mirror of https://github.com/axmolengine/axmol.git
1032 lines
24 KiB
C++
1032 lines
24 KiB
C++
/**
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Copyright 2013 BlackBerry Inc.
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Copyright (c) 2017-2018 Xiamen Yaji Software Co., Ltd.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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Original file from GamePlay3D: http://gameplay3d.org
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This file was modified to fit the cocos2d-x project
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*/
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#include "math/Mat4.h"
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#include <cmath>
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#include "math/Quaternion.h"
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#include "math/MathUtil.h"
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#include "base/ccMacros.h"
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NS_AX_MATH_BEGIN
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Mat4::Mat4()
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{
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*this = IDENTITY;
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}
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Mat4::Mat4(float m11,
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float m12,
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float m13,
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float m14,
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float m21,
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float m22,
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float m23,
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float m24,
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float m31,
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float m32,
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float m33,
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float m34,
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float m41,
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float m42,
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float m43,
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float m44)
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{
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set(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44);
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}
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Mat4::Mat4(const float* mat)
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{
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set(mat);
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}
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Mat4::Mat4(const Mat4& copy)
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{
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memcpy(m, copy.m, MATRIX_SIZE);
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}
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Mat4::~Mat4() {}
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void Mat4::createLookAt(const Vec3& eyePosition, const Vec3& targetPosition, const Vec3& up, Mat4* dst)
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{
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createLookAt(eyePosition.x, eyePosition.y, eyePosition.z, targetPosition.x, targetPosition.y, targetPosition.z,
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up.x, up.y, up.z, dst);
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}
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void Mat4::createLookAt(float eyePositionX,
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float eyePositionY,
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float eyePositionZ,
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float targetPositionX,
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float targetPositionY,
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float targetPositionZ,
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float upX,
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float upY,
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float upZ,
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Mat4* dst)
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{
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GP_ASSERT(dst);
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Vec3 eye(eyePositionX, eyePositionY, eyePositionZ);
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Vec3 target(targetPositionX, targetPositionY, targetPositionZ);
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Vec3 up(upX, upY, upZ);
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up.normalize();
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Vec3 zaxis;
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Vec3::subtract(eye, target, &zaxis);
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zaxis.normalize();
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Vec3 xaxis;
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Vec3::cross(up, zaxis, &xaxis);
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xaxis.normalize();
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Vec3 yaxis;
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Vec3::cross(zaxis, xaxis, &yaxis);
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yaxis.normalize();
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dst->m[0] = xaxis.x;
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dst->m[1] = yaxis.x;
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dst->m[2] = zaxis.x;
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dst->m[3] = 0.0f;
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dst->m[4] = xaxis.y;
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dst->m[5] = yaxis.y;
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dst->m[6] = zaxis.y;
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dst->m[7] = 0.0f;
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dst->m[8] = xaxis.z;
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dst->m[9] = yaxis.z;
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dst->m[10] = zaxis.z;
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dst->m[11] = 0.0f;
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dst->m[12] = -Vec3::dot(xaxis, eye);
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dst->m[13] = -Vec3::dot(yaxis, eye);
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dst->m[14] = -Vec3::dot(zaxis, eye);
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dst->m[15] = 1.0f;
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}
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void Mat4::createPerspective(float fieldOfView, float aspectRatio, float zNearPlane, float zFarPlane, Mat4* dst)
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{
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GP_ASSERT(dst);
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GP_ASSERT(zFarPlane != zNearPlane);
