Mercurial > hg > Game > Cerium
annotate Renderer/Engine/matrix_calc.cc @ 1254:34944900f266 draft
minor fix
| author | Shinji KONO <kono@ie.u-ryukyu.ac.jp> |
|---|---|
| date | Fri, 18 Nov 2011 16:56:11 +0900 |
| parents | 636dfdc30176 |
| children | 880f989ce52a |
| rev | line source |
|---|---|
| 539 | 1 #include <stdlib.h> |
| 2 #include <iostream> | |
| 3 #include <string.h> | |
| 4 #include <math.h> | |
| 1050 | 5 #include "matrix_calc.h" |
| 539 | 6 using namespace std; |
| 7 | |
| 8 void | |
| 9 transMatrix(float *m0, float *m1, float *v) | |
| 10 { | |
| 11 memcpy(m0, m1, sizeof(float)*16); | |
| 12 | |
| 13 m0[12] = m1[12] + v[0]; | |
| 14 m0[13] = m1[13] + v[1]; | |
| 15 m0[14] = m1[14] + v[2]; | |
| 16 m0[15] = m1[15] + v[3]; | |
| 17 } | |
| 18 | |
| 19 void | |
| 20 unitMatrix(float *m) | |
| 21 { | |
| 22 bzero(m, sizeof(float)*16); | |
| 23 | |
| 24 m[0] = 1.0f; | |
| 25 m[5] = 1.0f; | |
| 26 m[10] = 1.0f; | |
| 27 m[15] = 1.0f; | |
| 28 } | |
| 29 | |
| 30 void | |
| 31 inversMatrix(float *m0, float *m1) | |
| 32 { | |
| 33 float m[16]; | |
| 34 | |
| 35 for (int i = 0; i < 4; i++) { | |
| 36 for (int j = 0; j < 4; j++) { | |
| 1254 | 37 m0[i*4+j] = m[i*4+j] = m1[j*4+i]; |
| 539 | 38 } |
| 39 } | |
| 40 | |
| 1254 | 41 m0[12] = -(m1[12]*m[0] + m1[13]*m[1] + m1[14]*m[2]); |
| 42 m0[13] = -(m1[12]*m[4] + m1[13]*m[5] + m1[14]*m[6]); | |
| 43 m0[14] = -(m1[12]*m[8] + m1[13]*m[9] + m1[14]*m[10]); | |
| 44 m0[3] = m0[7] = m0[11] = 0.0f; | |
| 45 m0[15] = 1.0f; | |
| 539 | 46 |
| 47 } | |
| 48 | |
| 49 /** | |
| 50 * マトリックス m にベクトル v1 を右から乗算して、v0に与える | |
| 51 * @param[out] v0 output vector (float[4]) | |
| 52 * @param[in] v1 input vector (float[4]) | |
| 53 * @param[in] m matrix (float[16]) | |
| 54 */ | |
| 55 void | |
| 56 applyMatrix(float *v0, float *m, float *v1) | |
| 57 { | |
| 58 for (int i = 0; i < 4; i++) { | |
| 59 v0[i] = v1[0]*m[i] + v1[1]*m[i+4] + v1[2]*m[i+8] + v1[3]*m[i+12]; | |
| 60 } | |
| 61 } | |
| 62 | |
| 1254 | 63 |
| 539 | 64 /** |
| 65 * ベクトルの正規化 | |
| 66 * | |
| 67 * @param[out] v0 output vector | |
| 68 * @param[in] v1 input vector | |
| 69 */ | |
| 70 void | |
| 71 normalize(float *v0, float *v1) | |
| 72 { | |
| 73 float norm, dnorm; | |
| 74 | |
| 75 norm = sqrt(v1[0]*v1[0] + v1[1]*v1[1] + v1[2]*v1[2]); | |
| 76 if (norm > 0) { | |
| 77 dnorm = 1.0/norm; | |
| 78 v0[0] = v1[0]*dnorm; | |
| 79 v0[1] = v1[1]*dnorm; | |
| 80 v0[2] = v1[2]*dnorm; | |
| 81 v0[3] = v1[3]*dnorm; | |
| 82 } | |
| 83 } | |
| 84 | |
| 85 /** | |
| 86 * ベクトルの減算 v0 = v1 - v2 | |
| 87 */ | |
| 88 void | |
| 89 subVector(float *v0, float *v1, float *v2) | |
| 90 { | |
| 91 v0[0] = v1[0] - v2[0]; | |
| 92 v0[1] = v1[1] - v2[1]; | |
| 93 v0[2] = v1[2] - v2[2]; | |
| 94 v0[3] = v1[3] - v2[3]; | |
| 95 } | |
| 96 | |
| 97 /** | |
| 98 * ベクトルの外積 v0 = v1 x v2 | |
| 99 */ | |
| 100 void | |
| 101 outerProduct(float *v0, float *v1, float *v2) | |
| 102 { | |
| 103 v0[0] = v1[1] * v2[2] - v1[2] * v2[1]; | |
| 104 v0[1] = v1[2] * v2[0] - v1[0] * v2[2]; | |
| 105 v0[2] = v1[0] * v2[1] - v1[1] * v2[0]; | |
| 106 v0[3] = 0; | |
| 107 } | |
| 108 | |
| 109 void | |
| 110 transposeMatrix(float *m0, float *m1) | |
| 111 { | |
| 112 float t[16]; | |
| 113 | |
| 1254 | 114 // こういう小細工よりベクタ使った方が良いんだが |
| 539 | 115 for (int i = 0; i < 4; i++) { |
| 1254 | 116 for (int j = i+1; j < 4; j++) { |
| 117 float tmp = t[j*4+i]; | |
| 539 | 118 t[i*4+j] = m1[j*4+i]; |
| 1254 | 119 m1[j*4+i] = tmp; |
| 539 | 120 } |
| 121 } | |
| 122 } | |
| 123 | |
| 124 /** | |
| 125 * ベクトルの内積 f = v0 * v1 | |
| 126 */ | |
| 127 float | |
