
/* matrix.c - Various utility routines for making 4x4 matrices and using them. */

/* NOTE: All matrices are stored in row-major order (like C, not
   like FORTRAN).  If you pass these matrices to OpenGL functions,
   use glLoadTransposeMatrixf, etc. (rather than simply glLoadMatrixf). */

/* The implementation of these routines favors accuracy, portability, and
   read-ability rather than high performance. */

#include <assert.h>
#include <math.h>
#include <stdio.h>

static const double myPi = 3.14159265358979323846;

void makeIdentityMatrix(float m[16])
{
  m[0]  = 1;  m[1]  = 0;  m[2]  = 0;  m[3]  = 0;
  m[4]  = 0;  m[5]  = 1;  m[6]  = 0;  m[7]  = 0;
  m[8]  = 0;  m[9]  = 0;  m[10] = 1;  m[11] = 0;
  m[12] = 0;  m[13] = 0;  m[14] = 0;  m[15] = 1;
}

void makePerspectiveMatrix(double fieldOfView,
                           double aspectRatio,
                           double zNear, double zFar,
                           float m[16])
{
  double sine, cotangent, deltaZ;
  double radians = fieldOfView / 2.0 * myPi / 180.0;
  
  deltaZ = zFar - zNear;
  sine = sin(radians);
  /* Should be non-zero to avoid division by zero. */
  assert(deltaZ);
  assert(sine);
  assert(aspectRatio);
  cotangent = cos(radians) / sine;

  /* First row */
  m[0*4+0] = (float) (cotangent / aspectRatio);
  m[0*4+1] = 0.0;
  m[0*4+2] = 0.0;
  m[0*4+3] = 0.0;
  
  /* Second row */
  m[1*4+0] = 0.0;
  m[1*4+1] = (float) cotangent;
  m[1*4+2] = 0.0;
  m[1*4+3] = 0.0;
  
  /* Third row */
  m[2*4+0] = 0.0;
  m[2*4+1] = 0.0;
  m[2*4+2] = (float) (-(zFar + zNear) / deltaZ);
  m[2*4+3] = (float) (-2 * zNear * zFar / deltaZ);
  
  /* Fourth row */
  m[3*4+0] = 0.0;
  m[3*4+1] = 0.0;
  m[3*4+2] = -1;
  m[3*4+3] = 0;
}

/* Build a row-major (C-style) 4x4 matrix transform based on the
   parameters for gluLookAt. */
void makeLookAtMatrix(double eyex, double eyey, double eyez,
                      double centerx, double centery, double centerz,
                      double upx, double upy, double upz,
                      float m[16])
{
  double x[3], y[3], z[3], mag;

  /* Difference eye and center vectors to make Z vector. */
  z[0] = eyex - centerx;
  z[1] = eyey - centery;
  z[2] = eyez - centerz;
  /* Normalize Z. */
  mag = sqrt(z[0]*z[0] + z[1]*z[1] + z[2]*z[2]);
  if (mag) {
    z[0] /= mag;
    z[1] /= mag;
    z[2] /= mag;
  }

  /* Up vector makes Y vector. */
  y[0] = upx;
  y[1] = upy;
  y[2] = upz;

  /* X vector = Y cross Z. */
  x[0] =  y[1]*z[2] - y[2]*z[1];
  x[1] = -y[0]*z[2] + y[2]*z[0];
  x[2] =  y[0]*z[1] - y[1]*z[0];

  /* Recompute Y = Z cross X. */
  y[0] =  z[1]*x[2] - z[2]*x[1];
  y[1] = -z[0]*x[2] + z[2]*x[0];
  y[2] =  z[0]*x[1] - z[1]*x[0];

  /* Normalize X. */
  mag = sqrt(x[0]*x[0] + x[1]*x[1] + x[2]*x[2]);
  if (mag) {
    x[0] /= mag;
    x[1] /= mag;
    x[2] /= mag;
  }

  /* Normalize Y. */
  mag = sqrt(y[0]*y[0] + y[1]*y[1] + y[2]*y[2]);
  if (mag) {
    y[0] /= mag;
    y[1] /= mag;
    y[2] /= mag;
  }

