Mercurial > hg > Game > Cerium
annotate Renderer/Engine/matrix_calc.cc @ 1226:636dfdc30176 draft
new API for SceneGraph
| author | Shinji KONO <kono@ie.u-ryukyu.ac.jp> |
|---|---|
| date | Sun, 31 Jul 2011 10:20:46 +0900 |
| parents | ab8ed4d1d211 |
| children | 34944900f266 e92f00ed2fc0 |
| 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 noMoreMemory() | |
| 9 { | |
| 10 cout << "can't allocate memory\n"; | |
| 11 exit(1); | |
| 12 } | |
| 13 | |
| 14 void | |
| 15 transMatrix(float *m0, float *m1, float *v) | |
| 16 { | |
| 17 memcpy(m0, m1, sizeof(float)*16); | |
| 18 | |
| 19 m0[12] = m1[12] + v[0]; | |
| 20 m0[13] = m1[13] + v[1]; | |
| 21 m0[14] = m1[14] + v[2]; | |
| 22 m0[15] = m1[15] + v[3]; | |
| 23 } | |
| 24 | |
| 25 void | |
| 26 unitMatrix(float *m) | |
| 27 { | |
| 28 bzero(m, sizeof(float)*16); | |
| 29 | |
| 30 m[0] = 1.0f; | |
| 31 m[5] = 1.0f; | |
| 32 m[10] = 1.0f; | |
| 33 m[15] = 1.0f; | |
| 34 } | |
| 35 | |
| 36 void | |
| 37 inversMatrix(float *m0, float *m1) | |
| 38 { | |
| 39 float m[16]; | |
| 40 | |
| 41 for (int i = 0; i < 4; i++) { | |
| 42 for (int j = 0; j < 4; j++) { | |
| 43 m[i*4+j] = m1[j*4+i]; | |
| 44 } | |
| 45 } | |
| 46 | |
| 47 m[12] = -(m1[12]*m[0] + m1[13]*m[1] + m1[14]*m[2]); | |
| 48 m[13] = -(m1[12]*m[4] + m1[13]*m[5] + m1[14]*m[6]); | |
| 49 m[14] = -(m1[12]*m[8] + m1[13]*m[9] + m1[14]*m[10]); | |
| 50 m[3] = m[7] = m[11] = 0.0f; | |
| 51 m[15] = 1.0f; | |
| 52 | |
| 53 memcpy(m0, m, sizeof(float)*16); | |
| 54 } | |
| 55 | |
| 56 /** | |
| 57 * 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 | |
| 58 * @param[out] v0 output vector (float[4]) | |
| 59 * @param[in] v1 input vector (float[4]) | |
| 60 * @param[in] m matrix (float[16]) | |
| 61 */ | |
| 62 void | |
| 63 applyMatrix(float *v0, float *m, float *v1) | |
| 64 { | |
| 65 for (int i = 0; i < 4; i++) { | |
| 66 v0[i] = v1[0]*m[i] + v1[1]*m[i+4] + v1[2]*m[i+8] + v1[3]*m[i+12]; | |
| 67 } | |
| 68 } | |
| 69 | |
| 70 /** | |
| 71 * ベクトルの正規化 | |
| 72 * | |
| 73 * @param[out] v0 output vector | |
| 74 * @param[in] v1 input vector | |
| 75 */ | |
| 76 void | |
| 77 normalize(float *v0, float *v1) | |
| 78 { | |
| 79 float norm, dnorm; | |
| 80 | |
| 81 norm = sqrt(v1[0]*v1[0] + v1[1]*v1[1] + v1[2]*v1[2]); | |
| 82 if (norm > 0) { | |
| 83 dnorm = 1.0/norm; | |
| 84 v0[0] = v1[0]*dnorm; | |
| 85 v0[1] = v1[1]*dnorm; | |
| 86 v0[2] = v1[2]*dnorm; | |
| 87 v0[3] = v1[3]*dnorm; | |
| 88 } | |
| 89 } | |
| 90 | |
| 91 /** | |
| 92 * ベクトルの減算 v0 = v1 - v2 | |
| 93 */ | |
| 94 void | |
| 95 subVector(float *v0, float *v1, float *v2) | |
| 96 { | |
| 97 v0[0] = v1[0] - v2[0]; | |
| 98 v0[1] = v1[1] - v2[1]; | |
| 99 v0[2] = v1[2] - v2[2]; | |
| 100 v0[3] = v1[3] - v2[3]; | |
| 101 } | |
| 102 | |
| 103 /** | |
| 104 * ベクトルの外積 v0 = v1 x v2 | |
| 105 */ | |
| 106 void | |
| 107 outerProduct(float *v0, float *v1, float *v2) | |
| 108 { | |
| 109 v0[0] = v1[1] * v2[2] - v1[2] * v2[1]; | |
| 110 v0[1] = v1[2] * v2[0] - v1[0] * v2[2]; | |
| 111 v0[2] = v1[0] * v2[1] - v1[1] * v2[0]; | |
| 112 v0[3] = 0; | |
| 113 } | |
| 114 | |
| 115 void | |
| 116 transposeMatrix(float *m0, float *m1) | |
| 117 { | |
| 118 float t[16]; | |
| 119 | |
| 120 for (int i = 0; i < 4; i++) { | |
| 121 for (int j = 0; j < 4; j++) { | |
| 122 t[i*4+j] = m1[j*4+i]; | |
| 123 } | |
| 124 } | |
| 125 | |
| 126 memcpy(m0, t, sizeof(float)*16); | |
| 127 } | |
| 128 | |
| 129 /** | |
| 130 * ベクトルの内積 f = v0 * v1 | |
| 131 */ | |
| 132 float | |
| 133 innerProduct(float *v0, float *v1) | |
| 134 { | |
| 135 return (v0[0]*v1[0] + v0[1]*v1[1] + v0[2]*v1[2]); | |
| 136 } | |
| 137 | |
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138 /** |
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139 * xyz = xyz1 * xyz2 |
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140 */ |
| 539 | 141 void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16] |
| 142 { | |
| 143 for(int t=0; t<16; t+=4) | |
| 144 { | |
| 145 for(int i=0; i<4; i++) | |
| 146 { | |
| 147 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]; | |
| 148 } | |
| 149 } | |
| 150 } | |
| 151 | |
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152 /** |
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153 * c_xyz を中心に sacle 倍する |
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154 */ |
