Initial import of KREngine
--HG-- extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%404
This commit is contained in:
kearwood
264
KREngine/KREngine/Classes/KRMat4.cpp
Normal file
264
KREngine/KREngine/Classes/KRMat4.cpp
Normal file
@@ -0,0 +1,264 @@
|
||||
//
|
||||
// KRMat4.cpp
|
||||
// gldemo
|
||||
//
|
||||
// Created by Kearwood Gilbert on 10-09-21.
|
||||
// Copyright (c) 2010 Kearwood Software. All rights reserved.
|
||||
//
|
||||
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "KRMat4.h"
|
||||
|
||||
KRMat4::KRMat4() {
|
||||
// Default constructor - Initialize with an identity matrix
|
||||
static const GLfloat IDENTITY_MATRIX[] = {
|
||||
1.0, 0.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0, 0.0,
|
||||
0.0, 0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 0.0, 1.0
|
||||
};
|
||||
memcpy(m_mat, IDENTITY_MATRIX, sizeof(GLfloat) * 16);
|
||||
|
||||
}
|
||||
|
||||
KRMat4::KRMat4(GLfloat *pMat) {
|
||||
memcpy(m_mat, pMat, sizeof(GLfloat) * 16);
|
||||
}
|
||||
|
||||
KRMat4::~KRMat4() {
|
||||
|
||||
}
|
||||
|
||||
GLfloat *KRMat4::getPointer() {
|
||||
return m_mat;
|
||||
}
|
||||
|
||||
// Copy constructor
|
||||
KRMat4::KRMat4(const KRMat4 &m) {
|
||||
|
||||
memcpy(m_mat, m.m_mat, sizeof(GLfloat) * 16);
|
||||
}
|
||||
|
||||
KRMat4& KRMat4::operator=(const KRMat4 &m) {
|
||||
if(this != &m) { // Prevent self-assignment.
|
||||
memcpy(m_mat, m.m_mat, sizeof(GLfloat) * 16);
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
// Overload compound multiply operator
|
||||
KRMat4& KRMat4::operator*=(const KRMat4 &m) {
|
||||
GLfloat temp[16];
|
||||
|
||||
int x,y;
|
||||
|
||||
for (x=0; x < 4; x++)
|
||||
{
|
||||
for(y=0; y < 4; y++)
|
||||
{
|
||||
temp[y + (x*4)] = (m_mat[x*4] * m.m_mat[y]) +
|
||||
(m_mat[(x*4)+1] * m.m_mat[y+4]) +
|
||||
(m_mat[(x*4)+2] * m.m_mat[y+8]) +
|
||||
(m_mat[(x*4)+3] * m.m_mat[y+12]);
|
||||
}
|
||||
}
|
||||
|
||||
memcpy(m_mat, temp, sizeof(GLfloat) << 4);
|
||||
return *this;
|
||||
}
|
||||
|
||||
/*
|
||||
// Overload multiply operator
|
||||
KRMat4& KRMat4::operator*(const KRMat4 &m, const KRMat4 &m) {
|
||||
KRMat4 result = *this;
|
||||
result *= m;
|
||||
return result;
|
||||
}
|
||||
*/
|
||||
|
||||
KRMat4 KRMat4::operator*(const KRMat4 &m) {
|
||||
KRMat4 ret = *this;
|
||||
ret *= m;
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
/* Generate a perspective view matrix using a field of view angle fov,
|
||||
* window aspect ratio, near and far clipping planes */
|
||||
void KRMat4::perspective(GLfloat fov, GLfloat aspect, GLfloat nearz, GLfloat farz) {
|
||||
GLfloat range;
|
||||
|
||||
range = tan(fov / 2.0f) * nearz;
|
||||
memset(m_mat, 0, sizeof(GLfloat) * 16);
|
||||
