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Fix line endings and tabs

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Branan Purvine-Riley
2011-04-11 16:27:55 -07:00
parent d4250e19b5
commit 908aaeb6f6
2738 changed files with 702562 additions and 702562 deletions
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42
Sources/Plasma/PubUtilLib/plTransform/CMakeLists.txt
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@ -1,21 +1,21 @@
include_directories("../../CoreLib")
include_directories("../../NucleusLib/inc")
include_directories("../../NucleusLib")
include_directories("../../PubUtilLib")
set(plTransform_SOURCES
hsAffineParts.cpp
hsEuler.cpp
mat_decomp.cpp
)
set(plTransform_HEADERS
hsAffineParts.h
hsEuler.h
mat_decomp.h
)
add_library(plTransform STATIC ${plTransform_SOURCES} ${plTransform_HEADERS})
source_group("Source Files" FILES ${plTransform_SOURCES})
source_group("Header Files" FILES ${plTransform_HEADERS})
include_directories("../../CoreLib")
include_directories("../../NucleusLib/inc")
include_directories("../../NucleusLib")
include_directories("../../PubUtilLib")
set(plTransform_SOURCES
hsAffineParts.cpp
hsEuler.cpp
mat_decomp.cpp
)
set(plTransform_HEADERS
hsAffineParts.h
hsEuler.h
mat_decomp.h
)
add_library(plTransform STATIC ${plTransform_SOURCES} ${plTransform_HEADERS})
source_group("Source Files" FILES ${plTransform_SOURCES})
source_group("Header Files" FILES ${plTransform_HEADERS})

852
Sources/Plasma/PubUtilLib/plTransform/hsAffineParts.cpp
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@ -1,426 +1,426 @@
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#include "HeadSpin.h"
#include "hsAffineParts.h"
#include "plInterp/hsInterp.h"
#include "hsStream.h"
#include "plProfile.h"
#define PL_OPTIMIZE_COMPOSE
inline void QuatTo3Vectors(const hsQuat& q, hsVector3* const v)
{
v[0][0] = 1.0f - 2.0f*q.fY*q.fY - 2.0f*q.fZ*q.fZ;
v[0][1] = 2.0f*q.fX*q.fY - 2.0f*q.fW*q.fZ;
v[0][2] = 2.0f*q.fX*q.fZ + 2.0f*q.fW*q.fY;
v[1][0] = 2.0f*q.fX*q.fY + 2.0f*q.fW*q.fZ;
v[1][1] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fZ*q.fZ;
v[1][2] = 2.0f*q.fY*q.fZ - 2.0f*q.fW*q.fX;
v[2][0] = 2.0f*q.fX*q.fZ - 2.0f*q.fW*q.fY;
v[2][1] = 2.0f*q.fY*q.fZ + 2.0f*q.fW*q.fX;
v[2][2] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fY*q.fY;
}
inline void QuatTo3VectorsTranspose(const hsQuat& q, hsVector3* const v)
{
v[0][0] = 1.0f - 2.0f*q.fY*q.fY - 2.0f*q.fZ*q.fZ;
v[1][0] = 2.0f*q.fX*q.fY - 2.0f*q.fW*q.fZ;
v[2][0] = 2.0f*q.fX*q.fZ + 2.0f*q.fW*q.fY;
v[0][1] = 2.0f*q.fX*q.fY + 2.0f*q.fW*q.fZ;
v[1][1] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fZ*q.fZ;
v[2][1] = 2.0f*q.fY*q.fZ - 2.0f*q.fW*q.fX;
v[0][2] = 2.0f*q.fX*q.fZ - 2.0f*q.fW*q.fY;
v[1][2] = 2.0f*q.fY*q.fZ + 2.0f*q.fW*q.fX;
v[2][2] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fY*q.fY;
}
//
// Constructors
// Convert from Gems struct for now
//
hsAffineParts::hsAffineParts(gemAffineParts *ap)
{
AP_SET((*this), (*ap));
}
//
//
//
hsAffineParts::hsAffineParts()
{
}
//
//
//
void hsAffineParts::Reset()
{
fT.Set(0,0,0);
fQ.Identity();
fU.Identity();
fK.Set(1,1,1);
fF = 1.0;
}
plProfile_CreateTimer("Compose", "Affine", Compose);
plProfile_CreateTimer("ComposeInv", "Affine", ComposeInv);
//
// Create an affine matrix from the various parts
//
// AffineParts:
// Vector t; /* Translation components */
// Quat q; /* Essential rotation */
// Quat u; /* Stretch rotation */
// Vector k; /* Stretch factors */
// float f; /* Sign of determinant */
//
// A matrix M is decomposed by : M = T F R U K Utranspose.
// T is the translate mat.
// F is +-Identity (to flip the rotation or not).
// R is the rot matrix.
// U is the stretch matrix.
// K is the scale factor matrix.
//
void hsAffineParts::ComposeMatrix(hsMatrix44 *out) const
{
plProfile_BeginTiming(Compose);
#ifndef PL_OPTIMIZE_COMPOSE
// Built U matrix
hsMatrix44 U;
fU.MakeMatrix(&U);
// Build scale factor matrix
hsMatrix44 K;
K.MakeScaleMat(&fK);
// Build Utranspose matrix
hsMatrix44 Utp;
U.GetTranspose(&Utp);
// Build R matrix
hsMatrix44 R;
fQ.MakeMatrix(&R);
// Build flip matrix
// hsAssert(fF == 1.0 || fF == -1.0, "Invalid flip portion of affine parts");
hsMatrix44 F;
if (fF==-1.0)
{
hsVector3 s;
s.Set(-1,-1,-1);
F.MakeScaleMat(&s);
}
else
F.Reset();
// Build translate matrix
hsMatrix44 T;
T.MakeTranslateMat(&fT);
//
// Concat mats
//
*out = K * Utp;
*out = U * (*out);
*out = R * (*out); // Q
*out = F * (*out);
*out = T * (*out); // Translate happens last
#else // PL_OPTIMIZE_COMPOSE
// M = T F R U K Ut,
// but these are mostly very sparse matrices. So rather
// than construct the full 6 matrices and concatenate them,
// we'll work out by hand what the non-zero results will be.
// T = |1 0 0 Tx|
// |0 1 0 Ty|
// |0 0 1 Tz|
// F = |f 0 0 0|
// |0 f 0 0|
// |0 0 f 0|, where f is either 1 or -1
// R = |R00 R01 R02 0|
// |R10 R11 R12 0|
// |R20 R21 R22 0|
// U = |U00 U01 U02 0|
// |U10 U11 U12 0|
// |U20 U21 U22 0|
// K = |Sx 0 0 0|
// |0 Sy 0 0|
// |0 0 Sz 0|
// Ut = |U00 U10 U20 0|
// |U01 U11 U21 0|
// |U02 U12 U22 0|, where Uij is from matrix U
//
// So, K * Ut =
// |Sx*U00 Sx*U10 Sx*U20 0|
// |Sy*U01 Sy*U11 Sy*U21 0|
// |Sz*U02 Sz*U12 Sz*U22 0|
//
// U * (K * Ut) =
// | U0 dot S*U0 U0 dot S*U1 U0 dot S*U2 0|
// | U1 dot S*U0 U1 dot S*U1 U1 dot S*U2 0|
// | U2 dot S*U0 U2 dot S*U1 U2 dot S*U2 0|
//
// Let's call that matrix UK
//
// Now R * U * K * Ut = R * UK =
// | R0 dot UKc0 R0 dot UKc1 R0 dot UKc2 0|
// | R1 dot UKc0 R1 dot UKc1 R1 dot UKc2 0|
// | R2 dot UKc0 R2 dot UKc1 R2 dot UKc2 0|, where UKci is column i from UK
//
// if f is -1, we negate the matrix we have so far, else we don't. We can
// accomplish this cleanly by just negating the scale vector S if f == -1.
