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https://github.com/libretro/scummvm.git
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131 lines
3.6 KiB
C++
131 lines
3.6 KiB
C++
/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM 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 modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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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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*
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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, see <http://www.gnu.org/licenses/>.
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*
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*/
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#include "math/matrix4.h"
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#include "math/vector4d.h"
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#include "math/squarematrix.h"
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namespace Math {
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Matrix<4, 4>::Matrix() :
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MatrixType<4, 4>(), Rotation3D<Matrix4>() {
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}
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Matrix<4, 4>::Matrix(const MatrixBase<4, 4> &m) :
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MatrixType<4, 4>(m), Rotation3D<Matrix4>() {
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}
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void Matrix<4, 4>::transform(Vector3d *v, bool trans) const {
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Vector4d m;
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m(0, 0) = v->x();
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m(1, 0) = v->y();
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m(2, 0) = v->z();
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m(3, 0) = (trans ? 1.f : 0.f);
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m = *this * m;
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v->set(m(0, 0), m(1, 0), m(2, 0));
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}
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Vector3d Matrix<4, 4>::getPosition() const {
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return Vector3d(getValue(0, 3), getValue(1, 3), getValue(2, 3));
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}
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void Matrix<4, 4>::setPosition(const Vector3d &v) {
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setValue(0, 3, v.x());
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setValue(1, 3, v.y());
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setValue(2, 3, v.z());
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}
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Matrix3 Matrix<4, 4>::getRotation() const{
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Matrix3 m2;
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m2.setValue(0, 0, getValue(0, 0));
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m2.setValue(0, 1, getValue(0, 1));
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m2.setValue(0, 2, getValue(0, 2));
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m2.setValue(1, 0, getValue(1, 0));
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m2.setValue(1, 1, getValue(1, 1));
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m2.setValue(1, 2, getValue(1, 2));
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m2.setValue(2, 0, getValue(2, 0));
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m2.setValue(2, 1, getValue(2, 1));
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m2.setValue(2, 2, getValue(2, 2));
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return m2;
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}
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void Matrix<4, 4>::setRotation(const Matrix3 &m) {
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setValue(0, 0, m.getValue(0, 0));
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setValue(0, 1, m.getValue(0, 1));
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setValue(0, 2, m.getValue(0, 2));
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setValue(1, 0, m.getValue(1, 0));
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setValue(1, 1, m.getValue(1, 1));
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setValue(1, 2, m.getValue(1, 2));
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setValue(2, 0, m.getValue(2, 0));
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setValue(2, 1, m.getValue(2, 1));
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setValue(2, 2, m.getValue(2, 2));
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}
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void Matrix<4, 4>::translate(const Vector3d &vec) {
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Vector3d v(vec);
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transform(&v, false);
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operator()(0, 3) += v.x();
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operator()(1, 3) += v.y();
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operator()(2, 3) += v.z();
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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.confined.space/MathGeoLib/nightly/docs/float3x3_LookAt.php
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*/
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void Matrix<4, 4>::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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Matrix3 rotation;
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rotation.buildFromTargetDir(modelForward, targetDirection, modelUp, worldUp);
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this->setRotation(rotation);
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}
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void Matrix<4, 4>::invertAffineOrthonormal() {
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Matrix3 rotation(getRotation());
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rotation.transpose();
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Vector3d position(getPosition().getNegative());
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rotation.transformVector(&position);
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setRotation(rotation);
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setPosition(position);
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}
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void swap(float &a, float &b);
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void Matrix<4, 4>::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 ()(0,3), operator ()(3,0));
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swap(operator ()(1,2), operator ()(2,1));
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swap(operator ()(1,3), operator ()(3,1));
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swap(operator ()(2,3), operator ()(3,2));
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}
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} // end of namespace Math
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