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432 lines
12 KiB
C
432 lines
12 KiB
C
module std::math::matrix;
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fault MatrixError
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{
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MATRIX_INVERSE_DOESNT_EXIST,
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}
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struct Matrix2x2
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{
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union
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{
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struct
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{
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float m00, m01;
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float m10, m11;
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}
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float[4] m;
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}
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}
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struct Matrix3x3
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{
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union
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{
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struct
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{
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float m00; float m01; float m02;
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float m10; float m11; float m12;
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float m20; float m21; float m22;
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}
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float[9] m;
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}
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}
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struct Matrix4x4
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{
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union
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{
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struct
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{
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float m00, m01, m02, m03;
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float m10, m11, m12, m13;
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float m20, m21, m22, m23;
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float m30, m31, m32, m33;
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}
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float[16] m;
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}
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}
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fn float[<2>] Matrix2x2.apply(Matrix2x2* mat, float[<2>] vec)
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{
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return float[<2>] {
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mat.m00 * vec[0] + mat.m01 * vec[1],
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mat.m10 * vec[0] + mat.m11 * vec[1],
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};
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}
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fn float[<3>] Matrix3x3.apply(Matrix3x3* mat, float[<3>] vec)
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{
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return float[<3>] {
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mat.m00 * vec[0] + mat.m01 * vec[1] + mat.m02 * vec[2],
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mat.m10 * vec[0] + mat.m11 * vec[1] + mat.m12 * vec[2],
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mat.m20 * vec[0] + mat.m21 * vec[1] + mat.m22 * vec[2],
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};
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}
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fn float[<4>] Matrix4x4.apply(Matrix4x4* mat, float[<4>] vec)
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{
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return float[<4>] {
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mat.m00 * vec[0] + mat.m01 * vec[1] + mat.m02 * vec[2] + mat.m03 * vec[3],
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mat.m10 * vec[0] + mat.m11 * vec[1] + mat.m12 * vec[2] + mat.m13 * vec[3],
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mat.m20 * vec[0] + mat.m21 * vec[1] + mat.m22 * vec[2] + mat.m23 * vec[3],
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mat.m30 * vec[0] + mat.m31 * vec[1] + mat.m32 * vec[2] + mat.m33 * vec[3],
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};
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}
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fn Matrix2x2 Matrix2x2.mul(Matrix2x2* a, Matrix2x2 b)
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{
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return Matrix2x2 {
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a.m00 * b.m00 + a.m01 * b.m10, a.m00 * b.m01 + a.m01 * b.m11,
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a.m10 * b.m01 + a.m11 * b.m11, a.m10 * b.m01 + a.m11 * b.m11,
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};
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}
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fn Matrix3x3 Matrix3x3.mul(Matrix3x3* a, Matrix3x3 b)
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{
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return Matrix3x3 {
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a.m00 * b.m00 + a.m01 * b.m10 + a.m02 * b.m20,
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a.m00 * b.m01 + a.m01 * b.m11 + a.m02 * b.m21,
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a.m00 * b.m02 + a.m01 * b.m12 + a.m02 * b.m22,
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a.m10 * b.m00 + a.m11 * b.m10 + a.m12 * b.m20,
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a.m10 * b.m01 + a.m11 * b.m11 + a.m12 * b.m21,
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a.m10 * b.m02 + a.m11 * b.m12 + a.m12 * b.m22,
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a.m20 * b.m00 + a.m21 * b.m10 + a.m22 * b.m20,
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a.m20 * b.m01 + a.m21 * b.m11 + a.m22 * b.m21,
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a.m20 * b.m02 + a.m21 * b.m12 + a.m22 * b.m22,
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};
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}
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fn Matrix4x4 Matrix4x4.mul(Matrix4x4* a, Matrix4x4 b)
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{
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return Matrix4x4 {
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a.m00 * b.m00 + a.m01 * b.m10 + a.m02 * b.m20 + a.m03 * b.m30,
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a.m00 * b.m01 + a.m01 * b.m11 + a.m02 * b.m21 + a.m03 * b.m31,
