863 lines
24 KiB
C
863 lines
24 KiB
C
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/****************************************************************************
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Copyright (c) 2007, Radon Labs GmbH
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Copyright (c) 2011-2013,WebJet Business Division,CYOU
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http://www.genesis-3d.com.cn
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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****************************************************************************/
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#pragma once
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#include "core/types.h"
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#include "math/scalar.h"
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#include "math/float4.h"
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#include "math/plane.h"
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#include "math/quaternion.h"
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#include "math/OgreMath/OgreMatrix4.h"
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#include "../rendersystem/config/RenderDeviceConfig.h"
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//------------------------------------------------------------------------------
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namespace Math
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{
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class quaternion;
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class plane;
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// could not get the compiler to really pass it in registers for xbox, so
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// this is a reference so far
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typedef const matrix44& __Matrix44Arg;
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class matrix44
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{
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public:
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/// default constructor, NOTE: does NOT setup components!
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matrix44();
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/// construct from components
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matrix44(float4 const &row0, float4 const &row1, float4 const &row2, float4 const &row3);
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/// copy constructor
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//matrix44(const matrix44& rhs);
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/// construct from Ogre::Matrix4
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matrix44(const Ogre::Matrix4& rhs);
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/// assignment operator
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void operator=(const matrix44& rhs);
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/// assign Ogre::Matrix4
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void operator=(const Ogre::Matrix4& rhs);
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/// equality operator
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bool operator==(const matrix44& rhs) const;
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/// inequality operator
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bool operator!=(const matrix44& rhs) const;
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/// get value operator
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float* operator[](SizeT iRow);
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/// get const value operator
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const float* const operator[](SizeT iRow) const;
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/// load content from unaligned memory
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void loadu(const scalar* ptr);
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/// write content to unaligned memory through the write cache
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void storeu(scalar* ptr) const;
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/// stream content to 16-byte-aligned memory circumventing the write-cache
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void stream(scalar* ptr) const;
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/// set content
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void set(float4 const &row0, float4 const &row1, float4 const &row2, float4 const &row3);
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/// write access to x component
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void setrow0(float4 const &row0);
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/// write access to y component
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void setrow1(float4 const &row1);
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/// write access to z component
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void setrow2(float4 const &row2);
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/// write access to w component
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void setrow3(float4 const &row3);
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/// wrtie access to specified component
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void setrowcol(const float& val, const int& row,const int& col);