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float f_n = 1.0f / (zFarPlane - zNearPlane);
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float theta = MATH_DEG_TO_RAD(fieldOfView) * 0.5f;
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if (std::abs(std::fmod(theta, MATH_PIOVER2)) < MATH_EPSILON)
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{
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AXLOGERROR("Invalid field of view value (%f) causes attempted calculation tan(%f), which is undefined.",
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fieldOfView, theta);
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return;
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}
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float divisor = std::tan(theta);
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GP_ASSERT(divisor);
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float factor = 1.0f / divisor;
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memset(dst, 0, MATRIX_SIZE);
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GP_ASSERT(aspectRatio);
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dst->m[0] = (1.0f / aspectRatio) * factor;
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dst->m[5] = factor;
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dst->m[10] = (-(zFarPlane + zNearPlane)) * f_n;
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dst->m[11] = -1.0f;
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dst->m[14] = -2.0f * zFarPlane * zNearPlane * f_n;
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// https://metashapes.com/blog/opengl-metal-projection-matrix-problem/
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#ifdef AX_USE_METAL
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dst->m[10] = -(zFarPlane)*f_n;
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dst->m[14] = -(zFarPlane * zNearPlane) * f_n;
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#endif
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}
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void Mat4::createOrthographic(float width, float height, float zNearPlane, float zFarPlane, Mat4* dst)
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{
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float halfWidth = width / 2.0f;
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float halfHeight = height / 2.0f;
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createOrthographicOffCenter(-halfWidth, halfWidth, -halfHeight, halfHeight, zNearPlane, zFarPlane, dst);
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}
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void Mat4::createOrthographicOffCenter(float left,
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float right,
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float bottom,
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float top,
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float zNearPlane,
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float zFarPlane,
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Mat4* dst)
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{
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GP_ASSERT(dst);
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GP_ASSERT(right != left);
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GP_ASSERT(top != bottom);
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GP_ASSERT(zFarPlane != zNearPlane);
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memset(dst, 0, MATRIX_SIZE);
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dst->m[0] = 2 / (right - left);
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dst->m[5] = 2 / (top - bottom);
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dst->m[10] = 2 / (zNearPlane - zFarPlane);
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dst->m[12] = (left + right) / (left - right);
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dst->m[13] = (top + bottom) / (bottom - top);
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dst->m[14] = (zNearPlane + zFarPlane) / (zNearPlane - zFarPlane);
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dst->m[15] = 1;
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//// https://metashapes.com/blog/opengl-metal-projection-matrix-problem/
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#ifdef AX_USE_METAL
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dst->m[10] = 1 / (zNearPlane - zFarPlane);
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dst->m[14] = zNearPlane / (zNearPlane - zFarPlane);
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#endif
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}
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void Mat4::createBillboard(const Vec3& objectPosition,
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const Vec3& cameraPosition,
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const Vec3& cameraUpVector,
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Mat4* dst)
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{
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createBillboardHelper(objectPosition, cameraPosition, cameraUpVector, nullptr, dst);
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}
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void Mat4::createBillboard(const Vec3& objectPosition,
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const Vec3& cameraPosition,
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const Vec3& cameraUpVector,
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const Vec3& cameraForwardVector,
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Mat4* dst)
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{
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createBillboardHelper(objectPosition, cameraPosition, cameraUpVector, &cameraForwardVector, dst);
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}
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void Mat4::createBillboardHelper(const Vec3& objectPosition,
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const Vec3& cameraPosition,
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const Vec3& cameraUpVector,
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const Vec3* cameraForwardVector,
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Mat4* dst)
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{
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Vec3 delta(objectPosition, cameraPosition);
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bool isSufficientDelta = delta.lengthSquared() > MATH_EPSILON;
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dst->setIdentity();
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dst->m[3] = objectPosition.x;
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dst->m[7] = objectPosition.y;
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dst->m[11] = objectPosition.z;
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// As per the contracts for the 2 variants of createBillboard, we need
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// either a safe default or a sufficient distance between object and camera.
