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use number_traits::{Num, Signed}; use length::length_values; #[inline] pub fn transform_mat2<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 4], ) -> &'a mut [T; 3] { out[0] = a[0] * m[0] + a[1] * m[2]; out[1] = a[0] * m[1] + a[1] * m[3]; out } #[inline] pub fn transform_mat3<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 9], ) -> &'a mut [T; 3] { out[0] = a[0] * m[0] + a[1] * m[3] + a[2] * m[6]; out[1] = a[0] * m[1] + a[1] * m[4] + a[2] * m[7]; out[2] = a[0] * m[2] + a[1] * m[5] + a[2] * m[8]; out } #[inline] pub fn transform_mat4<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 16], ) -> &'a mut [T; 3] { out[0] = a[0] * m[0] + a[1] * m[4] + a[2] * m[8] + m[12]; out[1] = a[0] * m[1] + a[1] * m[5] + a[2] * m[9] + m[13]; out[2] = a[0] * m[2] + a[1] * m[6] + a[2] * m[10] + m[14]; out } #[inline] pub fn transform_mat4_rotation<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 16], ) -> &'a mut [T; 3] { out[0] = a[0] * m[0] + a[1] * m[4] + a[2] * m[8]; out[1] = a[0] * m[1] + a[1] * m[5] + a[2] * m[9]; out[2] = a[0] * m[2] + a[1] * m[6] + a[2] * m[10]; out } #[inline] pub fn transform_projection<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 16], ) -> &'a mut [T; 3] { let mut d = a[0] * m[3] + a[1] * m[7] + a[2] * m[11] + m[15]; d = if d != T::zero() { T::one() / d } else { d }; out[0] = (a[0] * m[0] + a[1] * m[4] + a[2] * m[8] + m[12]) * d; out[1] = (a[0] * m[1] + a[1] * m[5] + a[2] * m[9] + m[13]) * d; out[2] = (a[0] * m[2] + a[1] * m[6] + a[2] * m[10] + m[14]) * d; out } #[inline] pub fn transform_projection_no_position<'a, T: Copy + Num>( out: &'a mut [T; 3], a: &[T; 3], m: &[T; 16], ) -> &'a mut [T; 3] { let mut d = a[0] * m[3] + a[1] * m[7] + a[2] * m[11] + m[15]; d = if d != T::zero() { T::one() / d } else { d }; out[0] = (a[0] * m[0] + a[1] * m[4] + a[2] * m[8]) * d; out[1] = (a[0] * m[1] + a[1] * m[5] + a[2] * m[9]) * d; out[2] = (a[0] * m[2] + a[1] * m[6] + a[2] * m[10]) * d; out } #[inline] pub fn transform_quat<'a, T: Copy + Signed>( out: &'a mut [T; 3], a: &[T; 3], q: &[T; 4], ) -> &'a mut [T; 3] { let ix = q[3] * a[0] + q[1] * a[2] - q[2] * a[1]; let iy = q[3] * a[1] + q[2] * a[0] - q[0] * a[2]; let iz = q[3] * a[2] + q[0] * a[1] - q[1] * a[0]; let iw = -q[0] * a[0] - q[1] * a[1] - q[2] * a[2]; out[0] = ix * q[3] + iw * -q[0] + iy * -q[2] - iz * -q[1]; out[1] = iy * q[3] + iw * -q[1] + iz * -q[0] - ix * -q[2]; out[2] = iz * q[3] + iw * -q[2] + ix * -q[1] - iy * -q[0]; out } #[inline] pub fn position_mat32<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 6]) -> &'a mut [T; 3] { out[0] = m[4]; out[1] = m[5]; out } #[inline] pub fn position_mat4<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 16]) -> &'a mut [T; 3] { out[0] = m[12]; out[1] = m[13]; out[2] = m[14]; out } #[inline] pub fn scale_mat2<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 4]) -> &'a mut [T; 3] { out[0] = length_values(m[0], m[2], T::zero()); out[1] = length_values(m[1], m[3], T::zero()); out[2] = T::one(); out } #[inline] pub fn scale_mat32<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 6]) -> &'a mut [T; 3] { out[0] = length_values(m[0], m[2], T::zero()); out[1] = length_values(m[1], m[3], T::zero()); out[2] = T::one(); out } #[inline] pub fn scale_mat3<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 9]) -> &'a mut [T; 3] { out[0] = length_values(m[0], m[3], m[6]); out[1] = length_values(m[1], m[4], m[7]); out[2] = length_values(m[2], m[5], m[8]); out } #[inline] pub fn scale_mat4<'a, T: Copy + Num>(out: &'a mut [T; 3], m: &[T; 16]) -> &'a mut [T; 3] { out[0] = length_values(m[0], m[4], m[8]); out[1] = length_values(m[1], m[5], m[9]); out[2] = length_values(m[2], m[6], m[10]); out }