  /* Build resulting view matrix. */
  m[0*4+0] = (float) x[0];  m[0*4+1] = (float) x[1];
  m[0*4+2] = (float) x[2];  m[0*4+3] = (float) (-x[0]*eyex + -x[1]*eyey + -x[2]*eyez);

  m[1*4+0] = (float) y[0];  m[1*4+1] = (float) y[1];
  m[1*4+2] = (float) y[2];  m[1*4+3] = (float) (-y[0]*eyex + -y[1]*eyey + -y[2]*eyez);

  m[2*4+0] = (float) z[0];  m[2*4+1] = (float) z[1];
  m[2*4+2] = (float) z[2];  m[2*4+3] = (float) (-z[0]*eyex + -z[1]*eyey + -z[2]*eyez);

  m[3*4+0] = 0.0;   m[3*4+1] = 0.0;  m[3*4+2] = 0.0;  m[3*4+3] = 1.0;
}

/* Simple 4x4 matrix by 4x4 matrix multiply. */
void multMatrix(float dst[16],
                const float src1[16], const float src2[16])
{
  float tmp[16];
  int i, j;

  for (i=0; i<4; i++) {
    for (j=0; j<4; j++) {
      tmp[i*4+j] = src1[i*4+0] * src2[0*4+j] +
                   src1[i*4+1] * src2[1*4+j] +
                   src1[i*4+2] * src2[2*4+j] +
                   src1[i*4+3] * src2[3*4+j];
    }
  }
  /* Copy result to dst (so dst can also be src1 or src2). */
  for (i=0; i<16; i++)
    dst[i] = tmp[i];
}

/* Normalize a 3-component vector. */
void normalizeDirection(float v[3])
{
  float mag;

  mag = (float) sqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
  if (mag) {
    float oneOverMag = 1.0f / mag;

    v[0] *= oneOverMag;
    v[1] *= oneOverMag;
    v[2] *= oneOverMag;
  }
}

/* Build a row-major (C-style) 4x4 matrix transform based on the
   parameters for glRotatef. */
void makeRotateMatrix(float angle,
                      float ax, float ay, float az,
                      float m[16])
{
  double radians;
  float sine, cosine, ab, bc, ca, tx, ty, tz;
  float axis[3];

  axis[0] = ax;
  axis[1] = ay;
  axis[2] = az;
  normalizeDirection(axis);

  radians = angle * myPi / 180.0;
  sine = (float) sin(radians);
  cosine = (float) cos(radians);
  ab = axis[0] * axis[1] * (1 - cosine);
  bc = axis[1] * axis[2] * (1 - cosine);
  ca = axis[2] * axis[0] * (1 - cosine);
  tx = axis[0] * axis[0];
  ty = axis[1] * axis[1];
  tz = axis[2] * axis[2];

  m[0]  = tx + cosine * (1 - tx);
  m[1]  = ab + axis[2] * sine;
  m[2]  = ca - axis[1] * sine;
  m[3]  = 0.0f;
  m[4]  = ab - axis[2] * sine;
  m[5]  = ty + cosine * (1 - ty);
  m[6]  = bc + axis[0] * sine;
  m[7]  = 0.0f;
  m[8]  = ca + axis[1] * sine;
  m[9]  = bc - axis[0] * sine;
  m[10] = tz + cosine * (1 - tz);
  m[11] = 0;
  m[12] = 0;
  m[13] = 0;
  m[14] = 0;
  m[15] = 1;
}

/* Build a row-major (C-style) 4x4 matrix transform based on the
   parameters for glTranslatef. */
void makeTranslateMatrix(float x, float y, float z, float m[16])
{
  m[0]  = 1;  m[1]  = 0;  m[2]  = 0;  m[3]  = x;
  m[4]  = 0;  m[5]  = 1;  m[6]  = 0;  m[7]  = y;
  m[8]  = 0;  m[9]  = 0;  m[10] = 1;  m[11] = z;
  m[12] = 0;  m[13] = 0;  m[14] = 0;  m[15] = 1;
}

/* Invert a row-major (C-style) 4x4 matrix. */
void invertMatrix(float *out, const float *m)
{
/* Assumes matrices are ROW major. */
#define SWAP_ROWS(a, b) { double *_tmp = a; (a)=(b); (b)=_tmp; }
#define MAT(m,r,c) (m)[(r)*4+(c)]

  double wtmp[4][8];
  double m0, m1, m2, m3, s;
  double *r0, *r1, *r2, *r3;

  r0 = wtmp[0], r1 = wtmp[1], r2 = wtmp[2], r3 = wtmp[3];

  r0[0] = MAT(m,0,0), r0[1] = MAT(m,0,1),
  r0[2] = MAT(m,0,2), r0[3] = MAT(m,0,3),
  r0[4] = 1.0, r0[5] = r0[6] = r0[7] = 0.0,

  r1[0] = MAT(m,1,0), r1[1] = MAT(m,1,1),
  r1[2] = MAT(m,1,2), r1[3] = MAT(m,1,3),
  r1[5] = 1.0, r1[4] = r1[6] = r1[7] = 0.0,

  r2[0] = MAT(m,2,0), r2[1] = MAT(m,2,1),
  r2[2] = MAT(m,2,2), r2[3] = MAT(m,2,3),
  r2[6] = 1.0, r2[4] = r2[5] = r2[7] = 0.0,

  r3[0] = MAT(m,3,0), r3[1] = MAT(m,3,1),
  r3[2] = MAT(m,3,2), r3[3] = MAT(m,3,3),
  r3[7] = 1.0, r3[4] = r3[5] = r3[6] = 0.0;

