mirror of
https://github.com/thunderbrewhq/typhoon.git
synced 2026-05-05 06:43:52 +00:00
feat: sync with Whoa implementation
This commit is contained in:
VDm
parent
254ba545f5
commit
6a31dc3ea4
19 changed files with 988 additions and 774 deletions
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@ -13,6 +13,45 @@ float C33Matrix::Det(float a, float b, float c, float d) {
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return (a * d) - (b * c);
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}
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C33Matrix C33Matrix::Rotation(float angle) {
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return C33Matrix::RotationAroundZ(angle);
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}
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C33Matrix C33Matrix::Rotation(float angle, const C3Vector& axis, bool unit) {
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C3Vector axis_ = axis;
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if (!unit) {
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axis_.Normalize();
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}
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STORM_ASSERT(axis_.IsUnit());
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float sina = CMath::sin(angle);
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float cosa = CMath::cos(angle);
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float xs = axis_.x * sina;
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float ys = axis_.y * sina;
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float zs = axis_.z * sina;
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float one_c = 1.0f - cosa;
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// https://en.wikipedia.org/wiki/Rotation_matrix
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// Rotation matrix from axis and angle
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C33Matrix result;
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result.a0 = axis_.x * axis_.x * one_c + cosa;
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result.a1 = axis_.x * axis_.y * one_c + zs;
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result.a2 = axis_.x * axis_.z * one_c - ys;
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result.b0 = axis_.x * axis_.y * one_c - zs;
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result.b1 = axis_.y * axis_.y * one_c + cosa;
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result.b2 = axis_.y * axis_.z * one_c + xs;
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result.c0 = axis_.x * axis_.z * one_c + ys;
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result.c1 = axis_.y * axis_.z * one_c - xs;
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result.c2 = axis_.z * axis_.z * one_c + cosa;
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return result;
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}
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C33Matrix C33Matrix::RotationAroundX(float angle) {
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float cosa = CMath::cos(angle);
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float sina = CMath::sin(angle);
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@ -56,63 +95,22 @@ C33Matrix C33Matrix::RotationAroundY(float angle) {
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}
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C33Matrix C33Matrix::RotationAroundZ(float angle) {
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float cosa = CMath::cos(angle);
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float sina = CMath::sin(angle);
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float cosAngle = cos(angle);
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float sinAngle = sin(angle);
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C33Matrix result;
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float a0 = cosAngle;
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float a1 = sinAngle;
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float a2 = 0.0f;
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result.a0 = cosa;
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result.a1 = sina;
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result.a2 = 0.0f;
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float b0 = -sinAngle;
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float b1 = cosAngle;
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float b2 = 0.0f;
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result.b0 = -sina;
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result.b1 = cosa;
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result.b2 = 0.0f;
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float c0 = 0.0f;
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float c1 = 0.0f;
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float c2 = 1.0f;
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result.c0 = 0.0f;
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result.c1 = 0.0f;
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result.c2 = 1.0f;
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return result;
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}
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C33Matrix C33Matrix::Rotation(float angle) {
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return C33Matrix::RotationAroundZ(angle);
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}
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C33Matrix C33Matrix::Rotation(float angle, const C3Vector& axis, bool unit) {
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C3Vector axis_ = axis;
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if (!unit) {