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/// read-only access to x component
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const float4 getrow0() const;
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/// read-only access to y component
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const float4 getrow1() const;
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/// read-only access to z component
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const float4 getrow2() const;
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/// read-only access to w component
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const float4 getrow3() const;
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float* getarray();
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/// write access to x component
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void set_xaxis(float4 const &x);
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/// write access to y component
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void set_yaxis(float4 const &y);
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/// write access to z component
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void set_zaxis(float4 const &z);
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/// write access to w component / pos component
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void set_position(float4 const &pos);
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/// read access to x component
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const float4 get_xaxis() const;
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/// read access to y component
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const float4 get_yaxis() const;
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/// read access to z component
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const float4 get_zaxis() const;
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/// read access to w component / pos component
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const float4 get_position() const;
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/// add a translation to pos_component
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void translate(float4 const &t);
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/// scale matrix
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void scale(float4 const &v);
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/// return true if matrix is identity
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bool isidentity() const;
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/// decompose into scale, rotation and translation
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/// !!! Note:
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void decompose(float4& outScale, quaternion& outRotation, float4& outTranslation) const;
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float determinant() const;
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void print() const;
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/// build zero matrix
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static matrix44 zero();
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/// build identity matrix
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static matrix44 identity();
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/// compute the inverse of a matrix
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static matrix44 inverse(const matrix44& m);
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/// build right handed lookat matrix
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static matrix44 lookatrh(float4 const &eye, float4 const &at, float4 const &up);
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/// multiply 2 matrices
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static matrix44 multiply(const matrix44& m0, const matrix44& m1);
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/// build right handed orthogonal projection matrix
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static matrix44 orthorh(scalar w, scalar h, scalar zn, scalar zf);
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/// build right handed orthogonal projection matrix not at specific center
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static matrix44 orthooffcenterrh(scalar l, scalar r, scalar b, scalar t, scalar zn, scalar zf);
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/// build right-handed perspective projection matrix based on field-of-view
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static matrix44 perspfovrh(scalar fovy, scalar aspect, scalar zn, scalar zf);
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/// build reflect matrix from a plane
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static matrix44 reflect(const float4& p);
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/// build rotation matrix around arbitrary axis
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static matrix44 rotationaxis(float4 const &axis, scalar angle);
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/// build x-axis-rotation matrix
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static matrix44 rotationx(scalar angle);
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/// build y-axis-rotation matrix
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static matrix44 rotationy(scalar angle);
