1 ! Copyright (C) 2005, 2010 Slava Pestov, Joe Groff.
2 ! See http://factorcode.org/license.txt for BSD license.
3 USING: accessors arrays columns kernel locals math math.bits
4 math.functions math.order math.vectors sequences
5 sequences.private fry ;
9 : zero-matrix ( m n -- matrix )
10 '[ _ 0 <array> ] replicate ;
12 : diagonal-matrix ( diagonal-seq -- matrix )
13 dup length dup zero-matrix
14 [ '[ dup _ nth set-nth ] each-index ] keep ; inline
16 : identity-matrix ( n -- matrix )
17 1 <repetition> diagonal-matrix ; inline
19 : eye ( m n k -- matrix )
20 [ [ iota ] bi@ ] dip neg '[ _ + = 1 0 ? ] cartesian-map ;
22 : hilbert-matrix ( m n -- matrix )
23 [ iota ] bi@ [ + 1 + recip ] cartesian-map ;
25 : toeplitz-matrix ( n -- matrix )
26 iota dup [ - abs 1 + ] cartesian-map ;
28 : hankel-matrix ( n -- matrix )
29 [ iota dup ] keep '[ + abs 1 + dup _ > [ drop 0 ] when ] cartesian-map ;
31 : box-matrix ( r -- matrix )
32 2 * 1 + dup '[ _ 1 <array> ] replicate ;
34 :: rotation-matrix3 ( axis theta -- matrix )
37 axis first3 :> ( x y z )
38 x sq 1.0 x sq - c * + x y * 1.0 c - * z s * - x z * 1.0 c - * y s * + 3array
39 x y * 1.0 c - * z s * + y sq 1.0 y sq - c * + y z * 1.0 c - * x s * - 3array
40 x z * 1.0 c - * y s * - y z * 1.0 c - * x s * + z sq 1.0 z sq - c * + 3array
43 :: rotation-matrix4 ( axis theta -- matrix )
46 axis first3 :> ( x y z )
47 x sq 1.0 x sq - c * + x y * 1.0 c - * z s * - x z * 1.0 c - * y s * + 0 4array
48 x y * 1.0 c - * z s * + y sq 1.0 y sq - c * + y z * 1.0 c - * x s * - 0 4array
49 x z * 1.0 c - * y s * - y z * 1.0 c - * x s * + z sq 1.0 z sq - c * + 0 4array
50 { 0.0 0.0 0.0 1.0 } 4array ;
52 :: translation-matrix4 ( offset -- matrix )
53 offset first3 :> ( x y z )
61 : >scale-factors ( number/sequence -- x y z )
62 dup number? [ dup dup ] [ first3 ] if ;
64 :: scale-matrix3 ( factors -- matrix )
65 factors >scale-factors :> ( x y z )
72 :: scale-matrix4 ( factors -- matrix )
73 factors >scale-factors :> ( x y z )
81 : ortho-matrix4 ( dim -- matrix )
82 [ recip ] map scale-matrix4 ;
84 :: frustum-matrix4 ( xy-dim near far -- matrix )
85 xy-dim first2 :> ( x y )
88 near far + near far - /f :> zf
89 2 near far * * near far - /f :> wf
98 :: skew-matrix4 ( theta -- matrix )
109 : mneg ( m -- m ) [ vneg ] map ;
111 : n*m ( n m -- m ) [ n*v ] with map ;
112 : m*n ( m n -- m ) [ v*n ] curry map ;
113 : n/m ( n m -- m ) [ n/v ] with map ;
114 : m/n ( m n -- m ) [ v/n ] curry map ;
116 : m+ ( m m -- m ) [ v+ ] 2map ;
117 : m- ( m m -- m ) [ v- ] 2map ;
118 : m* ( m m -- m ) [ v* ] 2map ;
119 : m/ ( m m -- m ) [ v/ ] 2map ;
121 : v.m ( v m -- v ) flip [ v. ] with map ;
122 : m.v ( m v -- v ) [ v. ] curry map ;
123 : m. ( m m -- m ) flip [ swap m.v ] curry map ;
125 : m~ ( m m epsilon -- ? ) [ v~ ] curry 2all? ;
127 : mmin ( m -- n ) [ 1/0. ] dip [ [ min ] each ] each ;
128 : mmax ( m -- n ) [ -1/0. ] dip [ [ max ] each ] each ;
129 : mnorm ( m -- n ) dup mmax abs m/n ;
131 : cross ( vec1 vec2 -- vec3 )
132 [ [ { 1 2 0 } vshuffle ] [ { 2 0 1 } vshuffle ] bi* v* ]
133 [ [ { 2 0 1 } vshuffle ] [ { 1 2 0 } vshuffle ] bi* v* ] 2bi v- ; inline
135 :: normal ( vec1 vec2 vec3 -- vec4 )
136 vec2 vec1 v- vec3 vec1 v- cross normalize ; inline
139 [ [ v. ] [ norm-sq ] bi / ] keep n*v ;
144 : angle-between ( v u -- a )
145 [ normalize ] bi@ h. acos ;
147 : (gram-schmidt) ( v seq -- newseq )
148 [ dupd proj v- ] each ;
150 : gram-schmidt ( seq -- orthogonal )
151 V{ } clone [ over (gram-schmidt) over push ] reduce ;
153 : norm-gram-schmidt ( seq -- orthonormal )
154 gram-schmidt [ normalize ] map ;
157 make-bits over first length identity-matrix
158 [ [ dupd m. ] when [ dup m. ] dip ] reduce nip ;
162 [ ] [ [ append ] 2map ] map-reduce ;
164 : kron ( m1 m2 -- m )
165 '[ [ _ n*m ] map ] map stitch stitch ;