//
// Since the translate is last, we can just stuff it into the 4th column.
//
// Since we only ever use UK as column vectors, we'll just construct it
// into 3 vectors representing the columns.
//
// The quat MakeMatrix function is pretty efficient, but it does a little more work
// than it has to filling out the whole matrix when we only need the 3x3 rotation,
// and we'd rather have it in the form of vectors anyway, so we'll use our own
// quat to 3 vectors function here.
hsVector3 U[3];
QuatTo3Vectors(fU, U);
int i, j;
hsVector3 UKt[3];
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
// SU[j] = (fK.fX * U[j].fX, fK.fY * U[j].fY, fK.fZ * U[j].fZ)
UKt[j][i] = U[i].fX * fK.fX * U[j].fX
+ U[i].fY * fK.fY * U[j].fY
+ U[i].fZ * fK.fZ * U[j].fZ;
}
}
hsVector3 R[3];
QuatTo3Vectors(fQ, R);
hsScalar f = fF < 0 ? -1.f : 1.f;
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
out->fMap[i][j] = R[i].InnerProduct(UKt[j]) * f;
}
out->fMap[i][3] = fT[i];
}
out->fMap[3][0] = out->fMap[3][1] = out->fMap[3][2] = 0.f;
out->fMap[3][3] = 1.f;
out->NotIdentity();
#endif // PL_OPTIMIZE_COMPOSE
plProfile_EndTiming(Compose);
}
void hsAffineParts::ComposeInverseMatrix(hsMatrix44 *out) const
{
plProfile_BeginTiming(Compose);
#ifndef PL_OPTIMIZE_COMPOSE
// Built U matrix
hsMatrix44 U;
fU.Conjugate().MakeMatrix(&U);
// Build scale factor matrix
hsMatrix44 K;
hsVector3 invK;
invK.Set(hsScalarInvert(fK.fX),hsScalarInvert(fK.fY),hsScalarInvert(fK.fZ));
K.MakeScaleMat(&invK);
// Build Utranspose matrix
hsMatrix44 Utp;
U.GetTranspose(&Utp);
// Build R matrix
hsMatrix44 R;
fQ.Conjugate().MakeMatrix(&R);
// Build flip matrix
// hsAssert(fF == 1.0 || fF == -1.0, "Invalid flip portion of affine parts");
hsMatrix44 F;
if (fF==-1.0)
{
hsVector3 s;
s.Set(-1,-1,-1);
F.MakeScaleMat(&s);
}
else
F.Reset();
// Build translate matrix
hsMatrix44 T;
T.MakeTranslateMat(&-fT);
//
// Concat mats
//
*out = Utp * K;
*out = (*out) * U;
*out = (*out) * R;
*out = (*out) * F;
*out = (*out) * T;
#else // PL_OPTIMIZE_COMPOSE
// Same kind of thing here, except now M = Ut K U R F T
// and again
// T = |1 0 0 Tx|
// |0 1 0 Ty|
// |0 0 1 Tz|
// F = |f 0 0 0|
// |0 f 0 0|
// |0 0 f 0|, where f is either 1 or -1
// R = |R00 R01 R02 0|
// |R10 R11 R12 0|
// |R20 R21 R22 0|
// U = |U00 U01 U02 0|
// |U10 U11 U12 0|
// |U20 U21 U22 0|
// K = |Sx 0 0 0|
// |0 Sy 0 0|
// |0 0 Sz 0|
// Ut = |U00 U10 U20 0|
// |U01 U11 U21 0|
// |U02 U12 U22 0|, where Uij is from matrix U
//
// So, Ut * K =
// |U00*Sx U10*Sy U20*Sz 0|
// |U01*Sx U11*Sy U21*Sz 0|
// |U02*Sx U12*Sy U22*Sz 0|
//
// (Ut * K) * U = UK =
// |Ut0*S dot Ut0 Ut0*S dot Ut1 Ut0*S dot Ut2 0|
// |Ut1*S dot Ut0 Ut1*S dot Ut1 Ut1*S dot Ut2 0|
// |Ut2*S dot Ut0 Ut2*S dot Ut1 Ut2*S dot Ut2 0|
//
// (((Ut * K) * U) * R)[i][j] = UK[i] dot Rc[j]
//
// Again we'll stuff the flip into the scale.
//
// Now, because the T is on the other end of the concat (closest
// to the vertex), we can't just stuff it in. If Mr is the
// rotation part of the final matrix (Ut * K * U * R * F), then
// the translation components M[i][3] = Mr[i] dot T.
//
//
hsVector3 Ut[3];
QuatTo3VectorsTranspose(fU.Conjugate(), Ut);
int i, j;
hsVector3 invK;
invK.Set(hsScalarInvert(fK.fX),hsScalarInvert(fK.fY),hsScalarInvert(fK.fZ));
hsVector3 UK[3];
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
// SUt[i] = (Ut[i].fX * invK.fX, Ut[i].fY * invK.fY, Ut[i].fZ * invK.fZ)
// So SUt[i].InnerProduct(Ut[j]) ==
// Ut[i].fX * invK.fX * Ut[j].fX
// + Ut[i].fY * invK.fY * Ut[j].fY
// + Ut[i].fZ * invK.fZ * Ut[j].fZ
UK[i][j] = Ut[i].fX * invK.fX * Ut[j].fX
+ Ut[i].fY * invK.fY * Ut[j].fY
+ Ut[i].fZ * invK.fZ * Ut[j].fZ;
}
}
hsVector3 Rt[3];
QuatTo3VectorsTranspose(fQ.Conjugate(), Rt);
hsScalar f = fF < 0 ? -1.f : 1.f;
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
out->fMap[i][j] = UK[i].InnerProduct(Rt[j]) * f;
}
out->fMap[i][3] = -(fT.InnerProduct((hsPoint3*)(&out->fMap[i])));
}
out->fMap[3][0] = out->fMap[3][1] = out->fMap[3][2] = 0.f;
out->fMap[3][3] = 1.f;
out->NotIdentity();
#endif // PL_OPTIMIZE_COMPOSE
plProfile_EndTiming(Compose);
}
//
// Given 2 affineparts structs and a p value (between 0-1),
// compute a new affine parts.
