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-rw-r--r--src/math/Matrix.cpp450
1 files changed, 226 insertions, 224 deletions
diff --git a/src/math/Matrix.cpp b/src/math/Matrix.cpp
index 3ac3e2b9..c0d909cb 100644
--- a/src/math/Matrix.cpp
+++ b/src/math/Matrix.cpp
@@ -60,14 +60,20 @@ CMatrix::Detach(void)
void
CMatrix::Update(void)
{
- m_matrix = *m_attachment;
+ GetRight() = m_attachment->right;
+ GetForward() = m_attachment->up;
+ GetUp() = m_attachment->at;
+ GetPosition() = m_attachment->pos;
}
void
CMatrix::UpdateRW(void)
{
if (m_attachment) {
- *m_attachment = m_matrix;
+ m_attachment->right = GetRight();
+ m_attachment->up = GetForward();
+ m_attachment->at = GetUp();
+ m_attachment->pos = GetPosition();
RwMatrixUpdate(m_attachment);
}
}
@@ -75,104 +81,96 @@ CMatrix::UpdateRW(void)
void
CMatrix::operator=(CMatrix const &rhs)
{
- m_matrix = rhs.m_matrix;
+ memcpy(this, &rhs, sizeof(f));
if (m_attachment)
UpdateRW();
}
void
-CMatrix::CopyOnlyMatrix(CMatrix *other)
+CMatrix::CopyOnlyMatrix(const CMatrix &other)
{
- m_matrix = other->m_matrix;
+ memcpy(this, &other, sizeof(f));
}
CMatrix &
CMatrix::operator+=(CMatrix const &rhs)
{
- m_matrix.right.x += rhs.m_matrix.right.x;
- m_matrix.up.x += rhs.m_matrix.up.x;
- m_matrix.at.x += rhs.m_matrix.at.x;
- m_matrix.right.y += rhs.m_matrix.right.y;
- m_matrix.up.y += rhs.m_matrix.up.y;
- m_matrix.at.y += rhs.m_matrix.at.y;
- m_matrix.right.z += rhs.m_matrix.right.z;
- m_matrix.up.z += rhs.m_matrix.up.z;
- m_matrix.at.z += rhs.m_matrix.at.z;
- m_matrix.pos.x += rhs.m_matrix.pos.x;
- m_matrix.pos.y += rhs.m_matrix.pos.y;
- m_matrix.pos.z += rhs.m_matrix.pos.z;
+ GetRight() += rhs.GetRight();
+ GetForward() += rhs.GetForward();
+ GetUp() += rhs.GetUp();
+ GetPosition() += rhs.GetPosition();
return *this;
}
void
CMatrix::SetUnity(void)
{
- 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 = 1.0f;
- m_matrix.up.z = 0.0f;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = 1.0f;
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::ResetOrientation(void)
{
- 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 = 1.0f;
- m_matrix.up.z = 0.0f;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = 1.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
}
void
CMatrix::SetScale(float s)
{
- m_matrix.right.x = s;
- m_matrix.right.y = 0.0f;
- m_matrix.right.z = 0.0f;
+ rx = s;
+ ry = 0.0f;
+ rz = 0.0f;
- m_matrix.up.x = 0.0f;
- m_matrix.up.y = s;
- m_matrix.up.z = 0.0f;
+ fx = 0.0f;
+ fy = s;
+ fz = 0.0f;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = s;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = s;
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::SetTranslate(float x, float y, float z)