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/// build z-axis-rotation matrix
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static matrix44 rotationz(scalar angle);
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/// build rotation matrix from yaw, pitch and roll
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static matrix44 rotationyawpitchroll(scalar yaw, scalar pitch, scalar roll);
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/// build rotation matrix from quaternion
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static matrix44 rotationquaternion(const quaternion& q);
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/// make quaternion from matrix44
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static quaternion rotationmatrix(const matrix44& m);
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/// build a scaling matrix from components
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static matrix44 scaling(scalar sx, scalar sy, scalar sz);
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/// build a scaling matrix from float4
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static matrix44 scaling(float4 const &s);
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/// build a transformation matrix
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static matrix44 transformation(float4 const &scaling,const quaternion& rotation, float4 const &translation);
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/// build a translation matrix
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static matrix44 translation(scalar x, scalar y, scalar z);
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/// build a translation matrix from point
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static matrix44 translation(float4 const &t);
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/// return the transpose of a matrix
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static matrix44 transpose(const matrix44& m);
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/// transform 4d vector by matrix44, faster inline version than float4::transform
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static float4 transform(const matrix44 &m, const float4 &v);
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/// transform a plane with a matrix
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static plane transform(const matrix44& m, const plane& p);
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/// check if point lies inside matrix frustum
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static bool ispointinside(const matrix44& m, const float4& p);
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/// convert to any type
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template<typename T> T as() const;
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Ogre::Matrix4 mx;
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private:
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friend class float4;
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friend class plane;
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friend class quaternion;
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};
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline
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matrix44::matrix44():
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mx(Ogre::Matrix4::IDENTITY)
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{
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// empty
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline
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matrix44::matrix44(float4 const &row0, float4 const &row1, float4 const &row2, float4 const &row3)
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{
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this->mx = Ogre::Matrix4( row0.vec.x,row0.vec.y,row0.vec.z,row0.vec.w,
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row1.vec.x,row1.vec.y,row1.vec.z,row1.vec.w,
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row2.vec.x,row2.vec.y,row2.vec.z,row2.vec.w,
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row3.vec.x,row3.vec.y,row3.vec.z,row3.vec.w );
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline
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matrix44::matrix44(const Ogre::Matrix4& rhs) :
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mx(rhs)
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{
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// empty
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::operator=(const matrix44& rhs)
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{
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this->mx = rhs.mx;
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::operator=(const Ogre::Matrix4& rhs)
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{
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this->mx = rhs;
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline bool
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matrix44::operator==(const matrix44& rhs) const
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{
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return this->mx == rhs.mx;
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline bool
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matrix44::operator!=(const matrix44& rhs) const
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{
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return this->mx != rhs.mx;
