mirror of https://github.com/aap/librw.git
some matrix stuff for quiret (untested)
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aap
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37ec9e041a
commit
abe10e7623
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@ -31,6 +31,8 @@ int32 build = 0xFFFF;
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#endif
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char *debugFile = NULL;
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// TODO: comparison tolerances
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static Matrix identMat = {
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{ 1.0f, 0.0f, 0.0f}, 0.0f,
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{ 0.0f, 1.0f, 0.0f}, 0.0f,
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@ -38,6 +40,12 @@ static Matrix identMat = {
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{ 0.0f, 0.0f, 0.0f}, 1.0f
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};
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static Matrix3 identMat3 = {
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{ 1.0f, 0.0f, 0.0f},
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{ 0.0f, 1.0f, 0.0f},
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{ 0.0f, 0.0f, 1.0f}
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};
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void
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initialize(void)
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{
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@ -114,10 +122,10 @@ Matrix::mult(Matrix *m1, Matrix *m2, Matrix *m3)
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matrixMult((float32*)m1, (float32*)m2, (float32*)m3);
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}
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void
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bool32
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Matrix::invert(Matrix *m1, Matrix *m2)
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{
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matrixInvert((float32*)m1, (float32*)m2);
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return matrixInvert((float32*)m1, (float32*)m2);
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}
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void
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@ -126,6 +134,86 @@ Matrix::transpose(Matrix *m1, Matrix *m2)
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matrixTranspose((float32*)m1, (float32*)m2);
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}
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void
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Matrix3::setIdentity(void)
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{
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*this = identMat3;
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}
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V3d
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Matrix3::transVec(const V3d &v)
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{
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V3d res;
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res = scale(this->right, v.x);
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res = add(res, scale(this->up, v.y));
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res = add(res, scale(this->at, v.z));
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return res;
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}
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bool32
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Matrix3::isIdentity(void)
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{
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return right.x == 1.0f && right.y == 0.0f && right.z == 0.0f &&
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up.x == 0.0f && up.y == 1.0f && up.z == 0.0f &&
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at.x == 0.0f && at.y == 0.0f && at.z == 1.0f;
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}
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float32
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Matrix3::determinant(void)
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{
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return right.x*(up.y*at.z - up.z*at.y)
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+ up.x*(at.y*right.z - at.z*right.y)
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+ at.x*(right.y*up.z - right.z*up.y);
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}
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void
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mult(Matrix3 *m1, Matrix3 *m2, Matrix3 *m3)
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{
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m1->right.x = m2->right.x*m3->right.x + m2->up.x*m3->right.y + m2->at.x*m3->right.z;
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m1->right.y = m2->right.x*m3->up.x + m2->up.x*m3->up.y + m2->at.x*m3->up.z;
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m1->right.z = m2->right.x*m3->at.x + m2->up.x*m3->at.y + m2->at.x*m3->at.z;
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m1->up.x = m2->right.y*m3->right.x + m2->up.y*m3->right.y + m2->at.y*m3->right.z;
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m1->up.y = m2->right.y*m3->up.x + m2->up.y*m3->up.y + m2->at.y*m3->up.z;
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m1->up.z = m2->right.y*m3->at.x + m2->up.y*m3->at.y + m2->at.y*m3->at.z;
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m1->at.x = m2->right.z*m3->right.x + m2->up.z*m3->right.y + m2->at.z*m3->right.z;
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m1->at.y = m2->right.z*m3->up.x + m2->up.z*m3->up.y + m2->at.z*m3->up.z;
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m1->at.z = m2->right.z*m3->at.x + m2->up.z*m3->at.y + m2->at.z*m3->at.z;
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}
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bool32
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invert(Matrix3 *m1, Matrix3 *m2)
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{
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float32 invdet = m2->determinant();
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if(invdet == 0.0f)
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return 0;
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invdet = 1.0f/invdet;
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m1->right.x = invdet*(m2->up.y * m2->at.z - m2->up.z * m2->at.y);
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m1->right.y = invdet*(m2->at.y * m2->right.z - m2->at.z * m2->right.y);
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m1->right.z = invdet*(m2->right.y * m2->up.z - m2->right.z * m2->up.y);
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m1->up.x = invdet*(m2->up.z * m2->at.x - m1->up.x * m2->at.z);
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m1->up.y = invdet*(m2->at.z * m2->right.x - m2->at.x * m2->right.z);
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m1->up.z = invdet*(m2->right.z * m1->up.x - m2->right.x * m2->up.z);
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m1->at.x = invdet*(m2->up.x * m2->at.y - m2->up.y * m2->at.x);
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m1->at.y = invdet*(m2->at.x * m2->right.y - m2->at.y * m2->right.x);
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m1->at.z = invdet*(m2->right.x * m2->up.y - m2->right.y * m2->up.x);
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return 1;
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}
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void
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transpose(Matrix3 *m1, Matrix3 *m2)
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{
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m1->right.x = m2->right.x;
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m1->right.y = m2->up.x;
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m1->right.z = m2->at.x;
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m1->up.x = m2->right.y;
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m1->up.y = m2->up.y;
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m1->up.z = m2->at.y;
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m1->at.x = m2->right.z;
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m1->at.y = m2->up.z;
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m1->at.z = m2->at.z;
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}
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bool32
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equal(const Matrix &m1, const Matrix &m2)
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{
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@ -203,7 +291,7 @@ matrixTranspose(float32 *out, float32 *in)
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#undef OUT
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}
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void
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bool32
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matrixInvert(float32 *out, float32 *m)
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{
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float32 inv[16], det;
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@ -307,10 +395,11 @@ matrixInvert(float32 *out, float32 *m)
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m[8] * m[2] * m[5];
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det = m[0] * inv[0] + m[1] * inv[4] + m[2] * inv[8] + m[3] * inv[12];
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if(det == 0)
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return;
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return 0;
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det = 1.0f / det;
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for(i = 0; i < 16; i++)
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out[i] = inv[i] * det;
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return 1;
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}
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void
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18
src/rwbase.h
18
src/rwbase.h
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@ -124,17 +124,31 @@ struct Matrix
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bool32 isIdentity(void);
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// not very pretty :/
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static void mult(Matrix *m1, Matrix *m2, Matrix *m3);
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static void invert(Matrix *m1, Matrix *m2);
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static bool32 invert(Matrix *m1, Matrix *m2);
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static void transpose(Matrix *m1, Matrix *m2);
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};
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struct Matrix3
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{
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V3d right, up, at;
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void setIdentity(void);
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V3d transVec(const V3d &v);
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bool32 isIdentity(void);
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float32 determinant(void);
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// not very pretty :/
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static void mult(Matrix3 *m1, Matrix3 *m2, Matrix3 *m3);
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static bool32 invert(Matrix3 *m1, Matrix3 *m2);
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static void transpose(Matrix3 *m1, Matrix3 *m2);
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};
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void matrixIdentity(float32 *mat);
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int matrixEqual(float32 *m1, float32 *m2);
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int matrixIsIdentity(float32 *mat);
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void matrixMult(float32 *out, float32 *a, float32 *b);
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void vecTrans(float32 *out, float32 *mat, float32 *vec);
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void matrixTranspose(float32 *out, float32 *in);
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void matrixInvert(float32 *out, float32 *in);
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bool32 matrixInvert(float32 *out, float32 *in);
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void matrixPrint(float32 *mat);
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bool32 equal(const Matrix &m1, const Matrix &m2);
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