cafe/mtx/mtx44.h

/*---------------------------------------------------------------------------*
  Project: Matrix Vector Library
  File:    mtx44ext.h

  Copyright 1998-2011 Nintendo.  All rights reserved.

  These coded instructions, statements, and computer programs contain
  proprietary information of Nintendo of America Inc. and/or Nintendo
  Company Ltd., and are protected by Federal copyright law.  They may
  not be disclosed to third parties or copied or duplicated in any form,
  in whole or in part, without the prior written consent of Nintendo.

 *---------------------------------------------------------------------------*/


/*---------------------------------------------------------------------------*
    Matrix-Vector Library : 4x4 matrix extension
 *---------------------------------------------------------------------------*/

#ifndef __MTX44EXT_H__
#define __MTX44EXT_H__


#include <cafe/mtx.h>


#ifdef __cplusplus
extern "C" {
#endif

/*---------------------------------------------------------------------------*
    Default function binding configuration
 *---------------------------------------------------------------------------*/
// [Binding Rule]
//
// "MTX_USE_ASM" -> When this flag is specified, it uses PS* (Paired-Single
//                 assembler code) functions for non-prefixed function calls.
// "MTX_USE_PS" -> When this flag is specified, it uses PS* (Paired-Single
//                 intrinsics code) functions for non-prefixed function calls.
// "MTX_USE_C " -> When this flag is specified, it uses C_* (C code) functions
//                 for non-prefixed function calls.
//
// The first binding specified in priority order listed will be used
// If nothing is specified, refers ASM* functions

#if ( !defined(MTX_USE_ASM) && !defined(MTX_USE_PS) && !defined(MTX_USE_C))
#define MTX_USE_ASM
#endif

/*---------------------------------------------------------------------------*
    4x4 GENERAL MATRIX SECTION
 *---------------------------------------------------------------------------*/

/// @addtogroup MTX
/// @{

// C version

/// \brief Sets a 4x4 Identity Matrix.
///
/// \param m Matrix to set
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Identity         ( Mtx44 m );

/// \brief Copy a 4x4 Matrix.
///
/// \note This is safe for src == dst.
///
/// \param src Source matrix
/// \param dst Destination matrix
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Copy             ( MTX_CONST Mtx44 src, Mtx44 dst );

/// \brief Concatenate two 4x4 Matrix.
/// The order of operations is:
///
/// AB = A x B
///
/// \note Safe if ab == a == b.
/// \note In the C version, an extra MTXCopy operation occurs if ab == a or
/// ab == b.
///
/// \param a Left matrix
/// \param b Right matrix
/// \param ab Destination matrix
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Concat           ( MTX_CONST Mtx44 a, MTX_CONST Mtx44 b, Mtx44 ab );

/// \brief Compute a 4x4 transpose matrix.
///
/// \param src Source matrix
/// \param xPose Destination (transposed) matrix
///
/// \note It is ok if src == xPose.
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Transpose        ( MTX_CONST Mtx44 src, Mtx44 xPose );

/// \brief Computes a fast inverse of a 4x4 Matrix.
/// Uses the Gauss-Jordan method (with partial pivoting)
///
/// \param src Source matrix
/// \param inv Destination (inverse) matrix
/// \return 0 if src is not invertible, 1 on success.
///
/// \note It is ok if src == inv.
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
u32  C_MTX44Inverse          ( MTX_CONST Mtx44 src, Mtx44 inv );

/// @}

// PS intrinsics version
void PSMTX44Identity         ( Mtx44 m );
void PSMTX44Copy             ( MTX_CONST Mtx44 src, Mtx44 dst );
void PSMTX44Concat           ( MTX_CONST Mtx44 a, MTX_CONST Mtx44 b, Mtx44 ab );
void PSMTX44Transpose        ( MTX_CONST Mtx44 src, Mtx44 xPose );

