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CWE-ou-minkata/Sources/Plasma/CoreLib/hsMatrix44.cpp

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/*==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/>.
Additional permissions under GNU GPL version 3 section 7
If you modify this Program, or any covered work, by linking or
combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
(or a modified version of those libraries),
containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG
JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the
licensors of this Program grant you additional
permission to convey the resulting work. Corresponding Source for a
non-source form of such a combination shall include the source code for
the parts of OpenSSL and IJG JPEG Library used as well as that of the covered
work.
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 "hsGeometry3.h"
#include "hsQuat.h"
#include "hsMatrix44.h"
#include "hsStream.h"
static hsMatrix44 myIdent = hsMatrix44().Reset();
const hsMatrix44& hsMatrix44::IdentityMatrix() { return myIdent; }
/*
For the rotation:
¦ 2 2 ¦
¦ 1 - (2Y + 2Z ) 2XY + 2ZW 2XZ - 2YW ¦
¦ ¦
¦ 2 2 ¦
M = ¦ 2XY - 2ZW 1 - (2X + 2Z ) 2YZ + 2XW ¦
¦ ¦
¦ 2 2 ¦
¦ 2XZ + 2YW 2YZ - 2XW 1 - (2X + 2Y ) ¦
¦ ¦
The translation is far too complex to discuss here. ;^)
*/
hsMatrix44::hsMatrix44(const hsScalarTriple &translate, const hsQuat &rotate)
{
float xx = rotate.fX * rotate.fX;
float xy = rotate.fX * rotate.fY;
float xz = rotate.fX * rotate.fZ;
float xw = rotate.fX * rotate.fW;
float yy = rotate.fY * rotate.fY;
float yz = rotate.fY * rotate.fZ;
float yw = rotate.fY * rotate.fW;
float zz = rotate.fZ * rotate.fZ;
float zw = rotate.fZ * rotate.fW;
fMap[0][0] = 1 - 2 * ( yy + zz ); fMap[0][1] = 2 * ( xy - zw ); fMap[0][2] = 2 * ( xz + yw ); fMap[0][3] = translate.fX;
fMap[1][0] = 2 * ( xy + zw ); fMap[1][1] = 1 - 2 * ( xx + zz ); fMap[1][2] = 2 * ( yz - xw ); fMap[1][3] = translate.fY;
fMap[2][0] = 2 * ( xz - yw ); fMap[2][1] = 2 * ( yz + xw ); fMap[2][2] = 1 - 2 * ( xx + yy ); fMap[2][3] = translate.fZ;
fMap[3][0] = fMap[3][1] = fMap[3][2] = 0.0f;
fMap[3][3] = 1.0f;
NotIdentity();
}
void hsMatrix44::DecompRigid(hsScalarTriple &translate, hsQuat &rotate) const
{
translate = GetTranslate();
rotate.QuatFromMatrix44(*this);
}
#if 0
hsMatrix44& hsMatrix44::Reset()
{
for(int i = 0; i < 4; i++)
{
for(int j = 0; j < 4; j++)
{
fMap[i][j] = (i==j) ? hsScalar1 : 0;
}
}
return *this;
}
#endif
#if 0 // Havok reeks
hsMatrix44 operator*(const hsMatrix44& a, const hsMatrix44& b)
{
hsMatrix44 c;
if( a.fFlags & b.fFlags & hsMatrix44::kIsIdent )
{
c.Reset();
return c;
}
if( a.fFlags & hsMatrix44::kIsIdent )
return b;
if( b.fFlags & hsMatrix44::kIsIdent )
return a;
#if HS_BUILD_FOR_PS2
MulMatrixVU0(a.fMap, b.fMap, c.fMap);
#else
c.fMap[0][0] = hsScalarMul(a.fMap[0][0], b.fMap[0][0]) + hsScalarMul(a.fMap[0][1], b.fMap[1][0]) + hsScalarMul(a.fMap[0][2], b.fMap[2][0]) + hsScalarMul(a.fMap[0][3], b.fMap[3][0]);
c.fMap[0][1] = hsScalarMul(a.fMap[0][0], b.fMap[0][1]) + hsScalarMul(a.fMap[0][1], b.fMap[1][1]) + hsScalarMul(a.fMap[0][2], b.fMap[2][1]) + hsScalarMul(a.fMap[0][3], b.fMap[3][1]);
