summaryrefslogtreecommitdiffstats
path: root/src/math/Matrix.h
blob: faee46605a7720a94c9c332d1100a6124525c5e8 (plain) (blame)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
#pragma once

class CMatrix
{
public:
	RwMatrix m_matrix;
	RwMatrix *m_attachment;
	bool m_hasRwMatrix;	// are we the owner?

	CMatrix(void){
		m_attachment = nil;
		m_hasRwMatrix = false;
	}
	CMatrix(CMatrix const &m){
		m_attachment = nil;
		m_hasRwMatrix = false;
		*this = m;
	}
	CMatrix(RwMatrix *matrix, bool owner = false){
		m_attachment = nil;
		Attach(matrix, owner);
	}
	~CMatrix(void){
		if(m_hasRwMatrix && m_attachment)
			RwMatrixDestroy(m_attachment);
	}
	void Attach(RwMatrix *matrix, bool owner = false){
		if(m_hasRwMatrix && m_attachment)
			RwMatrixDestroy(m_attachment);
		m_attachment = matrix;
		m_hasRwMatrix = owner;
		Update();
	}
	void AttachRW(RwMatrix *matrix, bool owner = false){
		if(m_hasRwMatrix && m_attachment)
			RwMatrixDestroy(m_attachment);
		m_attachment = matrix;
		m_hasRwMatrix = owner;
		UpdateRW();
	}
	void Detach(void){
		if(m_hasRwMatrix && m_attachment)
			RwMatrixDestroy(m_attachment);
		m_attachment = nil;
	}
	void Update(void){
		m_matrix = *m_attachment;
	}
	void UpdateRW(void){
		if(m_attachment){
			*m_attachment = m_matrix;
			RwMatrixUpdate(m_attachment);
		}
	}
	void operator=(CMatrix const &rhs){
		m_matrix = rhs.m_matrix;
		if(m_attachment)
			UpdateRW();
	}

	CVector *GetPosition(void){ return (CVector*)&m_matrix.pos; }
	CVector *GetRight(void) { return (CVector*)&m_matrix.right; }
	CVector *GetForward(void) { return (CVector*)&m_matrix.up; }
	CVector *GetUp(void) { return (CVector*)&m_matrix.at; }
	void 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 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 SetRotateX(float angle){
		SetRotateXOnly(angle);
		m_matrix.pos.x = 0.0f;
		m_matrix.pos.y = 0.0f;
		m_matrix.pos.z = 0.0f;
	}
	void 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 SetRotateY(float angle){
		SetRotateYOnly(angle);
		m_matrix.pos.x = 0.0f;
		m_matrix.pos.y = 0.0f;
		m_matrix.pos.z = 0.0f;
	}
	void 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 SetRotateZ(float angle){
		SetRotateZOnly(angle);
		m_matrix.pos.x = 0.0f;
		m_matrix.pos.y = 0.0f;
		m_matrix.pos.z = 0.0f;
	}
	void 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);
	}
    void CopyOnlyMatrix(CMatrix *other){
        m_matrix = other->m_matrix;
    }
};

inline CMatrix&
Invert(const CMatrix &src, CMatrix &dst)
{
	// GTA handles this as a raw 4x4 orthonormal matrix
	// and trashes the RW flags, let's not do that
	// actual copy of librw code:
	RwMatrix *d = &dst.m_matrix;
	const RwMatrix *s = &src.m_matrix;
	d->right.x = s->right.x;
	d->right.y = s->up.x;
	d->right.z = s->at.x;
	d->up.x = s->right.y;
	d->up.y = s->up.y;
	d->up.z = s->at.y;
	d->at.x = s->right.z;
	d->at.y = s->up.z;
	d->at.z = s->at.z;
	d->pos.x = -(s->pos.x*s->right.x +
	               s->pos.y*s->right.y +
	               s->pos.z*s->right.z);
	d->pos.y = -(s->pos.x*s->up.x +
	               s->pos.y*s->up.y +
	               s->pos.z*s->up.z);
	d->pos.z = -(s->pos.x*s->at.x +
	               s->pos.y*s->at.y +
	               s->pos.z*s->at.z);
	d->flags = rwMATRIXTYPEORTHONORMAL;
	return dst;
}

inline CMatrix
Invert(const CMatrix &matrix)
{
	CMatrix inv;
	return Invert(matrix, inv);
}

inline CVector
operator*(const CMatrix &mat, const CVector &vec)
{
	return CVector(
		mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z + mat.m_matrix.pos.x,
		mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z + mat.m_matrix.pos.y,
		mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z + mat.m_matrix.pos.z);
}

inline CMatrix
operator*(const CMatrix &m1, const CMatrix &m2)
{
	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;
}

inline CVector
MultiplyInverse(const CMatrix &mat, const CVector &vec)
{
	CVector v(vec.x - mat.m_matrix.pos.x, vec.y - mat.m_matrix.pos.y, vec.z - mat.m_matrix.pos.z);
	return CVector(
		mat.m_matrix.right.x * v.x + mat.m_matrix.right.y * v.y + mat.m_matrix.right.z * v.z,
		mat.m_matrix.up.x * v.x + mat.m_matrix.up.y * v.y + mat.m_matrix.up.z * v.z,
		mat.m_matrix.at.x * v.x + mat.m_matrix.at.y * v.y + mat.m_matrix.at.z * v.z);
}

inline CVector
Multiply3x3(const CMatrix &mat, const CVector &vec)
{
	return CVector(
		mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z,
		mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z,
		mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z);
}