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline float*
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matrix44::operator[]( SizeT iRow )
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{
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return this->mx[iRow];
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline const float* const
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matrix44::operator[]( SizeT iRow ) const
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{
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return this->mx[iRow];
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline float
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matrix44::determinant() const
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{
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return mx.determinant();
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::loadu(const scalar* ptr)
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{
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memcpy((void*)&this->mx,ptr,sizeof(matrix44));
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::storeu(scalar* ptr) const
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{
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memcpy(ptr,(void*)&this->mx,sizeof(matrix44));
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::stream(scalar* ptr) const
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{
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memcpy(ptr,(void*)&this->mx,sizeof(matrix44));
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::set(float4 const &row0, float4 const &row1, float4 const &row2, float4 const &row3)
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{
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this->mx = Ogre::Matrix4( row0.vec.x,row0.vec.y,row0.vec.z,row0.vec.w,
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row1.vec.x,row1.vec.y,row1.vec.z,row1.vec.w,
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row2.vec.x,row2.vec.y,row2.vec.z,row2.vec.w,
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row3.vec.x,row3.vec.y,row3.vec.z,row3.vec.w );
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline
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float* matrix44::getarray()
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{
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return this->mx.getArray();
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::setrow0(float4 const &r)
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{
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this->mx.setRow(0,r.vec);
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline const float4
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matrix44::getrow0() const
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{
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return this->mx.getRow(0);
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::setrow1(float4 const &r)
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{
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this->mx.setRow(1,r.vec);
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline const float4
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matrix44::getrow1() const
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{
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return float4(mx.getRow(1));
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::setrow2(float4 const &r)
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{
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this->mx.setRow(2,r.vec);
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline const float4
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matrix44::getrow2() const
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{
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return float4(mx.getRow(2));
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline void
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matrix44::setrow3(float4 const &r)
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{
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this->mx.setRow(3,r.vec);
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}
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//------------------------------------------------------------------------------
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/**
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*/
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__forceinline const float4
|
||
|
|
matrix44::getrow3() const
|
||
|
|
{
|
||
|
|
return float4(mx.getRow(3));
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::setrowcol(const float& val, const int& row,const int& col)
|
||
|
|
{
|
||
|
|
mx[row][col] = val;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::set_xaxis(float4 const &x)
|
||
|
|
{
|
||
|
|
Ogre::Vector4 colVec = this->mx.getCol(0);
|
||
|
|
colVec.x = x.vec.x;
|
||
|
|
colVec.y = x.vec.y;
|
||
|
|
colVec.z = x.vec.z;
|
||
|
|
this->mx.setCol(0,colVec);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::set_yaxis(float4 const &y)
|
||
|
|
{
|
||
|
|
Ogre::Vector4 colVec = this->mx.getCol(1);
|
||
|
|
colVec.x = y.vec.x;
|
||
|
|
colVec.y = y.vec.y;
|
||
|
|
colVec.z = y.vec.z;
|
||
|
|
this->mx.setCol(1,colVec);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::set_zaxis(float4 const &z)
|
||
|
|
{
|
||
|
|
Ogre::Vector4 colVec = this->mx.getCol(2);
|
||
|
|
colVec.x = z.vec.x;
|
||
|
|
colVec.y = z.vec.y;
|
||
|
|