c.fMap[0][2] = hsScalarMul(a.fMap[0][0], b.fMap[0][2]) + hsScalarMul(a.fMap[0][1], b.fMap[1][2]) + hsScalarMul(a.fMap[0][2], b.fMap[2][2]) + hsScalarMul(a.fMap[0][3], b.fMap[3][2]);
c.fMap[0][3] = hsScalarMul(a.fMap[0][0], b.fMap[0][3]) + hsScalarMul(a.fMap[0][1], b.fMap[1][3]) + hsScalarMul(a.fMap[0][2], b.fMap[2][3]) + hsScalarMul(a.fMap[0][3], b.fMap[3][3]);
c.fMap[1][0] = hsScalarMul(a.fMap[1][0], b.fMap[0][0]) + hsScalarMul(a.fMap[1][1], b.fMap[1][0]) + hsScalarMul(a.fMap[1][2], b.fMap[2][0]) + hsScalarMul(a.fMap[1][3], b.fMap[3][0]);
c.fMap[1][1] = hsScalarMul(a.fMap[1][0], b.fMap[0][1]) + hsScalarMul(a.fMap[1][1], b.fMap[1][1]) + hsScalarMul(a.fMap[1][2], b.fMap[2][1]) + hsScalarMul(a.fMap[1][3], b.fMap[3][1]);
c.fMap[1][2] = hsScalarMul(a.fMap[1][0], b.fMap[0][2]) + hsScalarMul(a.fMap[1][1], b.fMap[1][2]) + hsScalarMul(a.fMap[1][2], b.fMap[2][2]) + hsScalarMul(a.fMap[1][3], b.fMap[3][2]);
c.fMap[1][3] = hsScalarMul(a.fMap[1][0], b.fMap[0][3]) + hsScalarMul(a.fMap[1][1], b.fMap[1][3]) + hsScalarMul(a.fMap[1][2], b.fMap[2][3]) + hsScalarMul(a.fMap[1][3], b.fMap[3][3]);
c.fMap[2][0] = hsScalarMul(a.fMap[2][0], b.fMap[0][0]) + hsScalarMul(a.fMap[2][1], b.fMap[1][0]) + hsScalarMul(a.fMap[2][2], b.fMap[2][0]) + hsScalarMul(a.fMap[2][3], b.fMap[3][0]);
c.fMap[2][1] = hsScalarMul(a.fMap[2][0], b.fMap[0][1]) + hsScalarMul(a.fMap[2][1], b.fMap[1][1]) + hsScalarMul(a.fMap[2][2], b.fMap[2][1]) + hsScalarMul(a.fMap[2][3], b.fMap[3][1]);
c.fMap[2][2] = hsScalarMul(a.fMap[2][0], b.fMap[0][2]) + hsScalarMul(a.fMap[2][1], b.fMap[1][2]) + hsScalarMul(a.fMap[2][2], b.fMap[2][2]) + hsScalarMul(a.fMap[2][3], b.fMap[3][2]);
c.fMap[2][3] = hsScalarMul(a.fMap[2][0], b.fMap[0][3]) + hsScalarMul(a.fMap[2][1], b.fMap[1][3]) + hsScalarMul(a.fMap[2][2], b.fMap[2][3]) + hsScalarMul(a.fMap[2][3], b.fMap[3][3]);
c.fMap[3][0] = hsScalarMul(a.fMap[3][0], b.fMap[0][0]) + hsScalarMul(a.fMap[3][1], b.fMap[1][0]) + hsScalarMul(a.fMap[3][2], b.fMap[2][0]) + hsScalarMul(a.fMap[3][3], b.fMap[3][0]);
c.fMap[3][1] = hsScalarMul(a.fMap[3][0], b.fMap[0][1]) + hsScalarMul(a.fMap[3][1], b.fMap[1][1]) + hsScalarMul(a.fMap[3][2], b.fMap[2][1]) + hsScalarMul(a.fMap[3][3], b.fMap[3][1]);
c.fMap[3][2] = hsScalarMul(a.fMap[3][0], b.fMap[0][2]) + hsScalarMul(a.fMap[3][1], b.fMap[1][2]) + hsScalarMul(a.fMap[3][2], b.fMap[2][2]) + hsScalarMul(a.fMap[3][3], b.fMap[3][2]);
c.fMap[3][3] = hsScalarMul(a.fMap[3][0], b.fMap[0][3]) + hsScalarMul(a.fMap[3][1], b.fMap[1][3]) + hsScalarMul(a.fMap[3][2], b.fMap[2][3]) + hsScalarMul(a.fMap[3][3], b.fMap[3][3]);
#endif
return c;
}
hsVector3 operator*(const hsMatrix44& m, const hsVector3& p)
{
if( m.fFlags & hsMatrix44::kIsIdent )
return p;
hsVector3 rVal;
#if HS_BUILD_FOR_PS2
MulVectorVU0(m.fMap, (MATRIX4) &p, (MATRIX4) &rVal);
#else
rVal.fX = hsScalarMul(p.fX, m.fMap[0][0]) + hsScalarMul(p.fY, m.fMap[0][1]) + hsScalarMul(p.fZ, m.fMap[0][2]);
rVal.fY = hsScalarMul(p.fX, m.fMap[1][0]) + hsScalarMul(p.fY, m.fMap[1][1]) + hsScalarMul(p.fZ, m.fMap[1][2]);