m_mat[0] = (2 * nearz) / ((range * aspect) - (-range * aspect));
|
||||
m_mat[5] = (2 * nearz) / (2 * range);
|
||||
m_mat[10] = -(farz + nearz) / (farz - nearz);
|
||||
m_mat[11] = -1;
|
||||
m_mat[14] = -(2 * farz * nearz) / (farz - nearz);
|
||||
|
||||
}
|
||||
|
||||
/* Perform translation operations on a matrix */
|
||||
void KRMat4::translate(GLfloat x, GLfloat y, GLfloat z) {
|
||||
KRMat4 newMatrix; // Create new identity matrix
|
||||
|
||||
newMatrix.m_mat[12] = x;
|
||||
newMatrix.m_mat[13] = y;
|
||||
newMatrix.m_mat[14] = z;
|
||||
|
||||
*this *= newMatrix;
|
||||
}
|
||||
|
||||
/* Rotate a matrix by an angle on a X, Y, or Z axis */
|
||||
void KRMat4::rotate(GLfloat angle, AXIS axis) {
|
||||
// const GLfloat d2r = 0.0174532925199; /* PI / 180 */
|
||||
const int cos1[3] = { 5, 0, 0 };
|
||||
const int cos2[3] = { 10, 10, 5 };
|
||||
const int sin1[3] = { 6, 2, 1 };
|
||||
const int sin2[3] = { 9, 8, 4 };
|
||||
|
||||
KRMat4 newMatrix; // Create new identity matrix
|
||||
|
||||
newMatrix.m_mat[cos1[axis]] = cos(angle);
|
||||
newMatrix.m_mat[sin1[axis]] = -sin(angle);
|
||||
newMatrix.m_mat[sin2[axis]] = -newMatrix.m_mat[sin1[axis]];
|
||||
newMatrix.m_mat[cos2[axis]] = newMatrix.m_mat[cos1[axis]];
|
||||
|
||||
*this *= newMatrix;
|
||||
}
|
||||
|
||||
void KRMat4::scale(GLfloat x, GLfloat y, GLfloat z) {
|
||||
KRMat4 newMatrix; // Create new identity matrix
|
||||
|
||||
newMatrix.m_mat[0] = x;
|
||||
newMatrix.m_mat[5] = y;
|
||||
newMatrix.m_mat[10] = z;
|
||||
|
||||
*this *= newMatrix;
|
||||
}
|
||||
|
||||
void KRMat4::scale(GLfloat s) {
|
||||
scale(s,s,s);
|
||||
}
|
||||
|
||||
void KRMat4::bias() {
|
||||
// Initialize with a bias matrix
|
||||
static const GLfloat BIAS_MATRIX[] = {
|
||||
0.5, 0.0, 0.0, 0.0,
|
||||
0.0, 0.5, 0.0, 0.0,
|
||||
0.0, 0.0, 0.5, 0.0,
|
||||
0.5, 0.5, 0.5, 1.0
|
||||
};
|
||||
memcpy(m_mat, BIAS_MATRIX, sizeof(GLfloat) * 16);
|
||||
}
|
||||
|
||||
|
||||
/* Generate an orthographic view matrix */
|
||||
void KRMat4::ortho(GLfloat left, GLfloat right, GLfloat top, GLfloat bottom, GLfloat nearz, GLfloat farz) {
|
||||
memset(m_mat, 0, sizeof(GLfloat) * 16);
|
||||
/*
|
||||
m_mat[0] = 2.0f / (right - left);
|
||||
m_mat[3] = -(right + left) / (right - left);
|
||||
m_mat[5] = 2.0f / (top - bottom);
|
||||
m_mat[7] = -(top + bottom) / (top - bottom);
|
||||
m_mat[10] = -2.0f / (farz - nearz);
|
||||
m_mat[11] = -(farz + nearz) / (farz - nearz);
|
||||
m_mat[15] = 1.0f;
|
||||
*/
|
||||
m_mat[0] = 2.0f / (right - left);
|
||||
m_mat[5] = 2.0f / (bottom - top);
|
||||
m_mat[10] = -1.0f / (farz - nearz);
|
||||
m_mat[11] = -nearz / (farz - nearz);
|
||||
m_mat[15] = 1.0f;
|
||||
}
|
||||
|
||||
bool KRMat4::invert() {
|
||||
/*
|
||||
GLfloat inverseTranslation[16];
