mirror of
https://github.com/thunderbrewhq/typhoon.git
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365 lines
8.7 KiB
C++
365 lines
8.7 KiB
C++
#include "tempest/matrix/C33Matrix.hpp"
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#include "tempest/math/CMath.hpp"
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#include "tempest/quaternion/C4Quaternion.hpp"
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#include <storm/Error.hpp>
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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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float cosa = cos(angle);
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float sina = sin(angle);
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C33Matrix result;
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result.a0 = cosa;
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result.a1 = sina;
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result.a2 = 0.0;
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result.b0 = -sina;
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result.b1 = cosa;
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result.b2 = 0.0;
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result.c0 = 0.0;
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result.c1 = 0.0;
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result.c2 = 1.0;
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return result;
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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::operator+=(const C33Matrix& a) {
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this->a0 += a.a0;
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this->a1 += a.a1;
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this->a2 += a.a2;
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this->b0 += a.b0;
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this->b1 += a.b1;
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this->b2 += a.b2;
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this->c0 += a.c0;
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this->c1 += a.c1;
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this->c2 += a.c2;
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return *this;
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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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this->a2 -= a.a2;
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this->b0 -= a.b0;
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this->b1 -= a.b1;
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this->b2 -= a.b2;
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this->c0 -= a.c0;
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this->c1 -= a.c1;
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this->c2 -= a.c2;
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return *this;
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}
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C33Matrix& C33Matrix::operator*=(float a) {
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this->a0 *= a;
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this->a1 *= a;
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this->a2 *= a;
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this->b0 *= a;
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this->b1 *= a;
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this->b2 *= a;
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this->c0 *= a;
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this->c1 *= a;
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this->c2 *= a;
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return *this;
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}
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C33Matrix& C33Matrix::operator*=(const C33Matrix& a) {
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*this = *this * a;
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return *this;
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}
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C33Matrix& C33Matrix::operator/=(float a) {
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this->a0 /= a;
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this->a1 /= a;
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this->a2 /= a;
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this->b0 /= a;
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this->b1 /= a;
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this->b2 /= a;
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this->c0 /= a;
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this->c1 /= a;
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this->c2 /= 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);
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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, 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::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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float C33Matrix::Determinant() const {
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return this->c0 * this->a1 * this->b2
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+ this->a2 * this->b0 * this->c1
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+ this->c2 * this->a0 * this->b1
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- this->c0 * this->a2 * this->b1
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- this->c2 * this->a1 * this->b0
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- this->a0 * this->c1 * this->b2;
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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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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::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(det != 0.0f);
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return this->Adjoint() * (1.0f / det);
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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 a) const {
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if (CMath::fequalz(a, 1.0f, 0.00000095367432f)) {
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return this->Transpose();
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} else {
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C33Matrix matrix = this->Transpose();
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matrix.Scale(1.0f / (a * a));
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return matrix;
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}
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}
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C33Matrix operator*(const C33Matrix& l, float a) {
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float a0 = l.a0 * a;
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float a1 = l.a1 * a;
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float a2 = l.a2 * a;
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float b0 = l.b0 * a;
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float b1 = l.b1 * a;
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float b2 = l.b2 * a;
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float c0 = l.c0 * a;
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float c1 = l.c1 * a;
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float c2 = l.c2 * a;
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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C33Matrix operator*(const C33Matrix& l, const C33Matrix& r) {
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float a0 = l.a0 * r.a0 + l.a1 * r.b0 + l.a2 * r.c0;
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float a1 = l.a0 * r.a1 + l.a1 * r.b1 + l.a2 * r.c1;
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float a2 = l.a0 * r.a2 + l.a1 * r.b2 + l.a2 * r.c2;
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float b0 = l.b0 * r.a0 + l.b1 * r.b0 + l.b2 * r.c0;
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float b1 = l.b0 * r.a1 + l.b1 * r.b1 + l.b2 * r.c1;
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float b2 = l.b0 * r.a2 + l.b1 * r.b2 + l.b2 * r.c2;
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float c0 = l.c0 * r.a0 + l.c1 * r.b0 + l.c2 * r.c0;
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float c1 = l.c0 * r.a1 + l.c1 * r.b1 + l.c2 * r.c1;
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float c2 = l.c0 * r.a2 + l.c1 * r.b2 + l.c2 * r.c2;
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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C33Matrix operator/(const C33Matrix& l, float a) {
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float a0 = l.a0 / a;
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float a1 = l.a1 / a;
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float a2 = l.a2 / a;
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float b0 = l.b0 / a;
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float b1 = l.b1 / a;
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float b2 = l.b2 / a;
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float c0 = l.c0 / a;
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float c1 = l.c1 / a;
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float c2 = l.c2 / a;
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return { a0, a1, a2, b0, b1, b2, c0, c1, c2 };
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}
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