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155 void |
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156 scale_matrix(float *xyz, float *scale, float *c_xyz) |
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157 { |
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158 float xyz2[16] = { |
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159 scale[0], 0, 0, scale[0]*(-c_xyz[0]) + c_xyz[0], |
| 1098 | 160 0, scale[1], 0, scale[1]*(-c_xyz[1]) + c_xyz[1], |
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161 0, 0, scale[2], scale[2]*(-c_xyz[2]) + c_xyz[2], |
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162 0, 0, 0, 1 |
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163 |
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164 }; |
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165 float xyz1[16] = { |
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166 xyz[0], xyz[1], xyz[2], xyz[3], |
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167 xyz[4], xyz[5], xyz[6], xyz[7], |
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168 xyz[8], xyz[9], xyz[10], xyz[11], |
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169 xyz[12], xyz[13], xyz[14], xyz[15]}; |
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170 |
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171 for(int t=0; t<16; t+=4) |
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172 { |
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173 for(int i=0; i<4; i++) |
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174 { |
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175 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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176 } |
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177 } |
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178 } |
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179 |
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180 /** |
| 1050 | 181 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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182 行ったものを matrix に代入する |
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183 */ |
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184 void |
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185 get_matrix( float *matrix, float *rxyz, float *txyz, float *stack) |
| 539 | 186 { |
| 187 float radx,rady,radz; | |
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188 radx = rxyz[0]*3.141562/180; |
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189 rady = rxyz[1]*3.141562/180; |
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190 radz = rxyz[2]*3.141562/180; |
| 539 | 191 |
| 192 float sinx = sin(radx); | |
| 193 float cosx = cos(radx); | |
| 194 float siny = sin(rady); | |
| 195 float cosy = cos(rady); | |
| 196 float sinz = sin(radz); | |
| 197 float cosz = cos(radz); | |
| 198 | |
| 1050 | 199 float m1[16]; |
| 200 float *m = stack? m1 : matrix; | |
| 201 | |
| 539 | 202 /* View Transform */ |
| 1051 | 203 m[0] = cosz*cosy+sinz*sinx*siny; |
| 204 m[1] = sinz*cosx; | |
| 205 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 1050 | 206 m[3] = 0; |
| 1051 | 207 m[4] = -sinz*cosy+cosz*sinx*siny; |
| 208 m[5] = cosz*cosx; | |
| 209 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 1050 | 210 m[7] = 0; |
| 1051 | 211 m[8] = cosx*siny; |
| 212 m[9] = -sinx; | |
| 213 m[10] = cosx*cosy; | |
| 1050 | 214 m[11] = 0; |
| 215 m[12] = txyz[0]; | |
| 216 m[13] = txyz[1]; | |
| 217 m[14] = txyz[2]; | |
| 218 m[15] = 1; | |
| 539 | 219 |
| 220 if(stack) | |
| 221 { | |
| 222 matrix4x4(matrix, m, stack); | |
| 223 } | |
| 224 | |
| 225 } | |
| 226 | |
| 1165 | 227 void |
| 228 get_matrix_scale( float *matrix, float *rxyz, float *txyz, float *scale, float *stack) | |
| 229 { | |
| 230 float radx,rady,radz; | |
| 231 radx = rxyz[0]*3.14/180; | |
| 232 rady = rxyz[1]*3.14/180; | |
| 233 radz = rxyz[2]*3.14/180; | |
| 234 | |
| 235 float sinx = sin(radx)*scale[0]; | |
| 236 float cosx = cos(radx)*scale[0]; | |
| 237 float siny = sin(rady)*scale[1]; | |
| 238 float cosy = cos(rady)*scale[1]; | |
| 239 float sinz = sin(radz)*scale[2]; | |
| 240 float cosz = cos(radz)*scale[2]; | |
| 241 | |
| 242 float m1[16]; | |
| 243 float *m = stack? m1 : matrix; | |
