}
+
+/* c=c*a */
+void gl_M4_MulLeft(M4 *c,M4 *b)
+{
+ int i,j,k;
+ float s;
+ M4 a;
+
+ /*memcpy(&a, c, 16*sizeof(float));
+ */
+ a=*c;
+
+ for(i=0;i<4;i++)
+ for(j=0;j<4;j++) {
+ s=0.0;
+ for(k=0;k<4;k++) s+=a.m[i][k]*b->m[k][j];
+ c->m[i][j]=s;
+ }
+}
+
+void gl_M4_Move(M4 *a,M4 *b)
+{
+ memcpy(a,b,sizeof(M4));
+}
+
+void gl_MoveV3(V3 *a,V3 *b)
+{
+ memcpy(a,b,sizeof(V3));
+}
+
+
+void gl_MulM4V3(V3 *a,M4 *b,V3 *c)
+{
+ a->X=b->m[0][0]*c->X+b->m[0][1]*c->Y+b->m[0][2]*c->Z+b->m[0][3];
+ a->Y=b->m[1][0]*c->X+b->m[1][1]*c->Y+b->m[1][2]*c->Z+b->m[1][3];
+ a->Z=b->m[2][0]*c->X+b->m[2][1]*c->Y+b->m[2][2]*c->Z+b->m[2][3];
+}
+
+void gl_MulM3V3(V3 *a,M4 *b,V3 *c)
+{
+ a->X=b->m[0][0]*c->X+b->m[0][1]*c->Y+b->m[0][2]*c->Z;
+ a->Y=b->m[1][0]*c->X+b->m[1][1]*c->Y+b->m[1][2]*c->Z;
+ a->Z=b->m[2][0]*c->X+b->m[2][1]*c->Y+b->m[2][2]*c->Z;
+}
+
+void gl_M4_MulV4(V4 *a,M4 *b,V4 *c)
+{
+ a->X=b->m[0][0]*c->X+b->m[0][1]*c->Y+b->m[0][2]*c->Z+b->m[0][3]*c->W;
+ a->Y=b->m[1][0]*c->X+b->m[1][1]*c->Y+b->m[1][2]*c->Z+b->m[1][3]*c->W;
+ a->Z=b->m[2][0]*c->X+b->m[2][1]*c->Y+b->m[2][2]*c->Z+b->m[2][3]*c->W;
+ a->W=b->m[3][0]*c->X+b->m[3][1]*c->Y+b->m[3][2]*c->Z+b->m[3][3]*c->W;
+}
+
+/* transposition of a 4x4 matrix */
+void gl_M4_Transpose(M4 *a,M4 *b)
+{
+ a->m[0][0]=b->m[0][0];
+ a->m[0][1]=b->m[1][0];
+ a->m[0][2]=b->m[2][0];
+ a->m[0][3]=b->m[3][0];
+
+ a->m[1][0]=b->m[0][1];
+ a->m[1][1]=b->m[1][1];
+ a->m[1][2]=b->m[2][1];
+ a->m[1][3]=b->m[3][1];
+
+ a->m[2][0]=b->m[0][2];
+ a->m[2][1]=b->m[1][2];
+ a->m[2][2]=b->m[2][2];
+ a->m[2][3]=b->m[3][2];
+
+ a->m[3][0]=b->m[0][3];
+ a->m[3][1]=b->m[1][3];
+ a->m[3][2]=b->m[2][3];
+ a->m[3][3]=b->m[3][3];
+}
+
+/* inversion of an orthogonal matrix of type Y=M.X+P */
+void gl_M4_InvOrtho(M4 *a,M4 b)
+{
+ int i,j;
+ float s;
+ for(i=0;i<3;i++)
+ for(j=0;j<3;j++) a->m[i][j]=b.m[j][i];
+ a->m[3][0]=0.0; a->m[3][1]=0.0; a->m[3][2]=0.0; a->m[3][3]=1.0;
+ for(i=0;i<3;i++) {
+ s=0;
+ for(j=0;j<3;j++) s-=b.m[j][i]*b.m[j][3];
+ a->m[i][3]=s;
+ }
+}
+
+/* Inversion of a general nxn matrix.
