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77 lines
2.5 KiB
C++
77 lines
2.5 KiB
C++
/* ResidualVM - A 3D game interpreter
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*
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* ResidualVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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*/
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#include "math/matrix3.h"
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namespace Math {
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Matrix<3, 3>::Matrix() :
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MatrixType<3, 3>(), Rotation3D<Matrix<3, 3> >() {
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}
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Matrix<3, 3>::Matrix(const MatrixBase<3, 3> &m) :
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MatrixType<3, 3>(m), Rotation3D<Matrix<3, 3> >() {
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}
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void swap (float &a, float &b) {
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float c=a; a=b; b=c;
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}
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void Matrix<3, 3>::transpose() {
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swap(operator()(0,1), operator()(1,0));
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swap(operator()(0,2), operator()(2,0));
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swap(operator()(1,2), operator()(2,1));
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}
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/**
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* Generates a lookat matrix. For reference, see
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* http://clb.demon.fi/MathGeoLib/docs/float3x3_LookAt.php
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*/
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void Matrix<3, 3>::buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
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const Math::Vector3d &modelUp, const Math::Vector3d &worldUp)
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{
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Math::Vector3d modelRight = Math::Vector3d::crossProduct(modelUp, modelForward);
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modelRight.normalize();
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Math::Vector3d worldRight = Math::Vector3d::crossProduct(worldUp, targetDirection);
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worldRight.normalize();
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Math::Vector3d perpWorldUp = Math::Vector3d::crossProduct(targetDirection, worldRight);
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perpWorldUp.normalize();
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Math::Matrix3 m1;
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m1.getRow(0) << worldRight.x() << worldRight.y() << worldRight.z();
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m1.getRow(1) << perpWorldUp.x() << perpWorldUp.y() << perpWorldUp.z();
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m1.getRow(2) << targetDirection.x() << targetDirection.y() << targetDirection.z();
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m1.transpose();
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Math::Matrix3 m2;
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m2.getRow(0) << modelRight.x() << modelRight.y() << modelRight.z();
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m2.getRow(1) << modelUp.x() << modelUp.y() << modelUp.z();
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m2.getRow(2) << modelForward.x() << modelForward.y() << modelForward.z();
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this->operator=(m1 * m2);
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}
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} // end of namespace Math
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