-! (c)Joe Groff bsd license
-USING: accessors classes.struct fry generalizations kernel locals
-math math.combinatorics math.functions math.matrices.simd math.vectors
-math.vectors.simd sequences sequences.private specialized-arrays
+! Copyright (C) 2009, 2011 Joe Groff.
+! See http://factorcode.org/license.txt for BSD license.
+USING: accessors classes.struct generalizations kernel
+math math.functions math.matrices.simd math.vectors
+math.vectors.simd math.quaternions sequences
+sequences.generalizations sequences.private specialized-arrays
typed ;
+FROM: sequences.private => nth-unsafe ;
+FROM: math.quaternions.private => (q*sign) ;
QUALIFIED-WITH: alien.c-types c
-SIMD: c:float
SPECIALIZED-ARRAY: float-4
IN: math.matrices.simd
:: set-columns ( c1 c2 c3 c4 c -- c )
c columns>> :> columns
- c1 columns set-first
- c2 columns set-second
- c3 columns set-third
- c4 columns set-fourth
+ c1 c2 c3 c4 columns 4 set-firstn-unsafe
c ; inline
-: make-matrix4 ( quot: ( -- c1 c2 c3 c4 ) -- c )
+: make-matrix4 ( ..a quot: ( ..a -- ..b c1 c2 c3 c4 ) -- ..b c )
matrix4 (struct) swap dip set-columns ; inline
:: 2map-columns ( a b quot -- c )
[
- a columns :> a4 :> a3 :> a2 :> a1
- b columns :> b4 :> b3 :> b2 :> b1
+ a columns :> ( a1 a2 a3 a4 )
+ b columns :> ( b1 b2 b3 b4 )
a1 b1 quot call
a2 b2 quot call
a4 b4 quot call
] make-matrix4 ; inline
-: map-columns ( a quot -- c )
+: map-columns ( ... a quot: ( ... col -- ... newcol ) -- ... c )
'[ columns _ 4 napply ] make-matrix4 ; inline
-
+
PRIVATE>
TYPED: m4+ ( a: matrix4 b: matrix4 -- c: matrix4 ) [ v+ ] 2map-columns ;
TYPED:: m4. ( a: matrix4 b: matrix4 -- c: matrix4 )
[
- a columns :> a4 :> a3 :> a2 :> a1
- b columns :> b4 :> b3 :> b2 :> b1
+ a columns :> ( a1 a2 a3 a4 )
+ b columns :> ( b1 b2 b3 b4 )
b1 first a1 n*v :> c1a
b2 first a1 n*v :> c2a
b3 first a1 n*v :> c3a
b4 first a1 n*v :> c4a
- b1 second a2 n*v c1a v+ :> c1b
+ b1 second a2 n*v c1a v+ :> c1b
b2 second a2 n*v c2a v+ :> c2b
b3 second a2 n*v c3a v+ :> c3b
b4 second a2 n*v c4a v+ :> c4b
- b1 third a3 n*v c1b v+ :> c1c
+ b1 third a3 n*v c1b v+ :> c1c
b2 third a3 n*v c2b v+ :> c2c
b3 third a3 n*v c3b v+ :> c3c
b4 third a3 n*v c4b v+ :> c4c
] make-matrix4 ;
TYPED:: m4.v ( m: matrix4 v: float-4 -- v': float-4 )
- m columns :> m4 :> m3 :> m2 :> m1
-
+ m columns :> ( m1 m2 m3 m4 )
+
v first m1 n*v
v second m2 n*v v+
v third m3 n*v v+
v fourth m4 n*v v+ ;
TYPED:: v.m4 ( v: float-4 m: matrix4 -- c: float-4 )
- m columns [ v v. ] 4 napply float-4-boa ;
+ m columns [ v vdot ] 4 napply float-4-boa ;
CONSTANT: identity-matrix4
S{ matrix4 f