rVal.fZ = hsScalarMul(p.fX, m.fMap[2][0]) + hsScalarMul(p.fY, m.fMap[2][1]) + hsScalarMul(p.fZ, m.fMap[2][2]);
#endif
return rVal;
}
#else // Havok reeks
hsMatrix44 hsMatrix44::operator*(const hsMatrix44& b) const
{
hsMatrix44 c;
if( fFlags & b.fFlags & hsMatrix44::kIsIdent )
{
c.Reset();
return c;
}
if( fFlags & hsMatrix44::kIsIdent )
return b;
if( b.fFlags & hsMatrix44::kIsIdent )
return *this;
#if HS_BUILD_FOR_PS2
MulMatrixVU0(fMap, b.fMap, c.fMap);
#else
c.fMap[0][0] = hsScalarMul(fMap[0][0], b.fMap[0][0]) + hsScalarMul(fMap[0][1], b.fMap[1][0]) + hsScalarMul(fMap[0][2], b.fMap[2][0]) + hsScalarMul(fMap[0][3], b.fMap[3][0]);
c.fMap[0][1] = hsScalarMul(fMap[0][0], b.fMap[0][1]) + hsScalarMul(fMap[0][1], b.fMap[1][1]) + hsScalarMul(fMap[0][2], b.fMap[2][1]) + hsScalarMul(fMap[0][3], b.fMap[3][1]);
c.fMap[0][2] = hsScalarMul(fMap[0][0], b.fMap[0][2]) + hsScalarMul(fMap[0][1], b.fMap[1][2]) + hsScalarMul(fMap[0][2], b.fMap[2][2]) + hsScalarMul(fMap[0][3], b.fMap[3][2]);
c.fMap[0][3] = hsScalarMul(fMap[0][0], b.fMap[0][3]) + hsScalarMul(fMap[0][1], b.fMap[1][3]) + hsScalarMul(fMap[0][2], b.fMap[2][3]) + hsScalarMul(fMap[0][3], b.fMap[3][3]);
c.fMap[1][0] = hsScalarMul(fMap[1][0], b.fMap[0][0]) + hsScalarMul(fMap[1][1], b.fMap[1][0]) + hsScalarMul(fMap[1][2], b.fMap[2][0]) + hsScalarMul(fMap[1][3], b.fMap[3][0]);
c.fMap[1][1] = hsScalarMul(fMap[1][0], b.fMap[0][1]) + hsScalarMul(fMap[1][1], b.fMap[1][1]) + hsScalarMul(fMap[1][2], b.fMap[2][1]) + hsScalarMul(fMap[1][3], b.fMap[3][1]);
c.fMap[1][2] = hsScalarMul(fMap[1][0], b.fMap[0][2]) + hsScalarMul(fMap[1][1], b.fMap[1][2]) + hsScalarMul(fMap[1][2], b.fMap[2][2]) + hsScalarMul(fMap[1][3], b.fMap[3][2]);
c.fMap[1][3] = hsScalarMul(fMap[1][0], b.fMap[0][3]) + hsScalarMul(fMap[1][1], b.fMap[1][3]) + hsScalarMul(fMap[1][2], b.fMap[2][3]) + hsScalarMul(fMap[1][3], b.fMap[3][3]);
c.fMap[2][0] = hsScalarMul(fMap[2][0], b.fMap[0][0]) + hsScalarMul(fMap[2][1], b.fMap[1][0]) + hsScalarMul(fMap[2][2], b.fMap[2][0]) + hsScalarMul(fMap[2][3], b.fMap[3][0]);
c.fMap[2][1] = hsScalarMul(fMap[2][0], b.fMap[0][1]) + hsScalarMul(fMap[2][1], b.fMap[1][1]) + hsScalarMul(fMap[2][2], b.fMap[2][1]) + hsScalarMul(fMap[2][3], b.fMap[3][1]);
c.fMap[2][2] = hsScalarMul(fMap[2][0], b.fMap[0][2]) + hsScalarMul(fMap[2][1], b.fMap[1][2]) + hsScalarMul(fMap[2][2], b.fMap[2][2]) + hsScalarMul(fMap[2][3], b.fMap[3][2]);
c.fMap[2][3] = hsScalarMul(fMap[2][0], b.fMap[0][3]) + hsScalarMul(fMap[2][1], b.fMap[1][3]) + hsScalarMul(fMap[2][2], b.fMap[2][3]) + hsScalarMul(fMap[2][3], b.fMap[3][3]);
c.fMap[3][0] = hsScalarMul(fMap[3][0], b.fMap[0][0]) + hsScalarMul(fMap[3][1], b.fMap[1][0]) + hsScalarMul(fMap[3][2], b.fMap[2][0]) + hsScalarMul(fMap[3][3], b.fMap[3][0]);
c.fMap[3][1] = hsScalarMul(fMap[3][0], b.fMap[0][1]) + hsScalarMul(fMap[3][1], b.fMap[1][1]) + hsScalarMul(fMap[3][2], b.fMap[2][1]) + hsScalarMul(fMap[3][3], b.fMap[3][1]);
c.fMap[3][2] = hsScalarMul(fMap[3][0], b.fMap[0][2]) + hsScalarMul(fMap[3][1], b.fMap[1][2]) + hsScalarMul(fMap[3][2], b.fMap[2][2]) + hsScalarMul(fMap[3][3], b.fMap[3][2]);
