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annotate src/vmath.cc @ 12:d94a69933a71

find changesets by author, revision, files, or words in the commit message
lots of stuff, can't remember
author John Tsiombikas <nuclear@member.fsf.org>
date Sat, 12 Apr 2014 23:28:24 +0300
parents a826bf0fb169
children 79609d482762
rev   line source
nuclear@1 1 #include "vmathmat.h"
nuclear@1 2 #include "vmath.h"
nuclear@1 3
nuclear@1 4 void Matrix4x4::lookat(const Vector3 &pos, const Vector3 &targ, const Vector3 &up)
nuclear@1 5 {
nuclear@1 6 Vector3 vk = normalize(targ - pos);
nuclear@1 7 Vector3 vj = normalize(up);
nuclear@1 8 Vector3 vi = normalize(cross(vk, vj));
nuclear@1 9 vj = cross(vi, vk);
nuclear@1 10
nuclear@1 11 Matrix4x4 m(
nuclear@1 12 vi.x, vi.y, vi.z, 0,
nuclear@1 13 vj.x, vj.y, vj.z, 0,
nuclear@1 14 -vk.x, -vk.y, -vk.z, 0,
nuclear@1 15 0, 0, 0, 1);
nuclear@1 16 translate(-pos.x, -pos.y, -pos.z);
nuclear@1 17 *this = *this * m;
nuclear@1 18 }
nuclear@12 19
nuclear@12 20 void Matrix4x4::transpose()
nuclear@12 21 {
nuclear@12 22 Matrix4x4 tmp = *this;
nuclear@12 23 for(int i=0; i<4; i++) {
nuclear@12 24 for(int j=0; j<4; j++) {
nuclear@12 25 m[i][j] = tmp[j][i];
nuclear@12 26 }
nuclear@12 27 }
nuclear@12 28 }
nuclear@12 29
nuclear@12 30 float Matrix4x4::determinant() const
nuclear@12 31 {
nuclear@12 32 float det11 = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 33 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12 34 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12 35
nuclear@12 36 float det12 = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 37 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 38 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12 39
nuclear@12 40 float det13 = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12 41 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 42 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 43
nuclear@12 44 float det14 = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12 45 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12 46 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 47
nuclear@12 48 return m[0][0] * det11 - m[0][1] * det12 + m[0][2] * det13 - m[0][3] * det14;
nuclear@12 49 }
nuclear@12 50
nuclear@12 51
nuclear@12 52 Matrix4x4 Matrix4x4::adjoint() const
nuclear@12 53 {
nuclear@12 54 Matrix4x4 coef;
nuclear@12 55
nuclear@12 56 coef.m[0][0] = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 57 (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12 58 (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12 59 coef.m[0][1] = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 60 (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 61 (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12 62 coef.m[0][2] = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12 63 (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 64 (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 65 coef.m[0][3] = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12 66 (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12 67 (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 68
nuclear@12 69 coef.m[1][0] = (m[0][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 70 (m[0][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12 71 (m[0][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12 72 coef.m[1][1] = (m[0][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12 73 (m[0][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 74 (m[0][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12 75 coef.m[1][2] = (m[0][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12 76 (m[0][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12 77 (m[0][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 78 coef.m[1][3] = (m[0][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12 79 (m[0][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12 80 (m[0][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12 81
nuclear@12 82 coef.m[2][0] = (m[0][1] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@12 83 (m[0][2] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) +
nuclear@12 84 (m[0][3] * (m[1][1] * m[3][2] - m[3][1] * m[1][2]));
nuclear@12 85 coef.m[2][1] = (m[0][0] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@12 86 (m[0][2] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@12 87 (m[0][3] * (m[1][0] * m[3][2] - m[3][0] * m[1][2]));
nuclear@12 88 coef.m[2][2] = (m[0][0] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) -
nuclear@12 89 (m[0][1] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@12 90 (m[0][3] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@12 91 coef.m[2][3] = (m[0][0] * (m[1][1] * m[3][2] - m[3][1] * m[1][2])) -
nuclear@12 92 (m[0][1] * (m[1][0] * m[3][2] - m[3][0] * m[1][2])) +
nuclear@12 93 (m[0][2] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@12 94
nuclear@12 95 coef.m[3][0] = (m[0][1] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@12 96 (m[0][2] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) +
nuclear@12 97 (m[0][3] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]));
nuclear@12 98 coef.m[3][1] = (m[0][0] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@12 99 (m[0][2] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@12 100 (m[0][3] * (m[1][0] * m[2][2] - m[2][0] * m[1][2]));
nuclear@12 101 coef.m[3][2] = (m[0][0] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) -
nuclear@12 102 (m[0][1] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@12 103 (m[0][3] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@12 104 coef.m[3][3] = (m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])) -
nuclear@12 105 (m[0][1] * (m[1][0] * m[2][2] - m[2][0] * m[1][2])) +
nuclear@12 106 (m[0][2] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@12 107
nuclear@12 108 coef.transpose();
nuclear@12 109
nuclear@12 110 for(int i=0; i<4; i++) {
nuclear@12 111 for(int j=0; j<4; j++) {
nuclear@12 112 coef.m[i][j] = j % 2 ? -coef.m[i][j] : coef.m[i][j];
nuclear@12 113 if(i % 2) coef.m[i][j] = -coef.m[i][j];
nuclear@12 114 }
nuclear@12 115 }
nuclear@12 116
nuclear@12 117 return coef;
nuclear@12 118 }
nuclear@12 119
nuclear@12 120 Matrix4x4 Matrix4x4::inverse() const
nuclear@12 121 {
nuclear@12 122 Matrix4x4 adj = adjoint();
nuclear@12 123 return adj * (1.0f / determinant());
nuclear@12 124 }