dmtxmatrix3.c

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#include <assert.h>
#include <float.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
 
#include "dmtx.h"
#include "dmtxstatic.h"
 
extern void dmtxMatrix3Copy(OUT DmtxMatrix3 m0, DmtxMatrix3 m1)
{
    memcpy(m0, m1, sizeof(DmtxMatrix3));
}
 
extern void dmtxMatrix3Identity(OUT DmtxMatrix3 m)
{
    static DmtxMatrix3 tmp = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
    dmtxMatrix3Copy(m, tmp);
}
 
void dmtxMatrix3Translate(OUT DmtxMatrix3 m, double tx, double ty)
{
    dmtxMatrix3Identity(m);
    m[2][0] = tx;
    m[2][1] = ty;
}
 
extern void dmtxMatrix3Rotate(OUT DmtxMatrix3 m, double angle)
{
    double sinAngle, cosAngle;
 
    sinAngle = sin(angle);
    cosAngle = cos(angle);
 
    dmtxMatrix3Identity(m);
    m[0][0] = cosAngle;
    m[0][1] = sinAngle;
    m[1][0] = -sinAngle;
    m[1][1] = cosAngle;
}
 
extern void dmtxMatrix3Scale(OUT DmtxMatrix3 m, double sx, double sy)
{
    dmtxMatrix3Identity(m);
    m[0][0] = sx;
    m[1][1] = sy;
}
 
extern void dmtxMatrix3Shear(OUT DmtxMatrix3 m, double shx, double shy)
{
    dmtxMatrix3Identity(m);
    m[1][0] = shx;
    m[0][1] = shy;
}
 
extern void dmtxMatrix3LineSkewTop(OUT DmtxMatrix3 m, double b0, double b1, double sz)
{
    DmtxAssert(b0 >= DmtxAlmostZero);
 
    dmtxMatrix3Identity(m);
    m[0][0] = b1 / b0;
    m[1][1] = sz / b0;
    m[0][2] = (b1 - b0) / (sz * b0);
}
 
extern void dmtxMatrix3LineSkewTopInv(OUT DmtxMatrix3 m, double b0, double b1, double sz)
{
    DmtxAssert(b1 >= DmtxAlmostZero);
 
    dmtxMatrix3Identity(m);
    m[0][0] = b0 / b1;
    m[1][1] = b0 / sz;
    m[0][2] = (b0 - b1) / (sz * b1);
}
 
extern void dmtxMatrix3LineSkewSide(OUT DmtxMatrix3 m, double b0, double b1, double sz)
{
    DmtxAssert(b0 >= DmtxAlmostZero);
 
    dmtxMatrix3Identity(m);
    m[0][0] = sz / b0;
    m[1][1] = b1 / b0;
    m[1][2] = (b1 - b0) / (sz * b0);
}
 
extern void dmtxMatrix3LineSkewSideInv(OUT DmtxMatrix3 m, double b0, double b1, double sz)
{
    DmtxAssert(b1 >= DmtxAlmostZero);
 
    dmtxMatrix3Identity(m);
    m[0][0] = b0 / sz;
    m[1][1] = b0 / b1;
    m[1][2] = (b0 - b1) / (sz * b1);
}
 
extern void dmtxMatrix3Multiply(OUT DmtxMatrix3 mOut, DmtxMatrix3 m0, DmtxMatrix3 m1)
{
    int i, j, k;
    double val;
 
    for (i = 0; i < 3; i++) {
        for (j = 0; j < 3; j++) {
            val = 0.0;
            for (k = 0; k < 3; k++) {
                val += m0[i][k] * m1[k][j];
            }
            mOut[i][j] = val;
        }
    }
}
 
extern void dmtxMatrix3MultiplyBy(INOUT DmtxMatrix3 m0, DmtxMatrix3 m1)
{
    DmtxMatrix3 mTmp;
 
    dmtxMatrix3Copy(mTmp, m0);
    dmtxMatrix3Multiply(m0, mTmp, m1);
}
 
extern DmtxPassFail dmtxMatrix3VMultiply(OUT DmtxVector2 *vOut, DmtxVector2 *vIn, DmtxMatrix3 m)
{
    double w;
 
    w = vIn->x * m[0][2] + vIn->y * m[1][2] + m[2][2];
    if (fabs(w) <= DmtxAlmostZero) {
        vOut->x = FLT_MAX;
        vOut->y = FLT_MAX;
        return DmtxFail;
    }
 
    vOut->x = (vIn->x * m[0][0] + vIn->y * m[1][0] + m[2][0]) / w;
    vOut->y = (vIn->x * m[0][1] + vIn->y * m[1][1] + m[2][1]) / w;
 
    return DmtxPass;
}
 
extern DmtxPassFail dmtxMatrix3VMultiplyBy(INOUT DmtxVector2 *v, DmtxMatrix3 m)
{
    DmtxPassFail success;
    DmtxVector2 vOut;
 
    success = dmtxMatrix3VMultiply(&vOut, v, m);
    *v = vOut;
 
    return success;
}
 
extern void dmtxMatrix3Print(DmtxMatrix3 m)
{
    dmtxLogInfo("%8.8f\t%8.8f\t%8.8f", m[0][0], m[0][1], m[0][2]);
    dmtxLogInfo("%8.8f\t%8.8f\t%8.8f", m[1][0], m[1][1], m[1][2]);
    dmtxLogInfo("%8.8f\t%8.8f\t%8.8f", m[2][0], m[2][1], m[2][2]);
}