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a.m00 * b.m02 + a.m01 * b.m12 + a.m02 * b.m22 + a.m03 * b.m32,
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a.m00 * b.m03 + a.m01 * b.m13 + a.m02 * b.m23 + a.m03 * b.m33,
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a.m10 * b.m00 + a.m11 * b.m10 + a.m12 * b.m20 + a.m13 * b.m30,
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a.m10 * b.m01 + a.m11 * b.m11 + a.m12 * b.m21 + a.m13 * b.m31,
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a.m10 * b.m02 + a.m11 * b.m12 + a.m12 * b.m22 + a.m13 * b.m32,
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a.m10 * b.m03 + a.m11 * b.m13 + a.m12 * b.m23 + a.m13 * b.m33,
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a.m20 * b.m00 + a.m21 * b.m10 + a.m22 * b.m20 + a.m23 * b.m30,
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a.m20 * b.m01 + a.m21 * b.m11 + a.m22 * b.m21 + a.m23 * b.m31,
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a.m20 * b.m02 + a.m21 * b.m12 + a.m22 * b.m22 + a.m23 * b.m32,
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a.m20 * b.m03 + a.m21 * b.m13 + a.m22 * b.m23 + a.m23 * b.m33,
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a.m30 * b.m00 + a.m31 * b.m10 + a.m32 * b.m20 + a.m33 * b.m30,
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a.m30 * b.m01 + a.m31 * b.m11 + a.m32 * b.m21 + a.m33 * b.m31,
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a.m30 * b.m02 + a.m31 * b.m12 + a.m32 * b.m22 + a.m33 * b.m32,
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a.m30 * b.m03 + a.m31 * b.m13 + a.m32 * b.m23 + a.m33 * b.m33,
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};
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}
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fn Matrix2x2 Matrix2x2.component_mul(Matrix2x2* mat, float s)
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{
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return Matrix2x2 {
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mat.m00 * s, mat.m01 * s,
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mat.m10 * s, mat.m11 * s,
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};
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}
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fn Matrix3x3 Matrix3x3.component_mul(Matrix3x3* mat, float s)
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{
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return Matrix3x3 {
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mat.m00 * s, mat.m01 * s, mat.m02 * s,
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mat.m10 * s, mat.m11 * s, mat.m12 * s,
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mat.m20 * s, mat.m21 * s, mat.m22 * s,
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};
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}
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fn Matrix4x4 Matrix4x4.component_mul(Matrix4x4* mat, float s)
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{
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return Matrix4x4 {
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mat.m00 * s, mat.m01 * s, mat.m02 * s, mat.m03 * s,
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mat.m10 * s, mat.m11 * s, mat.m12 * s, mat.m13 * s,
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mat.m20 * s, mat.m21 * s, mat.m22 * s, mat.m23 * s,
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mat.m30 * s, mat.m31 * s, mat.m32 * s, mat.m33 * s,
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};
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}
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fn Matrix2x2 Matrix2x2.transpose(Matrix2x2* mat)
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{
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return Matrix2x2 {
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mat.m00, mat.m10,
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mat.m01, mat.m11
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};
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}
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fn Matrix3x3 Matrix3x3.transpose(Matrix3x3* mat)
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{
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return Matrix3x3 {
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mat.m00, mat.m10, mat.m20,
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mat.m01, mat.m11, mat.m21,
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mat.m02, mat.m12, mat.m22,
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};
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}
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fn Matrix4x4 Matrix4x4.transpose(Matrix4x4* mat)
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{
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return Matrix4x4 {
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mat.m00, mat.m10, mat.m20, mat.m30,
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mat.m01, mat.m11, mat.m21, mat.m31,
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mat.m02, mat.m12, mat.m22, mat.m32,
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mat.m03, mat.m13, mat.m23, mat.m33,
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};
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}
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fn float Matrix2x2.determinant(Matrix2x2* mat)
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{
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return mat.m00 * mat.m11 - mat.m01 * mat.m10;
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}
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fn float Matrix3x3.determinant(Matrix3x3* mat)
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{
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return
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mat.m00 * (mat.m11 * mat.m22 - mat.m21 * mat.m12) -
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mat.m01 * (mat.m10 * mat.m22 - mat.m20 * mat.m12) +
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mat.m02 * (mat.m10 * mat.m21 - mat.m20 * mat.m11);
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}
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fn float Matrix4x4.determinant(Matrix4x4* mat)
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{
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return
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mat.m00 * (mat.m11 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m12 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) +
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mat.m13 * (mat.m21 * mat.m32 - mat.m31 * mat.m22) ) -
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mat.m01 * (mat.m10 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m12 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m13 * (mat.m20 * mat.m32 - mat.m30 * mat.m22) ) +
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mat.m02 * (mat.m10 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) -