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if (cameraForwardVector || isSufficientDelta)
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{
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Vec3 target = isSufficientDelta ? cameraPosition : (objectPosition - *cameraForwardVector);
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// A billboard is the inverse of a lookAt rotation
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Mat4 lookAt;
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createLookAt(objectPosition, target, cameraUpVector, &lookAt);
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dst->m[0] = lookAt.m[0];
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dst->m[1] = lookAt.m[4];
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dst->m[2] = lookAt.m[8];
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dst->m[4] = lookAt.m[1];
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dst->m[5] = lookAt.m[5];
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dst->m[6] = lookAt.m[9];
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dst->m[8] = lookAt.m[2];
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dst->m[9] = lookAt.m[6];
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dst->m[10] = lookAt.m[10];
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}
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}
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// void Mat4::createReflection(const Plane& plane, Mat4* dst)
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// {
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// Vec3 normal(plane.getNormal());
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// float k = -2.0f * plane.getDistance();
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// dst->setIdentity();
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// dst->m[0] -= 2.0f * normal.x * normal.x;
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// dst->m[5] -= 2.0f * normal.y * normal.y;
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// dst->m[10] -= 2.0f * normal.z * normal.z;
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// dst->m[1] = dst->m[4] = -2.0f * normal.x * normal.y;
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// dst->m[2] = dst->m[8] = -2.0f * normal.x * normal.z;
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// dst->m[6] = dst->m[9] = -2.0f * normal.y * normal.z;
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// dst->m[3] = k * normal.x;
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// dst->m[7] = k * normal.y;
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// dst->m[11] = k * normal.z;
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// }
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void Mat4::createScale(const Vec3& scale, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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dst->m[0] = scale.x;
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dst->m[5] = scale.y;
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dst->m[10] = scale.z;
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}
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void Mat4::createScale(float xScale, float yScale, float zScale, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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dst->m[0] = xScale;
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dst->m[5] = yScale;
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dst->m[10] = zScale;
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}
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void Mat4::createRotation(const Quaternion& q, Mat4* dst)
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{
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GP_ASSERT(dst);
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float x2 = q.x + q.x;
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float y2 = q.y + q.y;
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float z2 = q.z + q.z;
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float xx2 = q.x * x2;
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float yy2 = q.y * y2;
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float zz2 = q.z * z2;
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float xy2 = q.x * y2;
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float xz2 = q.x * z2;
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float yz2 = q.y * z2;
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float wx2 = q.w * x2;
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float wy2 = q.w * y2;
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float wz2 = q.w * z2;
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dst->m[0] = 1.0f - yy2 - zz2;
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dst->m[1] = xy2 + wz2;
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dst->m[2] = xz2 - wy2;
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dst->m[3] = 0.0f;
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dst->m[4] = xy2 - wz2;
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dst->m[5] = 1.0f - xx2 - zz2;
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dst->m[6] = yz2 + wx2;
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dst->m[7] = 0.0f;
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dst->m[8] = xz2 + wy2;
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dst->m[9] = yz2 - wx2;
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dst->m[10] = 1.0f - xx2 - yy2;
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dst->m[11] = 0.0f;
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dst->m[12] = 0.0f;
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dst->m[13] = 0.0f;
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dst->m[14] = 0.0f;
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dst->m[15] = 1.0f;
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}
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void Mat4::createRotation(const Vec3& axis, float angle, Mat4* dst)
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{
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GP_ASSERT(dst);
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float x = axis.x;
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float y = axis.y;
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float z = axis.z;
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// Make sure the input axis is normalized.
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float n = x * x + y * y + z * z;
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if (n != 1.0f)
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{
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// Not normalized.
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n = std::sqrt(n);
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// Prevent divide too close to zero.
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if (n > 0.000001f)
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{
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n = 1.0f / n;
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x *= n;
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y *= n;
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z *= n;
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}
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}
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float c = std::cos(angle);
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float s = std::sin(angle);
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float t = 1.0f - c;
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float tx = t * x;
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float ty = t * y;
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float tz = t * z;
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float txy = tx * y;
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float txz = tx * z;
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float tyz = ty * z;
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float sx = s * x;
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float sy = s * y;
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float sz = s * z;
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dst->m[0] = c + tx * x;
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dst->m[1] = txy + sz;
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dst->m[2] = txz - sy;
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dst->m[3] = 0.0f;
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dst->m[4] = txy - sz;
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dst->m[5] = c + ty * y;
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dst->m[6] = tyz + sx;
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dst->m[7] = 0.0f;
