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-rw-r--r--src/math/Matrix.cpp382
-rw-r--r--src/math/Matrix.h62
-rw-r--r--src/math/Vector.cpp18
3 files changed, 233 insertions, 229 deletions
diff --git a/src/math/Matrix.cpp b/src/math/Matrix.cpp
index bee3ffba..b11e8a1c 100644
--- a/src/math/Matrix.cpp
+++ b/src/math/Matrix.cpp
@@ -60,20 +60,20 @@ CMatrix::Detach(void)
void
CMatrix::Update(void)
{
- right = m_attachment->right;
- forward = m_attachment->up;
- up = m_attachment->at;
- pos = m_attachment->pos;
+ GetRight() = m_attachment->right;
+ GetForward() = m_attachment->up;
+ GetUp() = m_attachment->at;
+ GetPosition() = m_attachment->pos;
}
void
CMatrix::UpdateRW(void)
{
if (m_attachment) {
- m_attachment->right = right;
- m_attachment->up = forward;
- m_attachment->at = up;
- m_attachment->pos = pos;
+ m_attachment->right = GetRight();
+ m_attachment->up = GetForward();
+ m_attachment->at = GetUp();
+ m_attachment->pos = GetPosition();
RwMatrixUpdate(m_attachment);
}
}
@@ -95,82 +95,82 @@ CMatrix::CopyOnlyMatrix(const CMatrix &other)
CMatrix &
CMatrix::operator+=(CMatrix const &rhs)
{
- right += rhs.right;
- forward += rhs.forward;
- up += rhs.up;
- pos += rhs.pos;
+ GetRight() += rhs.GetRight();
+ GetForward() += rhs.GetForward();
+ GetUp() += rhs.GetUp();
+ GetPosition() += rhs.GetPosition();
return *this;
}
void
CMatrix::SetUnity(void)
{
- right.x = 1.0f;
- right.y = 0.0f;
- right.z = 0.0f;
- forward.x = 0.0f;
- forward.y = 1.0f;
- forward.z = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = 1.0f;
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::ResetOrientation(void)
{
- right.x = 1.0f;
- right.y = 0.0f;
- right.z = 0.0f;
- forward.x = 0.0f;
- forward.y = 1.0f;
- forward.z = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = 1.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
}
void
CMatrix::SetScale(float s)
{
- right.x = s;
- right.y = 0.0f;
- right.z = 0.0f;
+ rx = s;
+ ry = 0.0f;
+ rz = 0.0f;
- forward.x = 0.0f;
- forward.y = s;
- forward.z = 0.0f;
+ fx = 0.0f;
+ fy = s;
+ fz = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = s;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = s;
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::SetTranslate(float x, float y, float z)
{
- right.x = 1.0f;
- right.y = 0.0f;
- right.z = 0.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
- forward.x = 0.0f;
- forward.y = 1.0f;
- forward.z = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = 1.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
- pos.x = x;
- pos.y = y;
- pos.z = z;
+ px = x;
+ py = y;
+ pz = z;
}
void
@@ -179,17 +179,17 @@ CMatrix::SetRotateXOnly(float angle)
float c = Cos(angle);
float s = Sin(angle);
- right.x = 1.0f;
- right.y = 0.0f;
- right.z = 0.0f;
+ rx = 1.0f;
+ ry = 0.0f;
+ rz = 0.0f;
- forward.x = 0.0f;
- forward.y = c;
- forward.z = s;
+ fx = 0.0f;
+ fy = c;
+ fz = s;
- up.x = 0.0f;
- up.y = -s;
- up.z = c;
+ ux = 0.0f;
+ uy = -s;
+ uz = c;
}
void
