Mercurial > hg > Game > Cerium
annotate Renderer/Engine/matrix_calc.cc @ 1351:e51127dbd63c draft
operate directly on matrix. not work yet.
| author | Yutaka_Kinjyo <yutaka@cr.ie.u-ryukyu.ac.jp> |
|---|---|
| date | Sun, 15 Jan 2012 23:21:39 +0900 |
| parents | 90efd2aac2cb |
| children |
| 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 | |
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30 float |
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31 determinant(float *m) { |
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32 |
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33 float det = 1.0f; |
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34 float buf; |
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35 int n = 4; // 4次 |
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36 |
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37 float det_m[16]; |
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38 for (int i = 0; i < 16; i++) det_m[i] = m[i]; |
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39 |
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40 // 三角行列を作成 |
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41 for (int i = 0; i < n; i++) { |
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42 for (int j = 0; j < n; j++) { |
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43 if ( i < j ) { |
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44 buf = det_m[j*n+i] / det_m[i*n+i]; |
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45 for (int k = 0; k < n; k++) { |
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46 det_m[j*n+k] -= det_m[i*n+k] * buf; |
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47 } |
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48 } |
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49 } |
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50 } |
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51 |
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52 // 対角部分の積 |
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53 for (int i = 0; i < n; i++) { |
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54 det *= det_m[i*n+i]; |
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55 } |
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56 |
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57 return det; |
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58 } |
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59 |
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60 |
| 539 | 61 void |
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62 inverseMatrix(float *m0, float *m1) |
| 539 | 63 { |
| 64 float m[16]; | |
| 65 | |
| 66 for (int i = 0; i < 4; i++) { | |
| 67 for (int j = 0; j < 4; j++) { | |
| 1254 | 68 m0[i*4+j] = m[i*4+j] = m1[j*4+i]; |
| 539 | 69 } |
| 70 } | |
| 71 | |
| 1254 | 72 m0[12] = -(m1[12]*m[0] + m1[13]*m[1] + m1[14]*m[2]); |
| 73 m0[13] = -(m1[12]*m[4] + m1[13]*m[5] + m1[14]*m[6]); | |
| 74 m0[14] = -(m1[12]*m[8] + m1[13]*m[9] + m1[14]*m[10]); | |
| 75 m0[3] = m0[7] = m0[11] = 0.0f; | |
| 76 m0[15] = 1.0f; | |
| 539 | 77 |
| 78 } | |
| 79 | |
| 80 /** | |
| 81 * 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 | |
| 82 * @param[out] v0 output vector (float[4]) | |
| 83 * @param[in] v1 input vector (float[4]) | |
| 84 * @param[in] m matrix (float[16]) | |
| 85 */ | |
| 86 void | |
| 87 applyMatrix(float *v0, float *m, float *v1) | |
| 88 { | |
| 89 for (int i = 0; i < 4; i++) { | |
| 90 v0[i] = v1[0]*m[i] + v1[1]*m[i+4] + v1[2]*m[i+8] + v1[3]*m[i+12]; | |
| 91 } | |
| 92 } | |
| 93 | |
| 1254 | 94 |
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95 void |
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96 copyMatrix(float *m0, float *m1) |
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97 { |
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98 for (int i = 0; i < 16; i++) { |
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99 m0[i] = m1[i]; |
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100 } |
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101 } |
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102 |
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103 |
| 539 | 104 /** |
| 105 * ベクトルの正規化 | |
| 106 * | |
| 107 * @param[out] v0 output vector | |
| 108 * @param[in] v1 input vector | |
| 109 */ | |
| 110 void | |
| 111 normalize(float *v0, float *v1) | |
| 112 { | |
| 113 float norm, dnorm; | |
