224 lines
5.9 KiB
C++
224 lines
5.9 KiB
C++
#include "common.h"
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#include "Quaternion.h"
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// TODO: move more stuff into here
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void
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CVector2D::Normalise(void)
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{
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float sq = MagnitudeSqr();
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assert(sq != 0.0f); // just be safe here
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//if(sq > 0.0f){
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float invsqrt = RecipSqrt(sq);
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x *= invsqrt;
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y *= invsqrt;
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//}else
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// x = 1.0f;
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}
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void
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CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
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{
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float cX = Cos(xAngle);
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float sX = Sin(xAngle);
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float cY = Cos(yAngle);
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float sY = Sin(yAngle);
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float cZ = Cos(zAngle);
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float sZ = Sin(zAngle);
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m_matrix.right.x = cZ * cY - (sZ * sX) * sY;
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m_matrix.right.y = (cZ * sX) * sY + sZ * cY;
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m_matrix.right.z = -cX * sY;
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m_matrix.up.x = -sZ * cX;
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m_matrix.up.y = cZ * cX;
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m_matrix.up.z = sX;
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m_matrix.at.x = (sZ * sX) * cY + cZ * sY;
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m_matrix.at.y = sZ * sY - (cZ * sX) * cY;
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m_matrix.at.z = cX * cY;
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m_matrix.pos.x = 0.0f;
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m_matrix.pos.y = 0.0f;
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m_matrix.pos.z = 0.0f;
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}
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void
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CMatrix::Rotate(float x, float y, float z)
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{
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// TODO? do this directly without creating another matrix
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CMatrix rot;
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rot.SetRotate(x, y, z);
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*this = rot * *this;
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}
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void
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CMatrix::RotateX(float x)
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{
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Rotate(x, 0.0f, 0.0f);
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}
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void
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CMatrix::RotateY(float y)
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{
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Rotate(0.0f, y, 0.0f);
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}
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void
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CMatrix::RotateZ(float z)
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{
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Rotate(0.0f, 0.0f, z);
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}
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void
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CMatrix::Reorthogonalise(void)
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{
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CVector &r = GetRight();
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CVector &f = GetForward();
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CVector &u = GetUp();
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u = CrossProduct(r, f);
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u.Normalise();
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r = CrossProduct(f, u);
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r.Normalise();
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f = CrossProduct(u, r);
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}
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CMatrix&
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Invert(const CMatrix &src, CMatrix &dst)
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{
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// GTA handles this as a raw 4x4 orthonormal matrix
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// and trashes the RW flags, let's not do that
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// actual copy of librw code:
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RwMatrix *d = &dst.m_matrix;
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const RwMatrix *s = &src.m_matrix;
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d->right.x = s->right.x;
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d->right.y = s->up.x;
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d->right.z = s->at.x;
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d->up.x = s->right.y;
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d->up.y = s->up.y;
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d->up.z = s->at.y;
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d->at.x = s->right.z;
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d->at.y = s->up.z;
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d->at.z = s->at.z;
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d->pos.x = -(s->pos.x*s->right.x +
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s->pos.y*s->right.y +
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s->pos.z*s->right.z);
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d->pos.y = -(s->pos.x*s->up.x +
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s->pos.y*s->up.y +
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s->pos.z*s->up.z);
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d->pos.z = -(s->pos.x*s->at.x +
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s->pos.y*s->at.y +
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s->pos.z*s->at.z);
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d->flags = rwMATRIXTYPEORTHONORMAL;
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return dst;
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}
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CVector
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operator*(const CMatrix &mat, const CVector &vec)
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{
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return CVector(
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mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z + mat.m_matrix.pos.x,
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mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z + mat.m_matrix.pos.y,