//
void hsAffineParts::SetFromInterp(const hsAffineParts &ap1, const hsAffineParts &ap2, float p)
{
hsAssert(p>=0.0 && p<=1.0, "Interpolate param must be 0-1");
#if 0
// Debug
float rad1,rad2, rad3;
hsVector3 axis1, axis2, axis3;
k1->fQ.GetAngleAxis(&rad1, &axis1);
k2->fQ.GetAngleAxis(&rad2, &axis2);
fQ.GetAngleAxis(&rad3, &axis3);
#endif
hsInterp::LinInterp(&ap1, &ap2, p, this);
}
//
// Read
//
void hsAffineParts::Read(hsStream *stream)
{
fT.Read(stream);
fQ.Read(stream);
fU.Read(stream);
fK.Read(stream);
fF = stream->ReadSwapFloat();
}
//
// Write
//
void hsAffineParts::Write(hsStream *stream)
{
fT.Write(stream);
fQ.Write(stream);
fU.Write(stream);
fK.Write(stream);
stream->WriteSwapFloat(fF);
}
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#include "HeadSpin.h"
#include "hsAffineParts.h"
#include "plInterp/hsInterp.h"
#include "hsStream.h"
#include "plProfile.h"
#define PL_OPTIMIZE_COMPOSE
inline void QuatTo3Vectors(const hsQuat& q, hsVector3* const v)
{
v[0][0] = 1.0f - 2.0f*q.fY*q.fY - 2.0f*q.fZ*q.fZ;
v[0][1] = 2.0f*q.fX*q.fY - 2.0f*q.fW*q.fZ;
v[0][2] = 2.0f*q.fX*q.fZ + 2.0f*q.fW*q.fY;
v[1][0] = 2.0f*q.fX*q.fY + 2.0f*q.fW*q.fZ;
v[1][1] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fZ*q.fZ;
v[1][2] = 2.0f*q.fY*q.fZ - 2.0f*q.fW*q.fX;
v[2][0] = 2.0f*q.fX*q.fZ - 2.0f*q.fW*q.fY;
v[2][1] = 2.0f*q.fY*q.fZ + 2.0f*q.fW*q.fX;
v[2][2] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fY*q.fY;
}
inline void QuatTo3VectorsTranspose(const hsQuat& q, hsVector3* const v)
{
v[0][0] = 1.0f - 2.0f*q.fY*q.fY - 2.0f*q.fZ*q.fZ;
v[1][0] = 2.0f*q.fX*q.fY - 2.0f*q.fW*q.fZ;
v[2][0] = 2.0f*q.fX*q.fZ + 2.0f*q.fW*q.fY;
v[0][1] = 2.0f*q.fX*q.fY + 2.0f*q.fW*q.fZ;
v[1][1] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fZ*q.fZ;
v[2][1] = 2.0f*q.fY*q.fZ - 2.0f*q.fW*q.fX;
v[0][2] = 2.0f*q.fX*q.fZ - 2.0f*q.fW*q.fY;
v[1][2] = 2.0f*q.fY*q.fZ + 2.0f*q.fW*q.fX;
v[2][2] = 1.0f - 2.0f*q.fX*q.fX - 2.0f*q.fY*q.fY;
}
//
// Constructors
// Convert from Gems struct for now
//
hsAffineParts::hsAffineParts(gemAffineParts *ap)
{
AP_SET((*this), (*ap));
}
//
//
//
hsAffineParts::hsAffineParts()
{
}
//
//
//
void hsAffineParts::Reset()
{
fT.Set(0,0,0);
fQ.Identity();
fU.Identity();
fK.Set(1,1,1);
fF = 1.0;
}
plProfile_CreateTimer("Compose", "Affine", Compose);
plProfile_CreateTimer("ComposeInv", "Affine", ComposeInv);
//
// Create an affine matrix from the various parts
//
// AffineParts:
// Vector t; /* Translation components */
// Quat q; /* Essential rotation */
// Quat u; /* Stretch rotation */
// Vector k; /* Stretch factors */
// float f; /* Sign of determinant */
//
// A matrix M is decomposed by : M = T F R U K Utranspose.
// T is the translate mat.
// F is +-Identity (to flip the rotation or not).
// R is the rot matrix.
// U is the stretch matrix.
// K is the scale factor matrix.
//
void hsAffineParts::ComposeMatrix(hsMatrix44 *out) const
{
plProfile_BeginTiming(Compose);
#ifndef PL_OPTIMIZE_COMPOSE
// Built U matrix
hsMatrix44 U;
fU.MakeMatrix(&U);
// Build scale factor matrix
hsMatrix44 K;
K.MakeScaleMat(&fK);
// Build Utranspose matrix
hsMatrix44 Utp;
U.GetTranspose(&Utp);
// Build R matrix
hsMatrix44 R;
fQ.MakeMatrix(&R);
// Build flip matrix
// hsAssert(fF == 1.0 || fF == -1.0, "Invalid flip portion of affine parts");
hsMatrix44 F;
if (fF==-1.0)
{
hsVector3 s;
s.Set(-1,-1,-1);
F.MakeScaleMat(&s);
}
else
F.Reset();
// Build translate matrix
hsMatrix44 T;
T.MakeTranslateMat(&fT);
//
// Concat mats
//
*out = K * Utp;
*out = U * (*out);
*out = R * (*out); // Q
*out = F * (*out);
*out = T * (*out); // Translate happens last
#else // PL_OPTIMIZE_COMPOSE
// M = T F R U K Ut,
// but these are mostly very sparse matrices. So rather
// than construct the full 6 matrices and concatenate them,
// we'll work out by hand what the non-zero results will be.
// T = |1 0 0 Tx|
// |0 1 0 Ty|
// |0 0 1 Tz|
// F = |f 0 0 0|
// |0 f 0 0|
// |0 0 f 0|, where f is either 1 or -1
// R = |R00 R01 R02 0|
// |R10 R11 R12 0|
// |R20 R21 R22 0|
// U = |U00 U01 U02 0|
// |U10 U11 U12 0|
// |U20 U21 U22 0|
// K = |Sx 0 0 0|
// |0 Sy 0 0|
// |0 0 Sz 0|
// Ut = |U00 U10 U20 0|
// |U01 U11 U21 0|
// |U02 U12 U22 0|, where Uij is from matrix U
//
// So, K * Ut =
// |Sx*U00 Sx*U10 Sx*U20 0|
// |Sy*U01 Sy*U11 Sy*U21 0|
// |Sz*U02 Sz*U12 Sz*U22 0|
//
// U * (K * Ut) =
// | U0 dot S*U0 U0 dot S*U1 U0 dot S*U2 0|
// | U1 dot S*U0 U1 dot S*U1 U1 dot S*U2 0|
// | U2 dot S*U0 U2 dot S*U1 U2 dot S*U2 0|
//
// Let's call that matrix UK
//
// Now R * U * K * Ut = R * UK =
// | R0 dot UKc0 R0 dot UKc1 R0 dot UKc2 0|
// | R1 dot UKc0 R1 dot UKc1 R1 dot UKc2 0|
// | R2 dot UKc0 R2 dot UKc1 R2 dot UKc2 0|, where UKci is column i from UK
//
// if f is -1, we negate the matrix we have so far, else we don't. We can
// accomplish this cleanly by just negating the scale vector S if f == -1.
//
// Since the translate is last, we can just stuff it into the 4th column.
//
// Since we only ever use UK as column vectors, we'll just construct it
// into 3 vectors representing the columns.
