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Diffstat (limited to 'depedencies/include/glm/gtx/matrix_decompose.inl')
| -rw-r--r-- | depedencies/include/glm/gtx/matrix_decompose.inl | 194 |
1 files changed, 0 insertions, 194 deletions
diff --git a/depedencies/include/glm/gtx/matrix_decompose.inl b/depedencies/include/glm/gtx/matrix_decompose.inl deleted file mode 100644 index 7194e9d..0000000 --- a/depedencies/include/glm/gtx/matrix_decompose.inl +++ /dev/null @@ -1,194 +0,0 @@ -/// @ref gtx_matrix_decompose -/// @file glm/gtx/matrix_decompose.inl - -namespace glm{ -namespace detail -{ - /// Make a linear combination of two vectors and return the result. - // result = (a * ascl) + (b * bscl) - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> combine( - tvec3<T, P> const & a, - tvec3<T, P> const & b, - T ascl, T bscl) - { - return (a * ascl) + (b * bscl); - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> scale(tvec3<T, P> const& v, T desiredLength) - { - return v * desiredLength / length(v); - } -}//namespace detail - - // Matrix decompose - // http://www.opensource.apple.com/source/WebCore/WebCore-514/platform/graphics/transforms/TransformationMatrix.cpp - // Decomposes the mode matrix to translations,rotation scale components - - template <typename T, precision P> - GLM_FUNC_QUALIFIER bool decompose(tmat4x4<T, P> const & ModelMatrix, tvec3<T, P> & Scale, tquat<T, P> & Orientation, tvec3<T, P> & Translation, tvec3<T, P> & Skew, tvec4<T, P> & Perspective) - { - tmat4x4<T, P> LocalMatrix(ModelMatrix); - - // Normalize the matrix. - if(LocalMatrix[3][3] == static_cast<T>(0)) - return false; - - for(length_t i = 0; i < 4; ++i) - for(length_t j = 0; j < 4; ++j) - LocalMatrix[i][j] /= LocalMatrix[3][3]; - - // perspectiveMatrix is used to solve for perspective, but it also provides - // an easy way to test for singularity of the upper 3x3 component. - tmat4x4<T, P> PerspectiveMatrix(LocalMatrix); - - for(length_t i = 0; i < 3; i++) - PerspectiveMatrix[i][3] = static_cast<T>(0); - PerspectiveMatrix[3][3] = static_cast<T>(1); - - /// TODO: Fixme! - if(determinant(PerspectiveMatrix) == static_cast<T>(0)) - return false; - - // First, isolate perspective. This is the messiest. - if(LocalMatrix[0][3] != static_cast<T>(0) || LocalMatrix[1][3] != static_cast<T>(0) || LocalMatrix[2][3] != static_cast<T>(0)) - { - // rightHandSide is the right hand side of the equation. - tvec4<T, P> RightHandSide; - RightHandSide[0] = LocalMatrix[0][3]; - RightHandSide[1] = LocalMatrix[1][3]; - RightHandSide[2] = LocalMatrix[2][3]; - RightHandSide[3] = LocalMatrix[3][3]; - - // Solve the equation by inverting PerspectiveMatrix and multiplying - // rightHandSide by the inverse. (This is the easiest way, not - // necessarily the best.) - tmat4x4<T, P> InversePerspectiveMatrix = glm::inverse(PerspectiveMatrix);// inverse(PerspectiveMatrix, inversePerspectiveMatrix); - tmat4x4<T, P> TransposedInversePerspectiveMatrix = glm::transpose(InversePerspectiveMatrix);// transposeMatrix4(inversePerspectiveMatrix, transposedInversePerspectiveMatrix); - - Perspective = TransposedInversePerspectiveMatrix * RightHandSide; - // v4MulPointByMatrix(rightHandSide, transposedInversePerspectiveMatrix, perspectivePoint); - - // Clear the perspective partition - LocalMatrix[0][3] = LocalMatrix[1][3] = LocalMatrix[2][3] = static_cast<T>(0); - LocalMatrix[3][3] = static_cast<T>(1); - } - else - { - // No perspective. - Perspective = tvec4<T, P>(0, 0, 0, 1); - } - - // Next take care of