| 114 | |
| 115 norm = sqrt(v1[0]*v1[0] + v1[1]*v1[1] + v1[2]*v1[2]); | |
| 116 if (norm > 0) { | |
| 117 dnorm = 1.0/norm; | |
| 118 v0[0] = v1[0]*dnorm; | |
| 119 v0[1] = v1[1]*dnorm; | |
| 120 v0[2] = v1[2]*dnorm; | |
| 121 v0[3] = v1[3]*dnorm; | |
| 122 } | |
| 123 } | |
| 124 | |
| 125 /** | |
| 126 * ベクトルの減算 v0 = v1 - v2 | |
| 127 */ | |
| 128 void | |
| 129 subVector(float *v0, float *v1, float *v2) | |
| 130 { | |
| 131 v0[0] = v1[0] - v2[0]; | |
| 132 v0[1] = v1[1] - v2[1]; | |
| 133 v0[2] = v1[2] - v2[2]; | |
| 134 v0[3] = v1[3] - v2[3]; | |
| 135 } | |
| 136 | |
| 137 /** | |
| 138 * ベクトルの外積 v0 = v1 x v2 | |
| 139 */ | |
| 140 void | |
| 141 outerProduct(float *v0, float *v1, float *v2) | |
| 142 { | |
| 143 v0[0] = v1[1] * v2[2] - v1[2] * v2[1]; | |
| 144 v0[1] = v1[2] * v2[0] - v1[0] * v2[2]; | |
| 145 v0[2] = v1[0] * v2[1] - v1[1] * v2[0]; | |
| 146 v0[3] = 0; | |
| 147 } | |
| 148 | |
| 149 void | |
| 150 transposeMatrix(float *m0, float *m1) | |
| 151 { | |
| 152 float t[16]; | |
| 153 | |
| 1254 | 154 // こういう小細工よりベクタ使った方が良いんだが |
| 539 | 155 for (int i = 0; i < 4; i++) { |
| 1254 | 156 for (int j = i+1; j < 4; j++) { |
| 157 float tmp = t[j*4+i]; | |
| 539 | 158 t[i*4+j] = m1[j*4+i]; |
| 1254 | 159 m1[j*4+i] = tmp; |
| 539 | 160 } |
| 161 } | |
| 162 } | |
| 163 | |
| 164 /** | |
| 165 * ベクトルの内積 f = v0 * v1 | |
| 166 */ | |
| 167 float | |
| 168 innerProduct(float *v0, float *v1) | |
| 169 { | |
| 170 return (v0[0]*v1[0] + v0[1]*v1[1] + v0[2]*v1[2]); | |
| 171 } | |
| 172 | |
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173 /** |
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174 * xyz = xyz1 * xyz2 |
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175 */ |
| 539 | 176 void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16] |
| 177 { | |
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178 |
| 539 | 179 for(int t=0; t<16; t+=4) |
| 180 { | |
| 181 for(int i=0; i<4; i++) | |
| 182 { | |
| 183 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]; | |
| 184 } | |
| 185 } | |
| 186 } | |
| 187 | |
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188 /** |
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189 * xyz = xyz * xyz1 |
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190 */ |
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191 void mulMatrix4x4(float *xyz, float *xyz1) //xyz[16] |
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192 { |
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193 |
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194 float tmp[16]; |
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195 for(int i = 0; i<16; i++) { |
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196 tmp[i] = xyz[i]; |
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197 } |
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198 |
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199 for(int t=0; t<16; t+=4) { |
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200 for(int i=0; i<4; i++) { |
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201 xyz[t+i] = tmp[t]*xyz1[i] + tmp[t+1]*xyz1[4+i] + tmp[t+2]*xyz1[8+i] + tmp[t+3]*xyz1[12+i]; |
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202 } |
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203 } |
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204 } |
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205 |
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206 |
| 1256 | 207 void matrix4x4R(float xyz[16], float xyz1[16], float xyz2[16]) |
| 1254 | 208 { |
| 209 for(int t=0; t<16; t+=4) | |
| 210 { | |
| 211 for(int i=0; i<4; i++) | |
| 212 { | |
| 213 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]; | |
| 214 } | |
| 215 } | |
| 216 } | |
| 217 | |
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218 /** |
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219 * c_xyz を中心に sacle 倍する |
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220 */ |
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221 void |
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222 scale_matrix(float *xyz, float *scale, float *c_xyz) |
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223 { |
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224 float xyz2[16] = { |
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225 scale[0], 0, 0, scale[0]*(-c_xyz[0]) + c_xyz[0], |
| 1098 | 226 0, scale[1], 0, scale[1]*(-c_xyz[1]) + c_xyz[1], |