//
// The quat MakeMatrix function is pretty efficient, but it does a little more work
// than it has to filling out the whole matrix when we only need the 3x3 rotation,
// and we'd rather have it in the form of vectors anyway, so we'll use our own
// quat to 3 vectors function here.
hsVector3 U[3];
QuatTo3Vectors(fU, U);
int i, j;
hsVector3 UKt[3];
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
// SU[j] = (fK.fX * U[j].fX, fK.fY * U[j].fY, fK.fZ * U[j].fZ)
UKt[j][i] = U[i].fX * fK.fX * U[j].fX
+ U[i].fY * fK.fY * U[j].fY
+ U[i].fZ * fK.fZ * U[j].fZ;
}
}
hsVector3 R[3];
QuatTo3Vectors(fQ, R);
hsScalar f = fF < 0 ? -1.f : 1.f;
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
out->fMap[i][j] = R[i].InnerProduct(UKt[j]) * f;
}
out->fMap[i][3] = fT[i];
}
out->fMap[3][0] = out->fMap[3][1] = out->fMap[3][2] = 0.f;
out->fMap[3][3] = 1.f;
out->NotIdentity();
#endif // PL_OPTIMIZE_COMPOSE
plProfile_EndTiming(Compose);
}
void hsAffineParts::ComposeInverseMatrix(hsMatrix44 *out) const
{
plProfile_BeginTiming(Compose);
#ifndef PL_OPTIMIZE_COMPOSE
// Built U matrix
hsMatrix44 U;
fU.Conjugate().MakeMatrix(&U);
// Build scale factor matrix
hsMatrix44 K;
hsVector3 invK;
invK.Set(hsScalarInvert(fK.fX),hsScalarInvert(fK.fY),hsScalarInvert(fK.fZ));
K.MakeScaleMat(&invK);
// Build Utranspose matrix
hsMatrix44 Utp;
U.GetTranspose(&Utp);
// Build R matrix
hsMatrix44 R;
fQ.Conjugate().MakeMatrix(&R);
// Build flip matrix
// hsAssert(fF == 1.0 || fF == -1.0, "Invalid flip portion of affine parts");
hsMatrix44 F;
if (fF==-1.0)
{
hsVector3 s;
s.Set(-1,-1,-1);
F.MakeScaleMat(&s);
}
else
F.Reset();
// Build translate matrix
hsMatrix44 T;
T.MakeTranslateMat(&-fT);
//
// Concat mats
//
*out = Utp * K;
*out = (*out) * U;
*out = (*out) * R;
*out = (*out) * F;
*out = (*out) * T;
#else // PL_OPTIMIZE_COMPOSE
// Same kind of thing here, except now M = Ut K U R F T
// and again
// T = |1 0 0 Tx|
// |0 1 0 Ty|
// |0 0 1 Tz|
// F = |f 0 0 0|
// |0 f 0 0|
// |0 0 f 0|, where f is either 1 or -1
// R = |R00 R01 R02 0|
// |R10 R11 R12 0|
// |R20 R21 R22 0|
// U = |U00 U01 U02 0|
// |U10 U11 U12 0|
// |U20 U21 U22 0|
// K = |Sx 0 0 0|
// |0 Sy 0 0|
// |0 0 Sz 0|
// Ut = |U00 U10 U20 0|
// |U01 U11 U21 0|
// |U02 U12 U22 0|, where Uij is from matrix U
//
// So, Ut * K =
// |U00*Sx U10*Sy U20*Sz 0|
// |U01*Sx U11*Sy U21*Sz 0|
// |U02*Sx U12*Sy U22*Sz 0|
//
// (Ut * K) * U = UK =
// |Ut0*S dot Ut0 Ut0*S dot Ut1 Ut0*S dot Ut2 0|
// |Ut1*S dot Ut0 Ut1*S dot Ut1 Ut1*S dot Ut2 0|
// |Ut2*S dot Ut0 Ut2*S dot Ut1 Ut2*S dot Ut2 0|
//
// (((Ut * K) * U) * R)[i][j] = UK[i] dot Rc[j]
//
// Again we'll stuff the flip into the scale.
//
// Now, because the T is on the other end of the concat (closest
// to the vertex), we can't just stuff it in. If Mr is the
// rotation part of the final matrix (Ut * K * U * R * F), then
// the translation components M[i][3] = Mr[i] dot T.
//
//
hsVector3 Ut[3];
QuatTo3VectorsTranspose(fU.Conjugate(), Ut);
int i, j;
hsVector3 invK;
invK.Set(hsScalarInvert(fK.fX),hsScalarInvert(fK.fY),hsScalarInvert(fK.fZ));
hsVector3 UK[3];
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
// SUt[i] = (Ut[i].fX * invK.fX, Ut[i].fY * invK.fY, Ut[i].fZ * invK.fZ)
// So SUt[i].InnerProduct(Ut[j]) ==
// Ut[i].fX * invK.fX * Ut[j].fX
// + Ut[i].fY * invK.fY * Ut[j].fY
// + Ut[i].fZ * invK.fZ * Ut[j].fZ
UK[i][j] = Ut[i].fX * invK.fX * Ut[j].fX
+ Ut[i].fY * invK.fY * Ut[j].fY
+ Ut[i].fZ * invK.fZ * Ut[j].fZ;
}
}
hsVector3 Rt[3];
QuatTo3VectorsTranspose(fQ.Conjugate(), Rt);
hsScalar f = fF < 0 ? -1.f : 1.f;
for( i = 0; i < 3; i++ )
{
for( j = 0; j < 3; j++ )
{
out->fMap[i][j] = UK[i].InnerProduct(Rt[j]) * f;
}
out->fMap[i][3] = -(fT.InnerProduct((hsPoint3*)(&out->fMap[i])));
}
out->fMap[3][0] = out->fMap[3][1] = out->fMap[3][2] = 0.f;
out->fMap[3][3] = 1.f;
out->NotIdentity();
#endif // PL_OPTIMIZE_COMPOSE
plProfile_EndTiming(Compose);
}
//
// Given 2 affineparts structs and a p value (between 0-1),
// compute a new affine parts.
