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common 3d matrix constructors

db4
Joe Groff 2009-07-02 19:05:24 -05:00
parent f9138f3048
commit e39f454aa5
1 changed files with 67 additions and 2 deletions
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basis/math/matrices/matrices.factor
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! Copyright (C) 2005, 2009 Slava Pestov.
! See http://factorcode.org/license.txt for BSD license.
USING: accessors arrays columns kernel math math.bits
math.order math.vectors sequences sequences.private fry ;
USING: accessors arrays columns kernel locals math math.bits
math.functions math.order math.vectors sequences
sequences.private fry ;
IN: math.matrices
! Matrices
@ -12,6 +13,70 @@ IN: math.matrices
#! Make a nxn identity matrix.
dup [ [ = 1 0 ? ] with map ] curry map ;
:: rotation-matrix3 ( axis theta -- matrix )
theta cos :> c
theta sin :> s
axis first3 :> z :> y :> x
x sq 1.0 x sq - c * + x y * 1.0 c - * z s * - x z * 1.0 c - * y s * + 3array
x y * 1.0 c - * z s * + y sq 1.0 y sq - c * + y z * 1.0 c - * x s * - 3array
x z * 1.0 c - * y s * - y z * 1.0 c - * x s * + z sq 1.0 z sq - c * + 3array
3array ;
:: rotation-matrix4 ( axis theta -- matrix )
theta cos :> c
theta sin :> s
axis first3 :> z :> y :> x
x sq 1.0 x sq - c * + x y * 1.0 c - * z s * - x z * 1.0 c - * y s * + 0 4array
x y * 1.0 c - * z s * + y sq 1.0 y sq - c * + y z * 1.0 c - * x s * - 0 4array
x z * 1.0 c - * y s * - y z * 1.0 c - * x s * + z sq 1.0 z sq - c * + 0 4array
{ 0.0 0.0 0.0 1.0 } 4array ;
:: translation-matrix4 ( offset -- matrix )
offset first3 :> z :> y :> x
{
{ 1.0 0.0 0.0 x }
{ 0.0 1.0 0.0 y }
{ 0.0 0.0 1.0 z }
{ 0.0 0.0 0.0 1.0 }
} ;
: >scale-factors ( number/sequence -- x y z )
dup number? [ dup dup ] [ first3 ] if ;
:: scale-matrix3 ( factors -- matrix )
factors >scale-factors :> z :> y :> x
{
{ x 0.0 0.0 }
{ 0.0 y 0.0 }
{ 0.0 0.0 z }
} ;
:: scale-matrix4 ( factors -- matrix )
factors >scale-factors :> z :> y :> x
{
{ x 0.0 0.0 0.0 }
{ 0.0 y 0.0 0.0 }
{ 0.0 0.0 z 0.0 }
{ 0.0 0.0 0.0 1.0 }
} ;
: ortho-matrix4 ( dim -- matrix )
[ recip ] map scale-matrix4 ;
:: frustum-matrix4 ( xy-dim near far -- matrix )
xy-dim first2 :> y :> x
near x /f :> xf
near y /f :> yf
near far + near far - /f :> zf
2 near far * * near far - /f :> wf
{
{ xf 0.0 0.0 0.0 }
{ 0.0 yf 0.0 0.0 }
{ 0.0 0.0 zf wf }
{ 0.0 0.0 -1.0 0.0 }
} ;
! Matrix operations
: mneg ( m -- m ) [ vneg ] map ;