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#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <kalmia.h>
#include <ezxml.h>
#include "transform.h"
#define TWO_PI 6.2831853071796f
int kai_identity(ka_matrix_t *m)
{
memset(*m, 0, sizeof(ka_matrix_t));
(*m)[0] = 1.0f;
(*m)[5] = 1.0f;
(*m)[10] = 1.0f;
(*m)[15] = 1.0f;
return 0;
}
int kai_multiply(ka_matrix_t *dest, ka_matrix_t A, ka_matrix_t B)
{
ka_matrix_t C;
memset(C, 0, sizeof(ka_matrix_t));
int i, j, k;
int a_ind, b_ind, c_ind;
for (i=0; i<4; i++) {
for (j=0; j<4; j++) {
c_ind = (4*i) + j;
for (k=0; k<4; k++) {
a_ind = (4*i) + k;
b_ind = (4*k) + j;
C[c_ind] += A[a_ind] * B[b_ind];
}
}
}
memcpy(*dest, C, sizeof(ka_matrix_t));
return 0;
}
int kai_parse_matrix(ka_matrix_t *m, ezxml_t tag)
{
if (strcmp("matrix", ezxml_name(tag)) != 0)
return -1;
char *str = ezxml_txt(tag);
char *end;
int i;
for (i=0; i<16; i++) {
(*m)[i] = strtod(str, &end);
str = end;
}
return 0;
}
int kai_parse_rotate(ka_matrix_t *m, ezxml_t tag)
{
if (strcmp("rotate", ezxml_name(tag)) != 0)
return -1;
char *str = ezxml_txt(tag);
char *end;
int i;
double rot[4];
for (i=0; i<4; i++) {
rot[i] = strtod(str, &end);
str = end;
}
double x, y, z, angle;
x = rot[0];
y = rot[1];
z = rot[2];
angle = rot[3];
/* normalize length */
double axis_len = (x*x) + (y*y) + (z*z);
axis_len = sqrt(axis_len);
x /= axis_len;
y /= axis_len;
z /= axis_len;
/* convert angle to radians */
angle *= TWO_PI / 360;
/* compute rotation matrix entries */
double co = cos(angle);
double unco = 1 - co;
double si = sin(angle);
(*m)[0] = (x*x*unco) + co;
(*m)[1] = (x*y*unco) - (z*si);
(*m)[2] = (x*z*unco) + (y*si);
(*m)[3] = 0.0f;
(*m)[4] = (y*x*unco) + (z*si);
(*m)[5] = (y*y*unco) + co;
(*m)[6] = (y*z*unco) - (x*si);
(*m)[7] = 0.0f;
(*m)[8] = (z*x*unco) - (y*si);
(*m)[9] = (z*y*unco) + (x*si);
(*m)[10] = (z*z*unco) + co;
(*m)[11] = 0.0f;
(*m)[12] = 0.0f;
(*m)[13] = 0.0f;
(*m)[14] = 0.0f;
(*m)[15] = 1.0f;
return 0;
}
int kai_parse_scale(ka_matrix_t *m, ezxml_t tag)
{
if (strcmp("scale", ezxml_name(tag)) != 0)
return -1;
char *str = ezxml_txt(tag);
char *end;
int i;
double scale[3];
for (i=0; i<3; i++) {
scale[i] = strtod(str, &end);
str = end;
}
memset(*m, 0, 16*sizeof(double));
(*m)[0] = scale[0];
(*m)[5] = scale[1];
(*m)[10] = scale[2];
(*m)[15] = 1.0f;
return 0;
}
int kai_parse_translate(ka_matrix_t *m, ezxml_t tag)
{
if (strcmp("translate", ezxml_name(tag)) != 0)
return -1;
char *str = ezxml_txt(tag);
char *end;
int i;
double move[3];
for (i=0; i<3; i++) {
move[i] = strtod(str, &end);
str = end;
}
memset(*m, 0, sizeof(ka_matrix_t));
(*m)[0] = 1.0f;
(*m)[3] = move[0];
(*m)[5] = 1.0f;
(*m)[7] = move[1];
(*m)[10] = 1.0f;
(*m)[11] = move[2];
(*m)[15] = 1.0f;
return 0;
}
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