  /* Choose myPivot, or die. */
  if (fabs(r3[0])>fabs(r2[0])) SWAP_ROWS(r3, r2);
  if (fabs(r2[0])>fabs(r1[0])) SWAP_ROWS(r2, r1);
  if (fabs(r1[0])>fabs(r0[0])) SWAP_ROWS(r1, r0);
  if (0.0 == r0[0]) {
    assert(!"could not invert matrix");
  }

  /* Eliminate first variable. */
  m1 = r1[0]/r0[0]; m2 = r2[0]/r0[0]; m3 = r3[0]/r0[0];
  s = r0[1]; r1[1] -= m1 * s; r2[1] -= m2 * s; r3[1] -= m3 * s;
  s = r0[2]; r1[2] -= m1 * s; r2[2] -= m2 * s; r3[2] -= m3 * s;
  s = r0[3]; r1[3] -= m1 * s; r2[3] -= m2 * s; r3[3] -= m3 * s;
  s = r0[4];
  if (s != 0.0) { r1[4] -= m1 * s; r2[4] -= m2 * s; r3[4] -= m3 * s; }
  s = r0[5];
  if (s != 0.0) { r1[5] -= m1 * s; r2[5] -= m2 * s; r3[5] -= m3 * s; }
  s = r0[6];
  if (s != 0.0) { r1[6] -= m1 * s; r2[6] -= m2 * s; r3[6] -= m3 * s; }
  s = r0[7];
  if (s != 0.0) { r1[7] -= m1 * s; r2[7] -= m2 * s; r3[7] -= m3 * s; }

  /* Choose myPivot, or die. */
  if (fabs(r3[1])>fabs(r2[1])) SWAP_ROWS(r3, r2);
  if (fabs(r2[1])>fabs(r1[1])) SWAP_ROWS(r2, r1);
  if (0.0 == r1[1]) {
    assert(!"could not invert matrix");
  }

  /* Eliminate second variable. */
  m2 = r2[1]/r1[1]; m3 = r3[1]/r1[1];
  r2[2] -= m2 * r1[2]; r3[2] -= m3 * r1[2];
  r2[3] -= m2 * r1[3]; r3[3] -= m3 * r1[3];
  s = r1[4]; if (0.0 != s) { r2[4] -= m2 * s; r3[4] -= m3 * s; }
  s = r1[5]; if (0.0 != s) { r2[5] -= m2 * s; r3[5] -= m3 * s; }
  s = r1[6]; if (0.0 != s) { r2[6] -= m2 * s; r3[6] -= m3 * s; }
  s = r1[7]; if (0.0 != s) { r2[7] -= m2 * s; r3[7] -= m3 * s; }

  /* Choose myPivot, or die. */
  if (fabs(r3[2])>fabs(r2[2])) SWAP_ROWS(r3, r2);
  if (0.0 == r2[2]) {
    assert(!"could not invert matrix");
  }

  /* Eliminate third variable. */
  m3 = r3[2]/r2[2];
  r3[3] -= m3 * r2[3], r3[4] -= m3 * r2[4],
  r3[5] -= m3 * r2[5], r3[6] -= m3 * r2[6],
  r3[7] -= m3 * r2[7];

  /* Last check. */
  if (0.0 == r3[3]) {
    assert(!"could not invert matrix");
  }

  s = 1.0/r3[3];              /* Now back substitute row 3. */
  r3[4] *= s; r3[5] *= s; r3[6] *= s; r3[7] *= s;

  m2 = r2[3];                 /* Now back substitute row 2. */
  s  = 1.0/r2[2];
  r2[4] = s * (r2[4] - r3[4] * m2), r2[5] = s * (r2[5] - r3[5] * m2),
  r2[6] = s * (r2[6] - r3[6] * m2), r2[7] = s * (r2[7] - r3[7] * m2);
  m1 = r1[3];
  r1[4] -= r3[4] * m1, r1[5] -= r3[5] * m1,
  r1[6] -= r3[6] * m1, r1[7] -= r3[7] * m1;
  m0 = r0[3];
  r0[4] -= r3[4] * m0, r0[5] -= r3[5] * m0,
  r0[6] -= r3[6] * m0, r0[7] -= r3[7] * m0;