+ Note : m is destroyed */
+
+int Matrix_Inv(float *r,float *m,int n)
+{
+ int i,j,k,l;
+ float max,tmp,t;
+
+ /* identitée dans r */
+ for(i=0;i<n*n;i++) r[i]=0;
+ for(i=0;i<n;i++) r[i*n+i]=1;
+
+ for(j=0;j<n;j++) {
+
+ /* recherche du nombre de plus grand module sur la colonne j */
+ max=m[j*n+j];
+ k=j;
+ for(i=j+1;i<n;i++)
+ if (fabs(m[i*n+j])>fabs(max)) {
+ k=i;
+ max=m[i*n+j];
+ }
+
+ /* non intersible matrix */
+ if (max==0) return 1;
+
+
+ /* permutation des lignes j et k */
+ if (k!=j) {
+ for(i=0;i<n;i++) {
+ tmp=m[j*n+i];
+ m[j*n+i]=m[k*n+i];
+ m[k*n+i]=tmp;
+
+ tmp=r[j*n+i];
+ r[j*n+i]=r[k*n+i];
+ r[k*n+i]=tmp;
+ }
+ }
+
+ /* multiplication de la ligne j par 1/max */
+ max=1/max;
+ for(i=0;i<n;i++) {
+ m[j*n+i]*=max;
+ r[j*n+i]*=max;
+ }
+
+
+ for(l=0;l<n;l++) if (l!=j) {
+ t=m[l*n+j];
+ for(i=0;i<n;i++) {
+ m[l*n+i]-=m[j*n+i]*t;
+ r[l*n+i]-=r[j*n+i]*t;
+ }
+ }
+ }
+
+ return 0;
+}
+
+
+/* inversion of a 4x4 matrix */
+
+void gl_M4_Inv(M4 *a,M4 *b)
+{
+ M4 tmp;
+ memcpy(&tmp, b, 16*sizeof(float));
+ /*tmp=*b;*/
+ Matrix_Inv(&a->m[0][0],&tmp.m[0][0],4);
+}
+
+void gl_M4_Rotate(M4 *a,float t,int u)
+{
+ float s,c;
+ int v,w;
+ if ((v=u+1)>2) v=0;
+ if ((w=v+1)>2) w=0;
+ s=sin(t);
+ c=cos(t);
+ gl_M4_Id(a);
+ a->m[v][v]=c; a->m[v][w]=-s;
+ a->m[w][v]=s; a->m[w][w]=c;
+}
+
+
+/* inverse of a 3x3 matrix */
+void gl_M3_Inv(M3 *a,M3 *m)
+{
+ float det;
+
+ det = m->m[0][0]*m->m[1][1]*m->m[2][2]-m->m[0][0]*m->m[1][2]*m->m[2][1]-
+ m->m[1][0]*m->m[0][1]*m->m[2][2]+m->m[1][0]*m->m[0][2]*m->m[2][1]+
+ m->m[2][0]*m->m[0][1]*m->m[1][2]-m->m[2][0]*m->m[0][2]*m->m[1][1];
+
+ a->m[0][0] = (m->m[1][1]*m->m[2][2]-m->m[1][2]*m->m[2][1])/det;
+ a->m[0][1] = -(m->m[0][1]*m->m[2][2]-m->m[0][2]*m->m[2][1])/det;
+ a->m[0][2] = -(-m->m[0][1]*m->m[1][2]+m->m[0][2]*m->m[1][1])/det;
+
+ a->m[1][0] = -(m->m[1][0]*m->m[2][2]-m->m[1][2]*m->m[2][0])/det;
+ a->m[1][1] = (m->m[0][0]*m->m[2][2]-m->m[0][2]*m->m[2][0])/det;
+ a->m[1][2] = -(m->m[0][0]*m->m[1][2]-m->m[0][2]*m->m[1][0])/det;
+
+ a->m[2][0] = (m->m[1][0]*m->m[2][1]-m->m[1][1]*m->m[2][0])/det;
+ a->m[2][1] = -(m->m[0][0]*m->m[2][1]-m->m[0][1]*m->m[2][0])/det;
+ a->m[2][2] = (m->m[0][0]*m->m[1][1]-m->m[0][1]*m->m[1][0])/det;
+}
+
+
+/* vector arithmetic */
+
+int gl_V3_Norm(V3 *a)
+{
+ float n;
+ n=sqrt(a->X*a->X+a->Y*a->Y+a->Z*a->Z);
+ if (n==0) return 1;
+ a->X/=n;
+ a->Y/=n;
+ a->Z/=n;
+ return 0;
+}
+
+V3 gl_V3_New(float x,float y,float z)
+{
+ V3 a;
+ a.X=x;
+ a.Y=y;
+ a.Z=z;
+ return a;
+}
+
+V4 gl_V4_New(float x,float y,float z,float w)
+{
+ V4 a;
+ a.X=x;
+ a.Y=y;
+ a.Z=z;
+ a.W=w;
+ return a;
+}
+
+
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