// PS assembler version
void ASM_MTX44Identity       ( Mtx44 m );
void ASM_MTX44Copy           ( MTX_CONST Mtx44 src, Mtx44 dst );
void ASM_MTX44Concat         ( MTX_CONST Mtx44 a, MTX_CONST Mtx44 b, Mtx44 ab );
void ASM_MTX44Transpose      ( MTX_CONST Mtx44 src, Mtx44 xPose );

#define MTX44Inverse            C_MTX44Inverse

// Bindings
#ifdef MTX_USE_ASM
#define MTX44Concat             ASM_MTX44Concat
#define MTX44Identity           ASM_MTX44Identity
#define MTX44Copy               ASM_MTX44Copy
#define MTX44Transpose          ASM_MTX44Transpose
#else
#ifdef MTX_USE_PS
#define MTX44Concat             PSMTX44Concat
#define MTX44Identity           PSMTX44Identity
#define MTX44Copy               PSMTX44Copy
#define MTX44Transpose          PSMTX44Transpose
#else // MTX_USE_C
#define MTX44Concat             C_MTX44Concat
#define MTX44Identity           C_MTX44Identity
#define MTX44Copy               C_MTX44Copy
#define MTX44Transpose          C_MTX44Transpose
#endif
#endif

/*---------------------------------------------------------------------------*
    MODEL MATRIX SECTION
 *---------------------------------------------------------------------------*/

/// @addtogroup MTX
/// @{

// C version

/// \brief Sets a translation 4x4 matrix
///
/// \param m Matrix to be set
/// \param xT x component of translation
/// \param yT y component of translation
/// \param zT z component of translation
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Trans            ( Mtx44 m, f32 xT, f32 yT, f32 zT );

/// \brief Apply a translation to a 4x4 matrix.
/// This function is equivalent to \ref MTX44Trans + \ref MTX44Concat.
///
/// \note This is safe for the case where src == dst.
///
/// \param src Matrix to multiply the translation by
/// \param dst Resulting matrix from concatenation
/// \param xT x component of translation
/// \param yT y component of translation
/// \param zT z component of translation
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44TransApply       ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xT, f32 yT, f32 zT );

/// \brief Sets a scale 4x4 matrix
///
/// \param m Matrix to be set
/// \param xS x component of scale
/// \param yS y component of scale
/// \param zS z component of scale
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44Scale            ( Mtx44 m, f32 xS, f32 yS, f32 zS );

/// \brief Apply a scale to a 4x4 matrix.
/// This function is equivalent to \ref MTX44Scale + \ref MTX44Concat.
///
/// \note This is safe for the case where src == dst.
///
/// \param src Matrix to multiply the scale by
/// \param dst Resulting matrix from concatenation
/// \param xS x component of scale
/// \param yS y component of scale
/// \param zS z component of scale
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44ScaleApply       ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xS, f32 yS, f32 zS );

/// \brief Sets a rotation 4x4 matrix about one of the X, Y or Z axes.
///
/// \note Counter clockwise rotation is positive.
///
/// \param m Matrix to be set
/// \param axis Principal axis of rotation. Must be 'X', 'x', 'Y', 'y', 'Z', or 'z'.
/// \param rad Rotation angle in radians
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44RotRad           ( Mtx44 m, char axis, f32 rad );

/// \brief Sets a rotation 4x4 matrix about one of the X, Y, or Z axes from specified trig ratios.
///
/// \note Counter clockwise rotation is positive.
///
/// \param m Matrix to be set
/// \param axis Principal axis of rotation. Must be 'X', 'x', 'Y', 'y', 'Z', or 'z'.
/// \param sinA Sine of rotation angle
/// \param cosA Cosine of rotation angle
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44RotTrig          ( Mtx44 m, char axis, f32 sinA, f32 cosA );

/// \brief Sets a rotation 4x4 matrix about an arbitrary axis.
///
/// \note Counter clockwise rotation is positive.
///
/// \param m Matrix to be set
/// \param axis Pointer to a vector containing the (x, y, z) axis components
/// \param rad Rotation angle in radians
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44RotAxisRad       ( Mtx44 m, const Vec *axis, f32 rad);

