C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.

cc

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57

27 May 2013 09:15

//----------------------------------------------------------------------------// Copyright (c) 2013 GarageGames, LLC

//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//----------------------------------------------------------------------------#include "math/mMath.h"
#include <math.h>
// Caution!!! Possible platform specific include

//-----------------------------------------------------------------------------// C version of Math Library

// asm externals
extern "C" {
S32 m_mulDivS32_ASM( S32 a, S32 b, S32 c );
U32 m_mulDivU32_ASM( U32 a, U32 b, U32 c );
F32 m_fmod_ASM(F32 val, F32 modulo);
F32 m_fmodD_ASM(F64 val, F64 modulo);
void m_sincos_ASM( F32 angle, F32 *s, F32 *c );
void m_sincosD_ASM( F64 angle, F64 *s, F64 *c );
}
//-------------------------------------static S32 m_mulDivS32_C(S32 a, S32 b, S32 c)
{
// S64/U64 support in most 32-bit compilers generate
// horrible code, the C version are here just for porting
// assembly implementation is recommended
return (S32) ((S64)a*(S64)b) / (S64)c;
}
static U32 m_mulDivU32_C(S32 a, S32 b, U32 c)
{
return (U32) ((S64)a*(S64)b) / (U64)c;
}

//--------------------------------------1-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114

27 May 2013 09:15

static F32 m_catmullrom_C(F32 t, F32 p0, F32 p1, F32 p2, F32 p3)
{
return 0.5f * ((3.0f*p1 - 3.0f*p2 + p3 - p0)*t*t*t
+ (2.0f*p0 - 5.0f*p1 + 4.0f*p2 - p3)*t*t
+ (p2-p0)*t
+ 2.0f*p1);
}

//-------------------------------------static void m_point2F_normalize_C(F32 *p)

{
F32 factor = 1.0f / mSqrt(p[0]*p[0] + p[1]*p[1] );
p[0] *= factor;
p[1] *= factor;
}
//-------------------------------------static void m_point2F_normalize_f_C(F32 *p, F32 val)
{
F32 factor = val / mSqrt(p[0]*p[0] + p[1]*p[1] );
p[0] *= factor;
p[1] *= factor;
}
//-------------------------------------static void m_point2D_normalize_C(F64 *p)
{
F64 factor = 1.0f / mSqrtD(p[0]*p[0] + p[1]*p[1] );
p[0] *= factor;
p[1] *= factor;
}
//-------------------------------------static void m_point2D_normalize_f_C(F64 *p, F64 val)
{
F64 factor = val / mSqrtD(p[0]*p[0] + p[1]*p[1] );
p[0] *= factor;
p[1] *= factor;
}
//-------------------------------------static void m_point3D_normalize_f_C(F64 *p, F64 val)
{
F64 factor = val / mSqrtD(p[0]*p[0] + p[1]*p[1] + p[2]*p[2]);
p[0] *= factor;
p[1] *= factor;
p[2] *= factor;
}
//-------------------------------------static void m_point3F_normalize_C(F32 *p)
{
F32 squared = p[0]*p[0] + p[1]*p[1] + p[2]*p[2];
// This can happen in Container::castRay -> ForceFieldBare::castRay
//AssertFatal(squared != 0.0, "Error, zero length vector normalized!");
if (squared != 0.0) {
-2-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169

27 May 2013 09:15

F32 factor = 1.0f / mSqrt(squared);

p[0] *= factor;
p[1] *= factor;
p[2] *= factor;
} else {
p[0] = 0;
p[1] = 0;
p[2] = 1;
}
}
//-------------------------------------static void m_point3F_normalize_f_C(F32 *p, F32 val)
{
F32 factor = val / mSqrt(p[0]*p[0] + p[1]*p[1] + p[2]*p[2] );
p[0] *= factor;
p[1] *= factor;
p[2] *= factor;
}
//-------------------------------------static void m_point3F_interpolate_C(const F32 *from, const F32 *to, F32 factor, F32 *
result )
{
F32 inverse = 1.0f - factor;
result[0] = from[0] * inverse + to[0] * factor;
result[1] = from[1] * inverse + to[1] * factor;
result[2] = from[2] * inverse + to[2] * factor;
}
//-------------------------------------static void m_point3D_normalize_C(F64 *p)
{
F64 factor = 1.0f / mSqrtD(p[0]*p[0] + p[1]*p[1] + p[2]*p[2] );
p[0] *= factor;
p[1] *= factor;
p[2] *= factor;
}