{
- m_matrix.right.x = 1.0f;
- m_matrix.right.y = 0.0f;
- m_matrix.right.z = 0.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
- m_matrix.up.x = 0.0f;
- m_matrix.up.y = 1.0f;
- m_matrix.up.z = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = 1.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
- m_matrix.pos.x = x;
- m_matrix.pos.y = y;
- m_matrix.pos.z = z;
+ px = x;
+ py = y;
+ pz = z;
}
void
@@ -181,17 +179,17 @@ CMatrix::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;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
- m_matrix.up.x = 0.0f;
- m_matrix.up.y = c;
- m_matrix.up.z = s;
+ fx = 0.0f;
+ fy = c;
+ fz = s;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = -s;
- m_matrix.at.z = c;
+ ux = 0.0f;
+ uy = -s;
+ uz = c;
}
void
@@ -200,17 +198,17 @@ CMatrix::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;
+ rx = c;
+ ry = 0.0f;
+ rz = -s;
- m_matrix.up.x = 0.0f;
- m_matrix.up.y = 1.0f;
- m_matrix.up.z = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
- m_matrix.at.x = s;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = c;
+ ux = s;
+ uy = 0.0f;
+ uz = c;
}
void
@@ -219,26 +217,26 @@ CMatrix::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;
+ rx = c;
+ ry = s;
+ rz = 0.0f;
- m_matrix.up.x = -s;
- m_matrix.up.y = c;
- m_matrix.up.z = 0.0f;
+ fx = -s;
+ fy = c;
+ fz = 0.0f;
- m_matrix.at.x = 0.0f;
- m_matrix.at.y = 0.0f;
- m_matrix.at.z = 1.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
}
void
CMatrix::SetRotateX(float angle)
{
SetRotateXOnly(angle);
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
@@ -246,18 +244,18 @@ void
CMatrix::SetRotateY(float angle)
{
SetRotateYOnly(angle);
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::SetRotateZ(float angle)
{
SetRotateZOnly(angle);
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
@@ -270,21 +268,21 @@ CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
float cZ = Cos(zAngle);
float sZ = Sin(zAngle);
- m_matrix.right.x = cZ * cY - (sZ * sX) * sY;
- m_matrix.right.y = (cZ * sX) * sY + sZ * cY;
- m_matrix.right.z = -cX * sY;
+ rx = cZ * cY - (sZ * sX) * sY;
+ ry = (cZ * sX) * sY + sZ * cY;
+ rz = -cX * sY;
- m_matrix.up.x = -sZ * cX;
- m_matrix.up.y = cZ * cX;
- m_matrix.up.z = sX;
+ fx = -sZ * cX;
+ fy = cZ * cX;
+ fz = sX;
- m_matrix.at.x = (sZ * sX) * cY + cZ * sY;
- m_matrix.at.y = sZ * sY - (cZ * sX) * cY;
- m_matrix.at.z = cX * cY;
+ ux = (sZ * sX) * cY + cZ * sY;
+ uy = sZ * sY - (cZ * sX) * cY;
+ uz = cX * cY;
- m_matrix.pos.x = 0.0f;
- m_matrix.pos.y = 0.0f;
- m_matrix.pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
@@ -293,23 +291,23 @@ CMatrix::RotateX(float x)
float c = Cos(x);
float s = Sin(x);