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dst->m[8] = txz + sy;
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dst->m[9] = tyz - sx;
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dst->m[10] = c + tz * z;
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dst->m[11] = 0.0f;
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dst->m[12] = 0.0f;
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dst->m[13] = 0.0f;
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dst->m[14] = 0.0f;
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dst->m[15] = 1.0f;
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}
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void Mat4::createRotationX(float angle, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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float c = std::cos(angle);
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float s = std::sin(angle);
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dst->m[5] = c;
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dst->m[6] = s;
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dst->m[9] = -s;
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dst->m[10] = c;
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}
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void Mat4::createRotationY(float angle, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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float c = std::cos(angle);
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float s = std::sin(angle);
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dst->m[0] = c;
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dst->m[2] = -s;
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dst->m[8] = s;
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dst->m[10] = c;
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}
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void Mat4::createRotationZ(float angle, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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float c = std::cos(angle);
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float s = std::sin(angle);
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dst->m[0] = c;
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dst->m[1] = s;
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dst->m[4] = -s;
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dst->m[5] = c;
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}
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void Mat4::createTranslation(const Vec3& translation, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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dst->m[12] = translation.x;
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dst->m[13] = translation.y;
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dst->m[14] = translation.z;
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}
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void Mat4::createTranslation(float xTranslation, float yTranslation, float zTranslation, Mat4* dst)
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{
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GP_ASSERT(dst);
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memcpy(dst, &IDENTITY, MATRIX_SIZE);
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dst->m[12] = xTranslation;
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dst->m[13] = yTranslation;
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dst->m[14] = zTranslation;
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}
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void Mat4::add(float scalar)
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{
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add(scalar, this);
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}
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void Mat4::add(float scalar, Mat4* dst)
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{
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GP_ASSERT(dst);
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#ifdef __SSE__
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MathUtil::addMatrix(col, scalar, dst->col);
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#else
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MathUtil::addMatrix(m, scalar, dst->m);
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#endif
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}
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void Mat4::add(const Mat4& mat)
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{
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add(*this, mat, this);
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}
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void Mat4::add(const Mat4& m1, const Mat4& m2, Mat4* dst)
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{
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GP_ASSERT(dst);
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#ifdef __SSE__
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MathUtil::addMatrix(m1.col, m2.col, dst->col);
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#else
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MathUtil::addMatrix(m1.m, m2.m, dst->m);
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#endif
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}
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bool Mat4::decompose(Vec3* scale, Quaternion* rotation, Vec3* translation) const
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{
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if (translation)
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{
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// Extract the translation.
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translation->x = m[12];
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translation->y = m[13];
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translation->z = m[14];
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}
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// Nothing left to do.
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if (scale == nullptr && rotation == nullptr)
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return true;
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// Extract the scale.
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// This is simply the length of each axis (row/column) in the matrix.
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Vec3 xaxis(m[0], m[1], m[2]);
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float scaleX = xaxis.length();
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Vec3 yaxis(m[4], m[5], m[6]);
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float scaleY = yaxis.length();
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Vec3 zaxis(m[8], m[9], m[10]);
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float scaleZ = zaxis.length();
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// Determine if we have a negative scale (true if determinant is less than zero).
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// In this case, we simply negate a single axis of the scale.
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float det = determinant();
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if (det < 0)
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scaleZ = -scaleZ;
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if (scale)
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{
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scale->x = scaleX;
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scale->y = scaleY;
|
|
scale->z = scaleZ;
|
|
}
|
|
|
|
// Nothing left to do.
|
|
if (rotation == nullptr)
|
|
return true;
|
|
|
|
// Scale too close to zero, can't decompose rotation.
|
|
if (scaleX < MATH_TOLERANCE || scaleY < MATH_TOLERANCE || std::abs(scaleZ) < MATH_TOLERANCE)
|
|
return false;
|
|
|
|
float rn;
|
|
|
|
// Factor the scale out of the matrix axes.
|
|
rn = 1.0f / scaleX;
|
|
xaxis.x *= rn;
|
|
xaxis.y *= rn;
|
|
xaxis.z *= rn;
|
|
|
|
rn = 1.0f / scaleY;
|
|
yaxis.x *= rn;
|
|
yaxis.y *= rn;
|
|
yaxis.z *= rn;
|
|
|
|
rn = 1.0f / scaleZ;
|
|
zaxis.x *= rn;
|
|
zaxis.y *= rn;
|
|
zaxis.z *= rn;
|
|
|
|
// Now calculate the rotation from the resulting matrix (axes).
|
|
float trace = xaxis.x + yaxis.y + zaxis.z + 1.0f;
|
|
|
|
if (trace > MATH_EPSILON)
|
|
{
|
|
float s = 0.5f / std::sqrt(trace);
|
|
rotation->w = 0.25f / s;
|
|
rotation->x = (yaxis.z - zaxis.y) * s;
|
|
rotation->y = (zaxis.x - xaxis.z) * s;
|
|
rotation->z = (xaxis.y - yaxis.x) * s;
|
|
}
|
|
else
|
|
{
|
|
// Note: since xaxis, yaxis, and zaxis are normalized,
|
|
// we will never divide by zero in the code below.