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mat.m11 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m13 * (mat.m20 * mat.m31 - mat.m30 * mat.m21) ) -
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mat.m03 * (mat.m10 * (mat.m21 * mat.m32 - mat.m31 * mat.m22) -
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mat.m11 * (mat.m20 * mat.m32 - mat.m30 * mat.m22) +
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mat.m12 * (mat.m20 * mat.m31 - mat.m30 * mat.m21) );
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}
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fn Matrix2x2 Matrix2x2.adjoint(Matrix2x2* mat)
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{
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return Matrix2x2 { mat.m00, -mat.m01, -mat.m10, mat.m11 };
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}
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fn Matrix3x3 Matrix3x3.adjoint(Matrix3x3* mat)
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{
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return Matrix3x3 {
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(mat.m11 * mat.m22 - mat.m21 * mat.m12),
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-(mat.m10 * mat.m22 - mat.m20 * mat.m12),
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(mat.m10 * mat.m21 - mat.m20 * mat.m11),
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-(mat.m01 * mat.m22 - mat.m21 * mat.m02),
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(mat.m00 * mat.m22 - mat.m20 * mat.m02),
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-(mat.m00 * mat.m21 - mat.m20 * mat.m01),
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(mat.m01 * mat.m12 - mat.m11 * mat.m02),
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-(mat.m00 * mat.m12 - mat.m10 * mat.m02),
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(mat.m00 * mat.m11 - mat.m10 * mat.m01),
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};
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}
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fn Matrix4x4 Matrix4x4.adjoint(Matrix4x4* mat)
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{
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return Matrix4x4 {
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(mat.m11 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m12 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) +
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mat.m13 * (mat.m21 * mat.m32 - mat.m31 * mat.m22)),
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-(mat.m10 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m12 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m13 * (mat.m20 * mat.m32 - mat.m30 * mat.m22)),
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(mat.m10 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) -
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mat.m11 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m13 * (mat.m20 * mat.m31 - mat.m30 * mat.m21)),
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-(mat.m10 * (mat.m21 * mat.m32 - mat.m31 * mat.m22) -
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mat.m11 * (mat.m20 * mat.m32 - mat.m30 * mat.m22) +
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mat.m12 * (mat.m20 * mat.m31 - mat.m30 * mat.m21)),
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-(mat.m01 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m02 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) +
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mat.m03 * (mat.m21 * mat.m32 - mat.m31 * mat.m22)),
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(mat.m00 * (mat.m22 * mat.m33 - mat.m32 * mat.m23) -
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mat.m02 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m03 * (mat.m20 * mat.m32 - mat.m30 * mat.m22)),
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-(mat.m00 * (mat.m21 * mat.m33 - mat.m31 * mat.m23) -
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mat.m01 * (mat.m20 * mat.m33 - mat.m30 * mat.m23) +
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mat.m03 * (mat.m20 * mat.m31 - mat.m30 * mat.m21)),
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(mat.m00 * (mat.m21 * mat.m32 - mat.m31 * mat.m22) -
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mat.m01 * (mat.m20 * mat.m32 - mat.m30 * mat.m22) +
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mat.m02 * (mat.m20 * mat.m31 - mat.m30 * mat.m21)),
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(mat.m01 * (mat.m12 * mat.m33 - mat.m32 * mat.m13) -
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mat.m02 * (mat.m11 * mat.m33 - mat.m31 * mat.m13) +
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mat.m03 * (mat.m11 * mat.m32 - mat.m31 * mat.m12)),
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-(mat.m00 * (mat.m12 * mat.m33 - mat.m32 * mat.m13) -
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mat.m02 * (mat.m10 * mat.m33 - mat.m30 * mat.m13) +
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mat.m03 * (mat.m10 * mat.m32 - mat.m30 * mat.m12)),
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(mat.m00 * (mat.m11 * mat.m33 - mat.m31 * mat.m13) -
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mat.m01 * (mat.m10 * mat.m33 - mat.m30 * mat.m13) +
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mat.m03 * (mat.m10 * mat.m31 - mat.m30 * mat.m11)),
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-(mat.m00 * (mat.m11 * mat.m32 - mat.m31 * mat.m12) -
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mat.m01 * (mat.m10 * mat.m32 - mat.m30 * mat.m12) +
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mat.m02 * (mat.m10 * mat.m31 - mat.m30 * mat.m11)),
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-(mat.m01 * (mat.m12 * mat.m23 - mat.m22 * mat.m13) -
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mat.m02 * (mat.m11 * mat.m23 - mat.m21 * mat.m13) +
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mat.m03 * (mat.m11 * mat.m22 - mat.m21 * mat.m12)),
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(mat.m00 * (mat.m12 * mat.m23 - mat.m22 * mat.m13) -
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mat.m02 * (mat.m10 * mat.m23 - mat.m20 * mat.m13) +
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mat.m03 * (mat.m10 * mat.m22 - mat.m20 * mat.m12)),
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-(mat.m00 * (mat.m11 * mat.m23 - mat.m21 * mat.m13) -
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mat.m01 * (mat.m10 * mat.m23 - mat.m20 * mat.m13) +
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mat.m03 * (mat.m10 * mat.m21 - mat.m20 * mat.m11)),
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(mat.m00 * (mat.m11 * mat.m22 - mat.m21 * mat.m12) -
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mat.m01 * (mat.m10 * mat.m22 - mat.m20 * mat.m12) +
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mat.m02 * (mat.m10 * mat.m21 - mat.m20 * mat.m11)),
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};
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}
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fn Matrix2x2! Matrix2x2.inverse(Matrix2x2* m)
