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re3/src/math/Matrix.cpp
Sergeanur dff49e9c23 Fix RotateY
2020-09-15 00:31:32 +03:00

529 lines
12 KiB
C++
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#include "common.h"
CMatrix::CMatrix(void)
{
m_attachment = nil;
m_hasRwMatrix = false;
}
CMatrix::CMatrix(CMatrix const &m)
{
m_attachment = nil;
m_hasRwMatrix = false;
*this = m;
}
CMatrix::CMatrix(RwMatrix *matrix, bool owner)
{
m_attachment = nil;
Attach(matrix, owner);
}
CMatrix::~CMatrix(void)
{
if (m_hasRwMatrix && m_attachment)
RwMatrixDestroy(m_attachment);
}
void
CMatrix::Attach(RwMatrix *matrix, bool owner)
{
#ifdef FIX_BUGS
if (m_attachment && m_hasRwMatrix)
#else
if (m_hasRwMatrix && m_attachment)
#endif
RwMatrixDestroy(m_attachment);
m_attachment = matrix;
m_hasRwMatrix = owner;
Update();
}
void
CMatrix::AttachRW(RwMatrix *matrix, bool owner)
{
if (m_hasRwMatrix && m_attachment)
RwMatrixDestroy(m_attachment);
m_attachment = matrix;
m_hasRwMatrix = owner;
UpdateRW();
}
void
CMatrix::Detach(void)
{
if (m_hasRwMatrix && m_attachment)
RwMatrixDestroy(m_attachment);
m_attachment = nil;
}
void
CMatrix::Update(void)
{
m_matrix = *m_attachment;
}
void
CMatrix::UpdateRW(void)
{
if (m_attachment) {
*m_attachment = m_matrix;
RwMatrixUpdate(m_attachment);
}
}
void
CMatrix::operator=(CMatrix const &rhs)
{
m_matrix = rhs.m_matrix;
if (m_attachment)
UpdateRW();
}
void
CMatrix::CopyOnlyMatrix(CMatrix *other)
{
m_matrix = other->m_matrix;
}
CMatrix &
CMatrix::operator+=(CMatrix const &rhs)
{
m_matrix.right.x += rhs.m_matrix.right.x;
m_matrix.up.x += rhs.m_matrix.up.x;
m_matrix.at.x += rhs.m_matrix.at.x;
m_matrix.right.y += rhs.m_matrix.right.y;
m_matrix.up.y += rhs.m_matrix.up.y;
m_matrix.at.y += rhs.m_matrix.at.y;
m_matrix.right.z += rhs.m_matrix.right.z;
m_matrix.up.z += rhs.m_matrix.up.z;
m_matrix.at.z += rhs.m_matrix.at.z;
m_matrix.pos.x += rhs.m_matrix.pos.x;
m_matrix.pos.y += rhs.m_matrix.pos.y;
m_matrix.pos.z += rhs.m_matrix.pos.z;
return *this;
}
void
CMatrix::SetUnity(void)
{
m_matrix.right.x = 1.0f;
m_matrix.right.y = 0.0f;
m_matrix.right.z = 0.0f;
m_matrix.up.x = 0.0f;
m_matrix.up.y = 1.0f;
m_matrix.up.z = 0.0f;
m_matrix.at.x = 0.0f;
m_matrix.at.y = 0.0f;
m_matrix.at.z = 1.0f;
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::ResetOrientation(void)
{
m_matrix.right.x = 1.0f;
m_matrix.right.y = 0.0f;
m_matrix.right.z = 0.0f;
m_matrix.up.x = 0.0f;
m_matrix.up.y = 1.0f;
m_matrix.up.z = 0.0f;
m_matrix.at.x = 0.0f;
m_matrix.at.y = 0.0f;
m_matrix.at.z = 1.0f;
}
void
CMatrix::SetScale(float s)
{
m_matrix.right.x = s;
m_matrix.right.y = 0.0f;
m_matrix.right.z = 0.0f;
m_matrix.up.x = 0.0f;
m_matrix.up.y = s;
m_matrix.up.z = 0.0f;
m_matrix.at.x = 0.0f;
m_matrix.at.y = 0.0f;
m_matrix.at.z = s;
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::SetTranslate(float x, float y, float z)
{
