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-rw-r--r--src/math/Matrix.h245
1 files changed, 245 insertions, 0 deletions
diff --git a/src/math/Matrix.h b/src/math/Matrix.h
new file mode 100644
index 00000000..cc15da09
--- /dev/null
+++ b/src/math/Matrix.h
@@ -0,0 +1,245 @@
+#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 attach){
+ m_attachment = nil;
+ Attach(matrix, attach);
+ }
+ ~CMatrix(void){
+ if(m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+ }
+ void Attach(RwMatrix *matrix, bool attach){
+ if(m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+ m_attachment = matrix;
+ m_hasRwMatrix = attach;
+ Update();
+ }
+ void AttachRW(RwMatrix *matrix, bool attach){
+ if(m_hasRwMatrix && m_attachment)
+ RwMatrixDestroy(m_attachment);
+ m_attachment = matrix;
+ m_hasRwMatrix = attach;
+ 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);
+ }
+};
+
+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);
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-11 18:58:03 +0100