|
||||
GLfloat inverseRotation[16];
|
||||
|
||||
|
||||
|
||||
inverseTranslation[0] = 1 ; inverseTranslation[4] = 0 ; inverseTranslation[8] = 0 ; inverseTranslation[12] = -m_mat[12] ;
|
||||
inverseTranslation[1] = 0 ; inverseTranslation[5] = 1 ; inverseTranslation[9] = 0 ; inverseTranslation[13] = -m_mat[13] ;
|
||||
inverseTranslation[2] = 0 ; inverseTranslation[6] = 0 ; inverseTranslation[10] = 1 ; inverseTranslation[14] = -m_mat[14] ;
|
||||
inverseTranslation[3] = 0 ; inverseTranslation[7] = 0 ; inverseTranslation[11] = 0 ; inverseTranslation[15] = 1 ;
|
||||
|
||||
inverseRotation[0] = m_mat[0] ; inverseRotation[4] = m_mat[1] ; inverseRotation[8] = m_mat[2] ; inverseRotation[12] = 0 ;
|
||||
inverseRotation[1] = m_mat[4] ; inverseRotation[5] = m_mat[5] ; inverseRotation[9] = m_mat[6] ; inverseRotation[13] = 0 ;
|
||||
inverseRotation[2] = m_mat[8] ; inverseRotation[6] = m_mat[9] ; inverseRotation[10] = m_mat[10] ; inverseRotation[14] = 0 ;
|
||||
inverseRotation[3] = 0 ; inverseRotation[7] = 0 ; inverseRotation[11] = 0 ; inverseRotation[15] = 1 ;
|
||||
|
||||
KRMat4 inverseRotMat(inverseRotation);
|
||||
KRMat4 inverseTransMat(inverseTranslation);
|
||||
|
||||
KRMat4 m = inverseRotMat * inverseTransMat;
|
||||
memcpy(m_mat, m.m_mat, sizeof(GLfloat) * 16);
|
||||
*/
|
||||
|
||||
// Based on gluInvertMatrix implementation
|
||||
|
||||
double inv[16], det;
|
||||
int i;
|
||||
|
||||
inv[0] = m_mat[5]*m_mat[10]*m_mat[15] - m_mat[5]*m_mat[11]*m_mat[14] - m_mat[9]*m_mat[6]*m_mat[15]
|
||||
+ m_mat[9]*m_mat[7]*m_mat[14] + m_mat[13]*m_mat[6]*m_mat[11] - m_mat[13]*m_mat[7]*m_mat[10];
|
||||
inv[4] = -m_mat[4]*m_mat[10]*m_mat[15] + m_mat[4]*m_mat[11]*m_mat[14] + m_mat[8]*m_mat[6]*m_mat[15]
|
||||
- m_mat[8]*m_mat[7]*m_mat[14] - m_mat[12]*m_mat[6]*m_mat[11] + m_mat[12]*m_mat[7]*m_mat[10];
|
||||
inv[8] = m_mat[4]*m_mat[9]*m_mat[15] - m_mat[4]*m_mat[11]*m_mat[13] - m_mat[8]*m_mat[5]*m_mat[15]
|
||||
+ m_mat[8]*m_mat[7]*m_mat[13] + m_mat[12]*m_mat[5]*m_mat[11] - m_mat[12]*m_mat[7]*m_mat[9];
|
||||
inv[12] = -m_mat[4]*m_mat[9]*m_mat[14] + m_mat[4]*m_mat[10]*m_mat[13] + m_mat[8]*m_mat[5]*m_mat[14]
|
||||
- m_mat[8]*m_mat[6]*m_mat[13] - m_mat[12]*m_mat[5]*m_mat[10] + m_mat[12]*m_mat[6]*m_mat[9];
|
||||
inv[1] = -m_mat[1]*m_mat[10]*m_mat[15] + m_mat[1]*m_mat[11]*m_mat[14] + m_mat[9]*m_mat[2]*m_mat[15]
|
||||
- m_mat[9]*m_mat[3]*m_mat[14] - m_mat[13]*m_mat[2]*m_mat[11] + m_mat[13]*m_mat[3]*m_mat[10];
|
||||
inv[5] = m_mat[0]*m_mat[10]*m_mat[15] - m_mat[0]*m_mat[11]*m_mat[14] - m_mat[8]*m_mat[2]*m_mat[15]
|
||||
+ m_mat[8]*m_mat[3]*m_mat[14] + m_mat[12]*m_mat[2]*m_mat[11] - m_mat[12]*m_mat[3]*m_mat[10];
|
||||
inv[9] = -m_mat[0]*m_mat[9]*m_mat[15] + m_mat[0]*m_mat[11]*m_mat[13] + m_mat[8]*m_mat[1]*m_mat[15]