m_matrix.right.x = 1.0f;
m_matrix.right.y = 0.0f;
m_matrix.right.z = 0.0f;
m_matrix.up.x = 0.0f;
m_matrix.up.y = 1.0f;
m_matrix.up.z = 0.0f;
m_matrix.at.x = 0.0f;
m_matrix.at.y = 0.0f;
m_matrix.at.z = 1.0f;
m_matrix.pos.x = x;
m_matrix.pos.y = y;
m_matrix.pos.z = z;
}
void
CMatrix::SetRotateXOnly(float angle)
{
float c = Cos(angle);
float s = Sin(angle);
m_matrix.right.x = 1.0f;
m_matrix.right.y = 0.0f;
m_matrix.right.z = 0.0f;
m_matrix.up.x = 0.0f;
m_matrix.up.y = c;
m_matrix.up.z = s;
m_matrix.at.x = 0.0f;
m_matrix.at.y = -s;
m_matrix.at.z = c;
}
void
CMatrix::SetRotateYOnly(float angle)
{
float c = Cos(angle);
float s = Sin(angle);
m_matrix.right.x = c;
m_matrix.right.y = 0.0f;
m_matrix.right.z = -s;
m_matrix.up.x = 0.0f;
m_matrix.up.y = 1.0f;
m_matrix.up.z = 0.0f;
m_matrix.at.x = s;
m_matrix.at.y = 0.0f;
m_matrix.at.z = c;
}
void
CMatrix::SetRotateZOnly(float angle)
{
float c = Cos(angle);
float s = Sin(angle);
m_matrix.right.x = c;
m_matrix.right.y = s;
m_matrix.right.z = 0.0f;
m_matrix.up.x = -s;
m_matrix.up.y = c;
m_matrix.up.z = 0.0f;
m_matrix.at.x = 0.0f;
m_matrix.at.y = 0.0f;
m_matrix.at.z = 1.0f;
}
void
CMatrix::SetRotateX(float angle)
{
SetRotateXOnly(angle);
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::SetRotateY(float angle)
{
SetRotateYOnly(angle);
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::SetRotateZ(float angle)
{
SetRotateZOnly(angle);
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
{
float cX = Cos(xAngle);
float sX = Sin(xAngle);
float cY = Cos(yAngle);
float sY = Sin(yAngle);
float cZ = Cos(zAngle);
float sZ = Sin(zAngle);
m_matrix.right.x = cZ * cY - (sZ * sX) * sY;
m_matrix.right.y = (cZ * sX) * sY + sZ * cY;
m_matrix.right.z = -cX * sY;
m_matrix.up.x = -sZ * cX;
m_matrix.up.y = cZ * cX;
m_matrix.up.z = sX;
m_matrix.at.x = (sZ * sX) * cY + cZ * sY;
m_matrix.at.y = sZ * sY - (cZ * sX) * cY;
m_matrix.at.z = cX * cY;
m_matrix.pos.x = 0.0f;
m_matrix.pos.y = 0.0f;
m_matrix.pos.z = 0.0f;
}
void
CMatrix::RotateX(float x)
{
float c = Cos(x);
float s = Sin(x);
float ry = m_matrix.right.y;
float rz = m_matrix.right.z;
float uy = m_matrix.up.y;
float uz = m_matrix.up.z;
float ay = m_matrix.at.y;
float az = m_matrix.at.z;
float py = m_matrix.pos.y;
float pz = m_matrix.pos.z;
m_matrix.right.y = c * ry - s * rz;
m_matrix.right.z = c * rz + s * ry;
m_matrix.up.y = c * uy - s * uz;
m_matrix.up.z = c * uz + s * uy;
m_matrix.at.y = c * ay - s * az;
m_matrix.at.z = c * az + s * ay;
m_matrix.pos.y = c * py - s * pz;
m_matrix.pos.z = c * pz + s * py;
}
void
CMatrix::RotateY(float y)
{
float c = Cos(y);
float s = Sin(y);
float rx = m_matrix.right.x;
float rz = m_matrix.right.z;
float ux = m_matrix.up.x;
float uz = m_matrix.up.z;
float ax = m_matrix.at.x;
float az = m_matrix.at.z;
float px = m_matrix.pos.x;
float pz = m_matrix.pos.z;
m_matrix.right.x = c * rx + s * rz;