@@ -198,17 +198,17 @@ CMatrix::SetRotateYOnly(float angle)
float c = Cos(angle);
float s = Sin(angle);
- right.x = c;
- right.y = 0.0f;
- right.z = -s;
+ rx = c;
+ ry = 0.0f;
+ rz = -s;
- forward.x = 0.0f;
- forward.y = 1.0f;
- forward.z = 0.0f;
+ fx = 0.0f;
+ fy = 1.0f;
+ fz = 0.0f;
- up.x = s;
- up.y = 0.0f;
- up.z = c;
+ ux = s;
+ uy = 0.0f;
+ uz = c;
}
void
@@ -217,26 +217,26 @@ CMatrix::SetRotateZOnly(float angle)
float c = Cos(angle);
float s = Sin(angle);
- right.x = c;
- right.y = s;
- right.z = 0.0f;
+ rx = c;
+ ry = s;
+ rz = 0.0f;
- forward.x = -s;
- forward.y = c;
- forward.z = 0.0f;
+ fx = -s;
+ fy = c;
+ fz = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = 1.0f;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = 1.0f;
}
void
CMatrix::SetRotateX(float angle)
{
SetRotateXOnly(angle);
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
@@ -244,18 +244,18 @@ void
CMatrix::SetRotateY(float angle)
{
SetRotateYOnly(angle);
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
CMatrix::SetRotateZ(float angle)
{
SetRotateZOnly(angle);
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
@@ -268,21 +268,21 @@ CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
float cZ = Cos(zAngle);
float sZ = Sin(zAngle);
- right.x = cZ * cY - (sZ * sX) * sY;
- right.y = (cZ * sX) * sY + sZ * cY;
- right.z = -cX * sY;
+ rx = cZ * cY - (sZ * sX) * sY;
+ ry = (cZ * sX) * sY + sZ * cY;
+ rz = -cX * sY;
- forward.x = -sZ * cX;
- forward.y = cZ * cX;
- forward.z = sX;
+ fx = -sZ * cX;
+ fy = cZ * cX;
+ fz = sX;
- up.x = (sZ * sX) * cY + cZ * sY;
- up.y = sZ * sY - (cZ * sX) * cY;
- up.z = cX * cY;
+ ux = (sZ * sX) * cY + cZ * sY;
+ uy = sZ * sY - (cZ * sX) * cY;
+ uz = cX * cY;
- pos.x = 0.0f;
- pos.y = 0.0f;
- pos.z = 0.0f;
+ px = 0.0f;
+ py = 0.0f;
+ pz = 0.0f;
}
void
@@ -291,23 +291,23 @@ CMatrix::RotateX(float x)
float c = Cos(x);
float s = Sin(x);
- float ry = right.y;
- float rz = right.z;
- float uy = forward.y;
- float uz = forward.z;
- float ay = up.y;
- float az = up.z;
- float py = pos.y;
- float pz = pos.z;
-
- right.y = c * ry - s * rz;
- right.z = c * rz + s * ry;
- forward.y = c * uy - s * uz;
- forward.z = c * uz + s * uy;
- up.y = c * ay - s * az;
- up.z = c * az + s * ay;
- pos.y = c * py - s * pz;
- pos.z = c * pz + s * py;
+ float ry = this->ry;
+ float rz = this->rz;
+ float uy = this->fy;
+ float uz = this->fz;
+ float ay = this->uy;
+ float az = this->uz;
+ float py = this->py;
+ float pz = this->pz;
+
+ this->ry = c * ry - s * rz;
+ this->rz = c * rz + s * ry;
+ this->fy = c * uy - s * uz;
+ this->fz = c * uz + s * uy;
+ this->uy = c * ay - s * az;
+ this->uz = c * az + s * ay;
+ this->py = c * py - s * pz;
+ this->pz = c * pz + s * py;
}
void
@@ -316,23 +316,23 @@ CMatrix::RotateY(float y)
float c = Cos(y);
float s = Sin(y);
- float rx = right.x;
- float rz = right.z;
- float ux = forward.x;
- float uz = forward.z;
- float ax = up.x;
- float az = up.z;
- float px = pos.x;
- float pz = pos.z;
-
