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feat(matrix): finish C44Matrix class methods

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VDm 2025-06-15 19:17:43 +04:00
parent 8b277439af
commit b1bf396b4a
4 changed files with 661 additions and 181 deletions
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31
tempest/matrix/C33Matrix.cpp
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@ -1,5 +1,6 @@
#include "tempest/matrix/C33Matrix.hpp"
#include "tempest/math/CMath.hpp"
#include "tempest/matrix/C44Matrix.hpp"
#include "tempest/quaternion/C4Quaternion.hpp"
#include <storm/Error.hpp>
@ -10,10 +11,11 @@ float C33Matrix::Det(float a, float b, float c, float d) {
}
C33Matrix C33Matrix::Rotation(float angle) {
float cosa = cos(angle);
float sina = sin(angle);
float cosa = CMath::cos(angle);
float sina = CMath::sin(angle);
C33Matrix result;
result.a0 = cosa;
result.a1 = sina;
result.a2 = 0.0;
@ -25,6 +27,7 @@ C33Matrix C33Matrix::Rotation(float angle) {
result.c0 = 0.0;
result.c1 = 0.0;
result.c2 = 1.0;
return result;
}
@ -63,6 +66,18 @@ C33Matrix C33Matrix::Rotation(float angle, const C3Vector& axis, bool unit) {
return result;
}
C33Matrix::C33Matrix(const C44Matrix& m)
: a0(m.a0)
, a1(m.a1)
, a2(m.a2)
, b0(m.b0)
, b1(m.b1)
, b2(m.b2)
, c0(m.c0)
, c1(m.c1)
, c2(m.c2) {
}
C33Matrix& C33Matrix::operator+=(const C33Matrix& a) {
this->a0 += a.a0;
this->a1 += a.a1;
@ -199,7 +214,7 @@ void C33Matrix::Scale(const C3Vector& scale) {
}
void C33Matrix::Rotate(float angle) {
*this = C33Matrix::Rotation(angle);
*this = C33Matrix::Rotation(angle) * (*this);
}
void C33Matrix::Rotate(const C4Quaternion& rotation) {
@ -293,7 +308,7 @@ C33Matrix C33Matrix::Inverse() const {
}
C33Matrix C33Matrix::Inverse(float det) const {
STORM_ASSERT(det != 0.0f);
STORM_ASSERT(CMath::fequal(det, 0.0f) == false);
return this->Adjoint() * (1.0f / det);
}
@ -309,11 +324,11 @@ C33Matrix C33Matrix::AffineInverse(const C3Vector& v) const {
C33Matrix C33Matrix::AffineInverse(float a) const {
if (CMath::fequalz(a, 1.0f, 0.00000095367432f)) {
return this->Transpose();
} else {
C33Matrix matrix = this->Transpose();
matrix.Scale(1.0f / (a * a));
return matrix;
}
C33Matrix matrix = this->Transpose();
matrix.Scale(1.0f / (a * a));
return matrix;
}
C33Matrix operator*(const C33Matrix& l, float a) {