4x4 matrix functions

Macros
#define	Mat3toMat4(a, b)
#define	Mat4Add(a, b, c)
#define	Mat4Blend(m1, m2, b, m)
#define	Mat4CompMult(a, b, c)
#define	Mat4Copy(a, b)
#define	Mat4Expand(a)
#define	Mat4Identity(a)
#define	Mat4MultAdd(a, s, b, c)
#define	Mat4Scale(a, b, c)
#define	Mat4Subtract(a, b, c)
#define	Mat4Trace(a)   ((a)[0] + (a)[5] + (a)[10] + (a)[15])
#define	Mat4Zero(a)   memset ((a), 0, 16 * sizeof (a)[0])

Functions
void	Mat4as3MultVec (const mat4_t a, const vec3_t b, vec3_t c)
int	Mat4Decompose (const mat4_t mat, quat_t rot, vec3_t shear, vec3_t scale, vec3_t trans)
	Decompose a 4x4 column major matrix into its component transformations. More...
void	Mat4Init (const quat_t rot, const vec3_t scale, const vec3_t trans, mat4_t mat)
int	Mat4Inverse (const mat4_t a, mat4_t b)
void	Mat4Mult (const mat4_t a, const mat4_t b, mat4_t c)
void	Mat4MultVec (const mat4_t a, const vec3_t b, vec3_t c)
void	Mat4Transpose (const mat4_t a, mat4_t b)

Detailed Description

Macro Definition Documentation

#define Mat3toMat4	(		a,
			b
	)

Value:

do { \
		VectorCopy ((a) + 0, (b) + 0); (b)[3] = 0; \
		VectorCopy ((a) + 3, (b) + 4); (b)[7] = 0; \
		VectorCopy ((a) + 6, (b) + 8); (b)[11] = 0; \
		QuatZero ((b) + 12); \
    } while (0)

#define Mat4Add	(		a,
			b,
			c
	)

Value:

do { \
		QuatAdd ((a) + 0, (b) + 0, (c) + 0); \
		QuatAdd ((a) + 4, (b) + 4, (c) + 4); \
		QuatAdd ((a) + 8, (b) + 8, (c) + 8); \
		QuatAdd ((a) + 12, (b) + 12, (c) + 12); \
    } while (0)

#define Mat4Blend	(		m1,
			m2,
			b,
			m
	)

Value:

do { \
		QuatBlend ((m1) + 0, (m2) + 0, (b), (m) + 0); \
		QuatBlend ((m1) + 4, (m2) + 4, (b), (m) + 4); \
		QuatBlend ((m1) + 8, (m2) + 8, (b), (m) + 8); \
		QuatBlend ((m1) + 12, (m2) + 12, (b), (m) + 12); \
    } while (0)

#define Mat4CompMult	(		a,
			b,
			c
	)

Value:

do { \
		QuatCompMult ((a) + 0, (b) + 0, (c) + 0); \
		QuatCompMult ((a) + 4, (b) + 4, (c) + 4); \
		QuatCompMult ((a) + 8, (b) + 8, (c) + 8); \
		QuatCompMult ((a) + 12, (b) + 12, (c) + 12); \
    } while (0)

#define Mat4Copy	(		a,
			b
	)

Value:

do { \
		QuatCopy ((a) + 0, (b) + 0); \
		QuatCopy ((a) + 4, (b) + 4); \
		QuatCopy ((a) + 8, (b) + 8); \
		QuatCopy ((a) + 12, (b) + 12); \
    } while (0)

#define Mat4Expand

(

a

)

Value:

QuatExpand ((a) + 0), \
	QuatExpand ((a) + 4), \
	QuatExpand ((a) + 8), \
	QuatExpand ((a) + 12)

#define Mat4Identity

(

a

)

Value:

do { \
		Mat4Zero (a); \
        (a)[15] = (a)[10] = (a)[5] = (a)[0] = 1; \
    } while (0)

#define Mat4MultAdd	(		a,
			s,
			b,
			c
	)

Value:

do { \
		QuatMultAdd ((a) + 0, s, (b) + 0, (c) + 0); \
		QuatMultAdd ((a) + 4, s, (b) + 4, (c) + 4); \
		QuatMultAdd ((a) + 8, s, (b) + 8, (c) + 8); \
		QuatMultAdd ((a) + 12, s, (b) + 12, (c) + 12); \
    } while (0)

#define Mat4Scale	(		a,
			b,
			c
	)

Value:

do { \
		QuatScale ((a) + 0, (b), (c) + 0); \
		QuatScale ((a) + 4, (b), (c) + 4); \
		QuatScale ((a) + 8, (b), (c) + 8); \
		QuatScale ((a) + 12, (b), (c) + 12); \
    } while (0)

#define Mat4Subtract	(		a,
			b,
			c
	)

Value:

do { \
		QuatSubtract ((a) + 0, (b) + 0, (c) + 0); \
		QuatSubtract ((a) + 4, (b) + 4, (c) + 4); \
		QuatSubtract ((a) + 8, (b) + 8, (c) + 8); \
		QuatSubtract ((a) + 12, (b) + 12, (c) + 12); \
    } while (0)

#define Mat4Trace

(

a

)

((a)[0] + (a)[5] + (a)[10] + (a)[15])

#define Mat4Zero

(

a

)

memset ((a), 0, 16 * sizeof (a)[0])

Function Documentation

void Mat4as3MultVec	(	const mat4_t	a,
		const vec3_t	b,
		vec3_t	c
	)

int Mat4Decompose	(	const mat4_t	mat,
		quat_t	rot,
		vec3_t	shear,
		vec3_t	scale,
		vec3_t	trans
	)

Decompose a 4x4 column major matrix into its component transformations.

This gives the matrix's rotation as a quaternion, shear (XY, XZ, YZ), scale, and translation. Using the following sequence will give the same result as multiplying v by mat.

QuatMultVec (rot, v, v); VectorShear (shear, v, v); VectorCompMult (scale, v, v); VectorAdd (trans, v, v);

void Mat4Init	(	const quat_t	rot,
		const vec3_t	scale,
		const vec3_t	trans,
		mat4_t	mat
	)

int Mat4Inverse	(	const mat4_t	a,
		mat4_t	b
	)

void Mat4Mult	(	const mat4_t	a,
		const mat4_t	b,
		mat4_t	c
	)

void Mat4MultVec	(	const mat4_t	a,
		const vec3_t	b,
		vec3_t	c
	)

void Mat4Transpose	(	const mat4_t	a,
		mat4_t	b
	)