/// @}

// PS intrinsics version
void PSMTX44Trans            ( Mtx44 m, f32 xT, f32 yT, f32 zT );
void PSMTX44TransApply       ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xT, f32 yT, f32 zT );
void PSMTX44Scale            ( Mtx44 m, f32 xS, f32 yS, f32 zS );
void PSMTX44ScaleApply       ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xS, f32 yS, f32 zS );

void PSMTX44RotRad           ( Mtx44 m, char axis, f32 rad );
void PSMTX44RotTrig          ( Mtx44 m, char axis, f32 sinA, f32 cosA );
void PSMTX44RotAxisRad       ( Mtx44 m, const Vec *axis, f32 rad);

// PS assembler version
void ASM_MTX44Scale          ( Mtx44 m, f32 xS, f32 yS, f32 zS );
void ASM_MTX44ScaleApply     ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xS, f32 yS, f32 zS );
void ASM_MTX44Trans          ( Mtx44 m, f32 xT, f32 yT, f32 zT );
void ASM_MTX44TransApply     ( MTX_CONST Mtx44 src, Mtx44 dst, f32 xT, f32 yT, f32 zT );
void ASM_MTX44RotTrig        ( Mtx44 m, char axis, f32 sinA, f32 cosA );
void ASM_MTX44RotRad         ( Mtx44 m, char axis, f32 rad );
void ASM_MTX44RotAxisRad     ( Mtx44 m, const Vec *axis, f32 rad );

// Bindings
#ifdef MTX_USE_ASM
#define MTX44RotRad             ASM_MTX44RotRad
#define MTX44RotTrig            ASM_MTX44RotTrig
#define MTX44Trans              ASM_MTX44Trans
#define MTX44TransApply         ASM_MTX44TransApply
#define MTX44Scale              ASM_MTX44Scale
#define MTX44ScaleApply         ASM_MTX44ScaleApply
#define MTX44RotAxisRad         ASM_MTX44RotAxisRad
#else
#ifdef MTX_USE_PS
#define MTX44RotRad             PSMTX44RotRad
#define MTX44RotTrig            PSMTX44RotTrig
#define MTX44Trans              PSMTX44Trans
#define MTX44TransApply         PSMTX44TransApply
#define MTX44Scale              PSMTX44Scale
#define MTX44ScaleApply         PSMTX44ScaleApply
#define MTX44RotAxisRad         PSMTX44RotAxisRad
#else // MTX_USE_C
#define MTX44RotRad             C_MTX44RotRad
#define MTX44RotTrig            C_MTX44RotTrig
#define MTX44Trans              C_MTX44Trans
#define MTX44TransApply         C_MTX44TransApply
#define MTX44Scale              C_MTX44Scale
#define MTX44ScaleApply         C_MTX44ScaleApply
#define MTX44RotAxisRad         C_MTX44RotAxisRad
#endif
#endif

/*---------------------------------------------------------------------------*
    MATRIX-VECTOR SECTION
 *---------------------------------------------------------------------------*/

/// @addtogroup MTX
/// @{

// C version

/// \brief Multiplies a vector by a 4x4 matrix
///
/// dst = m x src
///
/// \note It is safe for src == dst.
///
/// \param m Matrix to multiply by
/// \param src Source vector of multiply
/// \param dst Resulting vector from multiply
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44MultVec          ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );

/// \brief Multiplies an array of vectors by a 4x4 matrix.
///
/// \note It is safe for srcBase == dstBase.
///
/// \warning This function cannot check for array overflow.
///
/// \param m Matrix to multiply by
/// \param srcBase Source vector array
/// \param dstBase Resulting vector array
/// \param count Number of vectors in srcBase and dstBase arrays.
///
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44MultVecArray     ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase, u32 count );