| 128 innerProduct(float *v0, float *v1) | |
| 129 { | |
| 130 return (v0[0]*v1[0] + v0[1]*v1[1] + v0[2]*v1[2]); | |
| 131 } | |
| 132 | |
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133 /** |
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134 * xyz = xyz1 * xyz2 |
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135 */ |
| 539 | 136 void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16] |
| 137 { | |
| 138 for(int t=0; t<16; t+=4) | |
| 139 { | |
| 140 for(int i=0; i<4; i++) | |
| 141 { | |
| 142 xyz[t+i] = xyz1[t]*xyz2[i] + xyz1[t+1]*xyz2[4+i] + xyz1[t+2]*xyz2[8+i] + xyz1[t+3]*xyz2[12+i]; | |
| 143 } | |
| 144 } | |
| 145 } | |
| 146 | |
| 1254 | 147 void matrix4x4R(float &xyz[16], float &xyz1[16], float &xyz2[16]) |
| 148 { | |
| 149 for(int t=0; t<16; t+=4) | |
| 150 { | |
| 151 for(int i=0; i<4; i++) | |
| 152 { | |
| 153 xyz[t+i] = xyz1[t]*xyz2[i] + xyz1[t+1]*xyz2[4+i] + xyz1[t+2]*xyz2[8+i] + xyz1[t+3]*xyz2[12+i]; | |
| 154 } | |
| 155 } | |
| 156 } | |
| 157 | |
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158 /** |
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159 * c_xyz を中心に sacle 倍する |
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160 */ |
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161 void |
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162 scale_matrix(float *xyz, float *scale, float *c_xyz) |
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163 { |
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164 float xyz2[16] = { |
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165 scale[0], 0, 0, scale[0]*(-c_xyz[0]) + c_xyz[0], |
| 1098 | 166 0, scale[1], 0, scale[1]*(-c_xyz[1]) + c_xyz[1], |
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167 0, 0, scale[2], scale[2]*(-c_xyz[2]) + c_xyz[2], |
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168 0, 0, 0, 1 |
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169 |
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170 }; |
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171 float xyz1[16] = { |
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172 xyz[0], xyz[1], xyz[2], xyz[3], |
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173 xyz[4], xyz[5], xyz[6], xyz[7], |
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174 xyz[8], xyz[9], xyz[10], xyz[11], |
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175 xyz[12], xyz[13], xyz[14], xyz[15]}; |
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176 |
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177 for(int t=0; t<16; t+=4) |
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178 { |
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179 for(int i=0; i<4; i++) |
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180 { |
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181 xyz[t+i] = xyz1[t]*xyz2[i] + xyz1[t+1]*xyz2[4+i] + xyz1[t+2]*xyz2[8+i] + xyz1[t+3]*xyz2[12+i]; |
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182 } |
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183 } |
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184 } |
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185 |
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186 /** |
| 1050 | 187 stack 上の変換行列に、相対的に、rxyz の回転、txyz の平行移動、scale の拡大を |
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188 行ったものを matrix に代入する |
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189 */ |
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190 void |
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191 get_matrix( float *matrix, float *rxyz, float *txyz, float *stack) |