|
||||
- m_mat[8]*m_mat[3]*m_mat[13] - m_mat[12]*m_mat[1]*m_mat[11] + m_mat[12]*m_mat[3]*m_mat[9];
|
||||
inv[13] = m_mat[0]*m_mat[9]*m_mat[14] - m_mat[0]*m_mat[10]*m_mat[13] - m_mat[8]*m_mat[1]*m_mat[14]
|
||||
+ m_mat[8]*m_mat[2]*m_mat[13] + m_mat[12]*m_mat[1]*m_mat[10] - m_mat[12]*m_mat[2]*m_mat[9];
|
||||
inv[2] = m_mat[1]*m_mat[6]*m_mat[15] - m_mat[1]*m_mat[7]*m_mat[14] - m_mat[5]*m_mat[2]*m_mat[15]
|
||||
+ m_mat[5]*m_mat[3]*m_mat[14] + m_mat[13]*m_mat[2]*m_mat[7] - m_mat[13]*m_mat[3]*m_mat[6];
|
||||
inv[6] = -m_mat[0]*m_mat[6]*m_mat[15] + m_mat[0]*m_mat[7]*m_mat[14] + m_mat[4]*m_mat[2]*m_mat[15]
|
||||
- m_mat[4]*m_mat[3]*m_mat[14] - m_mat[12]*m_mat[2]*m_mat[7] + m_mat[12]*m_mat[3]*m_mat[6];
|
||||
inv[10] = m_mat[0]*m_mat[5]*m_mat[15] - m_mat[0]*m_mat[7]*m_mat[13] - m_mat[4]*m_mat[1]*m_mat[15]
|
||||
+ m_mat[4]*m_mat[3]*m_mat[13] + m_mat[12]*m_mat[1]*m_mat[7] - m_mat[12]*m_mat[3]*m_mat[5];
|
||||
inv[14] = -m_mat[0]*m_mat[5]*m_mat[14] + m_mat[0]*m_mat[6]*m_mat[13] + m_mat[4]*m_mat[1]*m_mat[14]
|
||||
- m_mat[4]*m_mat[2]*m_mat[13] - m_mat[12]*m_mat[1]*m_mat[6] + m_mat[12]*m_mat[2]*m_mat[5];
|
||||
inv[3] = -m_mat[1]*m_mat[6]*m_mat[11] + m_mat[1]*m_mat[7]*m_mat[10] + m_mat[5]*m_mat[2]*m_mat[11]
|
||||
- m_mat[5]*m_mat[3]*m_mat[10] - m_mat[9]*m_mat[2]*m_mat[7] + m_mat[9]*m_mat[3]*m_mat[6];
|
||||
inv[7] = m_mat[0]*m_mat[6]*m_mat[11] - m_mat[0]*m_mat[7]*m_mat[10] - m_mat[4]*m_mat[2]*m_mat[11]
|
||||
+ m_mat[4]*m_mat[3]*m_mat[10] + m_mat[8]*m_mat[2]*m_mat[7] - m_mat[8]*m_mat[3]*m_mat[6];
|
||||
inv[11] = -m_mat[0]*m_mat[5]*m_mat[11] + m_mat[0]*m_mat[7]*m_mat[9] + m_mat[4]*m_mat[1]*m_mat[11]
|
||||
- m_mat[4]*m_mat[3]*m_mat[9] - m_mat[8]*m_mat[1]*m_mat[7] + m_mat[8]*m_mat[3]*m_mat[5];
|
||||
inv[15] = m_mat[0]*m_mat[5]*m_mat[10] - m_mat[0]*m_mat[6]*m_mat[9] - m_mat[4]*m_mat[1]*m_mat[10]
|
||||
+ m_mat[4]*m_mat[2]*m_mat[9] + m_mat[8]*m_mat[1]*m_mat[6] - m_mat[8]*m_mat[2]*m_mat[5];
|
||||
|
||||
det = m_mat[0]*inv[0] + m_mat[1]*inv[4] + m_mat[2]*inv[8] + m_mat[3]*inv[12];
|
||||
|
||||
if (det == 0) {
|
||||
return false;
|
||||
}
|
||||
|
||||
det = 1.0 / det;
|
||||
|
||||
for (i = 0; i < 16; i++) {
|
||||
m_mat[i] = inv[i] * det;
|
||||
}
|
||||
|
||||
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
Vector3 KRMat4::dot(const Vector3 &v) const {
|
||||
return Vector3(
|
||||
v.x * (float)m_mat[0*4 + 0] + v.y * (float)m_mat[1*4 + 0] + v.z * (float)m_mat[2*4 + 0] + (float)m_mat[3*4 + 0],
|
||||
v.x * (float)m_mat[0*4 + 1] + v.y * (float)m_mat[1*4 + 1] + v.z * (float)m_mat[2*4 + 1] + (float)m_mat[3*4 + 1],
|
||||
v.x * (float)m_mat[0*4 + 2] + v.y * (float)m_mat[1*4 + 2] + v.z * (float)m_mat[2*4 + 2] + (float)m_mat[3*4 + 2]
|
||||
);
|
||||
}
|
||||
Reference in New Issue
Block a user