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-rw-r--r--src/math/Matrix.cpp529
1 files changed, 529 insertions, 0 deletions
diff --git a/src/math/Matrix.cpp b/src/math/Matrix.cpp
new file mode 100644
index 00000000..80e287d3
--- /dev/null
+++ b/src/math/Matrix.cpp
@@ -0,0 +1,529 @@
+#include "common.h"
+
+CMatrix::CMatrix(void)
+{
+ m_attachment = nil;
+ m_hasRwMatrix = false;
+}
+
+CMatrix::CMatrix(CMatrix const &m)
+{
+ m_attachment = nil;
+ m_hasRwMatrix = false;
+ *this = m;
+}
+
+CMatrix::CMatrix(RwMatrix *matrix, bool owner)
+{
+ m_attachment = nil;
+ Attach(matrix, owner);
+}
+
+CMatrix::~CMatrix(void)
+{
+ if (m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+}
+
+void
+CMatrix::Attach(RwMatrix *matrix, bool owner)
+{
+#ifdef FIX_BUGS
+ if (m_attachment && m_hasRwMatrix)
+#else
+ if (m_hasRwMatrix && m_attachment)
+#endif
+ RwMatrixDestroy(m_attachment);
+ m_attachment = matrix;
+ m_hasRwMatrix = owner;
+ Update();
+}
+
+void
+CMatrix::AttachRW(RwMatrix *matrix, bool owner)
+{
+ if (m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+ m_attachment = matrix;
+ m_hasRwMatrix = owner;
+ UpdateRW();
+}
+
+void
+CMatrix::Detach(void)
+{
+ if (m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+ m_attachment = nil;
+}
+
+void
+CMatrix::Update(void)
+{
+ m_matrix = *m_attachment;
+}
+
+void
+CMatrix::UpdateRW(void)
+{
+ if (m_attachment) {
+ *m_attachment = m_matrix;
+ RwMatrixUpdate(m_attachment);
+ }
+}
+
+void
+CMatrix::operator=(CMatrix const &rhs)
+{
+ m_matrix = rhs.m_matrix;
+ if (m_attachment)
+ UpdateRW();
+}
+
+void
+CMatrix::CopyOnlyMatrix(CMatrix *other)
+{
+ m_matrix = other->m_matrix;
+}
+
+CMatrix &
+CMatrix::operator+=(CMatrix const &rhs)
+{
+ m_matrix.right.x += rhs.m_matrix.right.x;
+ m_matrix.up.x += rhs.m_matrix.up.x;
+ m_matrix.at.x += rhs.m_matrix.at.x;
+ m_matrix.right.y += rhs.m_matrix.right.y;
+ m_matrix.up.y += rhs.m_matrix.up.y;
+ m_matrix.at.y += rhs.m_matrix.at.y;
+ m_matrix.right.z += rhs.m_matrix.right.z;
+ m_matrix.up.z += rhs.m_matrix.up.z;
+ m_matrix.at.z += rhs.m_matrix.at.z;
+ m_matrix.pos.x += rhs.m_matrix.pos.x;
+ m_matrix.pos.y += rhs.m_matrix.pos.y;
+ m_matrix.pos.z += rhs.m_matrix.pos.z;
+ return *this;
+}
+
+void
+CMatrix::SetUnity(void)
+{
+ m_matrix.right.x = 1.0f;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = 0.0f;
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = 1.0f;
+ m_matrix.up.z = 0.0f;
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = 1.0f;
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::ResetOrientation(void)
+{
+ m_matrix.right.x = 1.0f;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = 0.0f;
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = 1.0f;
+ m_matrix.up.z = 0.0f;
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = 1.0f;
+}
+
+void
+CMatrix::SetScale(float s)
+{
+ m_matrix.right.x = s;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = 0.0f;
+
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = s;
+ m_matrix.up.z = 0.0f;
+
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = s;
+
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::SetTranslate(float x, float y, float z)