|
|
if (xaxis.x > yaxis.y && xaxis.x > zaxis.z)
|
|
{
|
|
float s = 0.5f / std::sqrt(1.0f + xaxis.x - yaxis.y - zaxis.z);
|
|
rotation->w = (yaxis.z - zaxis.y) * s;
|
|
rotation->x = 0.25f / s;
|
|
rotation->y = (yaxis.x + xaxis.y) * s;
|
|
rotation->z = (zaxis.x + xaxis.z) * s;
|
|
}
|
|
else if (yaxis.y > zaxis.z)
|
|
{
|
|
float s = 0.5f / std::sqrt(1.0f + yaxis.y - xaxis.x - zaxis.z);
|
|
rotation->w = (zaxis.x - xaxis.z) * s;
|
|
rotation->x = (yaxis.x + xaxis.y) * s;
|
|
rotation->y = 0.25f / s;
|
|
rotation->z = (zaxis.y + yaxis.z) * s;
|
|
}
|
|
else
|
|
{
|
|
float s = 0.5f / std::sqrt(1.0f + zaxis.z - xaxis.x - yaxis.y);
|
|
rotation->w = (xaxis.y - yaxis.x) * s;
|
|
rotation->x = (zaxis.x + xaxis.z) * s;
|
|
rotation->y = (zaxis.y + yaxis.z) * s;
|
|
rotation->z = 0.25f / s;
|
|
}
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
float Mat4::determinant() const
|
|
{
|
|
float a0 = m[0] * m[5] - m[1] * m[4];
|
|
float a1 = m[0] * m[6] - m[2] * m[4];
|
|
float a2 = m[0] * m[7] - m[3] * m[4];
|
|
float a3 = m[1] * m[6] - m[2] * m[5];
|
|
float a4 = m[1] * m[7] - m[3] * m[5];
|
|
float a5 = m[2] * m[7] - m[3] * m[6];
|
|
float b0 = m[8] * m[13] - m[9] * m[12];
|
|
float b1 = m[8] * m[14] - m[10] * m[12];
|
|
float b2 = m[8] * m[15] - m[11] * m[12];
|
|
float b3 = m[9] * m[14] - m[10] * m[13];
|
|
float b4 = m[9] * m[15] - m[11] * m[13];
|
|
float b5 = m[10] * m[15] - m[11] * m[14];
|
|
|
|
// Calculate the determinant.
|
|
return (a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0);
|
|
}
|
|
|
|
void Mat4::getScale(Vec3* scale) const
|
|
{
|
|
decompose(scale, nullptr, nullptr);
|
|
}
|
|
|
|
bool Mat4::getRotation(Quaternion* rotation) const
|
|
{
|
|
return decompose(nullptr, rotation, nullptr);
|
|
}
|
|
|
|
void Mat4::getTranslation(Vec3* translation) const
|
|
{
|
|
decompose(nullptr, nullptr, translation);
|
|
}
|
|
|
|
void Mat4::getUpVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = m[4];
|
|
dst->y = m[5];
|
|
dst->z = m[6];
|
|
}
|
|
|
|
void Mat4::getDownVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = -m[4];
|
|
dst->y = -m[5];
|
|
dst->z = -m[6];
|
|
}
|
|
|
|
void Mat4::getLeftVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = -m[0];
|
|
dst->y = -m[1];
|
|
dst->z = -m[2];
|
|
}
|
|
|
|
void Mat4::getRightVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = m[0];
|
|
dst->y = m[1];
|
|
dst->z = m[2];
|
|
}
|
|
|
|
void Mat4::getForwardVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = -m[8];
|
|
dst->y = -m[9];
|
|
dst->z = -m[10];
|
|
}
|
|
|
|
void Mat4::getBackVector(Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
dst->x = m[8];
|
|
dst->y = m[9];
|
|
dst->z = m[10];
|
|
}
|
|
|
|
Mat4 Mat4::getInversed() const
|
|
{
|
|
Mat4 mat(*this);
|
|
mat.inverse();
|
|
return mat;
|
|
}
|
|
|
|
bool Mat4::inverse()
|
|
{
|
|
float a0 = m[0] * m[5] - m[1] * m[4];
|
|
float a1 = m[0] * m[6] - m[2] * m[4];
|
|
float a2 = m[0] * m[7] - m[3] * m[4];
|
|
float a3 = m[1] * m[6] - m[2] * m[5];
|
|
float a4 = m[1] * m[7] - m[3] * m[5];
|
|
float a5 = m[2] * m[7] - m[3] * m[6];
|
|
float b0 = m[8] * m[13] - m[9] * m[12];
|
|
float b1 = m[8] * m[14] - m[10] * m[12];
|
|
float b2 = m[8] * m[15] - m[11] * m[12];
|
|
float b3 = m[9] * m[14] - m[10] * m[13];
|
|
float b4 = m[9] * m[15] - m[11] * m[13];
|
|
float b5 = m[10] * m[15] - m[11] * m[14];
|
|
|
|
// Calculate the determinant.