TYPED: translation-matrix4 ( offset: float-4 -- matrix: matrix4 )
[
linear>homogeneous
- [
+ [
float-4{ 1.0 0.0 0.0 0.0 }
float-4{ 0.0 1.0 0.0 0.0 }
float-4{ 0.0 0.0 1.0 0.0 }
] dip
] make-matrix4 ;
+:: (rotation-matrix4) ( diagonal triangle-hi triangle-lo -- matrix )
+ matrix4 (struct) :> triangle-m
+ diagonal scale-matrix4 :> diagonal-m
+
+ triangle-hi { 3 2 1 3 } vshuffle
+ triangle-hi { 3 3 0 3 } vshuffle triangle-lo { 2 3 3 3 } vshuffle vbitor
+ triangle-lo { 1 0 3 3 } vshuffle
+ float-4 new
+
+ triangle-m set-columns drop
+
+ diagonal-m triangle-m m4+ ; inline
+
TYPED:: rotation-matrix4 ( axis: float-4 theta: float -- matrix: matrix4 )
! x*x + c*(1.0 - x*x) x*y*(1.0 - c) + s*z x*z*(1.0 - c) - s*y 0
! x*y*(1.0 - c) - s*z y*y + c*(1.0 - y*y) y*z*(1.0 - c) + s*x 0
! x*z*(1.0 - c) + s*y y*z*(1.0 - c) - s*x z*z + c*(1.0 - z*z) 0
! 0 0 0 1
- matrix4 (struct) :> triangle-m
theta cos :> c
theta sin :> s
triangle-a triangle-b v+ :> triangle-lo
triangle-a triangle-b v- :> triangle-hi
- diagonal scale-matrix4 :> diagonal-m
-
- triangle-hi { 3 2 1 3 } vshuffle
- triangle-hi { 3 3 0 3 } vshuffle triangle-lo { 2 3 3 3 } vshuffle v+
- triangle-lo { 1 0 3 3 } vshuffle
- float-4 new
-
- triangle-m set-columns drop
-
- diagonal-m triangle-m m4+ ;
+ diagonal triangle-hi triangle-lo (rotation-matrix4) ;
TYPED:: frustum-matrix4 ( xy: float-4 near: float far: float -- matrix: matrix4 )
[
near near near far + 2 near far * * float-4-boa ! num
float-4{ t t f f } xy near far - float-4-with v? ! denom
v/ :> fov
-
+
float-4{ 0.0 -1.0 0.0 0.0 } :> negone
fov vmerge-diagonal
[ negone (vmerge) ] bi*
] make-matrix4 ;
+! interface with quaternions
+M: float-4 (q*sign)
+ float-4{ -0.0 0.0 0.0 0.0 } vbitxor ; inline
+M: float-4 qconjugate
+ float-4{ 0.0 -0.0 -0.0 -0.0 } vbitxor ; inline
+
+: euler4 ( phi theta psi -- q )
+ float-4{ 0 0 0 0 } euler-like ; inline
+
+TYPED:: q>matrix4 ( q: float-4 -- matrix: matrix4 )
+ ! a*a + b*b - c*c - d*d 2*b*c - 2*a*d 2*b*d + 2*a*c 0
+ ! 2*b*c + 2*a*d a*a - b*b + c*c - d*d 2*c*d - 2*a*b 0
+ ! 2*b*d - 2*a*c 2*c*d + 2*a*b a*a - b*b - c*c + d*d 0
+ ! 0 0 0 1
+ q { 2 1 1 3 } vshuffle q { 3 3 2 3 } vshuffle v* :> triangle-a
+ q { 0 0 0 3 } vshuffle q { 1 2 3 3 } vshuffle v* :> triangle-b
+
+ triangle-a float-4{ 2.0 2.0 2.0 0.0 } v* triangle-b float-4{ -2.0 2.0 -2.0 0.0 } v*
+ [ v- ] [ v+ ] 2bi :> ( triangle-hi triangle-lo )
+
+ q q v* first4 {
+ [ [ + ] [ - ] [ - ] tri* ]
+ [ [ - ] [ + ] [ - ] tri* ]
+ [ [ - ] [ - ] [ + ] tri* ]
+ } 4 ncleave 1.0 float-4-boa :> diagonal
+
+ diagonal triangle-hi triangle-lo (rotation-matrix4) ;
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