libOGC
1.0

GU/Matrix subsystem. More...
#include <gctypes.h>
Data Structures  
struct  _qrtn 
struct  _vecf 
Macros  
#define  DegToRad(a) ( (a) * 0.01745329252f ) 
#define  FIX32TOF(x) ((f32)(x) * (1.0f / (f32)0x00010000)) 
#define  FTOFIX32(x) (s32)((x) * (f32)0x00010000) 
#define  FTOFRAC8(x) ((s32) MIN(((x) * (128.0f)), 127.0f) & 0xff) 
#define  guMtxApplyScale c_guMtxApplyScale 
#define  guMtxApplyTrans c_guMtxApplyTrans 
#define  guMtxConcat c_guMtxConcat 
#define  guMtxCopy c_guMtxCopy 
#define  guMtxIdentity c_guMtxIdentity 
#define  guMtxInverse c_guMtxInverse 
#define  guMtxInvXpose c_guMtxInvXpose 
#define  guMtxQuat c_guMtxQuat 
#define  guMtxReflect c_guMtxReflect 
#define  guMtxRotAxisDeg(mt, axis, deg) guMtxRotAxisRad(mt,axis,DegToRad(deg)) 
#define  guMtxRotAxisRad c_guMtxRotAxisRad 
#define  guMtxRotDeg(mt, axis, deg) guMtxRotRad(mt,axis,DegToRad(deg)) 
#define  guMtxRotRad c_guMtxRotRad 
#define  guMtxRotTrig c_guMtxRotTrig 
#define  guMtxRowCol(mt, row, col) (mt[row][col]) 
Provides storagesafe access to elements of Mtx and Mtx44. More...  
#define  guMtxScale c_guMtxScale 
#define  guMtxScaleApply c_guMtxScaleApply 
#define  guMtxTrans c_guMtxTrans 
#define  guMtxTransApply c_guMtxTransApply 
#define  guMtxTranspose c_guMtxTranspose 
#define  guQuatAdd c_guQuatAdd 
#define  guQuatInverse c_guQuatInverse 
#define  guQuatMtx c_guQuatMtx 
#define  guQuatMultiply c_guQuatMultiply 
#define  guQuatNoramlize c_guQuatNormalize 
#define  guQuatSub c_guQuatSub 
#define  guVecAdd c_guVecAdd 
#define  guVecCross c_guVecCross 
#define  guVecDotProduct c_guVecDotProduct 
#define  guVecMultiply c_guVecMultiply 
#define  guVecMultiplySR c_guVecMultiplySR 
#define  guVecNormalize c_guVecNormalize 
#define  guVecScale c_guVecScale 
#define  guVecSub c_guVecSub 
#define  M_DTOR (3.14159265358979323846/180.0) 
#define  M_PI 3.14159265358979323846 
#define  MAX(a, b) (((a)>(b))?(a):(b)) 
#define  MIN(a, b) (((a)<(b))?(a):(b)) 
#define  MTX_USE_C 
#define  RadToDeg(a) ( (a) * 57.29577951f ) 
Typedefs  
typedef struct _qrtn  guQuaternion 
typedef struct _vecf  guVector 
typedef f32  Mtx[3][4] 
Standard 3x4 matrix. More...  
typedef f32  Mtx33[3][3] 
3x3 matrix.  
typedef f32(*  Mtx33P)[3] 
typedef f32  Mtx44[4][4] 
4x4 matrix. More...  
typedef f32(*  Mtx44P)[4] 
typedef f32(*  MtxP)[4] 
typedef f32  ROMtx[4][3] 
Columnmajor representation of the standard Mtx structure. More...  