//
void hsAffineParts::SetFromInterp(const hsAffineParts &ap1, const hsAffineParts &ap2, float p)
{
hsAssert(p>=0.0 && p<=1.0, "Interpolate param must be 0-1");
#if 0
// Debug
float rad1,rad2, rad3;
hsVector3 axis1, axis2, axis3;
k1->fQ.GetAngleAxis(&rad1, &axis1);
k2->fQ.GetAngleAxis(&rad2, &axis2);
fQ.GetAngleAxis(&rad3, &axis3);
#endif
hsInterp::LinInterp(&ap1, &ap2, p, this);
}
//
// Read
//
void hsAffineParts::Read(hsStream *stream)
{
fT.Read(stream);
fQ.Read(stream);
fU.Read(stream);
fK.Read(stream);
fF = stream->ReadSwapFloat();
}
//
// Write
//
void hsAffineParts::Write(hsStream *stream)
{
fT.Write(stream);
fQ.Write(stream);
fU.Write(stream);
fK.Write(stream);
stream->WriteSwapFloat(fF);
}

146
Sources/Plasma/PubUtilLib/plTransform/hsAffineParts.h
View File

@ -1,73 +1,73 @@
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HSAFFINEPARTS_inc
#define HSAFFINEPARTS_inc
#include "hsGeometry3.h"
#include "hsQuat.h"
#include "mat_decomp.h"
class hsAffineParts
{
public:
// Constructors
hsAffineParts(gemAffineParts *); // Convert from Gems struct for now
hsAffineParts();
void Reset();
hsVector3 fT; /* Translation components */
hsQuat fQ; /* Essential rotation */
hsQuat fU; /* Stretch rotation */
hsVector3 fK; /* Stretch factors */
float fF; /* Sign of determinant */
void ComposeMatrix(hsMatrix44 *out) const;
void ComposeInverseMatrix(hsMatrix44 *out) const;
void SetFromInterp(const hsAffineParts &ap1, const hsAffineParts &ap2, float t);
void Read(hsStream *);
void Write(hsStream *);
int operator==(const hsAffineParts& a) const
{ return (fT == a.fT && fQ == a.fQ && fU == a.fU && fK == a.fK && fF == a.fF); }
};
//
// General set macro can also be used for 3DSMax struct
//
#define AP_SET(dst, src) \
{ \
dst.fT.Set(src.t.x, src.t.y, src.t.z); \
dst.fQ.Set(src.q.x, src.q.y, src.q.z, src.q.w); \
dst.fU.Set(src.u.x, src.u.y, src.u.z, src.u.w); \
dst.fK.Set(src.k.x, src.k.y, src.k.z); \
dst.fF = src.f; \
}
#endif
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HSAFFINEPARTS_inc
#define HSAFFINEPARTS_inc
#include "hsGeometry3.h"
#include "hsQuat.h"
#include "mat_decomp.h"
class hsAffineParts
{
public:
// Constructors
hsAffineParts(gemAffineParts *); // Convert from Gems struct for now
hsAffineParts();
void Reset();
hsVector3 fT; /* Translation components */
hsQuat fQ; /* Essential rotation */
hsQuat fU; /* Stretch rotation */
hsVector3 fK; /* Stretch factors */
float fF; /* Sign of determinant */
void ComposeMatrix(hsMatrix44 *out) const;
void ComposeInverseMatrix(hsMatrix44 *out) const;
void SetFromInterp(const hsAffineParts &ap1, const hsAffineParts &ap2, float t);
void Read(hsStream *);
void Write(hsStream *);
int operator==(const hsAffineParts& a) const
{ return (fT == a.fT && fQ == a.fQ && fU == a.fU && fK == a.fK && fF == a.fF); }
};
//
// General set macro can also be used for 3DSMax struct
//
#define AP_SET(dst, src) \
{ \
dst.fT.Set(src.t.x, src.t.y, src.t.z); \
dst.fQ.Set(src.q.x, src.q.y, src.q.z, src.q.w); \
dst.fU.Set(src.u.x, src.u.y, src.u.z, src.u.w); \
dst.fK.Set(src.k.x, src.k.y, src.k.z); \
dst.fF = src.f; \
}
#endif

424
Sources/Plasma/PubUtilLib/plTransform/hsEuler.cpp
View File

@ -1,212 +1,212 @@
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
//
//////////////////////////////////////////////////////////////////////////
// EULER STUFF
// See Gems IV, Ken Shoemake
//////////////////////////////////////////////////////////////////////////
//
#include <float.h> // for FLT_EPSILON
#include "hsEuler.h"
#include "hsQuat.h"
#include "hsMatrix44.h"
enum QuatPart
{
X, Y, Z, W
};
//
// Construct quaternion from Euler angles (in radians).
//
void hsEuler::GetQuat(hsQuat* qu)
{
double a[3], ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
hsEuler ea=*this; // copy
EulGetOrd(ea.fOrder,i,j,k,h,n,s,f);
if (f==EulFrmR)
{
hsScalar t = ea.fX; ea.fX = ea.fZ; ea.fZ = t;
}
if (n==EulParOdd)
ea.fY = -ea.fY;
ti = ea.fX*0.5; tj = ea.fY*0.5; th = ea.fZ*0.5;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes)
{
a[i] = cj*(cs + sc); /* Could speed up with */
a[j] = sj*(cc + ss); /* trig identities. */
a[k] = sj*(cs - sc);
qu->fW = static_cast<float>(cj*(cc - ss));
}
else
{
a[i] = cj*sc - sj*cs;
a[j] = cj*ss + sj*cc;
a[k] = cj*cs - sj*sc;
qu->fW = static_cast<float>(cj*cc + sj*ss);
}
if (n==EulParOdd)
a[j] = -a[j];
qu->fX = static_cast<float>(a[X]);
qu->fY = static_cast<float>(a[Y]);
qu->fZ = static_cast<float>(a[Z]);
}
//
// Construct matrix from Euler angles (in radians).
//
void hsEuler::GetMatrix44(hsMatrix44* mat)
{
double ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
hsEuler ea=*this; // copy
EulGetOrd(ea.fOrder,i,j,k,h,n,s,f);
if (f==EulFrmR)
{
hsScalar t = ea.fX; ea.fX = ea.fZ; ea.fZ = t;
}
if (n==EulParOdd)
{
ea.fX = -ea.fX; ea.fY = -ea.fY; ea.fZ = -ea.fZ;
}
ti = ea.fX; tj = ea.fY; th = ea.fZ;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes)
{
mat->fMap[i][i] = static_cast<float>(cj);
mat->fMap[i][j] = static_cast<float>(sj*si);
mat->fMap[i][k] = static_cast<float>(sj*ci);
mat->fMap[j][i] = static_cast<float>(sj*sh);
mat->fMap[j][j] = static_cast<float>(-cj*ss+cc);
mat->fMap[j][k] = static_cast<float>(-cj*cs-sc);
mat->fMap[k][i] = static_cast<float>(-sj*ch);
mat->fMap[k][j] = static_cast<float>(cj*sc+cs);
mat->fMap[k][k] = static_cast<float>(cj*cc-ss);
}
else
{
mat->fMap[i][i] = static_cast<float>(cj*ch);
mat->fMap[i][j] = static_cast<float>(sj*sc-cs);
mat->fMap[i][k] = static_cast<float>(sj*cc+ss);
mat->fMap[j][i] = static_cast<float>(cj*sh);
mat->fMap[j][j] = static_cast<float>(sj*ss+cc);
mat->fMap[j][k] = static_cast<float>(sj*cs-sc);
mat->fMap[k][i] = static_cast<float>(-sj);