+{
+ m_matrix.right.x = 1.0f;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = 0.0f;
+
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = 1.0f;
+ m_matrix.up.z = 0.0f;
+
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = 1.0f;
+
+ m_matrix.pos.x = x;
+ m_matrix.pos.y = y;
+ m_matrix.pos.z = z;
+}
+
+void
+CMatrix::SetRotateXOnly(float angle)
+{
+ float c = Cos(angle);
+ float s = Sin(angle);
+
+ m_matrix.right.x = 1.0f;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = 0.0f;
+
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = c;
+ m_matrix.up.z = s;
+
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = -s;
+ m_matrix.at.z = c;
+}
+
+void
+CMatrix::SetRotateYOnly(float angle)
+{
+ float c = Cos(angle);
+ float s = Sin(angle);
+
+ m_matrix.right.x = c;
+ m_matrix.right.y = 0.0f;
+ m_matrix.right.z = -s;
+
+ m_matrix.up.x = 0.0f;
+ m_matrix.up.y = 1.0f;
+ m_matrix.up.z = 0.0f;
+
+ m_matrix.at.x = s;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = c;
+}
+
+void
+CMatrix::SetRotateZOnly(float angle)
+{
+ float c = Cos(angle);
+ float s = Sin(angle);
+
+ m_matrix.right.x = c;
+ m_matrix.right.y = s;
+ m_matrix.right.z = 0.0f;
+
+ m_matrix.up.x = -s;
+ m_matrix.up.y = c;
+ m_matrix.up.z = 0.0f;
+
+ m_matrix.at.x = 0.0f;
+ m_matrix.at.y = 0.0f;
+ m_matrix.at.z = 1.0f;
+}
+
+void
+CMatrix::SetRotateX(float angle)
+{
+ SetRotateXOnly(angle);
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+
+void
+CMatrix::SetRotateY(float angle)
+{
+ SetRotateYOnly(angle);
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::SetRotateZ(float angle)
+{
+ SetRotateZOnly(angle);
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
+{
+ float cX = Cos(xAngle);
+ float sX = Sin(xAngle);
+ float cY = Cos(yAngle);
+ float sY = Sin(yAngle);
+ float cZ = Cos(zAngle);
+ float sZ = Sin(zAngle);
+
+ m_matrix.right.x = cZ * cY - (sZ * sX) * sY;
+ m_matrix.right.y = (cZ * sX) * sY + sZ * cY;
+ m_matrix.right.z = -cX * sY;
+
+ m_matrix.up.x = -sZ * cX;
+ m_matrix.up.y = cZ * cX;
+ m_matrix.up.z = sX;
+
+ m_matrix.at.x = (sZ * sX) * cY + cZ * sY;
+ m_matrix.at.y = sZ * sY - (cZ * sX) * cY;
+ m_matrix.at.z = cX * cY;
+
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::RotateX(float x)
+{
+ float c = Cos(x);
+ float s = Sin(x);
+
+ float ry = m_matrix.right.y;
+ float rz = m_matrix.right.z;
+ float uy = m_matrix.up.y;
+ float uz = m_matrix.up.z;
+ float ay = m_matrix.at.y;
+ float az = m_matrix.at.z;
+ float py = m_matrix.pos.y;
+ float pz = m_matrix.pos.z;
+
+ m_matrix.right.y = c * ry - s * rz;
+ m_matrix.right.z = c * rz + s * ry;
+ m_matrix.up.y = c * uy - s * uz;
+ m_matrix.up.z = c * uz + s * uy;
+ m_matrix.at.y = c * ay - s * az;
+ m_matrix.at.z = c * az + s * ay;
+ m_matrix.pos.y = c * py - s * pz;
+ m_matrix.pos.z = c * pz + s * py;
+}
+
+void
+CMatrix::RotateY(float y)
+{
+ float c = Cos(y);
+ float s = Sin(y);
+
+ float rx = m_matrix.right.x;
+ float rz = m_matrix.right.z;
+ float ux = m_matrix.up.x;
+ float uz = m_matrix.up.z;
+ float ax = m_matrix.at.x;
+ float az = m_matrix.at.z;