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axis_.Normalize();
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}
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STORM_ASSERT(axis_.IsUnit());
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float sina = CMath::sin(angle);
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float cosa = CMath::cos(angle);
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float xs = axis_.x * sina;
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float ys = axis_.y * sina;
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float zs = axis_.z * sina;
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float one_c = 1.0f - cosa;
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// https://en.wikipedia.org/wiki/Rotation_matrix
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// Rotation matrix from axis and angle
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C33Matrix result;
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result.a0 = axis_.x * axis_.x * one_c + cosa;
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result.a1 = axis_.x * axis_.y * one_c + zs;
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result.a2 = axis_.x * axis_.z * one_c - ys;
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result.b0 = axis_.x * axis_.y * one_c - zs;
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result.b1 = axis_.y * axis_.y * one_c + cosa;
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result.b2 = axis_.y * axis_.z * one_c + xs;
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result.c0 = axis_.x * axis_.z * one_c + ys;
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result.c1 = axis_.y * axis_.z * one_c - xs;
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result.c2 = axis_.z * axis_.z * one_c + cosa;
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return result;
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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C33Matrix::C33Matrix(const C3Vector& r0, const C3Vector& r1, const C3Vector& r2)
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@ -127,6 +125,18 @@ C33Matrix::C33Matrix(const C3Vector& r0, const C3Vector& r1, const C3Vector& r2)
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, c2(r2.z) {
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}
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C33Matrix::C33Matrix(float a0, float a1, float a2, float b0, float b1, float b2, float c0, float c1, float c2)
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: a0(a0)
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, a1(a1)
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, a2(a2)
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, b0(b0)
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, b1(b1)
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, b2(b2)
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, c0(c0)
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, c1(c1)
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, c2(c2) {
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}
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C33Matrix::C33Matrix(const C34Matrix& m)
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: a0(m.a0)
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, a1(m.a1)
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@ -169,18 +179,6 @@ C33Matrix::C33Matrix(const C4Quaternion& rotation) {
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this->c2 = 1.0f - ((twox * rotation.x) + (twoy * rotation.y));
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}
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C33Matrix::C33Matrix(float a0, float a1, float a2, float b0, float b1, float b2, float c0, float c1, float c2)
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: a0(a0)
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, a1(a1)
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, a2(a2)
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, b0(b0)
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, b1(b1)
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, b2(b2)
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, c0(c0)
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, c1(c1)
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, c2(c2) {
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}
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C33Matrix::C33Matrix(float a)
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: a0(a)
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, a1(a)
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@ -193,6 +191,216 @@ C33Matrix::C33Matrix(float a)
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, c2(a) {
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}
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C33Matrix C33Matrix::Adjoint() const {
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float a0 = C33Matrix::Det(this->b1, this->b2, this->c1, this->c2);
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float a1 = -C33Matrix::Det(this->a1, this->a2, this->c1, this->c2);
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float a2 = C33Matrix::Det(this->a1, this->a2, this->b1, this->b2);
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float b0 = -C33Matrix::Det(this->b0, this->b2, this->c0, this->c2);
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float b1 = C33Matrix::Det(this->a0, this->a2, this->c0, this->c2);
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float b2 = -C33Matrix::Det(this->a0, this->a2, this->b0, this->b2);
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float c0 = C33Matrix::Det(this->b0, this->b1, this->c0, this->c1);