c.fMap[3][3] = hsScalarMul(fMap[3][0], b.fMap[0][3]) + hsScalarMul(fMap[3][1], b.fMap[1][3]) + hsScalarMul(fMap[3][2], b.fMap[2][3]) + hsScalarMul(fMap[3][3], b.fMap[3][3]);
#endif
return c;
}
hsVector3 hsMatrix44::operator*(const hsVector3& p) const
{
if( fFlags & hsMatrix44::kIsIdent )
return p;
hsVector3 rVal;
#if HS_BUILD_FOR_PS2
MulVectorVU0(fMap, (MATRIX4) &p, (MATRIX4) &rVal);
#else
rVal.fX = hsScalarMul(p.fX, fMap[0][0]) + hsScalarMul(p.fY, fMap[0][1]) + hsScalarMul(p.fZ, fMap[0][2]);
rVal.fY = hsScalarMul(p.fX, fMap[1][0]) + hsScalarMul(p.fY, fMap[1][1]) + hsScalarMul(p.fZ, fMap[1][2]);
rVal.fZ = hsScalarMul(p.fX, fMap[2][0]) + hsScalarMul(p.fY, fMap[2][1]) + hsScalarMul(p.fZ, fMap[2][2]);
#endif
return rVal;
}
#endif // Havok reeks
#if 0 // Havok reeks
int operator==(const hsMatrix44& s, const hsMatrix44& t)
{
if( s.fFlags & t.fFlags & hsMatrix44::kIsIdent )
{
return true;
}
for(int i = 0; i < 4; i++)
{
for(int j = 0; j < 4; j++)
{
if (s.fMap[i][j] != t.fMap[i][j])
return false;
}
}
return true;
}
#else // Havok reeks
int hsMatrix44::operator==(const hsMatrix44& ss) const
{
if( ss.fFlags & fFlags & hsMatrix44::kIsIdent )
{
return true;
}
for(int i = 0; i < 4; i++)
{
for(int j = 0; j < 4; j++)
{
if (ss.fMap[i][j] != fMap[i][j])
return false;
}
}
return true;
}
#endif // Havok reeks
hsMatrix44& hsMatrix44::Scale(const hsVector3* scale)
{
#if HS_BUILD_FOR_PS2
MulScaleVU0(fMap, (MATRIX4 *) scale);
#else
fMap[0][0] *= scale->fX;
fMap[0][1] *= scale->fX;
fMap[0][2] *= scale->fX;
fMap[0][3] *= scale->fX;
fMap[1][0] *= scale->fY;
fMap[1][1] *= scale->fY;
fMap[1][2] *= scale->fY;
fMap[1][3] *= scale->fY;
fMap[2][0] *= scale->fZ;
fMap[2][1] *= scale->fZ;
fMap[2][2] *= scale->fZ;
fMap[2][3] *= scale->fZ;
#endif
NotIdentity();
return *this;
}
hsVector3 hsMatrix44::RemoveScale()
{
hsVector3 xCol(fMap[0][0], fMap[0][1], fMap[0][2]);
float xLen = xCol.Magnitude();
hsVector3 yCol(fMap[1][0], fMap[1][1], fMap[1][2]);
float yLen = yCol.Magnitude();
hsVector3 zCol(fMap[2][0], fMap[2][1], fMap[2][2]);
float zLen = zCol.Magnitude();
fMap[0][0] /= xLen;
fMap[0][1] /= xLen;
fMap[0][2] /= xLen;
fMap[1][0] /= yLen;
fMap[1][1] /= yLen;
fMap[1][2] /= yLen;
fMap[2][0] /= zLen;
fMap[2][1] /= zLen;
fMap[2][2] /= zLen;
hsVector3 oldScale(xLen, yLen, zLen);
return oldScale;
}
hsMatrix44& hsMatrix44::Translate(const hsVector3* pt)
{
#if HS_BUILD_FOR_PS2
TranslateVU0(fMap, (MATRIX4 *) pt); /* SUNSOFT */
#else
for (int i =0; i < 3; i++)
{
fMap[i][3] += (*pt)[i];
}
#endif
NotIdentity();
return *this;
}
hsMatrix44& hsMatrix44::SetTranslate(const hsScalarTriple* pt)
{
for (int i =0; i < 3; i++)
{
fMap[i][3] = (*pt)[i];
}
NotIdentity();
return *this;
}
hsMatrix44& hsMatrix44::MakeRotateMat(int axis, hsScalar radians)
{
Reset();
SetRotate(axis, radians);
NotIdentity();
return *this;
}
hsMatrix44& hsMatrix44::Rotate(int axis, hsScalar radians)
{
hsMatrix44 rMat;
rMat.MakeRotateMat(axis, radians);
*this = rMat * *this;
return *this;
}
hsMatrix44& hsMatrix44::SetRotate(int axis, hsScalar radians)
{
hsScalar s = hsSine(radians);
hsScalar c = hsCosine(radians);
int c1,c2;
switch (axis)
{
case 0:
c1 = 1;
c2 = 2;
break;