- float ry = m_matrix.right.y;
- float rz = m_matrix.right.z;
- float uy = m_matrix.up.y;
- float uz = m_matrix.up.z;
- float ay = m_matrix.at.y;
- float az = m_matrix.at.z;
- float py = m_matrix.pos.y;
- float pz = m_matrix.pos.z;
-
- m_matrix.right.y = c * ry - s * rz;
- m_matrix.right.z = c * rz + s * ry;
- m_matrix.up.y = c * uy - s * uz;
- m_matrix.up.z = c * uz + s * uy;
- m_matrix.at.y = c * ay - s * az;
- m_matrix.at.z = c * az + s * ay;
- m_matrix.pos.y = c * py - s * pz;
- m_matrix.pos.z = c * pz + s * py;
+ float ry = this->ry;
+ float rz = this->rz;
+ float uy = this->fy;
+ float uz = this->fz;
+ float ay = this->uy;
+ float az = this->uz;
+ float py = this->py;
+ float pz = this->pz;
+
+ this->ry = c * ry - s * rz;
+ this->rz = c * rz + s * ry;
+ this->fy = c * uy - s * uz;
+ this->fz = c * uz + s * uy;
+ this->uy = c * ay - s * az;
+ this->uz = c * az + s * ay;
+ this->py = c * py - s * pz;
+ this->pz = c * pz + s * py;
}
void
@@ -318,23 +316,23 @@ CMatrix::RotateY(float y)
float c = Cos(y);
float s = Sin(y);
- float rx = m_matrix.right.x;
- float rz = m_matrix.right.z;
- float ux = m_matrix.up.x;
- float uz = m_matrix.up.z;
- float ax = m_matrix.at.x;
- float az = m_matrix.at.z;
- float px = m_matrix.pos.x;
- float pz = m_matrix.pos.z;
-
- m_matrix.right.x = c * rx + s * rz;
- m_matrix.right.z = c * rz - s * rx;
- m_matrix.up.x = c * ux + s * uz;
- m_matrix.up.z = c * uz - s * ux;
- m_matrix.at.x = c * ax + s * az;
- m_matrix.at.z = c * az - s * ax;
- m_matrix.pos.x = c * px + s * pz;
- m_matrix.pos.z = c * pz - s * px;
+ float rx = this->rx;
+ float rz = this->rz;
+ float ux = this->fx;
+ float uz = this->fz;
+ float ax = this->ux;
+ float az = this->uz;
+ float px = this->px;
+ float pz = this->pz;
+
+ this->rx = c * rx + s * rz;
+ this->rz = c * rz - s * rx;
+ this->fx = c * ux + s * uz;
+ this->fz = c * uz - s * ux;
+ this->ux = c * ax + s * az;
+ this->uz = c * az - s * ax;
+ this->px = c * px + s * pz;
+ this->pz = c * pz - s * px;
}
void
@@ -343,23 +341,23 @@ CMatrix::RotateZ(float z)
float c = Cos(z);
float s = Sin(z);
- float ry = m_matrix.right.y;
- float rx = m_matrix.right.x;
- float uy = m_matrix.up.y;
- float ux = m_matrix.up.x;
- float ay = m_matrix.at.y;
- float ax = m_matrix.at.x;
- float py = m_matrix.pos.y;
- float px = m_matrix.pos.x;
+ float ry = this->ry;
+ float rx = this->rx;
+ float uy = this->fy;
+ float ux = this->fx;
+ float ay = this->uy;
+ float ax = this->ux;
+ float py = this->py;
+ float px = this->px;
- m_matrix.right.x = c * rx - s * ry;
- m_matrix.right.y = c * ry + s * rx;
- m_matrix.up.x = c * ux - s * uy;
- m_matrix.up.y = c * uy + s * ux;
- m_matrix.at.x = c * ax - s * ay;
- m_matrix.at.y = c * ay + s * ax;