//-------------------------------------static void m_point3D_interpolate_C(const F64 *from, const F64 *to, F64 factor, F64 *
result )
{
F64 inverse = 1.0f - factor;
result[0] = from[0] * inverse + to[0] * factor;
result[1] = from[1] * inverse + to[1] * factor;
result[2] = from[2] * inverse + to[2] * factor;
}

static void m_quatF_set_matF_C( F32 x, F32 y, F32 z, F32 w, F32* m )

{
#define qidx(r,c) (r*4 + c)
F32 xs = x * 2.0f;
F32 ys = y * 2.0f;
F32 zs = z * 2.0f;
-3-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226

F32 wx = w *
F32 wy = w *
F32 wz = w *
F32 xx = x *
F32 xy = x *
F32 xz = x *
F32 yy = y *
F32 yz = y *
F32 zz = z *
m[qidx(0,0)]
m[qidx(1,0)]
m[qidx(2,0)]
m[qidx(3,0)]
m[qidx(0,1)]
m[qidx(1,1)]
m[qidx(2,1)]
m[qidx(3,1)]
m[qidx(0,2)]
m[qidx(1,2)]
m[qidx(2,2)]
m[qidx(3,2)]
m[qidx(0,3)]
m[qidx(1,3)]
m[qidx(2,3)]
m[qidx(3,3)]
#undef qidx
}

27 May 2013 09:15

xs;
ys;
zs;
xs;
ys;
zs;
ys;
zs;
zs;
= 1.0f - (yy + zz);
= xy - wz;
= xz + wy;
= 0.0f;
= xy + wz;
= 1.0f - (xx + zz);
= yz - wx;
= 0.0f;
= xz - wy;
= yz + wx;
= 1.0f - (xx + yy);
= 0.0f;
=
=
=
=

0.0f;
0.0f;
0.0f;
1.0f;

//-------------------------------------static void m_matF_set_euler_C(const F32 *e, F32 *result)

{
enum {
AXIS_X
= (1<<0),
AXIS_Y
= (1<<1),
AXIS_Z
= (1<<2)
};
U32 axis
if (e[0]
if (e[1]
if (e[2]

= 0;
!= 0.0f) axis |= AXIS_X;
!= 0.0f) axis |= AXIS_Y;
!= 0.0f) axis |= AXIS_Z;

switch (axis)
{
case 0:
m_matF_identity(result);
break;
case AXIS_X:
{
F32 cx,sx;
mSinCos( e[0], sx, cx );
result[0] = 1.0f;
result[1] = 0.0f;
-4-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283

27 May 2013 09:15

result[2] = 0.0f;
result[3] = 0.0f;
result[4]
result[5]
result[6]
result[7]

=
=
=
=

0.0f;
cx;
sx;
0.0f;

result[8] =
result[9] =
result[10]=
result[11]=

0.0f;
-sx;
cx;
0.0f;

result[12]=
result[13]=
result[14]=
result[15]=
break;

0.0f;
0.0f;
0.0f;
1.0f;

}
case AXIS_Y:
{
F32 cy,sy;
mSinCos( e[1], sy, cy );
result[0]
result[1]
result[2]
result[3]

=
=
=
=

cy;
0.0f;
-sy;
0.0f;

result[4]
result[5]
result[6]
result[7]

=
=
=
=

0.0f;
1.0f;
0.0f;
0.0f;

result[8] =
result[9] =
result[10]=
result[11]=

sy;
0.0f;
cy;
0.0f;

result[12]=
result[13]=
result[14]=
result[15]=
break;

0.0f;
0.0f;
0.0f;
1.0f;