case 1:
c1 = 0;
c2 = 2;
break;
case 2:
c1 = 0;
c2 = 1;
break;
}
fMap[c1][c1] = c;
fMap[c2][c2] = c;
fMap[c1][c2] = s;
fMap[c2][c1] = -s;
NotIdentity();
return *this;
}
void hsMatrix44::MakeXRotation(hsScalar radians)
{
Reset();
hsScalar s = hsSine(radians);
hsScalar c = hsCosine(radians);
fMap[1][1] = c;
fMap[2][2] = c;
fMap[1][2] = s;
fMap[2][1] = -s;
NotIdentity();
}
void hsMatrix44::MakeYRotation(hsScalar radians)
{
Reset();
hsScalar s = hsSine(radians);
hsScalar c = hsCosine(radians);
fMap[0][0] = c;
fMap[2][2] = c;
fMap[0][2] = -s;
fMap[2][0] = s;
NotIdentity();
}
void hsMatrix44::MakeZRotation(hsScalar radians)
{
Reset();
hsScalar s = hsSine(radians);
hsScalar c = hsCosine(radians);
fMap[0][0] = c;
fMap[1][1] = c;
fMap[0][1] = s;
fMap[1][0] = -s;
NotIdentity();
}
//
// Not a camera matrix
//
hsMatrix44& hsMatrix44::Make(const hsPoint3* f, const hsPoint3* at, const hsVector3* up)
{
MakeTranslateMat(&hsVector3(f->fX, f->fY, f->fZ));
hsVector3 back (f,at); // Z
back.Normalize();
hsVector3 leftEar = *up % back; // X, LHS
leftEar.Normalize();
#if 1
// Ignore actual up vector
hsVector3 topHead = leftEar % back; // Y, RHS (should be flipped)
#else
hsVector3 topHead = *up;
#endif
topHead.Normalize();
for(int i = 0; i < 3; i++)
{
fMap[i][0] = leftEar[i];
fMap[i][1] = back[i];
fMap[i][2] = topHead[i];
}
NotIdentity();
return *this;
}
//
// Not a camera matrix
//
hsMatrix44& hsMatrix44::MakeUpPreserving(const hsPoint3* f, const hsPoint3* at, const hsVector3* up)
{
MakeTranslateMat(&hsVector3(f->fX, f->fY, f->fZ));
hsVector3 topHead = *up;
topHead.Normalize();
hsVector3 back (f,at); // Z
back = -back; // really front
hsVector3 leftEar = *up % back; // X
leftEar.Normalize();
back = (topHead % leftEar);
back.Normalize();
for(int i = 0; i < 3; i++)
{
fMap[i][0] = leftEar[i];
fMap[i][1] = back[i];
fMap[i][2] = topHead[i];
}
NotIdentity();
return *this;
}
//
// Get info from a non-camera matrix. Vectors are normalized.
//
void hsMatrix44::GetAxis(hsVector3* view, hsVector3 *up, hsVector3* right)
{
if (view)
view->Set(-fMap[0][1],-fMap[1][1],-fMap[2][1]);
if (right)
right->Set(-fMap[0][0],-fMap[1][0],-fMap[2][0]);
if (up)
up->Set(fMap[0][2], fMap[1][2], fMap[2][2]);
}
const hsVector3 hsMatrix44::GetAxis(int i) const
{
hsVector3 ret;
switch(i)
{
case kView:
{
ret.Set(-fMap[0][1],-fMap[1][1],-fMap[2][1]);
break;
}
case kUp:
{
ret.Set(fMap[0][2], fMap[1][2], fMap[2][2]);
break;
}
case kRight:
{
ret.Set(-fMap[0][0],-fMap[1][0],-fMap[2][0]);
break;
}
}
return ret;
}
//
// Camera matrix
//
hsMatrix44& hsMatrix44::MakeCamera(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up)
{
hsVector3 dirZ(at, from);
hsVector3 trans( -from->fX, -from->fY, -from->fZ );
hsVector3 dirY, dirX;
hsMatrix44 rmat;
dirX = (*up) % dirZ; // Stop passing in down!!! // mf_flip_up - mf
if (dirX.MagnitudeSquared())
dirX.Normalize();
if (dirZ.MagnitudeSquared())
dirZ.Normalize();
dirY = dirZ % dirX;
if (dirY.MagnitudeSquared())
dirY.Normalize();
this->Reset();
this->Translate(&trans);
rmat.Reset();
for(int i = 0; i < 3; i++)
{
rmat.fMap[0][i] = -dirX[i];
rmat.fMap[1][i] = dirY[i];