m_matrix.right.z = c * rz - s * rx;
m_matrix.up.x = c * ux + s * uz;
m_matrix.up.z = c * uz - s * ux;
m_matrix.at.x = c * ax + s * az;
m_matrix.at.z = c * az - s * ax;
m_matrix.pos.x = c * px + s * pz;
m_matrix.pos.z = c * pz - s * px;
}
void
CMatrix::RotateZ(float z)
{
float c = Cos(z);
float s = Sin(z);
float ry = m_matrix.right.y;
float rx = m_matrix.right.x;
float uy = m_matrix.up.y;
float ux = m_matrix.up.x;
float ay = m_matrix.at.y;
float ax = m_matrix.at.x;
float py = m_matrix.pos.y;
float px = m_matrix.pos.x;
m_matrix.right.x = c * rx - s * ry;
m_matrix.right.y = c * ry + s * rx;
m_matrix.up.x = c * ux - s * uy;
m_matrix.up.y = c * uy + s * ux;
m_matrix.at.x = c * ax - s * ay;
m_matrix.at.y = c * ay + s * ax;
m_matrix.pos.x = c * px - s * py;
m_matrix.pos.y = c * py + s * px;
}
void
CMatrix::Rotate(float x, float y, float z)
{
float cX = Cos(x);
float sX = Sin(x);
float cY = Cos(y);
float sY = Sin(y);
float cZ = Cos(z);
float sZ = Sin(z);
float rx = m_matrix.right.x;
float ry = m_matrix.right.y;
float rz = m_matrix.right.z;
float ux = m_matrix.up.x;
float uy = m_matrix.up.y;
float uz = m_matrix.up.z;
float ax = m_matrix.at.x;
float ay = m_matrix.at.y;
float az = m_matrix.at.z;
float px = m_matrix.pos.x;
float py = m_matrix.pos.y;
float pz = m_matrix.pos.z;
float x1 = cZ * cY - (sZ * sX) * sY;
float x2 = (cZ * sX) * sY + sZ * cY;
float x3 = -cX * sY;
float y1 = -sZ * cX;
float y2 = cZ * cX;
float y3 = sX;
float z1 = (sZ * sX) * cY + cZ * sY;
float z2 = sZ * sY - (cZ * sX) * cY;
float z3 = cX * cY;
m_matrix.right.x = x1 * rx + y1 * ry + z1 * rz;
m_matrix.right.y = x2 * rx + y2 * ry + z2 * rz;
m_matrix.right.z = x3 * rx + y3 * ry + z3 * rz;
m_matrix.up.x = x1 * ux + y1 * uy + z1 * uz;
m_matrix.up.y = x2 * ux + y2 * uy + z2 * uz;
m_matrix.up.z = x3 * ux + y3 * uy + z3 * uz;
m_matrix.at.x = x1 * ax + y1 * ay + z1 * az;
m_matrix.at.y = x2 * ax + y2 * ay + z2 * az;
m_matrix.at.z = x3 * ax + y3 * ay + z3 * az;
m_matrix.pos.x = x1 * px + y1 * py + z1 * pz;
m_matrix.pos.y = x2 * px + y2 * py + z2 * pz;
m_matrix.pos.z = x3 * px + y3 * py + z3 * pz;
}
CMatrix &
CMatrix::operator*=(CMatrix const &rhs)
{
// TODO: VU0 code
*this = *this * rhs;
return *this;
}
void
CMatrix::Reorthogonalise(void)
{
CVector &r = GetRight();
CVector &f = GetForward();
CVector &u = GetUp();
u = CrossProduct(r, f);
u.Normalise();
r = CrossProduct(f, u);
r.Normalise();
f = CrossProduct(u, r);
}
CMatrix
operator*(const CMatrix &m1, const CMatrix &m2)
{
// TODO: VU0 code
CMatrix out;
RwMatrix *dst = &out.m_matrix;
const RwMatrix *src1 = &m1.m_matrix;
const RwMatrix *src2 = &m2.m_matrix;
dst->right.x = src1->right.x * src2->right.x + src1->up.x * src2->right.y + src1->at.x * src2->right.z;
dst->right.y = src1->right.y * src2->right.x + src1->up.y * src2->right.y + src1->at.y * src2->right.z;
dst->right.z = src1->right.z * src2->right.x + src1->up.z * src2->right.y + src1->at.z * src2->right.z;