|
|
float det = a0 * b5 - a1 * b4 + a2 * b3 + a3 * b2 - a4 * b1 + a5 * b0;
|
|
|
|
// Close to zero, can't invert.
|
|
if (std::abs(det) <= MATH_TOLERANCE)
|
|
return false;
|
|
|
|
// Support the case where m == dst.
|
|
Mat4 inverse;
|
|
inverse.m[0] = m[5] * b5 - m[6] * b4 + m[7] * b3;
|
|
inverse.m[1] = -m[1] * b5 + m[2] * b4 - m[3] * b3;
|
|
inverse.m[2] = m[13] * a5 - m[14] * a4 + m[15] * a3;
|
|
inverse.m[3] = -m[9] * a5 + m[10] * a4 - m[11] * a3;
|
|
|
|
inverse.m[4] = -m[4] * b5 + m[6] * b2 - m[7] * b1;
|
|
inverse.m[5] = m[0] * b5 - m[2] * b2 + m[3] * b1;
|
|
inverse.m[6] = -m[12] * a5 + m[14] * a2 - m[15] * a1;
|
|
inverse.m[7] = m[8] * a5 - m[10] * a2 + m[11] * a1;
|
|
|
|
inverse.m[8] = m[4] * b4 - m[5] * b2 + m[7] * b0;
|
|
inverse.m[9] = -m[0] * b4 + m[1] * b2 - m[3] * b0;
|
|
inverse.m[10] = m[12] * a4 - m[13] * a2 + m[15] * a0;
|
|
inverse.m[11] = -m[8] * a4 + m[9] * a2 - m[11] * a0;
|
|
|
|
inverse.m[12] = -m[4] * b3 + m[5] * b1 - m[6] * b0;
|
|
inverse.m[13] = m[0] * b3 - m[1] * b1 + m[2] * b0;
|
|
inverse.m[14] = -m[12] * a3 + m[13] * a1 - m[14] * a0;
|
|
inverse.m[15] = m[8] * a3 - m[9] * a1 + m[10] * a0;
|
|
|
|
multiply(inverse, 1.0f / det, this);
|
|
|
|
return true;
|
|
}
|
|
|
|
bool Mat4::isIdentity() const
|
|
{
|
|
return (memcmp(m, &IDENTITY, MATRIX_SIZE) == 0);
|
|
}
|
|
|
|
void Mat4::multiply(float scalar)
|
|
{
|
|
multiply(scalar, this);
|
|
}
|
|
|
|
void Mat4::multiply(float scalar, Mat4* dst) const
|
|
{
|
|
multiply(*this, scalar, dst);
|
|
}
|
|
|
|
void Mat4::multiply(const Mat4& m, float scalar, Mat4* dst)
|
|
{
|
|
GP_ASSERT(dst);
|
|
#ifdef __SSE__
|
|
MathUtil::multiplyMatrix(m.col, scalar, dst->col);
|
|
#else
|
|
MathUtil::multiplyMatrix(m.m, scalar, dst->m);
|
|
#endif
|
|
}
|
|
|
|
void Mat4::multiply(const Mat4& mat)
|
|
{
|
|
multiply(*this, mat, this);
|
|
}
|
|
|
|
void Mat4::multiply(const Mat4& m1, const Mat4& m2, Mat4* dst)
|
|
{
|
|
GP_ASSERT(dst);
|
|
#ifdef __SSE__
|
|
MathUtil::multiplyMatrix(m1.col, m2.col, dst->col);
|
|
#else
|
|
MathUtil::multiplyMatrix(m1.m, m2.m, dst->m);
|
|
#endif
|
|
}
|
|
|
|
void Mat4::negate()
|
|
{
|
|
#ifdef __SSE__
|
|
MathUtil::negateMatrix(col, col);
|
|
#else
|
|
MathUtil::negateMatrix(m, m);
|
|
#endif
|
|
}
|
|
|
|
Mat4 Mat4::getNegated() const
|
|
{
|
|
Mat4 mat(*this);
|
|
mat.negate();
|
|
return mat;
|
|
}
|
|
|
|
void Mat4::rotate(const Quaternion& q)
|
|
{
|
|
