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Updated all the libs, added citro3d, added ctr.swkbd (WIP, untested)
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Firew0lf
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49c87e5526
97 changed files with 7341 additions and 944 deletions
135
libs/citro3d/source/maths/mtx_inverse.c
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135
libs/citro3d/source/maths/mtx_inverse.c
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#include <float.h>
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#include <c3d/maths.h>
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float Mtx_Inverse(C3D_Mtx* out)
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{
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//Mtx_Inverse can be used to calculate the determinant and the inverse of the matrix.
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C3D_Mtx inv;
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float det;
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int i;
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inv.r[0].x = out->r[1].y * out->r[2].z * out->r[3].w -
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out->r[1].y * out->r[2].w * out->r[3].z -
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out->r[2].y * out->r[1].z * out->r[3].w +
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out->r[2].y * out->r[1].w * out->r[3].z +
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out->r[3].y * out->r[1].z * out->r[2].w -
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out->r[3].y * out->r[1].w * out->r[2].z;
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inv.r[1].x = -out->r[1].x * out->r[2].z * out->r[3].w +
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out->r[1].x * out->r[2].w * out->r[3].z +
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out->r[2].x * out->r[1].z * out->r[3].w -
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out->r[2].x * out->r[1].w * out->r[3].z -
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out->r[3].x * out->r[1].z * out->r[2].w +
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out->r[3].x * out->r[1].w * out->r[2].z;
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inv.r[2].x = out->r[1].x * out->r[2].y * out->r[3].w -
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out->r[1].x * out->r[2].w * out->r[3].y -
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out->r[2].x * out->r[1].y * out->r[3].w +
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out->r[2].x * out->r[1].w * out->r[3].y +
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out->r[3].x * out->r[1].y * out->r[2].w -
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out->r[3].x * out->r[1].w * out->r[2].y;
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inv.r[3].x = -out->r[1].x * out->r[2].y * out->r[3].z +
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out->r[1].x * out->r[2].z * out->r[3].y +
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out->r[2].x * out->r[1].y * out->r[3].z -
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out->r[2].x * out->r[1].z * out->r[3].y -
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out->r[3].x * out->r[1].y * out->r[2].z +
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out->r[3].x * out->r[1].z * out->r[2].y;
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det = out->r[0].x * inv.r[0].x + out->r[0].y * inv.r[1].x +
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out->r[0].z * inv.r[2].x + out->r[0].w * inv.r[3].x;
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if (fabsf(det) < FLT_EPSILON)
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//Returns 0.0f if we find the determinant is less than +/- FLT_EPSILON.
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return 0.0f;
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inv.r[0].y = -out->r[0].y * out->r[2].z * out->r[3].w +
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out->r[0].y * out->r[2].w * out->r[3].z +
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out->r[2].y * out->r[0].z * out->r[3].w -
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out->r[2].y * out->r[0].w * out->r[3].z -
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out->r[3].y * out->r[0].z * out->r[2].w +
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out->r[3].y * out->r[0].w * out->r[2].z;
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inv.r[1].y = out->r[0].x * out->r[2].z * out->r[3].w -
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out->r[0].x * out->r[2].w * out->r[3].z -
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out->r[2].x * out->r[0].z * out->r[3].w +
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out->r[2].x * out->r[0].w * out->r[3].z +
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out->r[3].x * out->r[0].z * out->r[2].w -
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out->r[3].x * out->r[0].w * out->r[2].z;
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inv.r[2].y = -out->r[0].x * out->r[2].y * out->r[3].w +
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out->r[0].x * out->r[2].w * out->r[3].y +
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out->r[2].x * out->r[0].y * out->r[3].w -
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out->r[2].x * out->r[0].w * out->r[3].y -
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out->r[3].x * out->r[0].y * out->r[2].w +
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out->r[3].x * out->r[0].w * out->r[2].y;
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inv.r[3].y = out->r[0].x * out->r[2].y * out->r[3].z -
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out->r[0].x * out->r[2].z * out->r[3].y -
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out->r[2].x * out->r[0].y * out->r[3].z +
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out->r[2].x * out->r[0].z * out->r[3].y +
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out->r[3].x * out->r[0].y * out->r[2].z -
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out->r[3].x * out->r[0].z * out->r[2].y;
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inv.r[0].z = out->r[0].y * out->r[1].z * out->r[3].w -
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out->r[0].y * out->r[1].w * out->r[3].z -
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out->r[1].y * out->r[0].z * out->r[3].w +
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out->r[1].y * out->r[0].w * out->r[3].z +
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out->r[3].y * out->r[0].z * out->r[1].w -
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out->r[3].y * out->r[0].w * out->r[1].z;
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inv.r[1].z = -out->r[0].x * out->r[1].z * out->r[3].w +
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out->r[0].x * out->r[1].w * out->r[3].z +
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out->r[1].x * out->r[0].z * out->r[3].w -
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out->r[1].x * out->r[0].w * out->r[3].z -
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out->r[3].x * out->r[0].z * out->r[1].w +
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out->r[3].x * out->r[0].w * out->r[1].z;
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inv.r[2].z = out->r[0].x * out->r[1].y * out->r[3].w -
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out->r[0].x * out->r[1].w * out->r[3].y -
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out->r[1].x * out->r[0].y * out->r[3].w +
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out->r[1].x * out->r[0].w * out->r[3].y +
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out->r[3].x * out->r[0].y * out->r[1].w -
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out->r[3].x * out->r[0].w * out->r[1].y;
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inv.r[3].z = -out->r[0].x * out->r[1].y * out->r[3].z +
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out->r[0].x * out->r[1].z * out->r[3].y +
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out->r[1].x * out->r[0].y * out->r[3].z -
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out->r[1].x * out->r[0].z * out->r[3].y -
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out->r[3].x * out->r[0].y * out->r[1].z +
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out->r[3].x * out->r[0].z * out->r[1].y;
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inv.r[0].w = -out->r[0].y * out->r[1].z * out->r[2].w +
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out->r[0].y * out->r[1].w * out->r[2].z +
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out->r[1].y * out->r[0].z * out->r[2].w -
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out->r[1].y * out->r[0].w * out->r[2].z -
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out->r[2].y * out->r[0].z * out->r[1].w +
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out->r[2].y * out->r[0].w * out->r[1].z;
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inv.r[1].w = out->r[0].x * out->r[1].z * out->r[2].w -
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out->r[0].x * out->r[1].w * out->r[2].z -
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out->r[1].x * out->r[0].z * out->r[2].w +
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out->r[1].x * out->r[0].w * out->r[2].z +
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out->r[2].x * out->r[0].z * out->r[1].w -
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out->r[2].x * out->r[0].w * out->r[1].z;
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inv.r[2].w = -out->r[0].x * out->r[1].y * out->r[2].w +
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out->r[0].x * out->r[1].w * out->r[2].y +
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out->r[1].x * out->r[0].y * out->r[2].w -
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out->r[1].x * out->r[0].w * out->r[2].y -
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out->r[2].x * out->r[0].y * out->r[1].w +
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out->r[2].x * out->r[0].w * out->r[1].y;
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inv.r[3].w = out->r[0].x * out->r[1].y * out->r[2].z -
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out->r[0].x * out->r[1].z * out->r[2].y -
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out->r[1].x * out->r[0].y * out->r[2].z +
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out->r[1].x * out->r[0].z * out->r[2].y +
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out->r[2].x * out->r[0].y * out->r[1].z -
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out->r[2].x * out->r[0].z * out->r[1].y;
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for (i = 0; i < 16; i++)
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out->m[i] = inv.m[i] / det;
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return det;
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}
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