typedef f32(*  ROMtxP)[3] 
Functions  
void  c_guMtxApplyScale (Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS) 
void  c_guMtxApplyTrans (Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT) 
void  c_guMtxConcat (Mtx a, Mtx b, Mtx ab) 
void  c_guMtxCopy (Mtx src, Mtx dst) 
void  c_guMtxIdentity (Mtx mt) 
u32  c_guMtxInverse (Mtx src, Mtx inv) 
u32  c_guMtxInvXpose (Mtx src, Mtx xPose) 
void  c_guMtxQuat (Mtx m, guQuaternion *a) 
void  c_guMtxReflect (Mtx m, guVector *p, guVector *n) 
void  c_guMtxRotAxisRad (Mtx mt, guVector *axis, f32 rad) 
void  c_guMtxRotRad (Mtx mt, const char axis, f32 rad) 
void  c_guMtxRotTrig (Mtx mt, const char axis, f32 sinA, f32 cosA) 
void  c_guMtxScale (Mtx mt, f32 xS, f32 yS, f32 zS) 
void  c_guMtxScaleApply (Mtx src, Mtx dst, f32 xS, f32 yS, f32 zS) 
void  c_guMtxTrans (Mtx mt, f32 xT, f32 yT, f32 zT) 
void  c_guMtxTransApply (Mtx src, Mtx dst, f32 xT, f32 yT, f32 zT) 
void  c_guMtxTranspose (Mtx src, Mtx xPose) 
void  c_guQuatAdd (guQuaternion *a, guQuaternion *b, guQuaternion *ab) 
void  c_guQuatInverse (guQuaternion *a, guQuaternion *d) 
void  c_guQuatMtx (guQuaternion *a, Mtx m) 
void  c_guQuatMultiply (guQuaternion *a, guQuaternion *b, guQuaternion *ab) 
void  c_guQuatNormalize (guQuaternion *a, guQuaternion *d) 
void  c_guQuatSub (guQuaternion *a, guQuaternion *b, guQuaternion *ab) 
void  c_guVecAdd (guVector *a, guVector *b, guVector *ab) 
void  c_guVecCross (guVector *a, guVector *b, guVector *axb) 
f32  c_guVecDotProduct (guVector *a, guVector *b) 
void  c_guVecMultiply (Mtx mt, guVector *src, guVector *dst) 
void  c_guVecMultiplySR (Mtx mt, guVector *src, guVector *dst) 
void  c_guVecNormalize (guVector *v) 
void  c_guVecScale (guVector *src, guVector *dst, f32 scale) 
void  c_guVecSub (guVector *a, guVector *b, guVector *ab) 
void  guFrustum (Mtx44 mt, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) 
Sets a 4x4 perspective projection matrix from viewing volume dimensions. More...  
void  guLightFrustum (Mtx mt, f32 t, f32 b, f32 l, f32 r, f32 n, f32 scaleS, f32 scaleT, f32 transS, f32 transT) 
Sets a 3x4 perspective projection matrix from viewing volume dimensions, two scale values, and two translation values. More...  
void  guLightOrtho (Mtx mt, f32 t, f32 b, f32 l, f32 r, f32 scaleS, f32 scaleT, f32 transS, f32 transT) 
Sets a 3x4 matrix for orthographic projection. More...  
void  guLightPerspective (Mtx mt, f32 fovY, f32 aspect, f32 scaleS, f32 scaleT, f32 transS, f32 transT) 
Sets a 3x4 perspective projection matrix from field of view and aspect ratio parameters, two scale values, and two translation values. More...  
void  guLookAt (Mtx mt, guVector *camPos, guVector *camUp, guVector *target) 
Sets a worldspace to cameraspace transformation matrix. More...  
void  guMtx44Copy (Mtx44 src, Mtx44 dst) 
void  guMtx44Identity (Mtx44 mt) 
u32  guMtx44Inverse (Mtx44 src, Mtx44 inv) 
void  guOrtho (Mtx44 mt, f32 t, f32 b, f32 l, f32 r, f32 n, f32 f) 
Sets a 4x4 matrix for orthographic projection. More...  
void  guPerspective (Mtx44 mt, f32 fovy, f32 aspect, f32 n, f32 f) 
Sets a 4x4 perspective projection matrix from field of view and aspect ratio parameters. More...  
void  guVecHalfAngle (guVector *a, guVector *b, guVector *half) 
Computes a vector that lies halfway between a and b. More...  
GU/Matrix subsystem.
The GU/Matrix subsystem is used for many matrix , vector and quaternionrelated operations.
The matrix functions are coupled tightly with GX (GX will take Mtx for many of its own matrixrelated functions, for example). This library supports 3x3, 3x4, 4x3 and 4x4 matrices.
This library has functions for manipulating vectors as well; some of its functions are for transforming matrices using vectors.
It also includes functions for using and converting between quaternions. Although quaternions are not used natively in libogc, they work well with rotation functions as they aren't susceptible to "gimbal lock". You can use the appropriate functions to freely convert between quaternions and matrices.
#define guMtxRowCol  (  mt,  
row,  
col  
)  (mt[row][col]) 
Provides storagesafe access to elements of Mtx and Mtx44.
This macro provides storagesafe access to elements of Mtx and Mtx44. Matrix storage format is transparent to the programmer as long as matrices are initialized and manipulated exclusively with the matrix API. Do not initialize matrices when they are first declared and do not set values by hand. To insulate code from changes to matrix storage format, you should use this macro instead of directly accessing individual matrix elements.