+ float px = m_matrix.pos.x;
+ float pz = m_matrix.pos.z;
+
+ m_matrix.right.x = c * rx - s * rz;
+ m_matrix.right.z = c * rz + s * rx;
+ m_matrix.up.x = c * ux - s * uz;
+ m_matrix.up.z = c * uz + s * ux;
+ m_matrix.at.x = c * ax - s * az;
+ m_matrix.at.z = c * az + s * ax;
+ m_matrix.pos.x = c * px - s * pz;
+ m_matrix.pos.z = c * pz + s * px;
+}
+
+void
+CMatrix::RotateZ(float z)
+{
+ float c = Cos(z);
+ float s = Sin(z);
+
+ float ry = m_matrix.right.y;
+ float rx = m_matrix.right.x;
+ float uy = m_matrix.up.y;
+ float ux = m_matrix.up.x;
+ float ay = m_matrix.at.y;
+ float ax = m_matrix.at.x;
+ float py = m_matrix.pos.y;
+ float px = m_matrix.pos.x;
+
+ m_matrix.right.x = c * rx - s * ry;
+ m_matrix.right.y = c * ry + s * rx;
+ m_matrix.up.x = c * ux - s * uy;
+ m_matrix.up.y = c * uy + s * ux;
+ m_matrix.at.x = c * ax - s * ay;
+ m_matrix.at.y = c * ay + s * ax;
+ m_matrix.pos.x = c * px - s * py;
+ m_matrix.pos.y = c * py + s * px;
+
+}
+
+void
+CMatrix::Rotate(float x, float y, float z)
+{
+ float cX = Cos(x);
+ float sX = Sin(x);
+ float cY = Cos(y);
+ float sY = Sin(y);
+ float cZ = Cos(z);
+ float sZ = Sin(z);
+
+ float rx = m_matrix.right.x;
+ float ry = m_matrix.right.y;
+ float rz = m_matrix.right.z;
+ float ux = m_matrix.up.x;
+ float uy = m_matrix.up.y;
+ float uz = m_matrix.up.z;
+ float ax = m_matrix.at.x;
+ float ay = m_matrix.at.y;
+ float az = m_matrix.at.z;
+ float px = m_matrix.pos.x;
+ float py = m_matrix.pos.y;
+ float pz = m_matrix.pos.z;
+
+ float x1 = cZ * cY - (sZ * sX) * sY;
+ float x2 = (cZ * sX) * sY + sZ * cY;
+ float x3 = -cX * sY;
+ float y1 = -sZ * cX;
+ float y2 = cZ * cX;
+ float y3 = sX;
+ float z1 = (sZ * sX) * cY + cZ * sY;
+ float z2 = sZ * sY - (cZ * sX) * cY;
+ float z3 = cX * cY;
+
+ m_matrix.right.x = x1 * rx + y1 * ry + z1 * rz;
+ m_matrix.right.y = x2 * rx + y2 * ry + z2 * rz;
+ m_matrix.right.z = x3 * rx + y3 * ry + z3 * rz;
+ m_matrix.up.x = x1 * ux + y1 * uy + z1 * uz;
+ m_matrix.up.y = x2 * ux + y2 * uy + z2 * uz;
+ m_matrix.up.z = x3 * ux + y3 * uy + z3 * uz;
+ m_matrix.at.x = x1 * ax + y1 * ay + z1 * az;
+ m_matrix.at.y = x2 * ax + y2 * ay + z2 * az;
+ m_matrix.at.z = x3 * ax + y3 * ay + z3 * az;
+ m_matrix.pos.x = x1 * px + y1 * py + z1 * pz;
+ m_matrix.pos.y = x2 * px + y2 * py + z2 * pz;
+ m_matrix.pos.z = x3 * px + y3 * py + z3 * pz;
+}
+
+CMatrix &
+CMatrix::operator*=(CMatrix const &rhs)
+{
+ // TODO: VU0 code
+ *this = *this * rhs;
+ return *this;
+}
+
+void
+CMatrix::Reorthogonalise(void)
+{
+ CVector &r = GetRight();
+ CVector &f = GetForward();
+ CVector &u = GetUp();
+ u = CrossProduct(r, f);
+ u.Normalise();
+ r = CrossProduct(f, u);
+ r.Normalise();
+ f = CrossProduct(u, r);
+}
+
+CMatrix
+operator*(const CMatrix &m1, const CMatrix &m2)
+{
+ // TODO: VU0 code
+ CMatrix out;
+ RwMatrix *dst = &out.m_matrix;
+ const RwMatrix *src1 = &m1.m_matrix;
+ const RwMatrix *src2 = &m2.m_matrix;
+ dst->right.x = src1->right.x * src2->right.x + src1->up.x * src2->right.y + src1->at.x * src2->right.z;
+ dst->right.y = src1->right.y * src2->right.x + src1->up.y * src2->right.y + src1->at.y * src2->right.z;