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mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z + mat.m_matrix.pos.z);
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}
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CMatrix
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operator*(const CMatrix &m1, const CMatrix &m2)
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{
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CMatrix out;
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RwMatrix *dst = &out.m_matrix;
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const RwMatrix *src1 = &m1.m_matrix;
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const RwMatrix *src2 = &m2.m_matrix;
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dst->right.x = src1->right.x*src2->right.x + src1->up.x*src2->right.y + src1->at.x*src2->right.z;
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dst->right.y = src1->right.y*src2->right.x + src1->up.y*src2->right.y + src1->at.y*src2->right.z;
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dst->right.z = src1->right.z*src2->right.x + src1->up.z*src2->right.y + src1->at.z*src2->right.z;
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dst->up.x = src1->right.x*src2->up.x + src1->up.x*src2->up.y + src1->at.x*src2->up.z;
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dst->up.y = src1->right.y*src2->up.x + src1->up.y*src2->up.y + src1->at.y*src2->up.z;
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dst->up.z = src1->right.z*src2->up.x + src1->up.z*src2->up.y + src1->at.z*src2->up.z;
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dst->at.x = src1->right.x*src2->at.x + src1->up.x*src2->at.y + src1->at.x*src2->at.z;
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dst->at.y = src1->right.y*src2->at.x + src1->up.y*src2->at.y + src1->at.y*src2->at.z;
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dst->at.z = src1->right.z*src2->at.x + src1->up.z*src2->at.y + src1->at.z*src2->at.z;
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dst->pos.x = src1->right.x*src2->pos.x + src1->up.x*src2->pos.y + src1->at.x*src2->pos.z + src1->pos.x;
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dst->pos.y = src1->right.y*src2->pos.x + src1->up.y*src2->pos.y + src1->at.y*src2->pos.z + src1->pos.y;
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dst->pos.z = src1->right.z*src2->pos.x + src1->up.z*src2->pos.y + src1->at.z*src2->pos.z + src1->pos.z;
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return out;
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}
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const CVector
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Multiply3x3(const CMatrix &mat, const CVector &vec)
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{
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return CVector(
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mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z,
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mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z,
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mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z);
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}
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const CVector
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Multiply3x3(const CVector &vec, const CMatrix &mat)
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{
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return CVector(
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mat.m_matrix.right.x * vec.x + mat.m_matrix.right.y * vec.y + mat.m_matrix.right.z * vec.z,
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mat.m_matrix.up.x * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.up.z * vec.z,
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mat.m_matrix.at.x * vec.x + mat.m_matrix.at.y * vec.y + mat.m_matrix.at.z * vec.z);
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}
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void
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CQuaternion::Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t)
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{
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if(theta == 0.0f)
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*this = q2;
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else{
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float w1, w2;
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if(theta > PI/2){
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theta = PI - theta;
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w1 = Sin((1.0f - t) * theta) * invSin;
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w2 = -Sin(t * theta) * invSin;
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}else{
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w1 = Sin((1.0f - t) * theta) * invSin;
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w2 = Sin(t * theta) * invSin;
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}
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*this = w1*q1 + w2*q2;
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}
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}
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void
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CQuaternion::Set(RwV3d *axis, float angle)
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{
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float halfCos = Cos(angle*0.5f);
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float halfSin = Sin(angle*0.5f);
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x = axis->x*halfSin;
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y = axis->y*halfSin;
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z = axis->z*halfSin;
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w = halfCos;
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}
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void
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CQuaternion::Get(RwMatrix *matrix)
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{
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float x2 = x+x;
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float y2 = y+y;
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float z2 = z+z;
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float x_2x = x * x2;
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float x_2y = x * y2;
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float x_2z = x * z2;
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float y_2y = y * y2;
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float y_2z = y * z2;
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float z_2z = z * z2;
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float w_2x = w * x2;
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float w_2y = w * y2;
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float w_2z = w * z2;
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matrix->right.x = 1.0f - (y_2y + z_2z);
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matrix->up.x = x_2y - w_2z;
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matrix->at.x = x_2z + w_2y;
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matrix->right.y = x_2y + w_2z;
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matrix->up.y = 1.0f - (x_2x + z_2z);
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matrix->at.y = y_2z - w_2x;
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matrix->right.z = x_2z - w_2y;
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matrix->up.z = y_2z + w_2x;
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matrix->at.z = 1.0f - (x_2x + y_2y);
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}
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