[in]  mt  Matrix to be accessed. 
[in]  r  Row index of element to access. 
[in]  c  Column index of element to access. 
f32 Mtx[3][4] 
Standard 3x4 matrix.
f32 Mtx44[4][4] 
4x4 matrix.
f32 ROMtx[4][3] 
Columnmajor representation of the standard Mtx structure.
It is not a true transpose, as it is a 4x3 matrix. These structures are only accepted by functions that explicitly require reordered matrices.
void guFrustum  (  Mtx44  mt, 
f32  t,  
f32  b,  
f32  l,  
f32  r,  
f32  n,  
f32  f  
) 
Sets a 4x4 perspective projection matrix from viewing volume dimensions.
This matrix is used by the GX API to transform points to screen space.
For normal perspective projection, the axis of projection is the z axis, so t = positive, b = t, r = positive, l = r. n and f must both be given as positive distances.
[out]  mt  New projection matrix. 
[in]  t  Top edge of view volume at the near clipping plane. 
[in]  b  Bottom edge of view volume at the near clipping plane. 
[in]  l  Left edge of view volume at the near clipping plane. 
[in]  r  Right edge of view volume at the near clipping plane. 
[in]  n  Positive distance to the near clipping plane. 
[in]  f  Positive distance to the far clipping plane. 
void guLightFrustum  (  Mtx  mt, 
f32  t,  
f32  b,  
f32  l,  
f32  r,  
f32  n,  
f32  scaleS,  
f32  scaleT,  
f32  transS,  
f32  transT  
) 
Sets a 3x4 perspective projection matrix from viewing volume dimensions, two scale values, and two translation values.
This matrix is used to project points into texture space and yield texture coordinates.
For normal perspective projection, the axis of projection is the z axis, so t = positive, b = t, r = positive, l = r. n must be given as a positive distance.
Standard projection yields values ranging from 1.0 to 1.0 in both dimensions of the front clipping plane. Since texture coordinates usually should be within the range of 0.0 to 1.0, we have added a scale and translation value for both S and T. The most common usage of these values is to set all of them to 0.5 so that points in the range of 1.0 to 1.0 are first scaled by 0.5 to be in the range of 0.5 to 0.5, and are then translated by 0.5 to be in the range of 0.0 to 1.0. Other values can be used for translation and scale to yield different effects.
[out]  mt  New projection matrix. 
[in]  t  Top edge of view volume at the near clipping plane. 
[in]  b  Bottom edge of view volume at the near clipping plane. 
[in]  l  Left edge of view volume at the near clipping plane. 
[in]  r  Right edge of view volume at the near clipping plane. 
[in]  n  Positive distance to the near clipping plane. 
[in]  scaleS  Scale in the S direction for projected coordinates (usually 0.5). 
[in]  scaleT  Scale in the T direction for projected coordinates (usually 0.5). 
[in]  transS  Translate in the S direction for projected coordinates (usually 0.5). 
[in]  transT  Translate in the T direction for projected coordinates (usually 0.5). 
void guLightOrtho  (  Mtx  mt, 
f32  t,  
f32  b,  
f32  l,  
f32  r,  
f32  scaleS,  
f32  scaleT,  
f32  transS,  
f32  transT  
) 
Sets a 3x4 matrix for orthographic projection.
Use this matrix to project points into texture space and yield texture coordinates.
For normal parallel projections, the axis of projection is the z axis, so t = positive, b = t, r = positive, l = r.
Standard projection yields values ranging from 1.0 to 1.0 in both dimensions of the front clipping plane. Since texture coordinates should usually be within the range of 0.0 to 1.0, we have added a scale and translation value for both S and T. The most common way to use these values is to set all of them to 0.5 so that points in the range of 1.0 to 1.0 are first scaled by 0.5 (to be in the range of 0.5 to 0.5). Then they are translated by 0.5 to be in the range of 0.0 to 1.0. Other values can be used for translation and scale to yield different effects.
[out]  mt  New parallel projection matrix. 
[in]  t  Top edge of view volume. 
[in]  b  Bottom edge of view volume. 
[in]  l  Left edge of view volume. 
[in]  r  Right edge of view volume. 
[in]  scaleS  Scale in the S direction for projected coordinates (usually 0.5). 
[in]  scaleT  Scale in the T direction for projected coordinates (usually 0.5). 
[in]  transS  Translate in the S direction for projected coordinates (usually 0.5). 