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float c1 = -C33Matrix::Det(this->a0, this->a1, this->c0, this->c1);
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float c2 = C33Matrix::Det(this->a0, this->a1, this->b0, this->b1);
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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C33Matrix C33Matrix::AffineInverse(const C3Vector& v) const {
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C33Matrix rotationScale = *this;
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C3Vector s = { 1.0f / v.x, 1.0f / v.y, 1.0f / v.z };
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rotationScale.Scale(s);
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C33Matrix matrix = rotationScale.Transpose();
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matrix.Scale(s);
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return matrix;
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}
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C33Matrix C33Matrix::AffineInverse(float uniformScale) const {
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if (CMath::fequalz(uniformScale, 1.0f, 0.00000095367432f)) {
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return this->Transpose();
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}
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C33Matrix matrix = this->Transpose();
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matrix.Scale(1.0f / (uniformScale * uniformScale));
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return matrix;
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}
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C33Matrix C33Matrix::Cofactors() const {
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float a0 = C33Matrix::Det(this->b1, this->b2, this->c1, this->c2);
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float a1 = -C33Matrix::Det(this->b0, this->b2, this->c0, this->c2);
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float a2 = C33Matrix::Det(this->b0, this->b1, this->c0, this->c1);
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float b0 = -C33Matrix::Det(this->a1, this->a2, this->c1, this->c2);
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float b1 = C33Matrix::Det(this->a0, this->a2, this->c0, this->c2);
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float b2 = -C33Matrix::Det(this->a0, this->a1, this->c0, this->c1);
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float c0 = C33Matrix::Det(this->a1, this->a2, this->b1, this->b2);
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float c1 = -C33Matrix::Det(this->a0, this->a2, this->b0, this->b2);
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float c2 = C33Matrix::Det(this->a0, this->a1, this->b0, this->b1);
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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float C33Matrix::Determinant() const {
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return this->c0 * this->a1 * this->b2 + this->a2 * this->b0 * this->c1 + this->c2 * this->a0 * this->b1 - this->c0 * this->a2 * this->b1 - this->c2 * this->a1 * this->b0 - this->a0 * this->c1 * this->b2;
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}
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void C33Matrix::FromEulerAnglesZYX(float yaw, float pitch, float roll) {
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float cos_ = CMath::cos(yaw);
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float sin_ = CMath::sin(yaw);
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auto z = C33Matrix(
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cos_, -sin_, 0.0f,
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sin_, cos_, 0.0f,
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0.0f, 0.0f, 1.0f
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);
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cos_ = CMath::cos(pitch);
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sin_ = CMath::sin(pitch);
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auto y = C33Matrix(
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cos_, 0.0f, sin_,
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0.0f, 1.0f, 0.0f,
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-sin_, 0.0f, cos_
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);
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cos_ = CMath::cos(roll);
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sin_ = CMath::sin(roll);
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auto x = C33Matrix(
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1.0f, 0.0f, 0.0f,
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0.0f, cos_, -sin_,
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0.0f, sin_, cos_
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);
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*this = (z * (y * x)).Transpose();
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}
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void C33Matrix::Identity() {
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this->a0 = 1.0f;
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this->a1 = 0.0f;
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this->a2 = 0.0f;
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this->b0 = 0.0f;
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this->b1 = 1.0f;
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this->b2 = 0.0f;
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this->c0 = 0.0f;
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this->c1 = 0.0f;
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this->c2 = 1.0f;
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}
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C33Matrix C33Matrix::Inverse() const {