rotate(q, this);
|
|
}
|
|
|
|
void Mat4::rotate(const Quaternion& q, Mat4* dst) const
|
|
{
|
|
Mat4 r;
|
|
createRotation(q, &r);
|
|
multiply(*this, r, dst);
|
|
}
|
|
|
|
void Mat4::rotate(const Vec3& axis, float angle)
|
|
{
|
|
rotate(axis, angle, this);
|
|
}
|
|
|
|
void Mat4::rotate(const Vec3& axis, float angle, Mat4* dst) const
|
|
{
|
|
Mat4 r;
|
|
createRotation(axis, angle, &r);
|
|
multiply(*this, r, dst);
|
|
}
|
|
|
|
void Mat4::rotateX(float angle)
|
|
{
|
|
rotateX(angle, this);
|
|
}
|
|
|
|
void Mat4::rotateX(float angle, Mat4* dst) const
|
|
{
|
|
Mat4 r;
|
|
createRotationX(angle, &r);
|
|
multiply(*this, r, dst);
|
|
}
|
|
|
|
void Mat4::rotateY(float angle)
|
|
{
|
|
rotateY(angle, this);
|
|
}
|
|
|
|
void Mat4::rotateY(float angle, Mat4* dst) const
|
|
{
|
|
Mat4 r;
|
|
createRotationY(angle, &r);
|
|
multiply(*this, r, dst);
|
|
}
|
|
|
|
void Mat4::rotateZ(float angle)
|
|
{
|
|
rotateZ(angle, this);
|
|
}
|
|
|
|
void Mat4::rotateZ(float angle, Mat4* dst) const
|
|
{
|
|
Mat4 r;
|
|
createRotationZ(angle, &r);
|
|
multiply(*this, r, dst);
|
|
}
|
|
|
|
void Mat4::scale(float value)
|
|
{
|
|
scale(value, this);
|
|
}
|
|
|
|
void Mat4::scale(float value, Mat4* dst) const
|
|
{
|
|
scale(value, value, value, dst);
|
|
}
|
|
|
|
void Mat4::scale(float xScale, float yScale, float zScale)
|
|
{
|
|
scale(xScale, yScale, zScale, this);
|
|
}
|
|
|
|
void Mat4::scale(float xScale, float yScale, float zScale, Mat4* dst) const
|
|
{
|
|
Mat4 s;
|
|
createScale(xScale, yScale, zScale, &s);
|
|
multiply(*this, s, dst);
|
|
}
|
|
|
|
void Mat4::scale(const Vec3& s)
|
|
{
|
|
scale(s.x, s.y, s.z, this);
|
|
}
|
|
|
|
void Mat4::scale(const Vec3& s, Mat4* dst) const
|
|
{
|
|
scale(s.x, s.y, s.z, dst);
|
|
}
|
|
|
|
void Mat4::set(float m11,
|
|
float m12,
|
|
float m13,
|
|
float m14,
|
|
float m21,
|
|
float m22,
|
|
float m23,
|
|
float m24,
|
|
float m31,
|
|
float m32,
|
|
float m33,
|
|
float m34,
|
|
float m41,
|
|
float m42,
|
|
float m43,
|
|
float m44)
|
|
{
|
|
m[0] = m11;
|
|
m[1] = m21;
|
|
m[2] = m31;
|
|
m[3] = m41;
|
|
m[4] = m12;
|
|
m[5] = m22;
|
|
m[6] = m32;
|
|
m[7] = m42;
|
|
m[8] = m13;
|
|
m[9] = m23;
|
|
m[10] = m33;
|
|
m[11] = m43;
|
|
m[12] = m14;
|
|
m[13] = m24;
|
|
m[14] = m34;
|
|
m[15] = m44;
|
|
}
|
|
|
|
void Mat4::set(const float* mat)
|
|
{
|
|
GP_ASSERT(mat);
|
|
memcpy(this->m, mat, MATRIX_SIZE);
|
|
}
|
|
|
|