}
case AXIS_Z:
{
// the matrix looks like this:
// r1 - (r4 * sin(x))
r2 + (r3 * sin(x))
// -cos(x) * sin(z)
cos(x) * cos(z)
// r3 + (r2 * sin(x))
r4 - (r1 * sin(x))
//
// where:
// r1 = cos(y) * cos(z)
// r2 = cos(y) * sin(z)
-5-

-cos(x) * sin(y)
sin(x)
cos(x) * cos(y)

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340

27 May 2013 09:15

// r3 = sin(y) * cos(z)
// r4 = sin(y) * sin(z)
F32 cz,sz;
mSinCos( e[2], sz, cz );
result[0]
result[1]
result[2]
result[3]

=
=
=
=

cz;
sz;
0.0f;
0.0f;

result[4]
result[5]
result[6]
result[7]

=
=
=
=

-sz;
cz;
0.0f;
0.0f;

result[8] =
result[9] =
result[10]=
result[11]=

0.0f;
0.0f;
1.0f;
0.0f;

result[12]=
result[13]=
result[14]=
result[15]=
break;

0.0f;
0.0f;
0.0f;
1.0f;

}
default:
// the matrix looks like this:
// r1 - (r4 * sin(x))
r2 + (r3 * sin(x))
// -cos(x) * sin(z)
cos(x) * cos(z)
// r3 + (r2 * sin(x))
r4 - (r1 * sin(x))
//
// where:
// r1 = cos(y) * cos(z)
// r2 = cos(y) * sin(z)
// r3 = sin(y) * cos(z)
// r4 = sin(y) * sin(z)
F32 cx,sx;
mSinCos( e[0], sx, cx );
F32 cy,sy;
mSinCos( e[1], sy, cy );
F32 cz,sz;
mSinCos( e[2], sz, cz );
F32 r1 = cy * cz;
F32 r2 = cy * sz;
F32 r3 = sy * cz;
F32 r4 = sy * sz;
result[0]
result[1]
result[2]
result[3]

=
=
=
=

r1 - (r4 * sx);
r2 + (r3 * sx);
-cx * sy;
0.0f;

result[4] = -cx * sz;

result[5] = cx * cz;
result[6] = sx;
-6-

-cos(x) * sin(y)
sin(x)
cos(x) * cos(y)

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397

27 May 2013 09:15

result[7] = 0.0f;
result[8] =
result[9] =
result[10]=
result[11]=

r3 + (r2 * sx);
r4 - (r1 * sx);
cx * cy;
0.0f;

result[12]=
result[13]=
result[14]=
result[15]=
break;

0.0f;
0.0f;
0.0f;
1.0f;

}
}

//-------------------------------------static void m_matF_set_euler_point_C(const F32 *e, const F32 *p, F32 *result)
{
m_matF_set_euler(e, result);
result[3] = p[0];
result[7] = p[1];
result[11]= p[2];
}
//-------------------------------------static void m_matF_identity_C(F32 *m)
{
*m++ = 1.0f;
*m++ = 0.0f;
*m++ = 0.0f;
*m++ = 0.0f;
*m++
*m++
*m++
*m++

=
=
=
=

0.0f;
1.0f;
0.0f;
0.0f;

*m++
*m++
*m++
*m++

=
=
=
=

0.0f;
0.0f;
1.0f;
0.0f;

*m++
*m++
*m++
*m

=
=
=
=

0.0f;
0.0f;
0.0f;
1.0f;

//-------------------------------------static void m_matF_inverse_C(F32 *m)

{
// using Cramers Rule find the Inverse
// Minv = (1/det(M)) * adjoint(M)
F32 det = m_matF_determinant( m );
AssertFatal( det != 0.0f, "MatrixF::inverse: non-singular matrix, no inverse.");
-7-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454

27 May 2013 09:15

F32 invDet = 1.0f/det;