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227 0, 0, scale[2], scale[2]*(-c_xyz[2]) + c_xyz[2], |
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228 0, 0, 0, 1 |
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229 |
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230 }; |
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231 float xyz1[16] = { |
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232 xyz[0], xyz[1], xyz[2], xyz[3], |
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233 xyz[4], xyz[5], xyz[6], xyz[7], |
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234 xyz[8], xyz[9], xyz[10], xyz[11], |
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235 xyz[12], xyz[13], xyz[14], xyz[15]}; |
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236 |
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237 for(int t=0; t<16; t+=4) |
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238 { |
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239 for(int i=0; i<4; i++) |
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240 { |
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241 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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242 } |
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243 } |
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244 } |
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245 |
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246 /** |
| 1050 | 247 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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248 行ったものを matrix に代入する |
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249 */ |
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250 void |
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251 get_matrix( float *matrix, float *rxyz, float *txyz, float *stack) |
| 539 | 252 { |
| 253 float radx,rady,radz; | |
| 1254 | 254 radx = rxyz[0]*M_PI/180; |
| 255 rady = rxyz[1]*M_PI/180; | |
| 256 radz = rxyz[2]*M_PI/180; | |
| 539 | 257 |
| 258 float sinx = sin(radx); | |
| 259 float cosx = cos(radx); | |
| 260 float siny = sin(rady); | |
| 261 float cosy = cos(rady); | |
| 262 float sinz = sin(radz); | |
| 263 float cosz = cos(radz); | |
| 264 | |
| 1050 | 265 float m1[16]; |
| 266 float *m = stack? m1 : matrix; | |
| 267 | |
| 539 | 268 /* View Transform */ |
| 1051 | 269 m[0] = cosz*cosy+sinz*sinx*siny; |
| 270 m[1] = sinz*cosx; | |
| 271 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 1050 | 272 m[3] = 0; |
| 1051 | 273 m[4] = -sinz*cosy+cosz*sinx*siny; |
| 274 m[5] = cosz*cosx; | |
| 275 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 1050 | 276 m[7] = 0; |
| 1051 | 277 m[8] = cosx*siny; |
| 278 m[9] = -sinx; | |
| 279 m[10] = cosx*cosy; | |
| 1050 | 280 m[11] = 0; |
| 281 m[12] = txyz[0]; | |
| 282 m[13] = txyz[1]; | |
| 283 m[14] = txyz[2]; | |
| 284 m[15] = 1; | |
| 539 | 285 |
| 286 if(stack) | |
| 287 { | |
| 288 matrix4x4(matrix, m, stack); | |
| 289 } | |
| 290 | |
| 291 } | |
| 292 | |
| 1165 | 293 void |
| 294 get_matrix_scale( float *matrix, float *rxyz, float *txyz, float *scale, float *stack) | |
| 295 { | |
| 296 float radx,rady,radz; | |
| 1254 | 297 radx = rxyz[0]*M_PI/180; |
| 298 rady = rxyz[1]*M_PI/180; | |
| 299 radz = rxyz[2]*M_PI/180; | |
| 1165 | 300 |
| 301 float sinx = sin(radx)*scale[0]; | |
| 302 float cosx = cos(radx)*scale[0]; | |
| 303 float siny = sin(rady)*scale[1]; | |
| 304 float cosy = cos(rady)*scale[1]; | |
| 305 float sinz = sin(radz)*scale[2]; | |
| 306 float cosz = cos(radz)*scale[2]; | |
| 307 | |
| 308 float m1[16]; | |
| 309 float *m = stack? m1 : matrix; | |
| 310 | |
| 311 /* View Transform */ | |
| 312 m[0] = cosz*cosy+sinz*sinx*siny; | |
| 313 m[1] = sinz*cosx; | |
| 314 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 315 m[3] = 0; | |
| 316 m[4] = -sinz*cosy+cosz*sinx*siny; | |
| 317 m[5] = cosz*cosx; | |
| 318 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 319 m[7] = 0; | |
| 320 m[8] = cosx*siny; | |
| 321 m[9] = -sinx; | |
| 322 m[10] = cosx*cosy; | |
| 323 m[11] = 0; | |
| 324 m[12] = txyz[0]; | |
| 325 m[13] = txyz[1]; | |
| 326 m[14] = txyz[2]; | |
| 327 m[15] = 1; | |
| 328 | |
| 329 if(stack) | |
| 330 { | |
| 331 matrix4x4(matrix, m, stack); | |
| 332 } | |
| 333 | |
| 334 } | |
| 335 | |
| 1254 | 336 void |
| 1256 | 337 rotate_matrix( float m[16], float rxyz[4] ) |
| 1254 | 338 { |