| 539 | 192 { |
| 193 float radx,rady,radz; | |
| 1254 | 194 radx = rxyz[0]*M_PI/180; |
| 195 rady = rxyz[1]*M_PI/180; | |
| 196 radz = rxyz[2]*M_PI/180; | |
| 539 | 197 |
| 198 float sinx = sin(radx); | |
| 199 float cosx = cos(radx); | |
| 200 float siny = sin(rady); | |
| 201 float cosy = cos(rady); | |
| 202 float sinz = sin(radz); | |
| 203 float cosz = cos(radz); | |
| 204 | |
| 1050 | 205 float m1[16]; |
| 206 float *m = stack? m1 : matrix; | |
| 207 | |
| 539 | 208 /* View Transform */ |
| 1051 | 209 m[0] = cosz*cosy+sinz*sinx*siny; |
| 210 m[1] = sinz*cosx; | |
| 211 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 1050 | 212 m[3] = 0; |
| 1051 | 213 m[4] = -sinz*cosy+cosz*sinx*siny; |
| 214 m[5] = cosz*cosx; | |
| 215 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 1050 | 216 m[7] = 0; |
| 1051 | 217 m[8] = cosx*siny; |
| 218 m[9] = -sinx; | |
| 219 m[10] = cosx*cosy; | |
| 1050 | 220 m[11] = 0; |
| 221 m[12] = txyz[0]; | |
| 222 m[13] = txyz[1]; | |
| 223 m[14] = txyz[2]; | |
| 224 m[15] = 1; | |
| 539 | 225 |
| 226 if(stack) | |
| 227 { | |
| 228 matrix4x4(matrix, m, stack); | |
| 229 } | |
| 230 | |
| 231 } | |
| 232 | |
| 1165 | 233 void |
| 234 get_matrix_scale( float *matrix, float *rxyz, float *txyz, float *scale, float *stack) | |
| 235 { | |
| 236 float radx,rady,radz; | |
| 1254 | 237 radx = rxyz[0]*M_PI/180; |
| 238 rady = rxyz[1]*M_PI/180; | |
| 239 radz = rxyz[2]*M_PI/180; | |
| 1165 | 240 |
| 241 float sinx = sin(radx)*scale[0]; | |
| 242 float cosx = cos(radx)*scale[0]; | |
| 243 float siny = sin(rady)*scale[1]; | |
| 244 float cosy = cos(rady)*scale[1]; | |
| 245 float sinz = sin(radz)*scale[2]; | |
| 246 float cosz = cos(radz)*scale[2]; | |
| 247 | |
| 248 float m1[16]; | |
| 249 float *m = stack? m1 : matrix; | |
| 250 | |
| 251 /* View Transform */ | |
| 252 m[0] = cosz*cosy+sinz*sinx*siny; | |
| 253 m[1] = sinz*cosx; | |
| 254 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 255 m[3] = 0; | |
| 256 m[4] = -sinz*cosy+cosz*sinx*siny; | |
| 257 m[5] = cosz*cosx; | |
| 258 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 259 m[7] = 0; | |
| 260 m[8] = cosx*siny; | |
| 261 m[9] = -sinx; | |
| 262 m[10] = cosx*cosy; | |
| 263 m[11] = 0; | |
| 264 m[12] = txyz[0]; | |
| 265 m[13] = txyz[1]; | |
| 266 m[14] = txyz[2]; | |
| 267 m[15] = 1; | |
| 268 | |
| 269 if(stack) | |
| 270 { | |
| 271 matrix4x4(matrix, m, stack); | |
| 272 } | |
| 273 | |
| 274 } | |
| 275 | |
| 1254 | 276 void |
| 277 rotate_matrix( float &m[16], float &rxyz[4] ) | |
| 278 { | |
| 279 float radx,rady,radz; | |
| 280 radx = rxyz[0]*M_PI/180; | |
| 281 rady = rxyz[1]*M_PI/180; | |
| 282 radz = rxyz[2]*M_PI/180; | |
| 283 | |
| 284 float sinx = sin(radx); | |
| 285 float cosx = cos(radx); | |
| 286 float siny = sin(rady); | |
| 287 float cosy = cos(rady); | |
| 288 float sinz = sin(radz); | |
| 289 float cosz = cos(radz); | |
| 290 | |
| 291 /* View Transform */ | |
| 292 m[0] = cosz*cosy+sinz*sinx*siny; | |
| 293 m[1] = sinz*cosx; | |
| 294 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 295 m[3] = 0; | |
| 296 m[4] = -sinz*cosy+cosz*sinx*siny; | |
| 297 m[5] = cosz*cosx; | |
| 298 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 299 m[7] = 0; | |
| 300 m[8] = cosx*siny; | |
| 301 m[9] = -sinx; | |
| 302 m[10] = cosx*cosy; | |
| 303 m[11] = 0; | |
| 304 m[12] = 0; | |
| 305 m[13] = 0; | |
| 306 m[14] = 0; | |
| 307 m[15] = 1; | |
| 308 } | |
| 309 | |
| 539 | 310 void rotate_x(float *xyz, float r) |
| 311 { | |
| 1254 | 312 float rad = r*M_PI/180; |