rmat.fMap[2][i] = dirZ[i];
}
rmat.NotIdentity();
*this = rmat * *this;
return *this;
}
void hsMatrix44::MakeCameraMatrices(const hsPoint3& from, const hsPoint3& at, const hsVector3& up, hsMatrix44& worldToCamera, hsMatrix44& cameraToWorld)
{
hsVector3 dirZ(&at, &from);
hsVector3 dirX(dirZ % up);
dirX.Normalize();
hsVector3 dirY(dirX % dirZ);
dirY.Normalize();
worldToCamera.Reset(false);
cameraToWorld.Reset(false);
int i;
for( i = 0; i < 3; i++ )
{
worldToCamera.fMap[0][i] = dirX[i];
worldToCamera.fMap[1][i] = dirY[i];
worldToCamera.fMap[2][i] = dirZ[i];
cameraToWorld.fMap[i][0] = dirX[i];
cameraToWorld.fMap[i][1] = dirY[i];
cameraToWorld.fMap[i][2] = dirZ[i];
}
hsPoint3 trans = -from;
worldToCamera.fMap[0][3] = dirX.InnerProduct(trans);
worldToCamera.fMap[1][3] = dirY.InnerProduct(trans);
worldToCamera.fMap[2][3] = dirZ.InnerProduct(trans);
cameraToWorld.fMap[0][3] = from.fX;
cameraToWorld.fMap[1][3] = from.fY;
cameraToWorld.fMap[2][3] = from.fZ;
}
void hsMatrix44::MakeEnvMapMatrices(const hsPoint3& pos, hsMatrix44* worldToCameras, hsMatrix44* cameraToWorlds)
{
MakeCameraMatrices(pos, hsPoint3(pos.fX - 1.f, pos.fY, pos.fZ), hsVector3(0, 0, 1.f), worldToCameras[0], cameraToWorlds[0]);
MakeCameraMatrices(pos, hsPoint3(pos.fX + 1.f, pos.fY, pos.fZ), hsVector3(0, 0, 1.f), worldToCameras[1], cameraToWorlds[1]);
MakeCameraMatrices(pos, hsPoint3(pos.fX, pos.fY + 1.f, pos.fZ), hsVector3(0, 0, 1.f), worldToCameras[2], cameraToWorlds[2]);
MakeCameraMatrices(pos, hsPoint3(pos.fX, pos.fY - 1.f, pos.fZ), hsVector3(0, 0, 1.f), worldToCameras[3], cameraToWorlds[3]);
MakeCameraMatrices(pos, hsPoint3(pos.fX, pos.fY, pos.fZ + 1.f), hsVector3(0, -1.f, 0), worldToCameras[4], cameraToWorlds[4]);
MakeCameraMatrices(pos, hsPoint3(pos.fX, pos.fY, pos.fZ - 1.f), hsVector3(0, 1.f, 0), worldToCameras[5], cameraToWorlds[5]);
}
//
// Vectors are normalized.
//
void hsMatrix44::GetAxisFromCamera(hsVector3* view, hsVector3 *up, hsVector3* right)
{
if (view)
view->Set(fMap[2][0],fMap[2][1],fMap[2][2]);
if (right)
right->Set(fMap[0][0],fMap[0][1],fMap[0][2]);
if (up)
up->Set(fMap[1][0], fMap[1][1], fMap[1][2]);
}
//
// Camera matrix
//
hsMatrix44& hsMatrix44::MakeCameraUpPreserving(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up)
{
hsVector3 dirZ(at, from);
hsVector3 trans( -from->fX, -from->fY, -from->fZ );
hsVector3 dirY( up->fX, up->fY, up->fZ );
hsVector3 dirX;
hsMatrix44 rmat;
dirX = dirY % dirZ;
dirX.Normalize();
dirY.Normalize();
dirZ = dirX % dirY;
dirZ.Normalize();
this->Reset();
this->Translate(&trans);
rmat.Reset();
for(int i = 0; i < 3; i++)
{
rmat.fMap[0][i] = -dirX[i];
rmat.fMap[1][i] = dirY[i];
rmat.fMap[2][i] = dirZ[i];
}
rmat.NotIdentity();
*this = rmat * *this;
return *this;
}
///////////////////////////////////////////////////////
static hsScalar GetDeterminant33(const hsMatrix44* mat)
{
return hsScalarMul(hsScalarMul(mat->fMap[0][0], mat->fMap[1][1]), mat->fMap[2][2]) +
hsScalarMul(hsScalarMul(mat->fMap[0][1], mat->fMap[1][2]), mat->fMap[2][0]) +
hsScalarMul(hsScalarMul(mat->fMap[0][2], mat->fMap[1][0]), mat->fMap[2][1]) -