colVec.z = z.vec.z;
|
||
|
|
this->mx.setCol(2,colVec);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::set_position(float4 const &pos)
|
||
|
|
{
|
||
|
|
Ogre::Vector4 colVec = this->mx.getCol(3);
|
||
|
|
colVec.x = pos.vec.x;
|
||
|
|
colVec.y = pos.vec.y;
|
||
|
|
colVec.z = pos.vec.z;
|
||
|
|
this->mx.setCol(3,colVec);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline const float4
|
||
|
|
matrix44::get_xaxis() const
|
||
|
|
{
|
||
|
|
return float4(this->mx.getCol(0));
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline const float4
|
||
|
|
matrix44::get_yaxis() const
|
||
|
|
{
|
||
|
|
return float4(this->mx.getCol(1));
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline const float4
|
||
|
|
matrix44::get_zaxis() const
|
||
|
|
{
|
||
|
|
return float4(this->mx.getCol(2));
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline const float4
|
||
|
|
matrix44::get_position() const
|
||
|
|
{
|
||
|
|
return float4(this->mx.getCol(3));
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline
|
||
|
|
void
|
||
|
|
matrix44::translate(float4 const &t)
|
||
|
|
{
|
||
|
|
#if _DEBUG
|
||
|
|
n_assert2(t.w() == 0, "w component not 0, use vector for translation not a point!");
|
||
|
|
#endif
|
||
|
|
|
||
|
|
this->mx.setCol(3,this->mx.getCol(3) + t.vec);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline void
|
||
|
|
matrix44::scale(float4 const &s)
|
||
|
|
{
|
||
|
|
// need to make sure that last column isn't erased
|
||
|
|
float4 scl = s;
|
||
|
|
scl.set_w(1.0f);
|
||
|
|
|
||
|
|
this->mx.setRow(0,this->mx.getRow(0) * scl.vec);
|
||
|
|
this->mx.setRow(1,this->mx.getRow(1) * scl.vec);
|
||
|
|
this->mx.setRow(2,this->mx.getRow(2) * scl.vec);
|
||
|
|
this->mx.setRow(3,this->mx.getRow(3) * scl.vec);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline bool
|
||
|
|
matrix44::isidentity() const
|
||
|
|
{
|
||
|
|
return this->mx == Ogre::Matrix4::IDENTITY;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::identity()
|
||
|
|
{
|
||
|
|
return matrix44(Ogre::Matrix4::IDENTITY);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::zero()
|
||
|
|
{
|
||
|
|
return matrix44(Ogre::Matrix4::ZERO);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::inverse(const matrix44& m)
|
||
|
|
{
|
||
|
|
Ogre::Matrix4 mat(m.mx);
|
||
|
|
return matrix44(mat.inverse());
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::lookatrh(float4 const &eye, float4 const &at, float4 const &up)
|
||
|
|
{
|
||
|
|
#if NEBULA3_DEBUG
|
||
|
|
n_assert(up.length() > 0);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
const float4 zaxis = float4::normalize(eye - at);
|
||
|
|
float4 normUp = float4::normalize(up);
|
||
|
|
const float4 xaxis = float4::cross3(normUp, zaxis);
|
||
|
|
const float4 yaxis = float4::cross3(zaxis, xaxis);
|
||
|
|
|
||
|
|
float4 row0 = xaxis;
|
||
|
|
row0.set_w(-float4::dot3(xaxis,eye));
|
||
|
|
float4 row1 = yaxis;
|
||
|
|
row1.set_w(-float4::dot3(yaxis,eye));
|
||
|
|
float4 row2 = zaxis;
|
||
|
|
row2.set_w(-float4::dot3(zaxis,eye));
|
||
|
|
float4 row3(0.f,0.f,0.f,1.f);
|
||
|
|
matrix44 mat(row0,row1,row2,row3);
|
||
|
|
return mat;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::multiply(const matrix44& m0, const matrix44& m1)
|
||
|
|
{
|
||
|
|
return m0.mx * m1.mx;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::orthorh(scalar w, scalar h, scalar zn, scalar zf)
|
||
|
|
{
|
||
|
|
float4 row0(2/w, 0.f, 0.f, 0.f);
|
||
|
|
float4 row1(0.f, 2/h, 0.f, 0.f);
|
||
|
|
|
||
|
|
#if RENDERDEVICE_D3D9
|
||
|
|
float4 row2(0.f, 0.f, 1 / (zn - zf ), zn / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_NULL
|
||
|
|
float4 row2(0.f, 0.f, 1 / (zn - zf ), zn / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_OPENGL || RENDERDEVICE_OPENGLES
|
||
|
|
float4 row2(0.f, 0.f, 2 / (zn - zf ), (zn + zf) / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
float4 row3(0.f, 0.f, 0.f, 1.f);
|
||
|
|
return matrix44(row0,row1,row2,row3);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::orthooffcenterrh(scalar l, scalar r, scalar b, scalar t, scalar zn, scalar zf)
|
||
|
|
{
|
||
|
|
float4 row0(2/(r-l), 0.f, 0.f, (l+r)/(l-r));
|
||
|
|
float4 row1(0.f, 2/(t-b), 0.f, (t+b)/(b-t));
|
||
|
|
|
||
|
|
#if RENDERDEVICE_D3D9
|
||
|
|
float4 row2(0.f, 0.f, 1 / (zn - zf ), zn / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_NULL
|
||
|
|
float4 row2(0.f, 0.f, 1 / (zn - zf ), zn / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_OPENGL || RENDERDEVICE_OPENGLES
|
||
|
|
float4 row2(0.f, 0.f, 2 / (zn - zf ), (zn + zf) / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
float4 row3(0.f, 0.f, 0.f, 1.f);
|
||
|
|
return matrix44(row0,row1,row2,row3);
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::perspfovrh(scalar fovy, scalar aspect, scalar zn, scalar zf)
|
||
|
|
{
|
||
|
|
scalar yScale = n_cot(scalar(fovy * 0.5));
|
||
|
|
scalar xScale = yScale / aspect;
|
||
|
|
float4 row0(xScale, 0.f, 0.f, 0.f);
|
||
|
|
float4 row1(0.f, yScale, 0.f, 0.f);
|
||
|
|
|
||
|
|
#if RENDERDEVICE_D3D9
|
||
|
|
float4 row2(0.f, 0.f, zf / (zn - zf ), zn * zf / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_NULL
|
||
|
|
float4 row2(0.f, 0.f, zf / (zn - zf ), zn * zf / (zn - zf) );
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if RENDERDEVICE_OPENGL || RENDERDEVICE_OPENGLES
|
||
|
|
float4 row2(0.f, 0.f, -(zf + zn) / (zf - zn), -2.0f * (zn * zf) / (zf - zn));
|
||
|
|
#endif
|
||
|
|
|
||
|
|
float4 row3(0.f, 0.f, -1.f, 0.f);
|
||
|
|
|
||
|
|
return matrix44(row0,row1,row2,row3);
|
||
|
|
}
|
||
|
|
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::reflect(const float4& p)