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return this->Inverse(this->Determinant());
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}
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C33Matrix C33Matrix::Inverse(float det) const {
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STORM_ASSERT(CMath::fequal(det, 0.0f) == false);
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return this->Adjoint() * (1.0f / det);
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}
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void C33Matrix::Rotate(const C4Quaternion& rotation) {
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float twox = 2.0f * rotation.x;
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float twoy = 2.0f * rotation.y;
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float twoz = 2.0f * rotation.z;
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C33Matrix left;
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left.a0 = 1.0f - ((twoy * rotation.y) + (twoz * rotation.z));
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left.a1 = (twoy * rotation.x) + (twoz * rotation.w);
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left.a2 = (twoz * rotation.x) - (twoy * rotation.w);
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left.b0 = (twoy * rotation.x) - (twoz * rotation.w);
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left.b1 = 1.0f - ((twox * rotation.x) + (twoz * rotation.z));
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left.b2 = (twoz * rotation.y) + (twox * rotation.w);
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left.c0 = (twoz * rotation.x) + (twoy * rotation.w);
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left.c1 = (twoz * rotation.y) - (twox * rotation.w);
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left.c2 = 1.0f - ((twox * rotation.x) + (twoy * rotation.y));
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*this = left * (*this);
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}
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void C33Matrix::Rotate(float angle) {
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*this = C33Matrix::Rotation(angle) * (*this);
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}
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void C33Matrix::Rotate(float angle, const C3Vector& axis, bool unit) {
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*this = C33Matrix::Rotation(angle, axis, unit) * (*this);
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}
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void C33Matrix::Scale(const C2Vector& scale) {
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Scale(scale.x, scale.y);
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}
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void C33Matrix::Scale(const C3Vector& scale) {
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Scale(scale.x, scale.y, scale.z);
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}
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void C33Matrix::Scale(float scale) {
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Scale(scale, scale, scale);
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}
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void C33Matrix::Scale(float x, float y) {
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this->a0 *= x;
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this->a1 *= x;
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this->b0 *= y;
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this->b1 *= y;
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}
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void C33Matrix::Scale(float x, float y, float z) {
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this->a0 *= x;
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this->a1 *= x;
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this->a2 *= x;
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this->b0 *= y;
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this->b1 *= y;
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this->b2 *= y;
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this->c0 *= z;
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this->c1 *= z;
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this->c2 *= z;
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}
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float C33Matrix::Trace() {
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return this->a0 + this->b1 + this->c2;
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}
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void C33Matrix::Translate(const C2Vector& move) {
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this->c0 += this->a0 * move.x + this->b0 * move.y;
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this->c1 += this->a1 * move.x + this->b1 * move.y;
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}
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C33Matrix C33Matrix::Transpose() const {
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return {
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this->a0,
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this->b0,
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this->c0,
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this->a1,
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this->b1,
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this->c1,
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this->a2,
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this->b2,
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this->c2
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};
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}