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{
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float det = m.determinant();
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if (det == 0) return MatrixError.MATRIX_INVERSE_DOESNT_EXIST!;
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Matrix2x2 adj = m.adjoint();
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return adj.component_mul(1 / det).transpose();
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}
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fn Matrix3x3! Matrix3x3.inverse(Matrix3x3* m)
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{
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float det = m.determinant();
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if (det == 0) return MatrixError.MATRIX_INVERSE_DOESNT_EXIST!;
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Matrix3x3 adj = m.adjoint();
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return adj.component_mul(1 / det).transpose();
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}
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fn Matrix4x4! Matrix4x4.inverse(Matrix4x4* m)
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{
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float det = m.determinant();
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if (det == 0) return MatrixError.MATRIX_INVERSE_DOESNT_EXIST!;
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Matrix4x4 adj = m.adjoint();
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return adj.component_mul(1 / det).transpose();
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}
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fn Matrix3x3 Matrix3x3.translate(Matrix3x3* m, float[<2>] v)
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{
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return m.mul(Matrix3x3 {
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1, 0, v[0],
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0, 1, v[1],
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0, 0, 1,
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});
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}
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fn Matrix4x4 Matrix4x4.translate(Matrix4x4* m, float[<3>] v)
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{
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return m.mul(Matrix4x4 {
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1, 0, 0, v[0],
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0, 1, 0, v[1],
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0, 0, 1, v[2],
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0, 0, 0, 1,
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});
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}
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// r in radians
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fn Matrix3x3 Matrix3x3.rotate(Matrix3x3* m, float r)
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{
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return m.mul(Matrix3x3 {
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math::cosf(r), -math::sinf(r), 0,
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math::sinf(r), math::cosf(r), 0,
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0, 0, 1,
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});
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}
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// r in radians
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fn Matrix4x4 Matrix4x4.rotate_z(Matrix4x4* m, float r)
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{
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return m.mul(Matrix4x4 {
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math::cosf(r), -math::sinf(r), 0, 0,
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math::sinf(r), math::cosf(r), 0, 0,
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0, 0, 1, 0,
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0, 0, 0, 1,
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});
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}
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// r in radians
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fn Matrix4x4 Matrix4x4.rotate_y(Matrix4x4* m, float r)
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{
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return m.mul(Matrix4x4 {
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math::cosf(r), 0, -math::sinf(r), 0,
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0, 1, 0, 0,
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math::sinf(r), 0, math::cosf(r), 0,
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0, 0, 0, 1,
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});
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}
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// r in radians
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fn Matrix4x4 Matrix4x4.rotate_x(Matrix4x4* m, float r)
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{
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return m.mul(Matrix4x4 {
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1, 0, 0, 0,
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0, math::cosf(r), -math::sinf(r), 0,
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0, math::sinf(r), math::cosf(r), 0,
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0, 0, 0, 1,
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});
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}
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fn Matrix3x3 Matrix3x3.scale(Matrix3x3* m, float[<2>] v)
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{
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return m.mul(Matrix3x3 {
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v[0], 0, 0,
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0, v[1], 0,
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0, 0, 1,
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});
|
|
}
|
|
|
|
fn Matrix4x4 Matrix4x4.scale(Matrix4x4* m, float[<3>] v)
|
|
{
|
|
return m.mul(Matrix4x4 {
|
|
v[0], 0, 0, 0,
|
|
0, v[1], 0, 0,
|
|
0, 0, v[2], 0,
|
|
0, 0, 0, 1,
|
|
});
|
|
}
|
|
|
|
|
|
fn Matrix4x4 ortho(float left, float right, float top, float bottom, float near, float far)
|
|
{
|
|
float width = right - left;
|
|
float height = top - bottom;
|
|
float depth = far - near;
|
|
return Matrix4x4 {
|
|
2 / width, 0, 0, 0,
|
|
0, 2 / height, 0, 0,
|
|
0, 0, -2 / depth, 0,
|
|
-(right + left) / width, -(top + bottom) / height, -(far + near) / depth, 1,
|
|
};
|
|
}
|
|
|
|
// fov in radians
|
|
fn Matrix4x4 perspective(float fov, float aspect_ratio, float near, float far)
|
|
{
|
|
|
|
float top = ((float)math::sin(fov / 2) / (float)math::cos(fov / 2)) * near;
|
|
float right = top * aspect_ratio;
|
|
float depth = far - near;
|
|
return Matrix4x4 {
|
|
1 / right, 0, 0, 0,
|
|
0, 1 / top, 0, 0,
|
|
0, 0, -2 / depth, 0,
|
|
0, 0, - (far + near) / depth, 1,
|
|
};
|
|
}
|
|
|