2012-01-06 22:15:48 +00:00
|
|
|
/* ResidualVM - A 3D game interpreter
|
2008-06-13 14:57:47 +00:00
|
|
|
*
|
2012-01-06 22:15:48 +00:00
|
|
|
* ResidualVM is the legal property of its developers, whose names
|
2011-04-16 12:12:44 +00:00
|
|
|
* are too numerous to list here. Please refer to the COPYRIGHT
|
2008-06-13 14:57:47 +00:00
|
|
|
* file distributed with this source distribution.
|
2006-04-02 14:20:45 +00:00
|
|
|
*
|
2012-12-19 22:15:43 +00:00
|
|
|
* This program is free software; you can redistribute it and/or
|
|
|
|
* modify it under the terms of the GNU General Public License
|
|
|
|
* as published by the Free Software Foundation; either version 2
|
|
|
|
* of the License, or (at your option) any later version.
|
2014-04-05 16:18:42 +00:00
|
|
|
*
|
2012-12-19 22:15:43 +00:00
|
|
|
* This program is distributed in the hope that it will be useful,
|
2006-04-02 14:20:45 +00:00
|
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
2012-12-19 22:15:43 +00:00
|
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
* GNU General Public License for more details.
|
2014-04-05 16:18:42 +00:00
|
|
|
*
|
2012-12-19 22:15:43 +00:00
|
|
|
* You should have received a copy of the GNU General Public License
|
|
|
|
* along with this program; if not, write to the Free Software
|
|
|
|
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
|
2006-04-02 14:20:45 +00:00
|
|
|
*
|
|
|
|
*/
|
2004-02-25 08:21:31 +00:00
|
|
|
|
2015-01-17 20:08:27 +00:00
|
|
|
/*
|
|
|
|
* The following functions: inverseTranslate, inverseRotate, transpose
|
|
|
|
* are adapted from Portalib3d, which is no longer available on the net.
|
|
|
|
* But is available through archive.org, for reference:
|
|
|
|
* http://web.archive.org/web/20050205215104/http://rsn.gamedev.net/pl3d/changelog.html
|
|
|
|
*
|
|
|
|
* This code was originally made available under the LGPL license (no version specified).
|
|
|
|
* Copyright (C)2000, 2001, Brett Porter. All Rights Reserved.
|
|
|
|
*
|
|
|
|
* This code (and our modifications) is made available here under the GPLv2 (or later).
|
|
|
|
*
|
|
|
|
*/
|
|
|
|
|
2011-09-10 15:46:07 +00:00
|
|
|
#include "math/matrix4.h"
|
2011-12-30 18:19:45 +00:00
|
|
|
#include "math/vector4d.h"
|
2012-06-07 22:11:20 +00:00
|
|
|
#include "math/squarematrix.h"
|
2003-08-28 01:55:48 +00:00
|
|
|
|
2011-09-10 15:46:07 +00:00
|
|
|
namespace Math {
|
2009-05-25 12:13:35 +00:00
|
|
|
|
2011-09-14 20:48:24 +00:00
|
|
|
Matrix<4, 4>::Matrix() :
|
|
|
|
MatrixType<4, 4>(), Rotation3D<Matrix4>() {
|
2011-09-10 15:32:36 +00:00
|
|
|
}
|
|
|
|
|
2011-09-14 20:48:24 +00:00
|
|
|
Matrix<4, 4>::Matrix(const MatrixBase<4, 4> &m) :
|
|
|
|
MatrixType<4, 4>(m), Rotation3D<Matrix4>() {
|
|
|
|
}
|
|
|
|
|
|
|
|
void Matrix<4, 4>::transform(Vector3d *v, bool trans) const {
|
2011-12-30 18:19:45 +00:00
|
|
|
Vector4d m;
|
2011-09-10 15:32:36 +00:00
|
|
|
m(0, 0) = v->x();
|
|
|
|
m(1, 0) = v->y();
|
|
|
|
m(2, 0) = v->z();
|
|
|
|
m(3, 0) = (trans ? 1.f : 0.f);
|
|
|
|
|
|
|
|
m = *this * m;
|
|
|
|
|
|
|
|
v->set(m(0, 0), m(1, 0), m(2, 0));
|
2003-08-28 01:55:48 +00:00
|
|
|
}
|
|
|
|
|
2011-09-14 20:48:24 +00:00
|
|
|
Vector3d Matrix<4, 4>::getPosition() const {
|
2011-10-18 15:42:12 +00:00
|
|
|
return Vector3d(getValue(0, 3), getValue(1, 3), getValue(2, 3));
|
2011-09-10 15:32:36 +00:00
|
|
|
}
|
2003-08-28 01:55:48 +00:00
|
|
|
|
2011-09-14 20:48:24 +00:00
|
|
|
void Matrix<4, 4>::setPosition(const Vector3d &v) {
|
2011-10-18 15:42:12 +00:00
|
|
|
setValue(0, 3, v.x());
|
|
|
|
setValue(1, 3, v.y());
|
|
|
|
setValue(2, 3, v.z());
|
2011-09-10 15:32:36 +00:00
|
|
|
}
|
|
|
|
|
2012-03-04 06:25:58 +00:00
|
|
|
Matrix3 Matrix<4, 4>::getRotation() const{
|
2021-04-05 21:08:48 +00:00
|
|
|
Matrix3 m2;
|
|
|
|
|
|
|
|
m2.setValue(0, 0, getValue(0, 0));
|
2012-03-04 06:25:58 +00:00
|
|
|
m2.setValue(0, 1, getValue(0, 1));
|
|
|
|
m2.setValue(0, 2, getValue(0, 2));
|
|
|
|
m2.setValue(1, 0, getValue(1, 0));
|
|
|
|
m2.setValue(1, 1, getValue(1, 1));
|
|
|
|
m2.setValue(1, 2, getValue(1, 2));
|
|
|
|
m2.setValue(2, 0, getValue(2, 0));
|
|
|
|
m2.setValue(2, 1, getValue(2, 1));
|
|
|
|
m2.setValue(2, 2, getValue(2, 2));
|
2021-05-04 08:45:03 +00:00
|
|
|
|
2012-03-04 06:25:58 +00:00
|
|
|
return m2;
|
|
|
|
}
|
|
|
|
|
|
|
|
void Matrix<4, 4>::setRotation(const Matrix3 &m) {
|
2021-04-05 21:08:48 +00:00
|
|
|
setValue(0, 0, m.getValue(0, 0));
|
2012-03-04 06:25:58 +00:00
|
|
|
setValue(0, 1, m.getValue(0, 1));
|
|
|
|
setValue(0, 2, m.getValue(0, 2));
|
|
|
|
setValue(1, 0, m.getValue(1, 0));
|
|
|
|
setValue(1, 1, m.getValue(1, 1));
|
|
|
|
setValue(1, 2, m.getValue(1, 2));
|
|
|
|
setValue(2, 0, m.getValue(2, 0));
|
|
|
|
setValue(2, 1, m.getValue(2, 1));
|
|
|
|
setValue(2, 2, m.getValue(2, 2));
|
|
|
|
}
|
|
|
|
|
2011-09-14 20:48:24 +00:00
|
|
|
void Matrix<4, 4>::translate(const Vector3d &vec) {
|
2011-09-10 15:32:36 +00:00
|
|
|
Vector3d v(vec);
|
|
|
|
transform(&v, false);
|
|
|
|
|
2011-10-18 15:42:12 +00:00
|
|
|
operator()(0, 3) += v.x();
|
|
|
|
operator()(1, 3) += v.y();
|
|
|
|