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void C33Matrix::Zero() {
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this->a0 = 0.0f;
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this->a1 = 0.0f;
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this->a2 = 0.0f;
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this->b0 = 0.0f;
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this->b1 = 0.0f;
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this->b2 = 0.0f;
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this->c0 = 0.0f;
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this->c1 = 0.0f;
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this->c2 = 0.0f;
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}
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C33Matrix& C33Matrix::operator+=(const C33Matrix& a) {
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this->a0 += a.a0;
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this->a1 += a.a1;
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@ -262,282 +470,6 @@ C33Matrix& C33Matrix::operator/=(float a) {
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return *this;
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}
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void C33Matrix::Zero() {
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this->a0 = 0.0f;
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this->a1 = 0.0f;
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this->a2 = 0.0f;
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this->b0 = 0.0f;
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this->b1 = 0.0f;
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this->b2 = 0.0f;
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this->c0 = 0.0f;
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this->c1 = 0.0f;
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this->c2 = 0.0f;
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}
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void C33Matrix::Identity() {
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this->a0 = 1.0f;
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this->a1 = 0.0f;
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this->a2 = 0.0f;
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this->b0 = 0.0f;
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this->b1 = 1.0f;
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this->b2 = 0.0f;
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this->c0 = 0.0f;
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this->c1 = 0.0f;
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this->c2 = 1.0f;
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}
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float C33Matrix::Trace() {
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return this->a0 + this->b1 + this->c2;
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}
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void C33Matrix::Scale(float scale) {
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Scale(scale, scale, scale);
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}
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void C33Matrix::Scale(float x, float y) {
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this->a0 *= x;
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this->a1 *= x;
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this->b0 *= y;
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this->b1 *= y;
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}
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void C33Matrix::Scale(const C2Vector& scale) {
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Scale(scale.x, scale.y);
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}
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void C33Matrix::Scale(float x, float y, float z) {
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this->a0 *= x;
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this->a1 *= x;
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this->a2 *= x;
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this->b0 *= y;
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this->b1 *= y;
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this->b2 *= y;
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this->c0 *= z;
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this->c1 *= z;
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this->c2 *= z;
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}
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void C33Matrix::Scale(const C3Vector& scale) {
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Scale(scale.x, scale.y, scale.z);
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}
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void C33Matrix::Rotate(float angle) {
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*this = C33Matrix::Rotation(angle) * (*this);
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}
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void C33Matrix::Rotate(const C4Quaternion& rotation) {
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float twox = 2.0f * rotation.x;
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float twoy = 2.0f * rotation.y;
|
||||
float twoz = 2.0f * rotation.z;
|
||||
|
||||
C33Matrix left;
|
||||
|
||||
left.a0 = 1.0f - ((twoy * rotation.y) + (twoz * rotation.z));
|
||||
left.a1 = (twoy * rotation.x) + (twoz * rotation.w);
|
||||
left.a2 = (twoz * rotation.x) - (twoy * rotation.w);
|
||||
|
||||
left.b0 = (twoy * rotation.x) - (twoz * rotation.w);
|
||||
left.b1 = 1.0f - ((twox * rotation.x) + (twoz * rotation.z));
|
||||
left.b2 = (twoz * rotation.y) + (twox * rotation.w);