| 539 | 313 |
| 314 xyz[0] = xyz[0]; | |
| 315 xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad); | |
| 316 xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad); | |
| 317 } | |
| 318 | |
| 319 void rotate_y(float *xyz, float r) | |
| 320 { | |
| 1254 | 321 float rad = r*M_PI/180; |
| 539 | 322 |
| 323 xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad); | |
| 324 xyz[1] = xyz[1]; | |
| 325 xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad); | |
| 326 } | |
| 327 | |
| 328 void rotate_z(float *xyz, float r) | |
| 329 { | |
| 1254 | 330 float rad = r*M_PI/180; |
| 539 | 331 |
| 332 xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad); | |
| 333 xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad); | |
| 334 xyz[2] = xyz[2]; | |
| 335 } | |
| 336 | |
| 337 void rotate(float *xyz, float *matrix) | |
| 338 { | |
| 339 float abc[4]; | |
| 340 abc[0] = xyz[0]; | |
| 341 abc[1] = xyz[1]; | |
| 342 abc[2] = xyz[2]; | |
| 343 abc[3] = xyz[3]; | |
| 344 | |
| 345 for(int i=0; i<4; i++) | |
| 346 { | |
| 347 //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12]; | |
| 348 xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12]; | |
| 349 } | |
| 350 } | |
| 351 | |
| 352 | |
| 353 void translate(float *xyz, float x, float y, float z) | |
| 354 { | |
| 355 xyz[0] += x; | |
| 356 xyz[1] += y; | |
| 357 xyz[2] += z; | |
| 358 } | |
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359 |
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360 /** |
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361 * ベクトルに行列を乗算する |
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362 * @param[out] v vector (float[4]) |
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363 * @param[in] m matrix (float[16]) |
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364 */ |
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365 void |
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366 ApplyMatrix(float *v, float *m) |
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367 { |
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368 float t[4]; |
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369 |
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370 t[0] = v[0]; |
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371 t[1] = v[1]; |
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372 t[2] = v[2]; |
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373 t[3] = v[3]; |
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374 |
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375 for (int i = 0; i < 4; i++) { |
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376 v[i] = t[0]*m[i] + t[1]*m[i+4] + t[2]*m[i+8] + t[3]*m[i+12]; |
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377 } |
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378 } |
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379 |
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1048
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380 void |
| 1050 | 381 ScaleMatrixXYZ(float *m, float x, float y, float z) |
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382 { |
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383 for(int i=0;i<3;i++) { |
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384 m[i] *= x; |
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385 m[i+4] *= y; |
| 1050 | 386 m[i+8] *= z; |
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387 } |
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388 } |
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389 |