[in]  transT  Translate in the T direction for projected coordinates (usually 0.5). 
void guLightPerspective  (  Mtx  mt, 
f32  fovY,  
f32  aspect,  
f32  scaleS,  
f32  scaleT,  
f32  transS,  
f32  transT  
) 
Sets a 3x4 perspective projection matrix from field of view and aspect ratio parameters, two scale values, and two translation values.
This matrix is used to project points into texture space and yield texture coordinates.
This function generates a projection matrix, equivalent to that created by guLightFrustum(), with the axis of projection centered around Z. This function is included to provide an alternative method of specifying texture projection volume dimensions.
The field of view (fovy) is the total field of view in degrees in the YZ plane. aspect is the ratio (width / height) of the view window in screen space.
Standard projection yields values ranging from 1.0 to 1.0 in both dimensions of the front clipping plane. Since texture coordinates should usually be within the range of 0.0 to 1.0, we have added a scale and translation value for both S and T. The most common way to use these values is to set all of them to 0.5 (so that points in the range of 1.0 to 1.0 are first scaled by 0.5) to be in the range of 0.5 to 0.5. Then they are translated by 0.5 to be in the range of 0.0 to 1.0. Other values can be used for translation and scale to yield different effects.
[out]  mt  New projection matrix. 
[in]  fovy  Total field of view in the YZ plane measured in degrees. 
[in]  aspect  View window aspect ratio (width / height) 
[in]  scaleS  Scale in the S direction for projected coordinates (usually 0.5). 
[in]  scaleT  Scale in the T direction for projected coordinates (usually 0.5). 
[in]  transS  Translate in the S direction for projected coordinates (usually 0.5). 
[in]  transT  Translate in the T direction for projected coordinates (usually 0.5). 
Sets a worldspace to cameraspace transformation matrix.
Create the matrix m by specifying a camera position (camPos), a camera "up" direction (camUp), and a target position (target).
The camera's reference viewing direction is the z axis. The camera's reference 'up' direction is the +y axis.
This function is especially convenient for creating a tethered camera, aiming at an object, panning, or specifying an arbitrary view.
[out]  mt  New viewing matrix. 
[in]  camPos  Vector giving 3D camera position in world space. 
[in]  camUp  Vector containing camera "up" vector; does not have to be a unit vector. 
[in]  target  Vector giving 3D target position in world space. 
void guOrtho  (  Mtx44  mt, 
f32  t,  
f32  b,  
f32  l,  
f32  r,  
f32  n,  
f32  f  
) 
Sets a 4x4 matrix for orthographic projection.
This matrix is used by the GX API to transform points from eye space to screen space.
For normal parallel projections, the axis of projection is the z axis, so t = positive, b = t, r = positive, l = r. n and f must both be given as positive distances.
[out]  mt  New parallel projection matrix. 
[in]  t  Top edge of view volume. 
[in]  b  Bottom edge of view volume. 
[in]  l  Left edge of view volume. 
[in]  r  Right edge of view volume. 
[in]  n  Positive distance to the near clipping plane. 
[in]  f  Positive distance to the far clipping plane. 
void guPerspective  (  Mtx44  mt, 
f32  fovy,  
f32  aspect,  
f32  n,  
f32  f  
) 
Sets a 4x4 perspective projection matrix from field of view and aspect ratio parameters.
This matrix is used by the GX API to transform points to screen space.
This function generates a projection matrix equivalent to that created by guFrustum() with the axis of projection centered around Z. It is included to provide an alternative method of specifying view volume dimensions.
The field of view (fovy) is the total field of view in degrees in the YZ plane. aspect is the ratio (width/height) of the view window in screen space. n and f must both be given as positive distances.
[out]  mt  New perspective projection matrix. 
[in]  fovy  Total field of view in the YZ plane measured in degrees. 
[in]  aspect  View window aspect ratio (width/height) 
[in]  n  Positive distance to near clipping plane. 
[in]  f  Positive distance to far clipping plane. 
Computes a vector that lies halfway between a and b.
The halfway vector is useful in specular reflection calculations. It is interpreted as pointing from the reflecting surface to the general viewing direction.
a and b do not have to be unit vectors. Both of these vectors are assumed to be pointing towards the surface from the light or viewer, respectively. Local copies of these vectors are negated, normalized and added head to tail.
half is computed as a unit vector that points from the surface to halfway between the light and the viewing direction.
[in]  a  Pointer to incident vector. Must point from the light source to the surface. 
[in]  b  Pointer to viewing vector. Must point from the viewer to the surface. 
[out]  half  Pointer to resultant halfangle unit vector; points from the surface to halfway between the light and the viewing direction. 