|
||||
|
||||
left.c0 = (twoz * rotation.x) + (twoy * rotation.w);
|
||||
left.c1 = (twoz * rotation.y) - (twox * rotation.w);
|
||||
left.c2 = 1.0f - ((twox * rotation.x) + (twoy * rotation.y));
|
||||
|
||||
*this = left * (*this);
|
||||
}
|
||||
|
||||
void C33Matrix::Rotate(float angle, const C3Vector& axis, bool unit) {
|
||||
*this = C33Matrix::Rotation(angle, axis, unit) * (*this);
|
||||
}
|
||||
|
||||
void C33Matrix::Translate(const C2Vector& move) {
|
||||
this->c0 += this->a0 * move.x + this->b0 * move.y;
|
||||
this->c1 += this->a1 * move.x + this->b1 * move.y;
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::Transpose() const {
|
||||
return {
|
||||
this->a0,
|
||||
this->b0,
|
||||
this->c0,
|
||||
this->a1,
|
||||
this->b1,
|
||||
this->c1,
|
||||
this->a2,
|
||||
this->b2,
|
||||
this->c2
|
||||
};
|
||||
}
|
||||
|
||||
float C33Matrix::Determinant() const {
|
||||
return this->c0 * this->a1 * this->b2
|
||||
+ this->a2 * this->b0 * this->c1
|
||||
+ this->c2 * this->a0 * this->b1
|
||||
- this->c0 * this->a2 * this->b1
|
||||
- this->c2 * this->a1 * this->b0
|
||||
- this->a0 * this->c1 * this->b2;
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::Cofactors() const {
|
||||
float a0 = C33Matrix::Det(this->b1, this->b2, this->c1, this->c2);
|
||||
float a1 = -C33Matrix::Det(this->b0, this->b2, this->c0, this->c2);
|
||||
float a2 = C33Matrix::Det(this->b0, this->b1, this->c0, this->c1);
|
||||
|
||||
float b0 = -C33Matrix::Det(this->a1, this->a2, this->c1, this->c2);
|
||||
float b1 = C33Matrix::Det(this->a0, this->a2, this->c0, this->c2);
|
||||
float b2 = -C33Matrix::Det(this->a0, this->a1, this->c0, this->c1);
|
||||
|
||||
float c0 = C33Matrix::Det(this->a1, this->a2, this->b1, this->b2);
|
||||
float c1 = -C33Matrix::Det(this->a0, this->a2, this->b0, this->b2);
|
||||
float c2 = C33Matrix::Det(this->a0, this->a1, this->b0, this->b1);
|
||||
|
||||
return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::Adjoint() const {
|
||||
float a0 = C33Matrix::Det(this->b1, this->b2, this->c1, this->c2);
|
||||
float a1 = -C33Matrix::Det(this->a1, this->a2, this->c1, this->c2);
|
||||
float a2 = C33Matrix::Det(this->a1, this->a2, this->b1, this->b2);
|
||||
|
||||
float b0 = -C33Matrix::Det(this->b0, this->b2, this->c0, this->c2);
|
||||
float b1 = C33Matrix::Det(this->a0, this->a2, this->c0, this->c2);
|
||||
float b2 = -C33Matrix::Det(this->a0, this->a2, this->b0, this->b2);
|
||||
|
||||
float c0 = C33Matrix::Det(this->b0, this->b1, this->c0, this->c1);
|
||||
float c1 = -C33Matrix::Det(this->a0, this->a1, this->c0, this->c1);
|
||||
float c2 = C33Matrix::Det(this->a0, this->a1, this->b0, this->b1);
|
||||
|
||||
return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::Inverse() const {
|
||||
return this->Inverse(this->Determinant());
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::Inverse(float det) const {
|
||||
STORM_ASSERT(CMath::fequal(det, 0.0f) == false);
|
||||
return this->Adjoint() * (1.0f / det);
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::AffineInverse(const C3Vector& v) const {
|
||||
C33Matrix rotationScale = *this;
|
||||
C3Vector s = { 1.0f / v.x, 1.0f / v.y, 1.0f / v.z };
|
||||
rotationScale.Scale(s);
|
||||
C33Matrix matrix = rotationScale.Transpose();
|
||||
matrix.Scale(s);
|
||||
return matrix;
|
||||
}
|
||||
|
||||
C33Matrix C33Matrix::AffineInverse(float a) const {
|
||||
if (CMath::fequalz(a, 1.0f, 0.00000095367432f)) {
|
||||
return this->Transpose();
|
||||
}
|
||||
|
||||
C33Matrix matrix = this->Transpose();
|
||||
matrix.Scale(1.0f / (a * a));
|
||||
return matrix;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesXYZ(float& xa_, float& ya_, float& za_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesXZY(float& xa_, float& za_, float& ya_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesYXZ(float& ya_, float& xa_, float& za_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesYZX(float& ya_, float& za_, float& xa_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesZXY(float& za_, float& xa_, float& ya_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
bool C33Matrix::ToEulerAnglesZYX(float& za_, float& ya_, float& xa_) {
|
||||
// TODO
|
||||
throw;
|
||||
return false;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesXYZ(float yaw, float pitch, float roll) {
|
||||
// TODO
|
||||
throw;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesXZY(float yaw, float pitch, float roll) {
|
||||
// TODO
|
||||
throw;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesYXZ(float yaw, float pitch, float roll) {
|
||||
// TODO
|
||||
throw;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesYZX(float yaw, float pitch, float roll) {
|
||||
// TODO
|
||||
throw;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesZXY(float yaw, float pitch, float roll) {
|
||||
// TODO
|
||||
throw;
|
||||
}
|
||||
|
||||
void C33Matrix::FromEulerAnglesZYX(float yaw, float pitch, float roll) {
|
||||
float siny = CMath::sin(yaw);
|
||||
float cosy = CMath::cos(yaw);
|
||||
|
||||
float sinp = CMath::sin(pitch);
|
||||
float cosp = CMath::cos(pitch);
|
||||
|
||||
float sinr = CMath::sin(roll);
|
||||
float cosr = CMath::cos(roll);
|
||||
|
||||
C33Matrix x_ = {
|
||||
1.0f, 0.0f, 0.0f,
|
||||
0.0f, cosr, -sinr,
|
||||
0.0f, sinr, cosr
|
||||
};
|
||||
|
||||
C33Matrix y_ = {
|
||||
cosp, 0.0f, sinp,
|
||||
0.0f, 1.0f, 0.0f,
|
||||
-sinp, 0.0f, cosp
|
||||
};
|
||||
|
||||
C33Matrix z_ = {
|
||||
cosy, -siny, 0.0f,
|
||||
siny, cosy, 0.0f,
|
||||
0.0f, 0.0f, 1.0f
|
||||
};
|
||||
|
||||
*this = (z_ * y_ * x_).Transpose();
|
||||
}
|
||||
|
||||
C33Matrix operator*(const C33Matrix& l, const C33Matrix& r) {
|
||||
float a0 = l.a0 * r.a0 + l.a1 * r.b0 + l.a2 * r.c0;
|
||||
float a1 = l.a0 * r.a1 + l.a1 * r.b1 + l.a2 * r.c1;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue