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MATH: Moved Rotation3D to its own file.

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This commit is contained in:
Giulio Camuffo 2011-09-10 18:11:21 +02:00
parent fb359369d8
commit 34a7398293
4 changed files with 164 additions and 128 deletions
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2
engines/grim/lua_v1.cpp
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@ -25,6 +25,8 @@
#include "common/endian.h"
#include "common/system.h"
#include "math/matrix3.h"
#include "engines/grim/debug.h"
#include "engines/grim/lua.h"
#include "engines/grim/actor.h"

128
math/matrix3.h
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@ -25,32 +25,12 @@
#ifndef MATH_MATRIX3_H
#define MATH_MATRIX3_H
#include "math/utils.h"
#include "math/rotation3d.h"
#include "math/matrix.h"
#include "math/transform.h"
#include "math/vector3d.h"
namespace Math {
template<class T>
class Rotation3D : public Transform<T> {
public:
Rotation3D(T *matrix);
void buildFromPitchYawRoll(float pitch, float yaw, float roll);
void constructAroundPitch(float pitch);
void constructAroundYaw(float yaw);
void constructAroundRoll(float roll);
void getPitchYawRoll(float* pPitch, float* pYaw, float* pRoll) const;
float getPitch() const;
float getYaw() const;
float getRoll() const;
};
class Matrix3x3 : public Matrix<3, 3>, public Rotation3D<Matrix3x3> {
public:
Matrix3x3();
@ -60,112 +40,6 @@ public:
typedef Matrix3x3 Matrix3;
template<class T>
Rotation3D<T>::Rotation3D(T *matrix) :
Transform<T>(matrix) {
}
template<class T>
void Rotation3D<T>::buildFromPitchYawRoll(float pitch, float yaw, float roll) {
T temp;
constructAroundYaw(yaw);
temp.constructAroundPitch(pitch);
(*this->getMatrix()) *= temp;
temp.constructAroundRoll(roll);
(*this->getMatrix()) *= temp;
}
// at, around x-axis
template<class T>
void Rotation3D<T>::constructAroundRoll(float roll) {
float cosa = (float)cos(degreeToRadian(roll));
float sina = (float)sin(degreeToRadian(roll));
this->getMatrix()->getRow(0) << 1.f << 0.f << 0.f;
this->getMatrix()->getRow(1) << 0.f << cosa << -sina;
this->getMatrix()->getRow(2) << 0.f << sina << cosa;
}
// right
template<class T>
void Rotation3D<T>::constructAroundPitch(float pitch) {
float cosa = (float)cos(degreeToRadian(pitch));
float sina = (float)sin(degreeToRadian(pitch));
this->getMatrix()->getRow(0) << cosa << 0.f << sina;
this->getMatrix()->getRow(1) << 0.f << 1.f << 0.f;
this->getMatrix()->getRow(2) << -sina << 0.f << cosa;
}
// up
template<class T>
void Rotation3D<T>::constructAroundYaw(float yaw) {
float cosa = (float)cos(degreeToRadian(yaw));
float sina = (float)sin(degreeToRadian(yaw));
this->getMatrix()->getRow(0) << cosa << -sina << 0.f;
this->getMatrix()->getRow(1) << sina << cosa << 0.f;
this->getMatrix()->getRow(2) << 0.f << 0.f << 1.f;
}
/*
0 * 1 2 3
4 5 6 7
8 9 10 11
*/
template<class T>
void Rotation3D<T>::getPitchYawRoll(float *pPitch, float *pYaw, float *pRoll) const {
// based on http://planning.cs.uiuc.edu/node103.html
if (pYaw) {
*pYaw = radianToDegree(atan2f(this->getMatrix()->getValue(1, 0),
this->getMatrix()->getValue(0, 0)));
}
if (pPitch) {
float a = this->getMatrix()->getValue(2, 1);
float b = this->getMatrix()->getValue(2, 2);
float mag = sqrt(a * a + b * b);
*pPitch = radianToDegree(atan2f(-this->getMatrix()->getValue(2, 0), mag));
}
if (pRoll) {
*pRoll = radianToDegree(atan2f(this->getMatrix()->getValue(2, 1),
this->getMatrix()->getValue(2, 2)));
}
}
template<class T>
float Rotation3D<T>::getPitch() const {
float pitch;
getPitchYawRoll(&pitch, 0, 0);
return pitch;
}
template<class T>
float Rotation3D<T>::getYaw() const {
float yaw;
getPitchYawRoll(0, &yaw, 0);
return yaw;
}
template<class T>
float Rotation3D<T>::getRoll() const {
float roll;
getPitchYawRoll(0, 0, &roll);
return roll;
}
} // end of namespace Math
#endif

4
math/matrix4.h
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@ -25,7 +25,9 @@
#ifndef MATH_MATRIX4_H
#define MATH_MATRIX4_H
#include "math/matrix3.h"
#include "math/rotation3d.h"
#include "math/matrix.h"
#include "math/vector3d.h"
namespace Math {

158
math/rotation3d.h Normal file
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@ -0,0 +1,158 @@
/* Residual - A 3D game interpreter
*
* Residual is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
*
* $URL$
* $Id$
*/
#ifndef MATH_ROTATION3D_H
#define MATH_ROTATION3D_H
#include "math/utils.h"
#include "math/transform.h"
namespace Math {
template<class T>
class Rotation3D : public Transform<T> {
public:
Rotation3D(T *matrix);
void buildFromPitchYawRoll(float pitch, float yaw, float roll);
void constructAroundPitch(float pitch);
void constructAroundYaw(float yaw);
void constructAroundRoll(float roll);
void getPitchYawRoll(float* pPitch, float* pYaw, float* pRoll) const;
float getPitch() const;
float getYaw() const;
float getRoll() const;
};
template<class T>
Rotation3D<T>::Rotation3D(T *matrix) :
Transform<T>(matrix) {
}
template<class T>
void Rotation3D<T>::buildFromPitchYawRoll(float pitch, float yaw, float roll) {
T temp;
constructAroundYaw(yaw);
temp.constructAroundPitch(pitch);
(*this->getMatrix()) *= temp;
temp.constructAroundRoll(roll);
(*this->getMatrix()) *= temp;
}
// at, around x-axis
template<class T>
void Rotation3D<T>::constructAroundRoll(float roll) {
float cosa = (float)cos(degreeToRadian(roll));
float sina = (float)sin(degreeToRadian(roll));
this->getMatrix()->getRow(0) << 1.f << 0.f << 0.f;
this->getMatrix()->getRow(1) << 0.f << cosa << -sina;
this->getMatrix()->getRow(2) << 0.f << sina << cosa;
}
// right
template<class T>
void Rotation3D<T>::constructAroundPitch(float pitch) {
float cosa = (float)cos(degreeToRadian(pitch));
float sina = (float)sin(degreeToRadian(pitch));
this->getMatrix()->getRow(0) << cosa << 0.f << sina;
this->getMatrix()->getRow(1) << 0.f << 1.f << 0.f;
this->getMatrix()->getRow(2) << -sina << 0.f << cosa;
}
// up
template<class T>
void Rotation3D<T>::constructAroundYaw(float yaw) {
float cosa = (float)cos(degreeToRadian(yaw));
float sina = (float)sin(degreeToRadian(yaw));
this->getMatrix()->getRow(0) << cosa << -sina << 0.f;
this->getMatrix()->getRow(1) << sina << cosa << 0.f;
this->getMatrix()->getRow(2) << 0.f << 0.f << 1.f;
}
/*
* 0 * 1 2 3
* 4 5 6 7
* 8 9 10 11
*/
template<class T>
void Rotation3D<T>::getPitchYawRoll(float *pPitch, float *pYaw, float *pRoll) const {
// based on http://planning.cs.uiuc.edu/node103.html
if (pYaw) {
*pYaw = radianToDegree(atan2f(this->getMatrix()->getValue(1, 0),
this->getMatrix()->getValue(0, 0)));
}
if (pPitch) {
float a = this->getMatrix()->getValue(2, 1);
float b = this->getMatrix()->getValue(2, 2);
float mag = sqrt(a * a + b * b);
*pPitch = radianToDegree(atan2f(-this->getMatrix()->getValue(2, 0), mag));
}
if (pRoll) {
*pRoll = radianToDegree(atan2f(this->getMatrix()->getValue(2, 1),
this->getMatrix()->getValue(2, 2)));
}
}
template<class T>
float Rotation3D<T>::getPitch() const {
float pitch;
getPitchYawRoll(&pitch, 0, 0);
return pitch;
}
template<class T>
float Rotation3D<T>::getYaw() const {
float yaw;
getPitchYawRoll(0, &yaw, 0);
return yaw;
}
template<class T>
float Rotation3D<T>::getRoll() const {
float roll;
getPitchYawRoll(0, 0, &roll);
return roll;
}
}
#endif