prj/tech/libsrc/matrix/matvecd.c

   1 /*
   2  * $Source: x:/prj/tech/libsrc/matrix/RCS/matvec.c $
   3  * $Revision: 1.3 $
   4  * $Author: kate $
   5  * $Date: 1997/11/20 13:32:02 $
   6  */
   7
   8 #include <matrixd.h>
   9
  10 #define MXD_VERSION
  11
  12 // element wise mul of m by v to make different coordinate
  13 // system
  14 // dest = M .* v
  15 void mxd_mat_elmul_vec(mxds_matrix *dest,const mxds_matrix *m,const mxds_vector *v)
  16 {
  17   dest->el[0] = m->el[0] * v->x;
  18   dest->el[1] = m->el[1] * v->x;
  19   dest->el[2] = m->el[2] * v->x;
  20
  21   dest->el[3] = m->el[3] * v->y;
  22   dest->el[4] = m->el[4] * v->y;
  23   dest->el[5] = m->el[5] * v->y;
  24
  25   dest->el[6] = m->el[6] * v->z;
  26   dest->el[7] = m->el[7] * v->z;
  27   dest->el[8] = m->el[8] * v->z;
  28 }
  29
  30 // M .*= v
  31 void mxd_mat_elmuleq_vec(mxds_matrix *m,const mxds_vector *v)
  32 {
  33   m->el[0] *= v->x;
  34   m->el[1] *= v->x;
  35   m->el[2] *= v->x;
  36
  37   m->el[3] *= v->y;
  38   m->el[4] *= v->y;
  39   m->el[5] *= v->y;
  40
  41   m->el[6] *= v->z;
  42   m->el[7] *= v->z;
  43   m->el[8] *= v->z;
  44 }
  45
  46 // dest = v^t .* M
  47 void mxd_mat_eltmul_vec(mxds_matrix *dest,const mxds_matrix *m,const mxds_vector *v)
  48 {
  49   dest->el[0] = m->el[0] * v->x;
  50   dest->el[3] = m->el[3] * v->x;
  51   dest->el[6] = m->el[6] * v->x;
  52
  53   dest->el[1] = m->el[1] * v->y;
  54   dest->el[4] = m->el[4] * v->y;
  55   dest->el[7] = m->el[7] * v->y;
  56
  57   dest->el[2] = m->el[2] * v->z;
  58   dest->el[5] = m->el[5] * v->z;
  59   dest->el[8] = m->el[8] * v->z;
  60 }
  61
  62 // M .*= v^t
  63 void mxd_mat_eltmuleq_vec(mxds_matrix *m,const mxds_vector *v)
  64 {
  65   m->el[0] *= v->x;
  66   m->el[3] *= v->x;
  67   m->el[6] *= v->x;
  68
  69   m->el[1] *= v->y;
  70   m->el[4] *= v->y;
  71   m->el[7] *= v->y;
  72
  73   m->el[2] *= v->z;
  74   m->el[5] *= v->z;
  75   m->el[8] *= v->z;
  76 }
  77
  78 // dest = M x v
  79 void mxd_mat_mul_vec(mxds_vector *dest,const mxds_matrix *m,const mxds_vector *v)
  80 {
  81    dest->x = m->el[0]*v->x + m->el[3]*v->y + m->el[6]*v->z;
  82    dest->y = m->el[1]*v->x + m->el[4]*v->y + m->el[7]*v->z;
  83    dest->z = m->el[2]*v->x + m->el[5]*v->y + m->el[8]*v->z;
  84 }
  85
  86 // v x= M, this is idiotic
  87 void mxd_mat_muleq_vec(const mxds_matrix *m,mxds_vector *v)
  88 {
  89    mxds_vector t;
  90    mxd_mat_mul_vec(&t,m,v);
  91    mxd_copy_vec(v,&t);
  92 }
  93
  94 // dest = M^t x v, this is for multing by inverse if unit
  95 void mxd_mat_tmul_vec(mxds_vector *dest,const mxds_matrix *m, const mxds_vector *v)
  96 {
  97    dest->x = m->el[0]*v->x + m->el[1]*v->y + m->el[2]*v->z;
  98    dest->y = m->el[3]*v->x + m->el[4]*v->y + m->el[5]*v->z;
  99    dest->z = m->el[6]*v->x + m->el[7]*v->y + m->el[8]*v->z;
 100 }
 101
 102 // v x= M^t, retarded
 103 void mxd_mat_tmuleq_vec(const mxds_matrix *m,mxds_vector *v)
 104 {
 105    mxds_vector t;
 106    mxd_mat_tmul_vec(&t,m,v);
 107    mxd_copy_vec(v,&t);
 108 }
 109
 110