translation (easy). - Translation = tvec3<T, P>(LocalMatrix[3]); - LocalMatrix[3] = tvec4<T, P>(0, 0, 0, LocalMatrix[3].w); - - tvec3<T, P> Row[3], Pdum3; - - // Now get scale and shear. - for(length_t i = 0; i < 3; ++i) - for(int j = 0; j < 3; ++j) - Row[i][j] = LocalMatrix[i][j]; - - // Compute X scale factor and normalize first row. - Scale.x = length(Row[0]);// v3Length(Row[0]); - - Row[0] = detail::scale(Row[0], static_cast<T>(1)); - - // Compute XY shear factor and make 2nd row orthogonal to 1st. - Skew.z = dot(Row[0], Row[1]); - Row[1] = detail::combine(Row[1], Row[0], static_cast<T>(1), -Skew.z); - - // Now, compute Y scale and normalize 2nd row. - Scale.y = length(Row[1]); - Row[1] = detail::scale(Row[1], static_cast<T>(1)); - Skew.z /= Scale.y; - - // Compute XZ and YZ shears, orthogonalize 3rd row. - Skew.y = glm::dot(Row[0], Row[2]); - Row[2] = detail::combine(Row[2], Row[0], static_cast<T>(1), -Skew.y); - Skew.x = glm::dot(Row[1], Row[2]); - Row[2] = detail::combine(Row[2], Row[1], static_cast<T>(1), -Skew.x); - - // Next, get Z scale and normalize 3rd row. - Scale.z = length(Row[2]); - Row[2] = detail::scale(Row[2], static_cast<T>(1)); - Skew.y /= Scale.z; - Skew.x /= Scale.z; - - // At this point, the matrix (in rows[]) is orthonormal. - // Check for a coordinate system flip. If the determinant - // is -1, then negate the matrix and the scaling factors. - Pdum3 = cross(Row[1], Row[2]); // v3Cross(row[1], row[2], Pdum3); - if(dot(Row[0], Pdum3) < 0) - { - for(length_t i = 0; i < 3; i++) - { - Scale[i] *= static_cast<T>(-1); - Row[i] *= static_cast<T>(-1); - } - } - - // Now, get the rotations out, as described in the gem. - - // FIXME - Add the ability to return either quaternions (which are - // easier to recompose with) or Euler angles (rx, ry, rz), which - // are easier for authors to deal with. The latter will only be useful - // when we fix https://bugs.webkit.org/show_bug.cgi?id=23799, so I - // will leave the Euler angle code here for now. - - // ret.rotateY = asin(-Row[0][2]); - // if (cos(ret.rotateY) != 0) { - // ret.rotateX = atan2(Row[1][2], Row[2][2]); - // ret.rotateZ = atan2(Row[0][1], Row[0][0]); - // } else { - // ret.rotateX = atan2(-Row[2][0], Row[1][1]); - // ret.rotateZ = 0; - // } - - T s, t, x, y, z, w; - - t = Row[0][0] + Row[1][1] + Row[2][2] + static_cast<T>(1); - - if(t > static_cast<T>(1e-4)) - { - s = static_cast<T>(0.5) / sqrt(t); - w = static_cast<T>(0.25) / s; - x = (Row[2][1] - Row[1][2]) * s; - y = (Row[0][2] - Row[2][0]) * s; - z = (Row[1][0] - Row[0][1]) * s; - } - else if(Row[0][0] > Row[1][1] && Row[0][0] > Row[2][2]) - { - s = sqrt (static_cast<T>(1) + Row[0][0] - Row[1][1] - Row[2][2]) * static_cast<T>(2); // S=4*qx - x = static_cast<T>(0.25) * s; - y = (Row[0][1] + Row[1][0]) / s; - z = (Row[0][2] + Row[2][0]) / s; - w = (Row[2][1] - Row[1][2]) / s; - } - else if(Row[1][1] > Row[2][2]) - { - s = sqrt (static_cast<T>(1) + Row[1][1] - Row[0][0] - Row[2][2]) * static_cast<T>(2); // S=4*qy - x = (Row[0][1] + Row[1][0]) / s; - y = static_cast<T>(0.25) * s; - z = (Row[1][2] + Row[2][1]) / s; - w = (Row[0][2] - Row[2][0]) / s; - } - else - { - s = sqrt(static_cast<T>(1) + Row[2][2] - Row[0][0] - Row[1][1]) * static_cast<T>(2); // S=4*qz - x = (Row[0][2] + Row[2][0]) / s; - y = (Row[1][2] + Row[2][1]) / s; - z = static_cast<T>(0.25) * s; - w = (Row[1][0] - Row[0][1]) / s; - } - - Orientation.x = x; - Orientation.y = y; - Orientation.z = z; - Orientation.w = w; - - return true; - } -}//namespace glm |