/// \brief Multiply a vector by a 4x4 Scaling and Rotating matrix
/// \note It is assumed that the 4th row/column are (0, 0, 0, 1).
///
/// This is equivalent to:
///
/// dst = m x src
///
/// \note It is safe for src == dst.
///
/// \param m Matrix to multiply by
/// \param src Source vector for multiply
/// \param dst Resulting vector from multiply
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44MultVecSR        ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );

/// \brief Multiply an array of vector by a 4x4 Scaling and Rotating matrix
/// \note It is assumed that the 4th row/column are (0, 0, 0, 1).
///
/// This is equivalent to:
///
/// dstBase[i] = m x srcBase[i]
///
/// \note It is safe for srcBase == dstBase.
///
/// \warning This function cannot check for array overflow
///
/// \param m Matrix to multiply by
/// \param srcBase Source vector array
/// \param dstBase Resulting vector array
/// \param count Number of vectors in srcBase and dstBase
///
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX44MultVecArraySR   ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase, u32 count );

/// @}

// PS intrinsics version
void PSMTX44MultVec          ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );
void PSMTX44MultVecArray     ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase, u32 count );
void PSMTX44MultVecSR        ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );
void PSMTX44MultVecArraySR   ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase, u32 count );

// PS assembler version
void ASM_MTX44MultVec        ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );
void ASM_MTX44MultVecArray   ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase,  u32 count );
void ASM_MTX44MultVecArraySR ( MTX_CONST Mtx44 m, const Vec *srcBase, Vec *dstBase,  u32 count );
void ASM_MTX44MultVecSR      ( MTX_CONST Mtx44 m, const Vec *src, Vec *dst );

// Bindings
#ifdef MTX_USE_ASM
#define MTX44MultVec            ASM_MTX44MultVec
#define MTX44MultVecArray       ASM_MTX44MultVecArray
#define MTX44MultVecSR          ASM_MTX44MultVecSR
#define MTX44MultVecArraySR     ASM_MTX44MultVecArraySR
#else
#ifdef MTX_USE_PS
#define MTX44MultVec            PSMTX44MultVec
#define MTX44MultVecArray       PSMTX44MultVecArray
#define MTX44MultVecSR          PSMTX44MultVecSR
#define MTX44MultVecArraySR     PSMTX44MultVecArraySR
#else // MTX_USE_C
#define MTX44MultVec            C_MTX44MultVec
#define MTX44MultVecArray       C_MTX44MultVecArray
#define MTX44MultVecSR          C_MTX44MultVecSR
#define MTX44MultVecArraySR     C_MTX44MultVecArraySR
#endif
#endif

/*---------------------------------------------------------------------------*
    MATRIX CONVERSION
 *---------------------------------------------------------------------------*/

/// @addtogroup MTX
/// @{


/// \brief Convert a 3x4 matrix to a 4x4 matrix.
/// The fourth row is set to (0, 0, 0, 1).
///
/// \param src Source 3x4 matrix
/// \param dst Destination 4x4 matrix
///
/// \par Usage
///  - Add "#define MTX_USE_ASM" prior to including the mtx header to use PPC Assembly based version
///  - Add "#define MTX_USE_PS" prior to including the mtx header to use PPC Paired-Single instruction based version
///  - Add "#define MTX_USE_C" prior to including the mtx header to use C implementation (default). This is useful for debugging.
///
/// \donotcall \threadsafe \devonly \enddonotcall
///
void C_MTX34To44  ( MTX_CONST Mtx src, Mtx44 dst );

/// @}

void PSMTX34To44  ( MTX_CONST Mtx src, Mtx44 dst );
void ASM_MTX34To44( MTX_CONST Mtx src, Mtx44 dst );

// Bindings
#ifdef MTX_USE_ASM
#define MTX34To44            ASM_MTX34To44
#else
#ifdef MTX_USE_PS
#define MTX34To44            PSMTX34To44
#else // MTX_USE_C
#define MTX34To44            C_MTX34To44
#endif
#endif

#ifdef __cplusplus
}
#endif

#endif // __MTX44EXT_H__

/*===========================================================================*/