F32 temp[16];
temp[0] = (m[5] * m[10]- m[6] * m[9]) * invDet;
temp[1] = (m[9] * m[2] - m[10]* m[1]) * invDet;
temp[2] = (m[1] * m[6] - m[2] * m[5]) * invDet;
temp[4] = (m[6] * m[8] - m[4] * m[10])* invDet;
temp[5] = (m[10]* m[0] - m[8] * m[2]) * invDet;
temp[6] = (m[2] * m[4] - m[0] * m[6]) * invDet;
temp[8] = (m[4] * m[9] - m[5] * m[8]) * invDet;
temp[9] = (m[8] * m[1] - m[9] * m[0]) * invDet;
temp[10]= (m[0] * m[5] - m[1] * m[4]) * invDet;
m[0] = temp[0];
m[1] = temp[1];
m[2] = temp[2];
m[4] = temp[4];
m[5] = temp[5];
m[6] = temp[6];
m[8] = temp[8];
m[9] = temp[9];
m[10] = temp[10];
// invert the translation
temp[0] = -m[3];
temp[1] = -m[7];
temp[2] = -m[11];
m_matF_x_vectorF(m, temp, &temp[4]);
m[3] = temp[4];
m[7] = temp[5];
m[11]= temp[6];
}
//-------------------------------------static void m_matF_affineInverse_C(F32 *m)
{
// Matrix class checks to make sure this is an affine transform before calling
// this function, so we can proceed assuming it is...
F32 temp[16];
dMemcpy(temp, m, 16 * sizeof(F32));
// Transpose rotation
m[1] = temp[4];
m[4] = temp[1];
m[2] = temp[8];
m[8] = temp[2];
m[6] = temp[9];
m[9] = temp[6];
m[3] = -(temp[0]*temp[3] + temp[4]*temp[7] + temp[8]*temp[11]);
m[7] = -(temp[1]*temp[3] + temp[5]*temp[7] + temp[9]*temp[11]);
m[11] = -(temp[2]*temp[3] + temp[6]*temp[7] + temp[10]*temp[11]);
-8-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511

27 May 2013 09:15

}
inline
{
F32
a =
b =
}

void swap(F32 &a, F32 &b)

temp = a;
b;
temp;

//-------------------------------------static void m_matF_transpose_C(F32 *m)

{
swap(m[1], m[4]);
swap(m[2], m[8]);
swap(m[3], m[12]);
swap(m[6], m[9]);
swap(m[7], m[13]);
swap(m[11],m[14]);
}
//-------------------------------------static void m_matF_scale_C(F32 *m,const F32 *p)
{
// Note, doesn't allow scaling w...
m[0]
m[4]
m[8]
m[12]

*=
*=
*=
*=

p[0];
p[0];
p[0];
p[0];

m[1]
m[5]
m[9]
m[13]

*=
*=
*=
*=

p[1];
p[1];
p[1];
p[1];

m[2]
m[6]
m[10]
m[14]

*=
*=
*=
*=

p[2];
p[2];
p[2];
p[2];

}
//-------------------------------------static void m_matF_normalize_C(F32 *m)
{
F32 col0[3], col1[3], col2[3];
// extract columns 0 and 1
col0[0] = m[0];
col0[1] = m[4];
col0[2] = m[8];
col1[0] = m[1];
col1[1] = m[5];
col1[2] = m[9];
// assure their relationsips to one another
mCross(col0, col1, col2);
mCross(col2, col0, col1);
// assure their lengh is 1.0f
m_point3F_normalize( col0 );
m_point3F_normalize( col1 );
m_point3F_normalize( col2 );
// store the normalized columns
m[0] = col0[0];
m[4] = col0[1];
m[8] = col0[2];
-9-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567

27 May 2013 09:15

m[1] = col1[0];
m[5] = col1[1];
m[9] = col1[2];
m[2] = col2[0];
m[6] = col2[1];
m[10]= col2[2];
}

//-------------------------------------static F32 m_matF_determinant_C(const F32 *m)

{
return m[0] * (m[5] * m[10] - m[6] * m[9])
m[4] * (m[2] * m[9] - m[1] * m[10]) +
m[8] * (m[1] * m[6] - m[2] * m[5]) ;
}