| 339 float radx,rady,radz; | |
| 340 radx = rxyz[0]*M_PI/180; | |
| 341 rady = rxyz[1]*M_PI/180; | |
| 342 radz = rxyz[2]*M_PI/180; | |
| 343 | |
| 344 float sinx = sin(radx); | |
| 345 float cosx = cos(radx); | |
| 346 float siny = sin(rady); | |
| 347 float cosy = cos(rady); | |
| 348 float sinz = sin(radz); | |
| 349 float cosz = cos(radz); | |
| 350 | |
| 351 /* View Transform */ | |
| 352 m[0] = cosz*cosy+sinz*sinx*siny; | |
| 353 m[1] = sinz*cosx; | |
| 354 m[2] = -cosz*siny+sinz*sinx*cosy; | |
| 355 m[3] = 0; | |
| 356 m[4] = -sinz*cosy+cosz*sinx*siny; | |
| 357 m[5] = cosz*cosx; | |
| 358 m[6] = sinz*siny+cosz*sinx*cosy; | |
| 359 m[7] = 0; | |
| 360 m[8] = cosx*siny; | |
| 361 m[9] = -sinx; | |
| 362 m[10] = cosx*cosy; | |
| 363 m[11] = 0; | |
| 364 m[12] = 0; | |
| 365 m[13] = 0; | |
| 366 m[14] = 0; | |
| 367 m[15] = 1; | |
| 368 } | |
| 369 | |
| 539 | 370 void rotate_x(float *xyz, float r) |
| 371 { | |
| 1254 | 372 float rad = r*M_PI/180; |
| 539 | 373 |
| 374 xyz[0] = xyz[0]; | |
| 375 xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad); | |
| 376 xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad); | |
| 377 } | |
| 378 | |
| 379 void rotate_y(float *xyz, float r) | |
| 380 { | |
| 1254 | 381 float rad = r*M_PI/180; |
| 539 | 382 |
| 383 xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad); | |
| 384 xyz[1] = xyz[1]; | |
| 385 xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad); | |
| 386 } | |
| 387 | |
| 388 void rotate_z(float *xyz, float r) | |
| 389 { | |
| 1254 | 390 float rad = r*M_PI/180; |
| 539 | 391 |
| 392 xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad); | |
| 393 xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad); | |
| 394 xyz[2] = xyz[2]; | |
| 395 } | |
| 396 | |
| 397 void rotate(float *xyz, float *matrix) | |
| 398 { | |
| 399 float abc[4]; | |
| 400 abc[0] = xyz[0]; | |
| 401 abc[1] = xyz[1]; | |
| 402 abc[2] = xyz[2]; | |
| 403 abc[3] = xyz[3]; | |
| 404 | |
| 405 for(int i=0; i<4; i++) | |
| 406 { | |
| 407 //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12]; | |
| 408 xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12]; | |
| 409 } | |
| 410 } | |
| 411 | |
| 412 | |
| 413 void translate(float *xyz, float x, float y, float z) | |
| 414 { | |
| 415 xyz[0] += x; | |
| 416 xyz[1] += y; | |
| 417 xyz[2] += z; | |
| 418 } | |
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419 |
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420 /** |
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421 * ベクトルに行列を乗算する |
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422 * @param[out] v vector (float[4]) |
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423 * @param[in] m matrix (float[16]) |
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424 */ |
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425 void |
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426 ApplyMatrix(float *v, float *m) |
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427 { |
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428 float t[4]; |
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429 |
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430 t[0] = v[0]; |
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431 t[1] = v[1]; |
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432 t[2] = v[2]; |
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433 t[3] = v[3]; |
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434 |
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435 for (int i = 0; i < 4; i++) { |
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436 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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437 } |
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438 } |
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439 |
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440 void |
| 1050 | 441 ScaleMatrixXYZ(float *m, float x, float y, float z) |
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442 { |
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443 for(int i=0;i<3;i++) { |
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444 m[i] *= x; |
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445 m[i+4] *= y; |
| 1050 | 446 m[i+8] *= z; |
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447 } |
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448 } |
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449 |