mat->fMap[k][j] = static_cast<float>(cj*si);
mat->fMap[k][k] = static_cast<float>(cj*ci);
}
mat->fMap[W][X]=mat->fMap[W][Y]=mat->fMap[W][Z]=mat->fMap[X][W]=mat->fMap[Y][W]=mat->fMap[Z][W]=0.0;
mat->fMap[W][W]=1.0;
}
//
// Convert matrix to Euler angles (in radians)
//
void hsEuler::SetFromMatrix44(const hsMatrix44* mat, UInt32 order)
{
int i,j,k,h,n,s,f;
EulGetOrd(order,i,j,k,h,n,s,f);
if (s==EulRepYes)
{
double sy = sqrt(mat->fMap[i][j]*mat->fMap[i][j] + mat->fMap[i][k]*mat->fMap[i][k]);
if (sy > 16*FLT_EPSILON)
{
fX = static_cast<float>(atan2(mat->fMap[i][j], mat->fMap[i][k]));
fY = static_cast<float>(atan2(sy, (double)mat->fMap[i][i]));
fZ = static_cast<float>(atan2(mat->fMap[j][i], -mat->fMap[k][i]));
} else
{
fX = static_cast<float>(atan2(-mat->fMap[j][k], mat->fMap[j][j]));
fY = static_cast<float>(atan2(sy, (double)mat->fMap[i][i]));
fZ = 0;
}
}
else
{
double cy = sqrt(mat->fMap[i][i]*mat->fMap[i][i] + mat->fMap[j][i]*mat->fMap[j][i]);
if (cy > 16*FLT_EPSILON)
{
fX = static_cast<float>(atan2(mat->fMap[k][j], mat->fMap[k][k]));
fY = static_cast<float>(atan2((double)(-mat->fMap[k][i]), cy));
fZ = static_cast<float>(atan2(mat->fMap[j][i], mat->fMap[i][i]));
}
else
{
fX = static_cast<float>(atan2(-mat->fMap[j][k], mat->fMap[j][j]));
fY = static_cast<float>(atan2((double)(-mat->fMap[k][i]), cy));
fZ = 0;
}
}
if (n==EulParOdd)
{
fX = -fX; fY = - fY; fZ = -fZ;
}
if (f==EulFrmR)
{
hsScalar t = fX; fX = fZ; fZ = t;
}
fOrder = order;
}
//
// Convert quaternion to Euler angles (in radians)
//
void hsEuler::SetFromQuat(const hsQuat* q, UInt32 order)
{
hsMatrix44 mat;
double Nq = q->fX*q->fX+q->fY*q->fY+q->fZ*q->fZ+q->fW*q->fW;
double s = (Nq > 0.0) ? (2.0 / Nq) : 0.0;
double xs = q->fX*s, ys = q->fY*s, zs = q->fZ*s;
double wx = q->fW*xs, wy = q->fW*ys, wz = q->fW*zs;
double xx = q->fX*xs, xy = q->fX*ys, xz = q->fX*zs;
double yy = q->fY*ys, yz = q->fY*zs, zz = q->fZ*zs;
mat.fMap[X][X] = static_cast<float>(1.0 - (yy + zz));
mat.fMap[X][Y] = static_cast<float>(xy - wz);
mat.fMap[X][Z] = static_cast<float>(xz + wy);
mat.fMap[Y][X] = static_cast<float>(xy + wz);
mat.fMap[Y][Y] = static_cast<float>(1.0 - (xx + zz));
mat.fMap[Y][Z] = static_cast<float>(yz - wx);
mat.fMap[Z][X] = static_cast<float>(xz - wy);
mat.fMap[Z][Y] = static_cast<float>(yz + wx);
mat.fMap[Z][Z] = static_cast<float>(1.0 - (xx + yy));
mat.fMap[W][X] = mat.fMap[W][Y] = mat.fMap[W][Z] =
mat.fMap[X][W] = mat.fMap[Y][W] = mat.fMap[Z][W] = 0.0;
mat.fMap[W][W] = 1.0;
SetFromMatrix44(&mat, order);
}
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
//
//////////////////////////////////////////////////////////////////////////
// EULER STUFF
// See Gems IV, Ken Shoemake
//////////////////////////////////////////////////////////////////////////
//
#include <float.h> // for FLT_EPSILON
#include "hsEuler.h"
#include "hsQuat.h"
#include "hsMatrix44.h"
enum QuatPart
{
X, Y, Z, W
};
//
// Construct quaternion from Euler angles (in radians).
//
void hsEuler::GetQuat(hsQuat* qu)
{
double a[3], ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
hsEuler ea=*this; // copy
EulGetOrd(ea.fOrder,i,j,k,h,n,s,f);
if (f==EulFrmR)
{
hsScalar t = ea.fX; ea.fX = ea.fZ; ea.fZ = t;
}
if (n==EulParOdd)
ea.fY = -ea.fY;
ti = ea.fX*0.5; tj = ea.fY*0.5; th = ea.fZ*0.5;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes)
{
a[i] = cj*(cs + sc); /* Could speed up with */
a[j] = sj*(cc + ss); /* trig identities. */
a[k] = sj*(cs - sc);
qu->fW = static_cast<float>(cj*(cc - ss));
}
else
{
a[i] = cj*sc - sj*cs;
a[j] = cj*ss + sj*cc;
a[k] = cj*cs - sj*sc;
qu->fW = static_cast<float>(cj*cc + sj*ss);
}
if (n==EulParOdd)
a[j] = -a[j];
qu->fX = static_cast<float>(a[X]);
qu->fY = static_cast<float>(a[Y]);
qu->fZ = static_cast<float>(a[Z]);
}
//
// Construct matrix from Euler angles (in radians).
//
void hsEuler::GetMatrix44(hsMatrix44* mat)
{
double ti, tj, th, ci, cj, ch, si, sj, sh, cc, cs, sc, ss;
int i,j,k,h,n,s,f;
hsEuler ea=*this; // copy
EulGetOrd(ea.fOrder,i,j,k,h,n,s,f);
if (f==EulFrmR)
{
hsScalar t = ea.fX; ea.fX = ea.fZ; ea.fZ = t;
}
if (n==EulParOdd)
{
ea.fX = -ea.fX; ea.fY = -ea.fY; ea.fZ = -ea.fZ;
}
ti = ea.fX; tj = ea.fY; th = ea.fZ;
ci = cos(ti); cj = cos(tj); ch = cos(th);
si = sin(ti); sj = sin(tj); sh = sin(th);
cc = ci*ch; cs = ci*sh; sc = si*ch; ss = si*sh;
if (s==EulRepYes)
{
mat->fMap[i][i] = static_cast<float>(cj);
mat->fMap[i][j] = static_cast<float>(sj*si);
mat->fMap[i][k] = static_cast<float>(sj*ci);
mat->fMap[j][i] = static_cast<float>(sj*sh);
mat->fMap[j][j] = static_cast<float>(-cj*ss+cc);
mat->fMap[j][k] = static_cast<float>(-cj*cs-sc);
mat->fMap[k][i] = static_cast<float>(-sj*ch);
mat->fMap[k][j] = static_cast<float>(cj*sc+cs);
mat->fMap[k][k] = static_cast<float>(cj*cc-ss);
}
else
{
mat->fMap[i][i] = static_cast<float>(cj*ch);
mat->fMap[i][j] = static_cast<float>(sj*sc-cs);
mat->fMap[i][k] = static_cast<float>(sj*cc+ss);
mat->fMap[j][i] = static_cast<float>(cj*sh);
mat->fMap[j][j] = static_cast<float>(sj*ss+cc);
mat->fMap[j][k] = static_cast<float>(sj*cs-sc);
mat->fMap[k][i] = static_cast<float>(-sj);
mat->fMap[k][j] = static_cast<float>(cj*si);
mat->fMap[k][k] = static_cast<float>(cj*ci);
}
mat->fMap[W][X]=mat->fMap[W][Y]=mat->fMap[W][Z]=mat->fMap[X][W]=mat->fMap[Y][W]=mat->fMap[Z][W]=0.0;
mat->fMap[W][W]=1.0;
}
//
// Convert matrix to Euler angles (in radians)
//
void hsEuler::SetFromMatrix44(const hsMatrix44* mat, UInt32 order)
{
int i,j,k,h,n,s,f;
EulGetOrd(order,i,j,k,h,n,s,f);
if (s==EulRepYes)
{
double sy = sqrt(mat->fMap[i][j]*mat->fMap[i][j] + mat->fMap[i][k]*mat->fMap[i][k]);
if (sy > 16*FLT_EPSILON)
{