//-------------------------------------// Removed static in order to write benchmarking code (that compares against
// specialized SSE/AMD versions) elsewhere.
void default_matF_x_matF_C(const F32 *a, const F32 *b, F32 *mresult)
{
mresult[0] = a[0]*b[0] + a[1]*b[4] + a[2]*b[8] + a[3]*b[12];
mresult[1] = a[0]*b[1] + a[1]*b[5] + a[2]*b[9] + a[3]*b[13];
mresult[2] = a[0]*b[2] + a[1]*b[6] + a[2]*b[10] + a[3]*b[14];
mresult[3] = a[0]*b[3] + a[1]*b[7] + a[2]*b[11] + a[3]*b[15];
mresult[4]
mresult[5]
mresult[6]
mresult[7]

=
=
=
=

a[4]*b[0]
a[4]*b[1]
a[4]*b[2]
a[4]*b[3]

+
+
+
+

a[5]*b[4]
a[5]*b[5]
a[5]*b[6]
a[5]*b[7]

+
+
+
+

a[6]*b[8]
a[6]*b[9]
a[6]*b[10]
a[6]*b[11]

+
+
+
+

a[7]*b[12];
a[7]*b[13];
a[7]*b[14];
a[7]*b[15];

mresult[8] =
mresult[9] =
mresult[10]=
mresult[11]=

a[8]*b[0]
a[8]*b[1]
a[8]*b[2]
a[8]*b[3]

+
+
+
+

a[9]*b[4]
a[9]*b[5]
a[9]*b[6]
a[9]*b[7]

+
+
+
+

a[10]*b[8] +
a[10]*b[9] +
a[10]*b[10]+
a[10]*b[11]+

a[11]*b[12];
a[11]*b[13];
a[11]*b[14];
a[11]*b[15];

mresult[12]=
mresult[13]=
mresult[14]=
mresult[15]=

a[12]*b[0]+
a[12]*b[1]+
a[12]*b[2]+
a[12]*b[3]+

a[13]*b[4]+
a[13]*b[5]+
a[13]*b[6]+
a[13]*b[7]+

a[14]*b[8] +
a[14]*b[9] +
a[14]*b[10]+
a[14]*b[11]+

a[15]*b[12];
a[15]*b[13];
a[15]*b[14];
a[15]*b[15];

// //-------------------------------------// static void m_matF_x_point3F_C(const F32 *m, const F32 *p, F32 *presult)
// {
//
AssertFatal(p != presult, "Error, aliasing matrix mul pointers not allowed
here!");
//
presult[0] = m[0]*p[0] + m[1]*p[1] + m[2]*p[2] + m[3];
//
presult[1] = m[4]*p[0] + m[5]*p[1] + m[6]*p[2] + m[7];
//
presult[2] = m[8]*p[0] + m[9]*p[1] + m[10]*p[2] + m[11];
// }

-10-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622

27 May 2013 09:15

// //-------------------------------------// static void m_matF_x_vectorF_C(const F32 *m, const F32 *v, F32 *vresult)
// {
//
AssertFatal(v != vresult, "Error, aliasing matrix mul pointers not allowed
here!");
//
vresult[0] = m[0]*v[0] + m[1]*v[1] + m[2]*v[2];
//
vresult[1] = m[4]*v[0] + m[5]*v[1] + m[6]*v[2];
//
vresult[2] = m[8]*v[0] + m[9]*v[1] + m[10]*v[2];
// }