hsScalarMul(hsScalarMul(mat->fMap[0][2], mat->fMap[1][1]), mat->fMap[2][0]) -
hsScalarMul(hsScalarMul(mat->fMap[0][1], mat->fMap[1][0]), mat->fMap[2][2]) -
hsScalarMul(hsScalarMul(mat->fMap[0][0], mat->fMap[1][2]), mat->fMap[2][1]);
}
hsMatrix44* hsMatrix44::GetTranspose(hsMatrix44* transp) const
{
for(int i = 0 ; i < 4; i++)
for(int j=0; j < 4; j++)
transp->fMap[i][j] = fMap[j][i];
return transp;
}
static inline hsScalar Determinant2(hsScalar a, hsScalar b,hsScalar c, hsScalar d)
{
return hsScalarMul(a,d) - hsScalarMul(c,b);
}
static inline hsScalar Determinant3(hsScalar a, hsScalar b, hsScalar c,
hsScalar d, hsScalar e, hsScalar f,
hsScalar g, hsScalar h, hsScalar i)
{
return hsScalarMul(a, Determinant2(e, f, h, i))
- hsScalarMul(b, Determinant2(d, f, g, i))
+ hsScalarMul(c, Determinant2(d, e, g, h));
}
hsScalar hsMatrix44::GetDeterminant() const
{
#if HS_BUILD_FOR_PS2
return (GetDeterminantVU0(fMap));
#else
return (fMap[0][0]*Determinant3(fMap[1][1], fMap[2][1], fMap[3][1],
fMap[1][2], fMap[2][2], fMap[3][2],
fMap[1][3], fMap[2][3], fMap[3][3]) -
fMap[1][0]*Determinant3(fMap[0][1], fMap[2][1], fMap[3][1],
fMap[0][2], fMap[2][2], fMap[3][2],
fMap[0][3], fMap[2][3], fMap[3][3]) +
fMap[2][0]*Determinant3(fMap[0][1], fMap[1][1], fMap[3][1],
fMap[0][2], fMap[1][2], fMap[3][2],
fMap[0][3], fMap[1][3], fMap[3][3]) -
fMap[3][0]*Determinant3(fMap[0][1], fMap[1][1], fMap[2][1],
fMap[0][2], fMap[1][2], fMap[2][2],
fMap[0][3], fMap[1][3], fMap[2][3]));
#endif
}
hsMatrix44 *hsMatrix44::GetAdjoint(hsMatrix44 *adj) const
{
#if HS_BUILD_FOR_PS2
GetAdjointVU0(fMap, adj->fMap);
#else
float a1, a2, a3, a4, b1, b2, b3, b4;
float c1, c2, c3, c4, d1, d2, d3, d4;
/*
* calculate the adjoint of a 4x4 matrix
*
* Let a denote the minor determinant of matrix A obtained by
* ij
*
* deleting the ith row and jth column from A.
*
* i+j
* Let b = (-1) a
* ij ji
*
* The matrix B = (b ) is the adjoint of A
* ij
*/
/* assign to individual variable names to aid */
/* selecting correct values */
a1 = fMap[0][0];
b1 = fMap[0][1];
c1 = fMap[0][2];
d1 = fMap[0][3];
a2 = fMap[1][0];
b2 = fMap[1][1];
c2 = fMap[1][2];
d2 = fMap[1][3];
a3 = fMap[2][0];
b3 = fMap[2][1];
c3 = fMap[2][2];
d3 = fMap[2][3];
a4 = fMap[3][0];
b4 = fMap[3][1];
c4 = fMap[3][2];
d4 = fMap[3][3];
/*
* row column labeling reversed since we transpose rows & columns
*/
adj->fMap[0][0] = Determinant3(b2, b3, b4, c2, c3, c4, d2, d3, d4);
adj->fMap[1][0] = -Determinant3(a2, a3, a4, c2, c3, c4, d2, d3, d4);
adj->fMap[2][0] = Determinant3(a2, a3, a4, b2, b3, b4, d2, d3, d4);
adj->fMap[3][0] = -Determinant3(a2, a3, a4, b2, b3, b4, c2, c3, c4);
adj->fMap[0][1] = -Determinant3(b1, b3, b4, c1, c3, c4, d1, d3, d4);
adj->fMap[1][1] = Determinant3(a1, a3, a4, c1, c3, c4, d1, d3, d4);
adj->fMap[2][1] = -Determinant3(a1, a3, a4, b1, b3, b4, d1, d3, d4);
adj->fMap[3][1] = Determinant3(a1, a3, a4, b1, b3, b4, c1, c3, c4);
adj->fMap[0][2] = Determinant3(b1, b2, b4, c1, c2, c4, d1, d2, d4);
adj->fMap[1][2] = -Determinant3(a1, a2, a4, c1, c2, c4, d1, d2, d4);
adj->fMap[2][2] = Determinant3(a1, a2, a4, b1, b2, b4, d1, d2, d4);
