Mercurial > hg > Members > kono > Cerium
annotate Renderer/Engine/sys.cc @ 1048:40cde8c1a6cd default tip
add ScaleXY (not for allExecute...)
| author | Shinji KONO <kono@ie.u-ryukyu.ac.jp> |
|---|---|
| date | Wed, 08 Dec 2010 06:22:15 +0900 |
| parents | 6a80ca9a65d9 |
| children |
| rev | line source |
|---|---|
| 507 | 1 #include <stdlib.h> |
| 2 #include <iostream> | |
| 3 #include <string.h> | |
| 4 #include <math.h> | |
| 5 #include "sys.h" | |
| 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 | |
| 138 void matrix4x4(float *xyz, float *xyz1, float *xyz2) //xyz[16] | |
| 139 { | |
| 140 for(int t=0; t<16; t+=4) | |
| 141 { | |
| 142 for(int i=0; i<4; i++) | |
| 143 { | |
| 144 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]; | |
| 145 } | |
| 146 } | |
| 147 } | |
| 148 | |
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149 /** |
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150 stack 上の変換行列に、相対的に、rxyz の回転、txyz の平行移動を |
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151 行ったものを matrix に代入する |
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152 */ |
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153 void |
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154 get_matrix( float *matrix, float *rxyz, float *txyz, float *stack) |
| 507 | 155 { |
| 156 float radx,rady,radz; | |
| 157 radx = rxyz[0]*3.14/180; | |
| 158 rady = rxyz[1]*3.14/180; | |
| 159 radz = rxyz[2]*3.14/180; | |
| 160 | |
| 161 float sinx = sin(radx); | |
| 162 float cosx = cos(radx); | |
| 163 float siny = sin(rady); | |
| 164 float cosy = cos(rady); | |
| 165 float sinz = sin(radz); | |
| 166 float cosz = cos(radz); | |
| 167 | |
| 168 /* View Transform */ | |
| 169 matrix[0] = cosz*cosy+sinz*sinx*siny; | |
| 170 matrix[1] = sinz*cosx; | |
| 171 matrix[2] = -cosz*siny+sinz*sinx*cosy; | |
| 172 matrix[3] = 0; | |
| 173 matrix[4] = -sinz*cosy+cosz*sinx*siny; | |
| 174 matrix[5] = cosz*cosx; | |
| 175 matrix[6] = sinz*siny+cosz*sinx*cosy; | |
| 176 matrix[7] = 0; | |
| 177 matrix[8] = cosx*siny; | |
| 178 matrix[9] = -sinx; | |
| 179 matrix[10] = cosx*cosy; | |
| 180 matrix[11] = 0; | |
| 181 matrix[12] = txyz[0]; | |
| 182 matrix[13] = txyz[1]; | |
| 183 matrix[14] = txyz[2]; | |
| 184 matrix[15] = 1; | |
| 185 | |
| 186 float m[16]; | |
| 187 | |
| 188 for(int i=0; i<16; i++) | |
| 189 { | |
| 190 m[i] = matrix[i]; | |
| 191 } | |
| 192 | |
| 193 if(stack) | |
| 194 { | |
| 195 matrix4x4(matrix, m, stack); | |
| 196 } | |
| 197 | |
| 198 } | |
| 199 | |
| 200 void rotate_x(float *xyz, float r) | |
| 201 { | |
| 202 float rad = r*3.14/180; | |
| 203 | |
| 204 xyz[0] = xyz[0]; | |
| 205 xyz[1] = xyz[1]*cos(rad) - xyz[2]*sin(rad); | |
| 206 xyz[2] = xyz[1]*sin(rad) + xyz[2]*cos(rad); | |
| 207 } | |
| 208 | |
| 209 void rotate_y(float *xyz, float r) | |
| 210 { | |
| 211 float rad = r*3.14/180; | |
| 212 | |
| 213 xyz[0] = xyz[0]*cos(rad) + xyz[2]*sin(rad); | |
| 214 xyz[1] = xyz[1]; | |
| 215 xyz[2] = -xyz[0]*sin(rad) + xyz[2]*cos(rad); | |
| 216 } | |
| 217 | |
| 218 void rotate_z(float *xyz, float r) | |
| 219 { | |
| 220 float rad = r*3.14/180; | |
| 221 | |
| 222 xyz[0] = xyz[0]*cos(rad) - xyz[1]*sin(rad); | |
| 223 xyz[1] = xyz[0]*sin(rad) + xyz[1]*cos(rad); | |
| 224 xyz[2] = xyz[2]; | |
| 225 } | |
| 226 | |
| 227 void rotate(float *xyz, float *matrix) | |
| 228 { | |
| 229 float abc[4]; | |
| 230 abc[0] = xyz[0]; | |
| 231 abc[1] = xyz[1]; | |
| 232 abc[2] = xyz[2]; | |
| 233 abc[3] = xyz[3]; | |
| 234 | |
| 235 for(int i=0; i<4; i++) | |
| 236 { | |
| 237 //xyz[i] = abc[0]*rot[i] + abc[1]*rot[i+4] + abc[2]*rot[i+8] + abc[3]*rot[i+12]; | |
| 238 xyz[i] = abc[0]*matrix[i] + abc[1]*matrix[i+4] + abc[2]*matrix[i+8] + abc[3]*matrix[i+12]; | |
| 239 } | |
| 240 } | |
| 241 | |
| 242 | |
| 243 void translate(float *xyz, float x, float y, float z) | |
| 244 { | |
| 245 xyz[0] += x; | |
| 246 xyz[1] += y; | |
| 247 xyz[2] += z; | |
| 248 } | |
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249 |
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250 /** |
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251 * ベクトルに行列を乗算する |
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252 * @param[out] v vector (float[4]) |
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253 * @param[in] m matrix (float[16]) |
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254 */ |
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255 void |
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256 ApplyMatrix(float *v, float *m) |
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257 { |
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258 float t[4]; |
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259 |
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260 t[0] = v[0]; |
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261 t[1] = v[1]; |
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262 t[2] = v[2]; |
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263 t[3] = v[3]; |
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264 |
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265 for (int i = 0; i < 4; i++) { |
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266 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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267 } |
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268 } |
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269 |
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270 void |
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271 ScaleMatrix(float *m, float v) |
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272 { |
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273 for(int i=0;i<16;i++) |
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274 m[i] *= v; |
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275 } |
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276 |
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277 void |
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278 ScaleMatrixXY(float *m, float x, float y) |
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279 { |
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280 for(int i=0;i<3;i++) { |
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281 m[i] *= x; |
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282 m[i+4] *= y; |
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283 } |
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284 } |
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285 |