//-------------------------------------static void m_matF_x_point4F_C(const F32 *m, const F32 *p, F32 *presult)
{
AssertFatal(p != presult, "Error, aliasing matrix mul pointers not allowed here!");
presult[0] = m[0]*p[0] + m[1]*p[1] + m[2]*p[2] + m[3]*p[3];
presult[1] = m[4]*p[0] + m[5]*p[1] + m[6]*p[2] + m[7]*p[3];
presult[2] = m[8]*p[0] + m[9]*p[1] + m[10]*p[2] + m[11]*p[3];
presult[3] = m[12]*p[0]+ m[13]*p[1]+ m[14]*p[2] + m[15]*p[3];
}
//-------------------------------------static void m_matF_x_scale_x_planeF_C(const F32* m, const F32* s, const F32* p, F32*
presult)
{
// We take in a matrix, a scale factor, and a plane equation. We want to output
// the resultant normal
// We have T = m*s
// To multiply the normal, we want Inv(Tr(m*s))
// Inv(Tr(ms)) = Inv(Tr(s) * Tr(m))
//
= Inv(Tr(m)) * Inv(Tr(s))
//
// Inv(Tr(s)) = Inv(s) = [ 1/x
0
0 0]
//
[
0 1/y
0 0]
//
[
0
0 1/z 0]
//
[
0
0
0 1]
//
// Since m is an affine matrix,
// Tr(m) = [ [
] 0 ]
//
[ [
R
] 0 ]
//
[ [
] 0 ]
//
[ [ x y z ] 1 ]
//
// Inv(Tr(m)) = [ [
-1 ] 0 ]
//
[ [
R
] 0 ]
//
[ [
] 0 ]
//
[ [ A B C ] 1 ]
// Where:
//
// P = (x, y, z)
// A = -(Row(0, r) * P);
// B = -(Row(1, r) * P);
// C = -(Row(2, r) * P);
MatrixF invScale(true);
F32* pScaleElems = invScale;
-11-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679

27 May 2013 09:15

pScaleElems[MatrixF::idx(0, 0)] = 1.0f / s[0];

pScaleElems[MatrixF::idx(1, 1)] = 1.0f / s[1];
pScaleElems[MatrixF::idx(2, 2)] = 1.0f / s[2];
Point3F
shear.x
shear.y
shear.z

shear;
= m[MatrixF::idx(3, 0)];
= m[MatrixF::idx(3, 1)];
= m[MatrixF::idx(3, 2)];

Point3F row0(m[MatrixF::idx(0, 0)], m[MatrixF::idx(0, 1)], m[MatrixF::idx(0, 2)]);

Point3F row1(m[MatrixF::idx(1, 0)], m[MatrixF::idx(1, 1)], m[MatrixF::idx(1, 2)]);
Point3F row2(m[MatrixF::idx(2, 0)], m[MatrixF::idx(2, 1)], m[MatrixF::idx(2, 2)]);
F32 A = -mDot(row0, shear);
F32 B = -mDot(row1, shear);
F32 C = -mDot(row2, shear);
MatrixF invTrMatrix(true);
F32* destMat = invTrMatrix;
destMat[MatrixF::idx(0, 0)]
destMat[MatrixF::idx(1, 0)]
destMat[MatrixF::idx(2, 0)]
destMat[MatrixF::idx(0, 1)]
destMat[MatrixF::idx(1, 1)]
destMat[MatrixF::idx(2, 1)]
destMat[MatrixF::idx(0, 2)]
destMat[MatrixF::idx(1, 2)]
destMat[MatrixF::idx(2, 2)]
destMat[MatrixF::idx(0, 3)]
destMat[MatrixF::idx(1, 3)]
destMat[MatrixF::idx(2, 3)]
invTrMatrix.mul(invScale);

=
=
=
=
=
=
=
=
=
=
=
=

m[MatrixF::idx(0,
m[MatrixF::idx(1,
m[MatrixF::idx(2,
m[MatrixF::idx(0,
m[MatrixF::idx(1,
m[MatrixF::idx(2,
m[MatrixF::idx(0,
m[MatrixF::idx(1,
m[MatrixF::idx(2,
A;
B;
C;

0)];
0)];
0)];
1)];
1)];
1)];
2)];
2)];
2)];

Point3F norm(p[0], p[1], p[2]);

Point3F point = norm * -p[3];
invTrMatrix.mulP(norm);
norm.normalize();
MatrixF temp;
dMemcpy(temp, m, sizeof(F32) * 16);
point.x *= s[0];
point.y *= s[1];
point.z *= s[2];
temp.mulP(point);
PlaneF resultPlane(point, norm);
presult[0] = resultPlane.x;
presult[1] = resultPlane.y;
presult[2] = resultPlane.z;
presult[3] = resultPlane.d;
}
static void m_matF_x_box3F_C(const F32 *m, F32* min, F32* max)
{
// Algorithm for axis aligned bounding box adapted from
// Graphic Gems I, pp 548-550
//
-12-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735