adj->fMap[3][2] = -Determinant3(a1, a2, a4, b1, b2, b4, c1, c2, c4);
adj->fMap[0][3] = -Determinant3(b1, b2, b3, c1, c2, c3, d1, d2, d3);
adj->fMap[1][3] = Determinant3(a1, a2, a3, c1, c2, c3, d1, d2, d3);
adj->fMap[2][3] = -Determinant3(a1, a2, a3, b1, b2, b3, d1, d2, d3);
adj->fMap[3][3] = Determinant3(a1, a2, a3, b1, b2, b3, c1, c2, c3);
#endif
adj->NotIdentity();
return adj;
}
hsMatrix44* hsMatrix44::GetInverse(hsMatrix44* inverse) const
{
hsScalar det = GetDeterminant();
int i,j;
if (det == 0.0f)
{
inverse->Reset();
return inverse;
}
det = hsScalarInvert(det);
GetAdjoint(inverse);
#if HS_BUILD_FOR_PS2
MatMulVU0(inverse->fMap, det);
#else
for (i=0; i<4; i++)
for (j=0; j<4; j++)
inverse->fMap[i][j] *= det;
#endif
return inverse;
}
hsMatrix44& hsMatrix44::SetScale(const hsVector3* pt)
{
for (int i =0; i < 3; i++)
{
fMap[i][i] = (*pt)[i];
}
NotIdentity();
return *this;
}
hsMatrix44& hsMatrix44::MakeScaleMat(const hsVector3* pt)
{
Reset();
SetScale(pt);
return *this;
}
hsMatrix44 &hsMatrix44::MakeTranslateMat(const hsVector3 *trans)
{
Reset();
SetTranslate(trans);
return *this;
}
hsVector3* hsMatrix44::GetTranslate(hsVector3 *pt) const
{
for (int i =0; i < 3; i++)
{
(*pt)[i] = fMap[i][3];
}
return pt;
}
const hsPoint3 hsMatrix44::GetTranslate() const
{
hsPoint3 pt;
for (int i =0; i < 3; i++)
{
(pt)[i] = fMap[i][3];
}
return pt;
}
hsPoint3* hsMatrix44::MapPoints(long count, hsPoint3 points[]) const
{
if( !(fFlags & hsMatrix44::kIsIdent) )
{
int i;
for(i = 0; i < count; i++)
{
points[i] = *this * points[i];
}
}
return points;
}
hsBool hsMatrix44::IsIdentity(void)
{
hsBool retVal = true;
int i, j;
for( i = 0; i < 4; i++ )
{
for( j = 0; j < 4; j++ )
{
#if 0 // IDENTITY_CRISIS
if( i == j)
{
if (fMap[i][j] != hsScalar1)
{
NotIdentity();
retVal = false;
}
}
else
{
if( fMap[i][j] != 0 )
{
NotIdentity();
retVal = false;
}
}
#else // IDENTITY_CRISIS
const hsScalar kEPS = 1.e-5f;
if( i == j)
{
if( (fMap[i][j] < hsScalar1-kEPS) || (fMap[i][j] > hsScalar1+kEPS) )
{
NotIdentity();
retVal = false;
}
else
{
fMap[i][j] = hsScalar1;
}
}
else
{
if( (fMap[i][j] < -kEPS) || (fMap[i][j] > kEPS) )
{
NotIdentity();
retVal = false;
}
else
{
fMap[i][j] = 0;
}
}
#endif // IDENTITY_CRISIS
}
}
if( retVal )
fFlags |= kIsIdent;
return retVal;
}
hsBool hsMatrix44::GetParity() const
{
if( fFlags & kIsIdent )
return false;
hsVector3* rows[3];
rows[0] = (hsVector3*)&fMap[0][0];
rows[1] = (hsVector3*)&fMap[1][0];
rows[2] = (hsVector3*)&fMap[2][0];
hsVector3 zeroXone = *rows[0] % *rows[1];
return zeroXone.InnerProduct(rows[2]) < 0;
}
void hsMatrix44::Read(hsStream *stream)
{
if (stream->ReadBool())
{
int i,j;
for(i=0; i<4; i++)
for(j=0; j<4; j++)
#if HS_SCALAR_IS_FIXED
fMap[i][j] = stream->ReadSwap32();
#endif
#if HS_SCALAR_IS_FLOAT
fMap[i][j] = stream->ReadSwapFloat();
#endif
IsIdentity();
}
else
Reset();
}
void hsMatrix44::Write(hsStream *stream)
{
hsBool ident = IsIdentity();
stream->WriteBool(!ident);
if (!ident)
{
int i,j;
for(i=0; i<4; i++)
for(j=0; j<4; j++)
#if HS_SCALAR_IS_FIXED
stream->WriteSwap32(fMap[i][j]);
#endif
#if HS_SCALAR_IS_FLOAT
stream->WriteSwapFloat(fMap[i][j]);
#endif
}
}