fX = static_cast<float>(atan2(mat->fMap[i][j], mat->fMap[i][k]));
fY = static_cast<float>(atan2(sy, (double)mat->fMap[i][i]));
fZ = static_cast<float>(atan2(mat->fMap[j][i], -mat->fMap[k][i]));
} else
{
fX = static_cast<float>(atan2(-mat->fMap[j][k], mat->fMap[j][j]));
fY = static_cast<float>(atan2(sy, (double)mat->fMap[i][i]));
fZ = 0;
}
}
else
{
double cy = sqrt(mat->fMap[i][i]*mat->fMap[i][i] + mat->fMap[j][i]*mat->fMap[j][i]);
if (cy > 16*FLT_EPSILON)
{
fX = static_cast<float>(atan2(mat->fMap[k][j], mat->fMap[k][k]));
fY = static_cast<float>(atan2((double)(-mat->fMap[k][i]), cy));
fZ = static_cast<float>(atan2(mat->fMap[j][i], mat->fMap[i][i]));
}
else
{
fX = static_cast<float>(atan2(-mat->fMap[j][k], mat->fMap[j][j]));
fY = static_cast<float>(atan2((double)(-mat->fMap[k][i]), cy));
fZ = 0;
}
}
if (n==EulParOdd)
{
fX = -fX; fY = - fY; fZ = -fZ;
}
if (f==EulFrmR)
{
hsScalar t = fX; fX = fZ; fZ = t;
}
fOrder = order;
}
//
// Convert quaternion to Euler angles (in radians)
//
void hsEuler::SetFromQuat(const hsQuat* q, UInt32 order)
{
hsMatrix44 mat;
double Nq = q->fX*q->fX+q->fY*q->fY+q->fZ*q->fZ+q->fW*q->fW;
double s = (Nq > 0.0) ? (2.0 / Nq) : 0.0;
double xs = q->fX*s, ys = q->fY*s, zs = q->fZ*s;
double wx = q->fW*xs, wy = q->fW*ys, wz = q->fW*zs;
double xx = q->fX*xs, xy = q->fX*ys, xz = q->fX*zs;
double yy = q->fY*ys, yz = q->fY*zs, zz = q->fZ*zs;
mat.fMap[X][X] = static_cast<float>(1.0 - (yy + zz));
mat.fMap[X][Y] = static_cast<float>(xy - wz);
mat.fMap[X][Z] = static_cast<float>(xz + wy);
mat.fMap[Y][X] = static_cast<float>(xy + wz);
mat.fMap[Y][Y] = static_cast<float>(1.0 - (xx + zz));
mat.fMap[Y][Z] = static_cast<float>(yz - wx);
mat.fMap[Z][X] = static_cast<float>(xz - wy);
mat.fMap[Z][Y] = static_cast<float>(yz + wx);
mat.fMap[Z][Z] = static_cast<float>(1.0 - (xx + yy));
mat.fMap[W][X] = mat.fMap[W][Y] = mat.fMap[W][Z] =
mat.fMap[X][W] = mat.fMap[Y][W] = mat.fMap[Z][W] = 0.0;
mat.fMap[W][W] = 1.0;
SetFromMatrix44(&mat, order);
}

232
Sources/Plasma/PubUtilLib/plTransform/hsEuler.h
View File

@ -1,116 +1,116 @@
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HS_EULER_inc
#define HS_EULER_inc
#include "hsGeometry3.h"
//
//////////////////////////////////////////////////////////////////////////
// EULER STUFF
// See Gems IV, Ken Shoemake
//////////////////////////////////////////////////////////////////////////
//
/*** Order type constants, constructors, extractors ***/
/* There are 24 possible conventions, designated by: */
/* o EulAxI = axis used initially */
/* o EulPar = parity of axis permutation */
/* o EulRep = repetition of initial axis as last */
/* o EulFrm = frame from which axes are taken */
/* Axes I,J,K will be a permutation of X,Y,Z. */
/* Axis H will be either I or K, depending on EulRep. */
/* Frame S takes axes from initial static frame. */
/* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then */
/* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v */
/* rotates v around Z by c radians. */
#define EulFrmS 0
#define EulFrmR 1
#define EulFrm(ord) ((unsigned)(ord)&1)
#define EulRepNo 0
#define EulRepYes 1
#define EulRep(ord) (((unsigned)(ord)>>1)&1)
#define EulParEven 0
#define EulParOdd 1
#define EulPar(ord) (((unsigned)(ord)>>2)&1)
#define EulSafe "\000\001\002\000"
#define EulNext "\001\002\000\001"
#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
/* EulGetOrd unpacks all useful information about order simultaneously. */
#define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>=1;s=o&1;o>>=1;\
n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
/* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
#define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
/* Static axes */
#define EulOrdXYZs EulOrd(X,EulParEven,EulRepNo,EulFrmS)
#define EulOrdXYXs EulOrd(X,EulParEven,EulRepYes,EulFrmS)
#define EulOrdXZYs EulOrd(X,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdXZXs EulOrd(X,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdYZXs EulOrd(Y,EulParEven,EulRepNo,EulFrmS)
#define EulOrdYZYs EulOrd(Y,EulParEven,EulRepYes,EulFrmS)
#define EulOrdYXZs EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdYXYs EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdZXYs EulOrd(Z,EulParEven,EulRepNo,EulFrmS)
#define EulOrdZXZs EulOrd(Z,EulParEven,EulRepYes,EulFrmS)
#define EulOrdZYXs EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdZYZs EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)
/* Rotating axes */
#define EulOrdZYXr EulOrd(X,EulParEven,EulRepNo,EulFrmR)
#define EulOrdXYXr EulOrd(X,EulParEven,EulRepYes,EulFrmR)
#define EulOrdYZXr EulOrd(X,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdXZXr EulOrd(X,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdXZYr EulOrd(Y,EulParEven,EulRepNo,EulFrmR)
#define EulOrdYZYr EulOrd(Y,EulParEven,EulRepYes,EulFrmR)
#define EulOrdZXYr EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdYXYr EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdYXZr EulOrd(Z,EulParEven,EulRepNo,EulFrmR)
#define EulOrdZXZr EulOrd(Z,EulParEven,EulRepYes,EulFrmR)
#define EulOrdXYZr EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdZYZr EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)
struct hsMatrix44;
class hsQuat;
class hsEuler
{
public:
hsScalar fX,fY,fZ;
UInt32 fOrder;
hsEuler(hsScalar ai, hsScalar aj, hsScalar ah, UInt32 order) : fX(ai),fY(aj),fZ(ah),fOrder(order) {}
// getters, converters
void GetQuat(hsQuat* res );
void GetMatrix44(hsMatrix44* M);
// setters, converters
void SetFromMatrix44(const hsMatrix44* M, UInt32 order);
void SetFromQuat(const hsQuat* q, UInt32 order);
};
#endif // HS_EULER_inc