+ dst->right.z = src1->right.z * src2->right.x + src1->up.z * src2->right.y + src1->at.z * src2->right.z;
+ dst->up.x = src1->right.x * src2->up.x + src1->up.x * src2->up.y + src1->at.x * src2->up.z;
+ dst->up.y = src1->right.y * src2->up.x + src1->up.y * src2->up.y + src1->at.y * src2->up.z;
+ dst->up.z = src1->right.z * src2->up.x + src1->up.z * src2->up.y + src1->at.z * src2->up.z;
+ dst->at.x = src1->right.x * src2->at.x + src1->up.x * src2->at.y + src1->at.x * src2->at.z;
+ dst->at.y = src1->right.y * src2->at.x + src1->up.y * src2->at.y + src1->at.y * src2->at.z;
+ dst->at.z = src1->right.z * src2->at.x + src1->up.z * src2->at.y + src1->at.z * src2->at.z;
+ dst->pos.x = src1->right.x * src2->pos.x + src1->up.x * src2->pos.y + src1->at.x * src2->pos.z + src1->pos.x;
+ dst->pos.y = src1->right.y * src2->pos.x + src1->up.y * src2->pos.y + src1->at.y * src2->pos.z + src1->pos.y;
+ dst->pos.z = src1->right.z * src2->pos.x + src1->up.z * src2->pos.y + src1->at.z * src2->pos.z + src1->pos.z;
+ return out;
+}
+
+CMatrix &
+Invert(const CMatrix &src, CMatrix &dst)
+{
+ // TODO: VU0 code
+ float (*scr_fm)[4] = (float (*)[4])&src.m_matrix;
+ float (*dst_fm)[4] = (float (*)[4])&dst.m_matrix;
+
+ dst_fm[3][0] = dst_fm[3][1] = dst_fm[3][2] = 0.0f;
+
+ dst_fm[0][0] = scr_fm[0][0];
+ dst_fm[0][1] = scr_fm[1][0];
+ dst_fm[0][2] = scr_fm[2][0];
+
+ dst_fm[1][0] = scr_fm[0][1];
+ dst_fm[1][1] = scr_fm[1][1];
+ dst_fm[1][2] = scr_fm[2][1];
+
+ dst_fm[2][0] = scr_fm[0][2];
+ dst_fm[2][1] = scr_fm[1][2];
+ dst_fm[2][2] = scr_fm[2][2];
+
+
+ dst_fm[3][0] += dst_fm[0][0] * scr_fm[3][0];
+ dst_fm[3][1] += dst_fm[0][1] * scr_fm[3][0];
+ dst_fm[3][2] += dst_fm[0][2] * scr_fm[3][0];
+
+ dst_fm[3][0] += dst_fm[1][0] * scr_fm[3][1];
+ dst_fm[3][1] += dst_fm[1][1] * scr_fm[3][1];
+ dst_fm[3][2] += dst_fm[1][2] * scr_fm[3][1];
+
+ dst_fm[3][0] += dst_fm[2][0] * scr_fm[3][2];
+ dst_fm[3][1] += dst_fm[2][1] * scr_fm[3][2];
+ dst_fm[3][2] += dst_fm[2][2] * scr_fm[3][2];
+
+ dst_fm[3][0] = -dst_fm[3][0];
+ dst_fm[3][1] = -dst_fm[3][1];
+ dst_fm[3][2] = -dst_fm[3][2];
+
+ return dst;
+}
+
+CMatrix
+Invert(const CMatrix &matrix)
+{
+ CMatrix inv;
+ return Invert(matrix, inv);
+}
+
+void
+CCompressedMatrixNotAligned::CompressFromFullMatrix(CMatrix &other)
+{
+ m_rightX = 127.0f * other.GetRight().x;
+ m_rightY = 127.0f * other.GetRight().y;
+ m_rightZ = 127.0f * other.GetRight().z;
+ m_upX = 127.0f * other.GetForward().x;
+ m_upY = 127.0f * other.GetForward().y;
+ m_upZ = 127.0f * other.GetForward().z;
+ m_vecPos = other.GetPosition();
+}
+
+void
+CCompressedMatrixNotAligned::DecompressIntoFullMatrix(CMatrix &other)
+{
+ other.GetRight().x = m_rightX / 127.0f;
+ other.GetRight().y = m_rightY / 127.0f;
+ other.GetRight().z = m_rightZ / 127.0f;
+ other.GetForward().x = m_upX / 127.0f;
+ other.GetForward().y = m_upY / 127.0f;
+ other.GetForward().z = m_upZ / 127.0f;
+ other.GetUp() = CrossProduct(other.GetRight(), other.GetForward());
+ other.GetPosition() = m_vecPos;
+ other.Reorthogonalise();
+} \ No newline at end of file
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-02 03:14:45 +0100