| 244 | |
| 245 /* View Transform */ | |
| 246 m[0] = cosz*cosy+sinz*sinx*siny; | |
| 247 m[1] = sinz*cosx; | |
| 248 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 249 m[3] = 0; | |
| 250 m[4] = -sinz*cosy+cosz*sinx*siny; | |
| 251 m[5] = cosz*cosx; | |
| 252 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 253 m[7] = 0; | |
| 254 m[8] = cosx*siny; | |
| 255 m[9] = -sinx; | |
| 256 m[10] = cosx*cosy; | |
| 257 m[11] = 0; | |
| 258 m[12] = txyz[0]; | |
| 259 m[13] = txyz[1]; | |
| 260 m[14] = txyz[2]; | |
| 261 m[15] = 1; | |
| 262 | |
| 263 if(stack) | |
| 264 { | |
| 265 matrix4x4(matrix, m, stack); | |
| 266 } | |
| 267 | |
| 268 } | |
| 269 | |
| 539 | 270 void rotate_x(float *xyz, float r) |
| 271 { | |
| 272 float rad = r*3.14/180; | |
| 273 | |
| 274 xyz[0] = xyz[0]; | |
| 275 xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad); | |
| 276 xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad); | |
| 277 } | |
| 278 | |
| 279 void rotate_y(float *xyz, float r) | |
| 280 { | |
| 281 float rad = r*3.14/180; | |
| 282 | |
| 283 xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad); | |
| 284 xyz[1] = xyz[1]; | |
| 285 xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad); | |
| 286 } | |
| 287 | |
| 288 void rotate_z(float *xyz, float r) | |
| 289 { | |
| 290 float rad = r*3.14/180; | |
| 291 | |
| 292 xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad); | |
| 293 xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad); | |
| 294 xyz[2] = xyz[2]; | |
| 295 } | |
| 296 | |
| 297 void rotate(float *xyz, float *matrix) | |
| 298 { | |
| 299 float abc[4]; | |
| 300 abc[0] = xyz[0]; | |
| 301 abc[1] = xyz[1]; | |
| 302 abc[2] = xyz[2]; | |
| 303 abc[3] = xyz[3]; | |
| 304 | |
| 305 for(int i=0; i<4; i++) | |
| 306 { | |
| 307 //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12]; | |
| 308 xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12]; | |
| 309 } | |
| 310 } | |
| 311 | |
| 312 | |
| 313 void translate(float *xyz, float x, float y, float z) | |
| 314 { | |
| 315 xyz[0] += x; | |
| 316 xyz[1] += y; | |
| 317 xyz[2] += z; | |
| 318 } | |
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319 |
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320 /** |
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321 * ベクトルに行列を乗算する |
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322 * @param[out] v vector (float[4]) |
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323 * @param[in] m matrix (float[16]) |
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324 */ |
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325 void |
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326 ApplyMatrix(float *v, float *m) |
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327 { |
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328 float t[4]; |
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329 |
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330 t[0] = v[0]; |
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331 t[1] = v[1]; |
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332 t[2] = v[2]; |
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333 t[3] = v[3]; |
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334 |
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335 for (int i = 0; i < 4; i++) { |
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336 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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337 } |
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338 } |
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339 |
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1048
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340 void |
| 1050 | 341 ScaleMatrixXYZ(float *m, float x, float y, float z) |
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342 { |
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343 for(int i=0;i<3;i++) { |
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344 m[i] *= x; |
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345 m[i+4] *= y; |
| 1050 | 346 m[i+8] *= z; |
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347 } |
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348 } |
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349 |