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HS_EULER_inc
#define HS_EULER_inc
#include "hsGeometry3.h"
//
//////////////////////////////////////////////////////////////////////////
// EULER STUFF
// See Gems IV, Ken Shoemake
//////////////////////////////////////////////////////////////////////////
//
/*** Order type constants, constructors, extractors ***/
/* There are 24 possible conventions, designated by: */
/* o EulAxI = axis used initially */
/* o EulPar = parity of axis permutation */
/* o EulRep = repetition of initial axis as last */
/* o EulFrm = frame from which axes are taken */
/* Axes I,J,K will be a permutation of X,Y,Z. */
/* Axis H will be either I or K, depending on EulRep. */
/* Frame S takes axes from initial static frame. */
/* If ord = (AxI=X, Par=Even, Rep=No, Frm=S), then */
/* {a,b,c,ord} means Rz(c)Ry(b)Rx(a), where Rz(c)v */
/* rotates v around Z by c radians. */
#define EulFrmS 0
#define EulFrmR 1
#define EulFrm(ord) ((unsigned)(ord)&1)
#define EulRepNo 0
#define EulRepYes 1
#define EulRep(ord) (((unsigned)(ord)>>1)&1)
#define EulParEven 0
#define EulParOdd 1
#define EulPar(ord) (((unsigned)(ord)>>2)&1)
#define EulSafe "\000\001\002\000"
#define EulNext "\001\002\000\001"
#define EulAxI(ord) ((int)(EulSafe[(((unsigned)(ord)>>3)&3)]))
#define EulAxJ(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)==EulParOdd)]))
#define EulAxK(ord) ((int)(EulNext[EulAxI(ord)+(EulPar(ord)!=EulParOdd)]))
#define EulAxH(ord) ((EulRep(ord)==EulRepNo)?EulAxK(ord):EulAxI(ord))
/* EulGetOrd unpacks all useful information about order simultaneously. */
#define EulGetOrd(ord,i,j,k,h,n,s,f) {unsigned o=ord;f=o&1;o>>=1;s=o&1;o>>=1;\
n=o&1;o>>=1;i=EulSafe[o&3];j=EulNext[i+n];k=EulNext[i+1-n];h=s?k:i;}
/* EulOrd creates an order value between 0 and 23 from 4-tuple choices. */
#define EulOrd(i,p,r,f) (((((((i)<<1)+(p))<<1)+(r))<<1)+(f))
/* Static axes */
#define EulOrdXYZs EulOrd(X,EulParEven,EulRepNo,EulFrmS)
#define EulOrdXYXs EulOrd(X,EulParEven,EulRepYes,EulFrmS)
#define EulOrdXZYs EulOrd(X,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdXZXs EulOrd(X,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdYZXs EulOrd(Y,EulParEven,EulRepNo,EulFrmS)
#define EulOrdYZYs EulOrd(Y,EulParEven,EulRepYes,EulFrmS)
#define EulOrdYXZs EulOrd(Y,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdYXYs EulOrd(Y,EulParOdd,EulRepYes,EulFrmS)
#define EulOrdZXYs EulOrd(Z,EulParEven,EulRepNo,EulFrmS)
#define EulOrdZXZs EulOrd(Z,EulParEven,EulRepYes,EulFrmS)
#define EulOrdZYXs EulOrd(Z,EulParOdd,EulRepNo,EulFrmS)
#define EulOrdZYZs EulOrd(Z,EulParOdd,EulRepYes,EulFrmS)
/* Rotating axes */
#define EulOrdZYXr EulOrd(X,EulParEven,EulRepNo,EulFrmR)
#define EulOrdXYXr EulOrd(X,EulParEven,EulRepYes,EulFrmR)
#define EulOrdYZXr EulOrd(X,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdXZXr EulOrd(X,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdXZYr EulOrd(Y,EulParEven,EulRepNo,EulFrmR)
#define EulOrdYZYr EulOrd(Y,EulParEven,EulRepYes,EulFrmR)
#define EulOrdZXYr EulOrd(Y,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdYXYr EulOrd(Y,EulParOdd,EulRepYes,EulFrmR)
#define EulOrdYXZr EulOrd(Z,EulParEven,EulRepNo,EulFrmR)
#define EulOrdZXZr EulOrd(Z,EulParEven,EulRepYes,EulFrmR)
#define EulOrdXYZr EulOrd(Z,EulParOdd,EulRepNo,EulFrmR)
#define EulOrdZYZr EulOrd(Z,EulParOdd,EulRepYes,EulFrmR)
struct hsMatrix44;
class hsQuat;
class hsEuler
{
public:
hsScalar fX,fY,fZ;
UInt32 fOrder;
hsEuler(hsScalar ai, hsScalar aj, hsScalar ah, UInt32 order) : fX(ai),fY(aj),fZ(ah),fOrder(order) {}
// getters, converters
void GetQuat(hsQuat* res );
void GetMatrix44(hsMatrix44* M);
// setters, converters
void SetFromMatrix44(const hsMatrix44* M, UInt32 order);
void SetFromQuat(const hsQuat* q, UInt32 order);
};
#endif // HS_EULER_inc

1072
Sources/Plasma/PubUtilLib/plTransform/mat_decomp.cpp
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114
Sources/Plasma/PubUtilLib/plTransform/mat_decomp.h
View File

@ -1,57 +1,57 @@
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef MATDECOMP_inc
#define MATDECOMP_inc
//
// Types
//
typedef struct {float x, y, z, w;} gemQuat; /* Quaternion */
enum QuatPart {X, Y, Z, W};
typedef gemQuat HVect; /* Homogeneous 3D vector */
typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
typedef struct {
HVect t; /* Translation components */
gemQuat q; /* Essential rotation */
gemQuat u; /* Stretch rotation */
HVect k; /* Stretch factors */
float f; /* Sign of determinant */
} gemAffineParts;
//
// Funcs
//
float polar_decomp(const HMatrix M, HMatrix Q, HMatrix S);
HVect spect_decomp(const HMatrix S, HMatrix U);
gemQuat snuggle(gemQuat q, HVect *k);
void decomp_affine(const HMatrix A, gemAffineParts *parts);
void invert_affine(gemAffineParts *parts, gemAffineParts *inverse);
#endif
/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef MATDECOMP_inc
#define MATDECOMP_inc
//
// Types
//
typedef struct {float x, y, z, w;} gemQuat; /* Quaternion */
enum QuatPart {X, Y, Z, W};
typedef gemQuat HVect; /* Homogeneous 3D vector */
typedef float HMatrix[4][4]; /* Right-handed, for column vectors */
typedef struct {
HVect t; /* Translation components */
gemQuat q; /* Essential rotation */
gemQuat u; /* Stretch rotation */
HVect k; /* Stretch factors */
float f; /* Sign of determinant */
} gemAffineParts;
//
// Funcs
//
float polar_decomp(const HMatrix M, HMatrix Q, HMatrix S);
HVect spect_decomp(const HMatrix S, HMatrix U);
gemQuat snuggle(gemQuat q, HVect *k);
void decomp_affine(const HMatrix A, gemAffineParts *parts);
void invert_affine(gemAffineParts *parts, gemAffineParts *inverse);
#endif