dst->up.x = src1->right.x * src2->up.x + src1->up.x * src2->up.y + src1->at.x * src2->up.z;
dst->up.y = src1->right.y * src2->up.x + src1->up.y * src2->up.y + src1->at.y * src2->up.z;
dst->up.z = src1->right.z * src2->up.x + src1->up.z * src2->up.y + src1->at.z * src2->up.z;
dst->at.x = src1->right.x * src2->at.x + src1->up.x * src2->at.y + src1->at.x * src2->at.z;
dst->at.y = src1->right.y * src2->at.x + src1->up.y * src2->at.y + src1->at.y * src2->at.z;
dst->at.z = src1->right.z * src2->at.x + src1->up.z * src2->at.y + src1->at.z * src2->at.z;
dst->pos.x = src1->right.x * src2->pos.x + src1->up.x * src2->pos.y + src1->at.x * src2->pos.z + src1->pos.x;
dst->pos.y = src1->right.y * src2->pos.x + src1->up.y * src2->pos.y + src1->at.y * src2->pos.z + src1->pos.y;
dst->pos.z = src1->right.z * src2->pos.x + src1->up.z * src2->pos.y + src1->at.z * src2->pos.z + src1->pos.z;
return out;
}
CMatrix &
Invert(const CMatrix &src, CMatrix &dst)
{
// TODO: VU0 code
float (*scr_fm)[4] = (float (*)[4])&src.m_matrix;
float (*dst_fm)[4] = (float (*)[4])&dst.m_matrix;
dst_fm[3][0] = dst_fm[3][1] = dst_fm[3][2] = 0.0f;
dst_fm[0][0] = scr_fm[0][0];
dst_fm[0][1] = scr_fm[1][0];
dst_fm[0][2] = scr_fm[2][0];
dst_fm[1][0] = scr_fm[0][1];
dst_fm[1][1] = scr_fm[1][1];
dst_fm[1][2] = scr_fm[2][1];
dst_fm[2][0] = scr_fm[0][2];
dst_fm[2][1] = scr_fm[1][2];
dst_fm[2][2] = scr_fm[2][2];
dst_fm[3][0] += dst_fm[0][0] * scr_fm[3][0];
dst_fm[3][1] += dst_fm[0][1] * scr_fm[3][0];
dst_fm[3][2] += dst_fm[0][2] * scr_fm[3][0];
dst_fm[3][0] += dst_fm[1][0] * scr_fm[3][1];
dst_fm[3][1] += dst_fm[1][1] * scr_fm[3][1];
dst_fm[3][2] += dst_fm[1][2] * scr_fm[3][1];
dst_fm[3][0] += dst_fm[2][0] * scr_fm[3][2];
dst_fm[3][1] += dst_fm[2][1] * scr_fm[3][2];
dst_fm[3][2] += dst_fm[2][2] * scr_fm[3][2];
dst_fm[3][0] = -dst_fm[3][0];
dst_fm[3][1] = -dst_fm[3][1];
dst_fm[3][2] = -dst_fm[3][2];
return dst;
}
CMatrix
Invert(const CMatrix &matrix)
{
CMatrix inv;
return Invert(matrix, inv);
}
void
CCompressedMatrixNotAligned::CompressFromFullMatrix(CMatrix &other)
{
m_rightX = 127.0f * other.GetRight().x;
m_rightY = 127.0f * other.GetRight().y;
m_rightZ = 127.0f * other.GetRight().z;
m_upX = 127.0f * other.GetForward().x;
m_upY = 127.0f * other.GetForward().y;
m_upZ = 127.0f * other.GetForward().z;
m_vecPos = other.GetPosition();
}
void
CCompressedMatrixNotAligned::DecompressIntoFullMatrix(CMatrix &other)
{
other.GetRight().x = m_rightX / 127.0f;
other.GetRight().y = m_rightY / 127.0f;
other.GetRight().z = m_rightZ / 127.0f;
other.GetForward().x = m_upX / 127.0f;
other.GetForward().y = m_upY / 127.0f;
other.GetForward().z = m_upZ / 127.0f;
other.GetUp() = CrossProduct(other.GetRight(), other.GetForward());
other.GetPosition() = m_vecPos;
other.Reorthogonalise();
}
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