diff options
Diffstat (limited to 'src/math/Matrix.cpp')
| -rw-r--r-- | src/math/Matrix.cpp | 531 |
1 files changed, 531 insertions, 0 deletions
diff --git a/src/math/Matrix.cpp b/src/math/Matrix.cpp new file mode 100644 index 0000000..c0d909c --- /dev/null +++ b/src/math/Matrix.cpp @@ -0,0 +1,531 @@ +#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) +{ + GetRight() = m_attachment->right; + GetForward() = m_attachment->up; + GetUp() = m_attachment->at; + GetPosition() = m_attachment->pos; +} + +void +CMatrix::UpdateRW(void) +{ + if (m_attachment) { + m_attachment->right = GetRight(); + m_attachment->up = GetForward(); + m_attachment->at = GetUp(); + m_attachment->pos = GetPosition(); + RwMatrixUpdate(m_attachment); + } +} + +void +CMatrix::operator=(CMatrix const &rhs) +{ + memcpy(this, &rhs, sizeof(f)); + if (m_attachment) + UpdateRW(); +} + +void +CMatrix::CopyOnlyMatrix(const CMatrix &other) +{ + memcpy(this, &other, sizeof(f)); +} + +CMatrix & +CMatrix::operator+=(CMatrix const &rhs) +{ + GetRight() += rhs.GetRight(); + GetForward() += rhs.GetForward(); + GetUp() += rhs.GetUp(); + GetPosition() += rhs.GetPosition(); + return *this; +} + +void +CMatrix::SetUnity(void) +{ + rx = 1.0f; + ry = 0.0f; + rz = 0.0f; + fx = 0.0f; + fy = 1.0f; + fz = 0.0f; + ux = 0.0f; + uy = 0.0f; + uz = 1.0f; + px = 0.0f; + py = 0.0f; + pz = 0.0f; +} + +void +CMatrix::ResetOrientation(void) +{ + rx = 1.0f; + ry = 0.0f; + rz = 0.0f; + fx = 0.0f; + fy = 1.0f; + fz = 0.0f; + ux = 0.0f; + uy = 0.0f; + uz = 1.0f; +} + +void +CMatrix::SetScale(float s) +{ + rx = s; + ry = 0.0f; + rz = 0.0f; + + fx = 0.0f; + fy = s; + fz = 0.0f; + + ux = 0.0f; + uy = 0.0f; + uz = s; + + px = 0.0f; + py = 0.0f; + pz = 0.0f; +} + +void +CMatrix::SetTranslate(float x, float y, float z) +{ + rx = 1.0f; + ry = 0.0f; + rz = 0.0f; + + fx = 0.0f; + fy = 1.0f; + fz = 0.0f; + + ux = 0.0f; + uy = 0.0f; + uz = 1.0f; + + px = x; + py = y; + pz = z; +} + +void +CMatrix::SetRotateXOnly(float angle) +{ + float c = Cos(angle); + float s = Sin(angle); + + rx = 1.0f; + ry = 0.0f; + rz = 0.0f; + + fx = 0.0f; + fy = c; + fz = s; + + ux = 0.0f; + uy = -s; + uz = c; +} + +void +CMatrix::SetRotateYOnly(float angle) +{ + float c = Cos(angle); + float s = Sin(angle); + + rx = c; + ry = 0.0f; + rz = -s; + + fx = 0.0f; + fy = 1.0f; + fz = 0.0f; + + ux = s; + uy = 0.0f; + uz = c; +} + +void +CMatrix::SetRotateZOnly(float angle) +{ + float c = Cos(angle); + float s = Sin(angle); + + rx = c; + ry = s; + rz = 0.0f; + + fx = -s; + fy = c; + fz = 0.0f; + + ux = 0.0f; + uy = 0.0f; + uz = 1.0f; +} + +void +CMatrix::SetRotateX(float angle) +{ + SetRotateXOnly(angle); + px = 0.0f; + py = 0.0f; + pz = 0.0f; +} + + +void +CMatrix::SetRotateY(float angle) +{ + SetRotateYOnly(angle); + px = 0.0f; + py = 0.0f; + pz = 0.0f; +} + +void +CMatrix::SetRotateZ(float angle) +{ + SetRotateZOnly(angle); + px = 0.0f; + py = 0.0f; + pz = 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); + + rx = cZ * cY - (sZ * sX) * sY; + ry = (cZ * sX) * sY + sZ * cY; + rz = -cX * sY; + + fx = -sZ * cX; + fy = cZ * cX; + fz = sX; + + ux = (sZ * sX) * cY + cZ * sY; + uy = sZ * sY - (cZ * sX) * cY; + uz = cX * cY; + + px = 0.0f; + py = 0.0f; + pz = 0.0f; +} + +void +CMatrix::RotateX(float x) +{ + float c = Cos(x); + float s = Sin(x); + + float ry = this->ry; + float rz = this->rz; + float uy = this->fy; + float uz = this->fz; + float ay = this->uy; + float az = this->uz; + float py = this->py; + float pz = this->pz; + + this->ry = c * ry - s * rz; + this->rz = c * rz + s * ry; + this->fy = c * uy - s * uz; + this->fz = c * uz + s * uy; + this->uy = c * ay - s * az; + this->uz = c * az + s * ay; + this->py = c * py - s * pz; + this->pz = c * pz + s * py; +} + +void +CMatrix::RotateY(float y) +{ + float c = Cos(y); + float s = Sin(y); + + float rx = this->rx; + float rz = this->rz; + float ux = this->fx; + float uz = this->fz; + float ax = this->ux; + float az = this->uz; + float px = this->px; + float pz = this->pz; + + this->rx = c * rx + s * rz; + this->rz = c * rz - s * rx; + this->fx = c * ux + s * uz; + this->fz = c * uz - s * ux; + this->ux = c * ax + s * az; + this->uz = c * az - s * ax; + this->px = c * px + s * pz; + this->pz = c * pz - s * px; +} + +void +CMatrix::RotateZ(float z) +{ + float c = Cos(z); + float s = Sin(z); + + float ry = this->ry; + float rx = this->rx; + float uy = this->fy; + float ux = this->fx; + float ay = this->uy; + float ax = this->ux; + float py = this->py; + float px = this->px; + + this->rx = c * rx - s * ry; + this->ry = c * ry + s * rx; + this->fx = c * ux - s * uy; + this->fy = c * uy + s * ux; + this->ux = c * ax - s * ay; + this->uy = c * ay + s * ax; + this->px = c * px - s * py; + this->py = 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 = this->rx; + float ry = this->ry; + float rz = this->rz; + float ux = this->fx; + float uy = this->fy; + float uz = this->fz; + float ax = this->ux; + float ay = this->uy; + float az = this->uz; + float px = this->px; + float py = this->py; + float pz = this->pz; + + 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; + + this->rx = x1 * rx + y1 * ry + z1 * rz; + this->ry = x2 * rx + y2 * ry + z2 * rz; + this->rz = x3 * rx + y3 * ry + z3 * rz; + this->fx = x1 * ux + y1 * uy + z1 * uz; + this->fy = x2 * ux + y2 * uy + z2 * uz; + this->fz = x3 * ux + y3 * uy + z3 * uz; + this->ux = x1 * ax + y1 * ay + z1 * az; + this->uy = x2 * ax + y2 * ay + z2 * az; + this->uz = x3 * ax + y3 * ay + z3 * az; + this->px = x1 * px + y1 * py + z1 * pz; + this->py = x2 * px + y2 * py + z2 * pz; + this->pz = 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; + out.rx = m1.rx * m2.rx + m1.fx * m2.ry + m1.ux * m2.rz; + out.ry = m1.ry * m2.rx + m1.fy * m2.ry + m1.uy * m2.rz; + out.rz = m1.rz * m2.rx + m1.fz * m2.ry + m1.uz * m2.rz; + out.fx = m1.rx * m2.fx + m1.fx * m2.fy + m1.ux * m2.fz; + out.fy = m1.ry * m2.fx + m1.fy * m2.fy + m1.uy * m2.fz; + out.fz = m1.rz * m2.fx + m1.fz * m2.fy + m1.uz * m2.fz; + out.ux = m1.rx * m2.ux + m1.fx * m2.uy + m1.ux * m2.uz; + out.uy = m1.ry * m2.ux + m1.fy * m2.uy + m1.uy * m2.uz; + out.uz = m1.rz * m2.ux + m1.fz * m2.uy + m1.uz * m2.uz; + out.px = m1.rx * m2.px + m1.fx * m2.py + m1.ux * m2.pz + m1.px; + out.py = m1.ry * m2.px + m1.fy * m2.py + m1.uy * m2.pz + m1.py; + out.pz = m1.rz * m2.px + m1.fz * m2.py + m1.uz * m2.pz + m1.pz; + return out; +} + +CMatrix & +Invert(const CMatrix &src, CMatrix &dst) +{ + // TODO: VU0 code + dst.f[3][0] = dst.f[3][1] = dst.f[3][2] = 0.0f; + + dst.f[0][0] = src.f[0][0]; + dst.f[0][1] = src.f[1][0]; + dst.f[0][2] = src.f[2][0]; + + dst.f[1][0] = src.f[0][1]; + dst.f[1][1] = src.f[1][1]; + dst.f[1][2] = src.f[2][1]; + + dst.f[2][0] = src.f[0][2]; + dst.f[2][1] = src.f[1][2]; + dst.f[2][2] = src.f[2][2]; + + + dst.f[3][0] += dst.f[0][0] * src.f[3][0]; + dst.f[3][1] += dst.f[0][1] * src.f[3][0]; + dst.f[3][2] += dst.f[0][2] * src.f[3][0]; + + dst.f[3][0] += dst.f[1][0] * src.f[3][1]; + dst.f[3][1] += dst.f[1][1] * src.f[3][1]; + dst.f[3][2] += dst.f[1][2] * src.f[3][1]; + + dst.f[3][0] += dst.f[2][0] * src.f[3][2]; + dst.f[3][1] += dst.f[2][1] * src.f[3][2]; + dst.f[3][2] += dst.f[2][2] * src.f[3][2]; + + dst.f[3][0] = -dst.f[3][0]; + dst.f[3][1] = -dst.f[3][1]; + dst.f[3][2] = -dst.f[3][2]; + + return dst; +} + +void +CMatrix::CopyToRwMatrix(RwMatrix* matrix) +{ + matrix->right = GetRight(); + matrix->up = GetForward(); + matrix->at = GetUp(); + matrix->pos = GetPosition(); + RwMatrixUpdate(matrix); +} + +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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