- m_matrix.pos.x = c * px - s * py;
- m_matrix.pos.y = c * py + s * px;
+ this->rx = c * rx - s * ry;
+ this->ry = c * ry + s * rx;
+ this->fx = c * ux - s * uy;
+ this->fy = c * uy + s * ux;
+ this->ux = c * ax - s * ay;
+ this->uy = c * ay + s * ax;
+ this->px = c * px - s * py;
+ this->py = c * py + s * px;
}
@@ -373,18 +371,18 @@ CMatrix::Rotate(float x, float y, float z)
float cZ = Cos(z);
float sZ = Sin(z);
- float rx = m_matrix.right.x;
- float ry = m_matrix.right.y;
- float rz = m_matrix.right.z;
- float ux = m_matrix.up.x;
- float uy = m_matrix.up.y;
- float uz = m_matrix.up.z;
- float ax = m_matrix.at.x;
- float ay = m_matrix.at.y;
- float az = m_matrix.at.z;
- float px = m_matrix.pos.x;
- float py = m_matrix.pos.y;
- float pz = m_matrix.pos.z;
+ float rx = this->rx;
+ float ry = this->ry;
+ float rz = this->rz;
+ float ux = this->fx;
+ float uy = this->fy;
+ float uz = this->fz;
+ float ax = this->ux;
+ float ay = this->uy;
+ float az = this->uz;
+ float px = this->px;
+ float py = this->py;
+ float pz = this->pz;
float x1 = cZ * cY - (sZ * sX) * sY;
float x2 = (cZ * sX) * sY + sZ * cY;
@@ -396,18 +394,18 @@ CMatrix::Rotate(float x, float y, float z)
float z2 = sZ * sY - (cZ * sX) * cY;
float z3 = cX * cY;
- m_matrix.right.x = x1 * rx + y1 * ry + z1 * rz;
- m_matrix.right.y = x2 * rx + y2 * ry + z2 * rz;
- m_matrix.right.z = x3 * rx + y3 * ry + z3 * rz;
- m_matrix.up.x = x1 * ux + y1 * uy + z1 * uz;
- m_matrix.up.y = x2 * ux + y2 * uy + z2 * uz;
- m_matrix.up.z = x3 * ux + y3 * uy + z3 * uz;
- m_matrix.at.x = x1 * ax + y1 * ay + z1 * az;
- m_matrix.at.y = x2 * ax + y2 * ay + z2 * az;
- m_matrix.at.z = x3 * ax + y3 * ay + z3 * az;
- m_matrix.pos.x = x1 * px + y1 * py + z1 * pz;
- m_matrix.pos.y = x2 * px + y2 * py + z2 * pz;
- m_matrix.pos.z = x3 * px + y3 * py + z3 * pz;
+ this->rx = x1 * rx + y1 * ry + z1 * rz;
+ this->ry = x2 * rx + y2 * ry + z2 * rz;
+ this->rz = x3 * rx + y3 * ry + z3 * rz;
+ this->fx = x1 * ux + y1 * uy + z1 * uz;
+ this->fy = x2 * ux + y2 * uy + z2 * uz;
+ this->fz = x3 * ux + y3 * uy + z3 * uz;
+ this->ux = x1 * ax + y1 * ay + z1 * az;
+ this->uy = x2 * ax + y2 * ay + z2 * az;
+ this->uz = x3 * ax + y3 * ay + z3 * az;
+ this->px = x1 * px + y1 * py + z1 * pz;
+ this->py = x2 * px + y2 * py + z2 * pz;
+ this->pz = x3 * px + y3 * py + z3 * pz;
}
CMatrix &
@@ -436,21 +434,18 @@ operator*(const CMatrix &m1, const CMatrix &m2)
{
// TODO: VU0 code
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;
+ out.rx = m1.rx * m2.rx + m1.fx * m2.ry + m1.ux * m2.rz;
+ out.ry = m1.ry * m2.rx + m1.fy * m2.ry + m1.uy * m2.rz;
+ out.rz = m1.rz * m2.rx + m1.fz * m2.ry + m1.uz * m2.rz;
+ out.fx = m1.rx * m2.fx + m1.fx * m2.fy + m1.ux * m2.fz;