  m1 = r1[2];                 /* Now back substitute row 1. */
  s  = 1.0/r1[1];
  r1[4] = s * (r1[4] - r2[4] * m1), r1[5] = s * (r1[5] - r2[5] * m1),
  r1[6] = s * (r1[6] - r2[6] * m1), r1[7] = s * (r1[7] - r2[7] * m1);
  m0 = r0[2];
  r0[4] -= r2[4] * m0, r0[5] -= r2[5] * m0,
  r0[6] -= r2[6] * m0, r0[7] -= r2[7] * m0;

  m0 = r0[1];                 /* Now back substitute row 0. */
  s  = 1.0/r0[0];
  r0[4] = s * (r0[4] - r1[4] * m0), r0[5] = s * (r0[5] - r1[5] * m0),
  r0[6] = s * (r0[6] - r1[6] * m0), r0[7] = s * (r0[7] - r1[7] * m0);

  MAT(out,0,0) = (float) r0[4]; MAT(out,0,1) = (float) r0[5],
  MAT(out,0,2) = (float) r0[6]; MAT(out,0,3) = (float) r0[7],
  MAT(out,1,0) = (float) r1[4]; MAT(out,1,1) = (float) r1[5],
  MAT(out,1,2) = (float) r1[6]; MAT(out,1,3) = (float) r1[7],
  MAT(out,2,0) = (float) r2[4]; MAT(out,2,1) = (float) r2[5],
  MAT(out,2,2) = (float) r2[6]; MAT(out,2,3) = (float) r2[7],
  MAT(out,3,0) = (float) r3[4]; MAT(out,3,1) = (float) r3[5],
  MAT(out,3,2) = (float) r3[6]; MAT(out,3,3) = (float) r3[7]; 

#undef MAT
#undef SWAP_ROWS
}

/* Simple 4x4 matrix by 4-component column vector multiply and perform perspective divide. */
void transformPosition(float dst[4],
                       const float mat[16], const float vec[4])
{
  double tmp[4], invW;
  int i;

  for (i=0; i<4; i++) {
    tmp[i] = mat[i*4+0] * vec[0] +
             mat[i*4+1] * vec[1] +
             mat[i*4+2] * vec[2] +
             mat[i*4+3] * vec[3];
  }
  invW = 1 / tmp[3];
  /* Apply perspective divide and copy to dst (so dst can vec). */
  for (i=0; i<3; i++) {
    dst[i] = (float) (tmp[i] * invW);
  }
  dst[3] = 1;
}

/* Simple 4x4 matrix by 4-component column vector multiply. */
void transformVector(float dst[4],
                     const float mat[16], const float vec[4])
{
  double tmp[4];
  int i;

  for (i=0; i<4; i++) {
    tmp[i] = mat[i*4+0] * vec[0] +
             mat[i*4+1] * vec[1] +
             mat[i*4+2] * vec[2] +
             mat[i*4+3] * vec[3];
  }
  for (i=0; i<4; i++) {
    dst[i] = (float) tmp[i];
  }
}


/* Simple upper-left 3x3 of a 4x4 matrix by 3-component column vector multiply. */
void transformDirection(float dst[3],
                        const float mat[16],
                        const float vec[3])
{
  double tmp[3];
  int i;

  for (i=0; i<3; i++) {
    tmp[i] = mat[i*4+0] * vec[0] +
             mat[i*4+1] * vec[1] +
             mat[i*4+2] * vec[2];
  }
  for (i=0; i<3; i++) {
    dst[i] = (float) tmp[i];
  }
}

void printMatrix(const char *name, const float mat[16])
{
  int i;

  printf("matrix %s =\n", name);
  for (i=0; i<4; i++) {
    printf("  [ %g %g %g %g ]\n",
      mat[4*i+0], mat[4*i+1], mat[4*i+2], mat[4*i+3]);
  }
}

void printVector(const char *name, const float vec[4])
{
  printf("vector %s = [ %g %g %g %g ]\n",
    name, vec[0], vec[1], vec[2], vec[3]);
}

void printDirection(const char *name, const float vec[4])
{
  printf("direction %s = [ %g %g %g ]\n",
    name, vec[0], vec[1], vec[2]);
}

void transposeMatrix(float dst[16], const float mat[16])
{
  float tmp[16];
  int i, j;

  for (i=0; i<4; i++) {
    for (j=0; j<4; j++) {
      tmp[i*4+j] = mat[j*4+i];
    }
  }
  for (i=0; i<16; i++) {
    dst[i] = tmp[i];
  }
}