void Mat4::set(const Mat4& mat)
|
|
{
|
|
memcpy(this->m, mat.m, MATRIX_SIZE);
|
|
}
|
|
|
|
void Mat4::setIdentity()
|
|
{
|
|
memcpy(m, &IDENTITY, MATRIX_SIZE);
|
|
}
|
|
|
|
void Mat4::setZero()
|
|
{
|
|
memset(m, 0, MATRIX_SIZE);
|
|
}
|
|
|
|
void Mat4::subtract(const Mat4& mat)
|
|
{
|
|
subtract(*this, mat, this);
|
|
}
|
|
|
|
void Mat4::subtract(const Mat4& m1, const Mat4& m2, Mat4* dst)
|
|
{
|
|
GP_ASSERT(dst);
|
|
#ifdef __SSE__
|
|
MathUtil::subtractMatrix(m1.col, m2.col, dst->col);
|
|
#else
|
|
MathUtil::subtractMatrix(m1.m, m2.m, dst->m);
|
|
#endif
|
|
}
|
|
|
|
void Mat4::transformVector(Vec3* vector) const
|
|
{
|
|
GP_ASSERT(vector);
|
|
transformVector(vector->x, vector->y, vector->z, 0.0f, vector);
|
|
}
|
|
|
|
void Mat4::transformVector(const Vec3& vector, Vec3* dst) const
|
|
{
|
|
transformVector(vector.x, vector.y, vector.z, 0.0f, dst);
|
|
}
|
|
|
|
void Mat4::transformVector(float x, float y, float z, float w, Vec3* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
|
|
MathUtil::transformVec4(m, x, y, z, w, (float*)dst);
|
|
}
|
|
|
|
void Mat4::transformVector(Vec4* vector) const
|
|
{
|
|
GP_ASSERT(vector);
|
|
transformVector(*vector, vector);
|
|
}
|
|
|
|
void Mat4::transformVector(const Vec4& vector, Vec4* dst) const
|
|
{
|
|
GP_ASSERT(dst);
|
|
#ifdef __SSE__
|
|
MathUtil::transformVec4(col, vector.v, dst->v);
|
|
#else
|
|
MathUtil::transformVec4(m, (const float*)&vector, (float*)dst);
|
|
#endif
|
|
}
|
|
|
|
void Mat4::translate(float x, float y, float z)
|
|
{
|
|
translate(x, y, z, this);
|
|
}
|
|
|
|
void Mat4::translate(float x, float y, float z, Mat4* dst) const
|
|
{
|
|
Mat4 t;
|
|
createTranslation(x, y, z, &t);
|
|
multiply(*this, t, dst);
|
|
}
|
|
|
|
void Mat4::translate(const Vec3& t)
|
|
{
|
|
translate(t.x, t.y, t.z, this);
|
|
}
|
|
|
|
void Mat4::translate(const Vec3& t, Mat4* dst) const
|
|
{
|
|
translate(t.x, t.y, t.z, dst);
|
|
}
|
|
|
|
void Mat4::transpose()
|
|
{
|
|
#ifdef __SSE__
|
|
MathUtil::transposeMatrix(col, col);
|
|
#else
|
|
MathUtil::transposeMatrix(m, m);
|
|
#endif
|
|
}
|
|
|
|
Mat4 Mat4::getTransposed() const
|
|
{
|
|
Mat4 mat(*this);
|
|
mat.transpose();
|
|
return mat;
|
|
}
|
|
|
|
const Mat4 Mat4::IDENTITY =
|
|
Mat4(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
|
|
|
|
const Mat4 Mat4::ZERO = Mat4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
|
|
NS_AX_MATH_END
|