27 May 2013 09:15

F32 originalMin[3];
F32 originalMax[3];
originalMin[0] = min[0];
originalMin[1] = min[1];
originalMin[2] = min[2];
originalMax[0] = max[0];
originalMax[1] = max[1];
originalMax[2] = max[2];
min[0] = max[0] = m[3];
min[1] = max[1] = m[7];
min[2] = max[2] = m[11];
const F32 * row = &m[0];
for (U32 i = 0; i < 3; i++)
{
#define Do_One_Row(j)
{
F32
a = (row[j] * originalMin[j]);
F32
b = (row[j] * originalMax[j]);
if (a < b) { *min += a; *max += b; }
else
{ *min += b; *max += a; }

\
\
\
\
}

// Simpler addressing (avoiding things like [ecx+edi*4]) might be worthwhile

(LH):
Do_One_Row(0);
Do_One_Row(1);
Do_One_Row(2);
row += 4;
min++;
max++;
}
}

void m_point3F_bulk_dot_C(const F32* refVector,

const F32* dotPoints,
const U32 numPoints,
const U32 pointStride,
F32*
output)
{
for (U32 i = 0; i < numPoints; i++)
{
F32* pPoint = (F32*)(((U8*)dotPoints) + (pointStride * i));
output[i] = ((refVector[0] * pPoint[0]) +
(refVector[1] * pPoint[1]) +
(refVector[2] * pPoint[2]));
}
}
void m_point3F_bulk_dot_indexed_C(const
const
const
const
const
F32*
{
for (U32 i = 0; i < numPoints; i++)

F32*
F32*
U32
U32
U32*

-13-

refVector,
dotPoints,
numPoints,
pointStride,
pointIndices,
output)

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788

27 May 2013 09:15

{
F32* pPoint = (F32*)(((U8*)dotPoints) + (pointStride * pointIndices[i]));
output[i] = ((refVector[0] * pPoint[0]) +
(refVector[1] * pPoint[1]) +
(refVector[2] * pPoint[2]));
}
}

//-----------------------------------------------------------------------------// Math function pointer declarations

S32
U32

(*m_mulDivS32)(S32 a, S32 b, S32 c) = m_mulDivS32_C;

(*m_mulDivU32)(S32 a, S32 b, U32 c) = m_mulDivU32_C;

F32

(*m_catmullrom)(F32 t, F32 p0, F32 p1, F32 p2, F32 p3) = m_catmullrom_C;

void (*m_point2F_normalize)(F32 *p) = m_point2F_normalize_C;

void (*m_point2F_normalize_f)(F32 *p, F32 val) = m_point2F_normalize_f_C;
void (*m_point2D_normalize)(F64 *p) = m_point2D_normalize_C;
void (*m_point2D_normalize_f)(F64 *p, F64 val) = m_point2D_normalize_f_C;
void (*m_point3D_normalize_f)(F64 *p, F64 val) = m_point3D_normalize_f_C;
void (*m_point3F_normalize)(F32 *p) = m_point3F_normalize_C;
void (*m_point3F_normalize_f)(F32 *p, F32 len) = m_point3F_normalize_f_C;
void (*m_point3F_interpolate)(const F32 *from, const F32 *to, F32 factor, F32 *result
) = m_point3F_interpolate_C;
void (*m_point3D_normalize)(F64 *p) = m_point3D_normalize_C;
void (*m_point3D_interpolate)(const F64 *from, const F64 *to, F64 factor, F64 *result
) = m_point3D_interpolate_C;
void (*m_point3F_bulk_dot)(const F32* refVector,
const F32* dotPoints,
const U32 numPoints,
const U32 pointStride,
F32*
output) = m_point3F_bulk_dot_C;
void (*m_point3F_bulk_dot_indexed)(const F32* refVector,
const F32* dotPoints,
const U32 numPoints,
const U32 pointStride,
const U32* pointIndices,
F32*
output) = m_point3F_bulk_dot_indexed_C;
void (*m_quatF_set_matF)( F32 x, F32 y, F32 z, F32 w, F32* m ) = m_quatF_set_matF_C;
void (*m_matF_set_euler)(const F32 *e, F32 *result) = m_matF_set_euler_C;
void (*m_matF_set_euler_point)(const F32 *e, const F32 *p, F32 *result) =
m_matF_set_euler_point_C;
void (*m_matF_identity)(F32 *m) = m_matF_identity_C;
void (*m_matF_inverse)(F32 *m)
= m_matF_inverse_C;
void (*m_matF_affineInverse)(F32 *m)
= m_matF_affineInverse_C;
void (*m_matF_transpose)(F32 *m) = m_matF_transpose_C;
void (*m_matF_scale)(F32 *m,const F32* p) = m_matF_scale_C;
void (*m_matF_normalize)(F32 *m) = m_matF_normalize_C;
F32 (*m_matF_determinant)(const F32 *m) = m_matF_determinant_C;
void (*m_matF_x_matF)(const F32 *a, const F32 *b, F32 *mresult)
=
default_matF_x_matF_C;
-14-

