Unify matrix functionality

Kode · Sep 16, 2024 · 244e691 · 244e691
1 parent a83e0c8
commit 244e691
Showing 1 changed file with 68 additions and 0 deletions.
diff --git a/Sources/kinc/math/matrix.h b/Sources/kinc/math/matrix.h
@@ -35,7 +35,12 @@ KINC_FUNC float kinc_matrix4x4_get(kinc_matrix4x4_t *matrix, int x, int y);
 KINC_FUNC void kinc_matrix4x4_set(kinc_matrix4x4_t *matrix, int x, int y, float value);
 KINC_FUNC void kinc_matrix4x4_transpose(kinc_matrix4x4_t *matrix);
 KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_identity(void);
+KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_rotation_x(float alpha);
+KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_rotation_y(float alpha);
+KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_rotation_z(float alpha);
+KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_translation(float x, float y, float z);
 KINC_FUNC kinc_matrix4x4_t kinc_matrix4x4_multiply(kinc_matrix4x4_t *a, kinc_matrix4x4_t *b);
+KINC_FUNC kinc_vector4_t kinc_matrix4x4_multiply_vector(kinc_matrix4x4_t *a, kinc_vector4_t b);
 
 #ifdef KINC_IMPLEMENTATION_MATH
 #define KINC_IMPLEMENTATION
@@ -188,6 +193,47 @@ kinc_matrix4x4_t kinc_matrix4x4_identity(void) {
  return m;
 }
 
+kinc_matrix4x4_t kinc_matrix4x4_rotation_x(float alpha) {
+ kinc_matrix4x4_t m = kinc_matrix4x4_identity();
+ float ca = cosf(alpha);
+ float sa = sinf(alpha);
+ kinc_matrix4x4_set(&m, 1, 1, ca);
+ kinc_matrix4x4_set(&m, 2, 1, -sa);
+ kinc_matrix4x4_set(&m, 1, 2, sa);
+ kinc_matrix4x4_set(&m, 2, 2, ca);
+ return m;
+}
+
+kinc_matrix4x4_t kinc_matrix4x4_rotation_y(float alpha) {
+ kinc_matrix4x4_t m = kinc_matrix4x4_identity();
+ float ca = cosf(alpha);
+ float sa = sinf(alpha);
+ kinc_matrix4x4_set(&m, 0, 0, ca);
+ kinc_matrix4x4_set(&m, 2, 0, sa);
+ kinc_matrix4x4_set(&m, 0, 2, -sa);
+ kinc_matrix4x4_set(&m, 2, 2, ca);
+ return m;
+}
+
+kinc_matrix4x4_t kinc_matrix4x4_rotation_z(float alpha) {
+ kinc_matrix4x4_t m = kinc_matrix4x4_identity();
+ float ca = cosf(alpha);
+ float sa = sinf(alpha);
+ kinc_matrix4x4_set(&m, 0, 0, ca);
+ kinc_matrix4x4_set(&m, 1, 0, -sa);
+ kinc_matrix4x4_set(&m, 0, 1, sa);
+ kinc_matrix4x4_set(&m, 1, 1, ca);
+ return m;
+}
+
+kinc_matrix4x4_t kinc_matrix4x4_translation(float x, float y, float z) {
+ kinc_matrix4x4_t m = kinc_matrix4x4_identity();
+ kinc_matrix4x4_set(&m, 3, 0, x);
+ kinc_matrix4x4_set(&m, 3, 1, y);
+ kinc_matrix4x4_set(&m, 3, 2, z);
+ return m;
+}
+
 kinc_matrix4x4_t kinc_matrix4x4_multiply(kinc_matrix4x4_t *a, kinc_matrix4x4_t *b) {
  kinc_matrix4x4_t result;
  for (unsigned x = 0; x < 4; ++x)
@@ -201,6 +247,28 @@ kinc_matrix4x4_t kinc_matrix4x4_multiply(kinc_matrix4x4_t *a, kinc_matrix4x4_t *
  return result;
 }
 
+static float vector4_get(kinc_vector4_t vec, int index) {
+ float *values = (float *)&vec;
+ return values[index];
+}
+
+static void vector4_set(kinc_vector4_t *vec, int index, float value) {
+ float *values = (float *)vec;
+ values[index] = value;
+}
+
+kinc_vector4_t kinc_matrix4x4_multiply_vector(kinc_matrix4x4_t *a, kinc_vector4_t b) {
+ kinc_vector4_t product;
+ for (unsigned y = 0; y < 4; ++y) {
+ float t = 0;
+ for (unsigned x = 0; x < 4; ++x) {
+ t += kinc_matrix4x4_get(a, x, y) * vector4_get(b, x);
+ }
+ vector4_set(&product, y, t);
+ }
+ return product;
+}
+
 #endif
 
 #ifdef __cplusplus