|
||
|
|
{
|
||
|
|
float4 row0(-2 * p.x() * p.x() + 1, -2 * p.x() * p.y() , -2 * p.x() * p.z() , -2 * p.x() * p.w());
|
||
|
|
float4 row1(-2 * p.y() * p.x(), -2 * p.y() * p.y() + 1, -2 * p.y() * p.z() , -2 * p.y() * p.w() );
|
||
|
|
float4 row2(-2 * p.z() * p.x(), -2 * p.z() * p.y(), -2 * p.z() * p.z() + 1, -2 * p.z() * p.w() );
|
||
|
|
float4 row3(0.f, 0.f, 0.f, 1.f);
|
||
|
|
return matrix44(row0,row1,row2,row3);
|
||
|
|
}
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::rotationaxis(float4 const &axis, scalar angle)
|
||
|
|
{
|
||
|
|
Ogre::Quaternion q;
|
||
|
|
q.FromAngleAxis(Ogre::Radian(angle),Ogre::Vector3(axis.x(),axis.y(),axis.z()));
|
||
|
|
Ogre::Matrix3 rotM;
|
||
|
|
q.ToRotationMatrix(rotM);
|
||
|
|
matrix44 result;
|
||
|
|
result.set_xaxis(float4(rotM.GetColumn(0).x,rotM.GetColumn(0).y,rotM.GetColumn(0).z,0.f));
|
||
|
|
result.set_yaxis(float4(rotM.GetColumn(1).x,rotM.GetColumn(1).y,rotM.GetColumn(1).z,0.f));
|
||
|
|
result.set_zaxis(float4(rotM.GetColumn(2).x,rotM.GetColumn(2).y,rotM.GetColumn(2).z,0.f));
|
||
|
|
result.set_position(float4(0.f,0.f,0.f,1.f));
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::rotationx(scalar angle)
|
||
|
|
{
|
||
|
|
Ogre::Quaternion q;
|
||
|
|
q.FromAngleAxis(Ogre::Radian(angle),Ogre::Vector3::UNIT_X);
|
||
|
|
Ogre::Matrix3 rotM;
|
||
|
|
q.ToRotationMatrix(rotM);
|
||
|
|
matrix44 result;
|
||
|
|
result.set_xaxis(float4(rotM.GetColumn(0).x,rotM.GetColumn(0).y,rotM.GetColumn(0).z,0.f));
|
||
|
|
result.set_yaxis(float4(rotM.GetColumn(1).x,rotM.GetColumn(1).y,rotM.GetColumn(1).z,0.f));
|
||
|
|
result.set_zaxis(float4(rotM.GetColumn(2).x,rotM.GetColumn(2).y,rotM.GetColumn(2).z,0.f));
|
||
|
|
result.set_position(float4(0.f,0.f,0.f,1.f));
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::rotationy(scalar angle)
|
||
|
|
{
|
||
|
|
Ogre::Quaternion q;
|
||
|
|
q.FromAngleAxis(Ogre::Radian(angle),Ogre::Vector3::UNIT_Y);
|
||
|
|
Ogre::Matrix3 rotM;
|
||
|
|
q.ToRotationMatrix(rotM);
|
||
|
|
matrix44 result;
|
||
|
|
result.set_xaxis(float4(rotM.GetColumn(0).x,rotM.GetColumn(0).y,rotM.GetColumn(0).z,0.f));
|
||
|
|
result.set_yaxis(float4(rotM.GetColumn(1).x,rotM.GetColumn(1).y,rotM.GetColumn(1).z,0.f));
|
||
|
|
result.set_zaxis(float4(rotM.GetColumn(2).x,rotM.GetColumn(2).y,rotM.GetColumn(2).z,0.f));
|
||
|
|
result.set_position(float4(0.f,0.f,0.f,1.f));
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::rotationz(scalar angle)
|
||
|
|
{
|
||
|
|
Ogre::Quaternion q;
|
||
|
|
q.FromAngleAxis(Ogre::Radian(angle),Ogre::Vector3::UNIT_Z);
|
||
|
|
Ogre::Matrix3 rotM;
|
||
|
|
q.ToRotationMatrix(rotM);
|
||
|
|
matrix44 result;
|
||
|
|
result.set_xaxis(float4(rotM.GetColumn(0).x,rotM.GetColumn(0).y,rotM.GetColumn(0).z,0.f));
|
||
|
|
result.set_yaxis(float4(rotM.GetColumn(1).x,rotM.GetColumn(1).y,rotM.GetColumn(1).z,0.f));
|
||
|
|
result.set_zaxis(float4(rotM.GetColumn(2).x,rotM.GetColumn(2).y,rotM.GetColumn(2).z,0.f));
|
||
|
|
result.set_position(float4(0.f,0.f,0.f,1.f));
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
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||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::rotationyawpitchroll(scalar yaw, scalar pitch, scalar roll)
|
||
|
|
{
|
||
|
|
Ogre::Quaternion q;
|
||
|
|
q = q.CalRollPitchYaw(roll,pitch,yaw);
|
||
|
|
Ogre::Matrix3 rotM;
|
||
|
|
q.ToRotationMatrix(rotM);
|
||
|
|
matrix44 result;
|
||
|
|
result.set_xaxis(float4(rotM.GetColumn(0).x,rotM.GetColumn(0).y,rotM.GetColumn(0).z,0.f));
|
||
|
|
result.set_yaxis(float4(rotM.GetColumn(1).x,rotM.GetColumn(1).y,rotM.GetColumn(1).z,0.f));
|
||
|
|
result.set_zaxis(float4(rotM.GetColumn(2).x,rotM.GetColumn(2).y,rotM.GetColumn(2).z,0.f));
|
||
|
|
result.set_position(float4(0.f,0.f,0.f,1.f));
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::scaling(scalar sx, scalar sy, scalar sz)
|
||
|
|
{
|
||
|
|
matrix44 mat(Ogre::Matrix4::IDENTITY);
|
||
|
|
mat.mx.setScale(Ogre::Vector3(sx,sy,sz));
|
||
|
|
return mat;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::scaling(float4 const &s)
|
||
|
|
{
|
||
|
|
matrix44 mat(Ogre::Matrix4::IDENTITY);
|
||
|
|
mat.mx.setScale(Ogre::Vector3(s.x(),s.y(),s.z()));
|
||
|
|
return mat;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::translation(scalar x, scalar y, scalar z)
|
||
|
|
{
|
||
|
|
matrix44 mat(Ogre::Matrix4::IDENTITY);
|
||
|
|
mat.set_position(float4(x,y,z,1.f));
|
||
|
|
return mat;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::translation(float4 const &t)
|
||
|
|
{
|
||
|
|
matrix44 mat(Ogre::Matrix4::IDENTITY);
|
||
|
|
mat.set_position(t);
|
||
|
|
return mat;
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline matrix44
|
||
|
|
matrix44::transpose(const matrix44& m)
|
||
|
|
{
|
||
|
|
|
||
|
|
return matrix44(m.mx.transpose());
|
||
|
|
}
|
||
|
|
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline
|
||
|
|
float4
|
||
|
|
matrix44::transform(const matrix44 &m, const float4 &v)
|
||
|
|
{
|
||
|
|
return m.mx * v.vec;
|
||
|
|
}
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
/**
|
||
|
|
*/
|
||
|
|
__forceinline
|
||
|
|
void
|
||
|
|
matrix44::print() const
|
||
|
|
{
|
||
|
|
n_printf("%f, %f, %f, %f \n%f, %f, %f, %f\n %f, %f, %f, %f\n%f, %f, %f, %f\n",
|
||
|
|
mx[0][0],mx[0][1],mx[0][2],mx[0][3],
|
||
|
|
mx[1][0],mx[1][1],mx[1][2],mx[1][3],
|
||
|
|
mx[2][0],mx[2][1],mx[2][2],mx[2][3],
|
||
|
|
mx[3][0],mx[3][1],mx[3][2],mx[3][3]);
|
||
|
|
}
|
||
|
|
} // namespace Math
|
||
|
|
//------------------------------------------------------------------------------
|
||
|
|
|