C:\Users\Chris\Desktop\t2d\Torque2D-master\engine\source\math\mMath_C.cc

789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837

27 May 2013 09:15

// void (*m_matF_x_point3F)(const F32 *m, const F32 *p, F32 *presult) =

m_matF_x_point3F_C;
// void (*m_matF_x_vectorF)(const F32 *m, const F32 *v, F32 *vresult) =
m_matF_x_vectorF_C;
void (*m_matF_x_point4F)(const F32 *m, const F32 *p, F32 *presult) =
m_matF_x_point4F_C;
void (*m_matF_x_scale_x_planeF)(const F32 *m, const F32* s, const F32 *p, F32 *
presult) = m_matF_x_scale_x_planeF_C;
void (*m_matF_x_box3F)(const F32 *m, F32 *min, F32 *max)
= m_matF_x_box3F_C;

//-----------------------------------------------------------------------------void mInstallLibrary_C()
{
m_mulDivS32
= m_mulDivS32_C;
m_mulDivU32
= m_mulDivU32_C;
m_catmullrom

= m_catmullrom_C;

m_point2F_normalize
m_point2F_normalize_f
m_point2D_normalize
m_point2D_normalize_f
m_point3F_normalize
m_point3F_normalize_f
m_point3F_interpolate

=
=
=
=
=
=
=

m_point3D_normalize
m_point3D_interpolate

= m_point3D_normalize_C;
= m_point3D_interpolate_C;

m_point2F_normalize_C;
m_point2F_normalize_f_C;
m_point2D_normalize_C;
m_point2D_normalize_f_C;
m_point3F_normalize_C;
m_point3F_normalize_f_C;
m_point3F_interpolate_C;

m_point3F_bulk_dot
= m_point3F_bulk_dot_C;
m_point3F_bulk_dot_indexed = m_point3F_bulk_dot_indexed_C;
m_quatF_set_matF
m_matF_set_euler
m_matF_set_euler_point
m_matF_identity
m_matF_inverse
m_matF_affineInverse
m_matF_transpose
m_matF_scale
m_matF_normalize
m_matF_determinant
m_matF_x_matF
//
m_matF_x_point3F
//
m_matF_x_vectorF
m_matF_x_point4F
m_matF_x_scale_x_planeF
m_matF_x_box3F
}

= m_quatF_set_matF_C;
=
=
=
=
=
=
=
=
=
=

m_matF_set_euler_C;
m_matF_set_euler_point_C;
m_matF_identity_C;
m_matF_inverse_C;
m_matF_affineInverse_C;
m_matF_transpose_C;
m_matF_scale_C;
m_matF_normalize_C;
m_matF_determinant_C;
default_matF_x_matF_C;
= m_matF_x_point3F_C;
= m_matF_x_vectorF_C;
= m_matF_x_point4F_C;
= m_matF_x_scale_x_planeF_C;
= m_matF_x_box3F_C;

-15-