+ out.fy = m1.ry * m2.fx + m1.fy * m2.fy + m1.uy * m2.fz;
+ out.fz = m1.rz * m2.fx + m1.fz * m2.fy + m1.uz * m2.fz;
+ out.ux = m1.rx * m2.ux + m1.fx * m2.uy + m1.ux * m2.uz;
+ out.uy = m1.ry * m2.ux + m1.fy * m2.uy + m1.uy * m2.uz;
+ out.uz = m1.rz * m2.ux + m1.fz * m2.uy + m1.uz * m2.uz;
+ out.px = m1.rx * m2.px + m1.fx * m2.py + m1.ux * m2.pz + m1.px;
+ out.py = m1.ry * m2.px + m1.fy * m2.py + m1.uy * m2.pz + m1.py;
+ out.pz = m1.rz * m2.px + m1.fz * m2.py + m1.uz * m2.pz + m1.pz;
return out;
}
@@ -458,43 +453,50 @@ CMatrix &
Invert(const CMatrix &src, CMatrix &dst)
{
// TODO: VU0 code
- float (*scr_fm)[4] = (float (*)[4])&src.m_matrix;
- float (*dst_fm)[4] = (float (*)[4])&dst.m_matrix;
+ dst.f[3][0] = dst.f[3][1] = dst.f[3][2] = 0.0f;
- dst_fm[3][0] = dst_fm[3][1] = dst_fm[3][2] = 0.0f;
+ dst.f[0][0] = src.f[0][0];
+ dst.f[0][1] = src.f[1][0];
+ dst.f[0][2] = src.f[2][0];
- dst_fm[0][0] = scr_fm[0][0];
- dst_fm[0][1] = scr_fm[1][0];
- dst_fm[0][2] = scr_fm[2][0];
+ dst.f[1][0] = src.f[0][1];
+ dst.f[1][1] = src.f[1][1];
+ dst.f[1][2] = src.f[2][1];
- dst_fm[1][0] = scr_fm[0][1];
- dst_fm[1][1] = scr_fm[1][1];
- dst_fm[1][2] = scr_fm[2][1];
+ dst.f[2][0] = src.f[0][2];
+ dst.f[2][1] = src.f[1][2];
+ dst.f[2][2] = src.f[2][2];
- dst_fm[2][0] = scr_fm[0][2];
- dst_fm[2][1] = scr_fm[1][2];
- dst_fm[2][2] = scr_fm[2][2];
+ dst.f[3][0] += dst.f[0][0] * src.f[3][0];
+ dst.f[3][1] += dst.f[0][1] * src.f[3][0];
+ dst.f[3][2] += dst.f[0][2] * src.f[3][0];
- dst_fm[3][0] += dst_fm[0][0] * scr_fm[3][0];
- dst_fm[3][1] += dst_fm[0][1] * scr_fm[3][0];
- dst_fm[3][2] += dst_fm[0][2] * scr_fm[3][0];
+ dst.f[3][0] += dst.f[1][0] * src.f[3][1];
+ dst.f[3][1] += dst.f[1][1] * src.f[3][1];
+ dst.f[3][2] += dst.f[1][2] * src.f[3][1];
- dst_fm[3][0] += dst_fm[1][0] * scr_fm[3][1];
- dst_fm[3][1] += dst_fm[1][1] * scr_fm[3][1];
- dst_fm[3][2] += dst_fm[1][2] * scr_fm[3][1];
+ dst.f[3][0] += dst.f[2][0] * src.f[3][2];
+ dst.f[3][1] += dst.f[2][1] * src.f[3][2];
+ dst.f[3][2] += dst.f[2][2] * src.f[3][2];
- dst_fm[3][0] += dst_fm[2][0] * scr_fm[3][2];
- dst_fm[3][1] += dst_fm[2][1] * scr_fm[3][2];
- dst_fm[3][2] += dst_fm[2][2] * scr_fm[3][2];
-
- dst_fm[3][0] = -dst_fm[3][0];
- dst_fm[3][1] = -dst_fm[3][1];
- dst_fm[3][2] = -dst_fm[3][2];
+ dst.f[3][0] = -dst.f[3][0];
+ dst.f[3][1] = -dst.f[3][1];
+ dst.f[3][2] = -dst.f[3][2];
return dst;
}
+void
+CMatrix::CopyToRwMatrix(RwMatrix* matrix)
+{
+ matrix->right = GetRight();
+ matrix->up = GetForward();
+ matrix->at = GetUp();
+ matrix->pos = GetPosition();
+ RwMatrixUpdate(matrix);
+}
+
CMatrix
Invert(const CMatrix &matrix)
{
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-11 00:29:11 +0100