operator()(2, 3) += v.z();
|
2003-08-28 02:01:48 +00:00
|
|
|
}
|
|
|
|
|
2021-04-05 21:08:48 +00:00
|
|
|
/**
|
|
|
|
* Generates a lookat matrix. For reference, see
|
|
|
|
* http://clb.demon.fi/MathGeoLib/docs/float3x3_LookAt.php
|
2012-03-21 05:29:14 +00:00
|
|
|
*/
|
2021-04-05 21:08:48 +00:00
|
|
|
void Matrix<4, 4>::buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
|
2021-04-15 19:20:04 +00:00
|
|
|
const Math::Vector3d &modelUp, const Math::Vector3d &worldUp)
|
2012-03-21 05:29:14 +00:00
|
|
|
{
|
2021-04-05 21:08:48 +00:00
|
|
|
Matrix3 rotation;
|
|
|
|
rotation.buildFromTargetDir(modelForward, targetDirection, modelUp, worldUp);
|
|
|
|
this->setRotation(rotation);
|
2012-03-21 05:29:14 +00:00
|
|
|
}
|
|
|
|
|
2012-03-04 06:25:58 +00:00
|
|
|
void Matrix<4, 4>::invertAffineOrthonormal() {
|
2021-04-05 21:08:48 +00:00
|
|
|
Matrix3 rotation(getRotation());
|
|
|
|
rotation.transpose();
|
|
|
|
|
|
|
|
Vector3d position(getPosition().getNegative());
|
|
|
|
|
|
|
|
rotation.transformVector(&position);
|
|
|
|
setRotation(rotation);
|
|
|
|
setPosition(position);
|
2012-03-04 06:25:58 +00:00
|
|
|
}
|
|
|
|
|
2014-06-17 00:47:50 +00:00
|
|
|
void Matrix<4, 4>::inverseTranslate(Vector3d *v) const {
|
2012-01-31 15:59:09 +00:00
|
|
|
v->x() = v->x() - getValue(0, 3);
|
|
|
|
v->y() = v->y() - getValue(1, 3);
|
|
|
|
v->z() = v->z() - getValue(2, 3);
|
|
|
|
}
|
|
|
|
|
2014-06-17 00:47:50 +00:00
|
|
|
void Matrix<4, 4>::inverseRotate(Vector3d *v) const {
|
2012-01-31 15:59:09 +00:00
|
|
|
Vector3d temp;
|
2021-04-05 21:08:48 +00:00
|
|
|
|
2012-01-31 15:59:09 +00:00
|
|
|
temp.x() = v->x() * getValue(0, 0) + v->y() * getValue(1, 0) + v->z() * getValue(2, 0);
|
|
|
|
temp.y() = v->x() * getValue(0, 1) + v->y() * getValue(1, 1) + v->z() * getValue(2, 1);
|
|
|
|
temp.z() = v->x() * getValue(0, 2) + v->y() * getValue(1, 2) + v->z() * getValue(2, 2);
|
2021-04-05 21:08:48 +00:00
|
|
|
|
2012-01-31 15:59:09 +00:00
|
|
|
*v = temp;
|
|
|
|
}
|
2012-06-07 22:11:20 +00:00
|
|
|
|
|
|
|
void swap (float &a, float &b);
|
|
|
|
|
|
|
|
void Matrix<4, 4>::transpose() {
|
|
|
|
swap(operator ()(0,1), operator ()(1,0));
|
|
|
|
swap(operator ()(0,2), operator ()(2,0));
|
|
|
|
swap(operator ()(0,3), operator ()(3,0));
|
|
|
|
|
|
|
|
swap(operator ()(1,2), operator ()(2,1));
|
|
|
|
swap(operator ()(1,3), operator ()(3,1));
|
|
|
|
swap(operator ()(2,3), operator ()(3,2));
|
|
|
|
}
|
|
|
|
|
2011-09-10 15:46:07 +00:00
|
|
|
} // end of namespace Math
|
2011-09-10 15:32:36 +00:00
|
|
|
|