- right.x = c * rx + s * rz;
- right.z = c * rz - s * rx;
- forward.x = c * ux + s * uz;
- forward.z = c * uz - s * ux;
- up.x = c * ax + s * az;
- up.z = c * az - s * ax;
- pos.x = c * px + s * pz;
- pos.z = c * pz - s * px;
+ float rx = this->rx;
+ float rz = this->rz;
+ float ux = this->fx;
+ float uz = this->fz;
+ float ax = this->ux;
+ float az = this->uz;
+ float px = this->px;
+ float pz = this->pz;
+
+ this->rx = c * rx + s * rz;
+ this->rz = c * rz - s * rx;
+ this->fx = c * ux + s * uz;
+ this->fz = c * uz - s * ux;
+ this->ux = c * ax + s * az;
+ this->uz = c * az - s * ax;
+ this->px = c * px + s * pz;
+ this->pz = c * pz - s * px;
}
void
@@ -341,23 +341,23 @@ CMatrix::RotateZ(float z)
float c = Cos(z);
float s = Sin(z);
- float ry = right.y;
- float rx = right.x;
- float uy = forward.y;
- float ux = forward.x;
- float ay = up.y;
- float ax = up.x;
- float py = pos.y;
- float px = pos.x;
+ float ry = this->ry;
+ float rx = this->rx;
+ float uy = this->fy;
+ float ux = this->fx;
+ float ay = this->uy;
+ float ax = this->ux;
+ float py = this->py;
+ float px = this->px;
- right.x = c * rx - s * ry;
- right.y = c * ry + s * rx;
- forward.x = c * ux - s * uy;
- forward.y = c * uy + s * ux;
- up.x = c * ax - s * ay;
- up.y = c * ay + s * ax;
- pos.x = c * px - s * py;
- pos.y = c * py + s * px;
+ this->rx = c * rx - s * ry;
+ this->ry = c * ry + s * rx;
+ this->fx = c * ux - s * uy;
+ this->fy = c * uy + s * ux;
+ this->ux = c * ax - s * ay;
+ this->uy = c * ay + s * ax;
+ this->px = c * px - s * py;
+ this->py = c * py + s * px;
}
@@ -371,18 +371,18 @@ CMatrix::Rotate(float x, float y, float z)
float cZ = Cos(z);
float sZ = Sin(z);
- float rx = right.x;
- float ry = right.y;
- float rz = right.z;
- float ux = forward.x;
- float uy = forward.y;
- float uz = forward.z;
- float ax = up.x;
- float ay = up.y;
- float az = up.z;
- float px = pos.x;
- float py = pos.y;
- float pz = pos.z;
+ float rx = this->rx;
+ float ry = this->ry;
+ float rz = this->rz;
+ float ux = this->fx;
+ float uy = this->fy;
+ float uz = this->fz;
+ float ax = this->ux;
+ float ay = this->uy;
+ float az = this->uz;
+ float px = this->px;
+ float py = this->py;
+ float pz = this->pz;
float x1 = cZ * cY - (sZ * sX) * sY;
float x2 = (cZ * sX) * sY + sZ * cY;
@@ -394,18 +394,18 @@ CMatrix::Rotate(float x, float y, float z)
float z2 = sZ * sY - (cZ * sX) * cY;
float z3 = cX * cY;
- right.x = x1 * rx + y1 * ry + z1 * rz;
- right.y = x2 * rx + y2 * ry + z2 * rz;
- right.z = x3 * rx + y3 * ry + z3 * rz;
- forward.x = x1 * ux + y1 * uy + z1 * uz;
- forward.y = x2 * ux + y2 * uy + z2 * uz;
- forward.z = x3 * ux + y3 * uy + z3 * uz;
- up.x = x1 * ax + y1 * ay + z1 * az;
- up.y = x2 * ax + y2 * ay + z2 * az;
- up.z = x3 * ax + y3 * ay + z3 * az;
- pos.x = x1 * px + y1 * py + z1 * pz;
- pos.y = x2 * px + y2 * py + z2 * pz;
- pos.z = x3 * px + y3 * py + z3 * pz;
+ this->rx = x1 * rx + y1 * ry + z1 * rz;
+ this->ry = x2 * rx + y2 * ry + z2 * rz;
+ this->rz = x3 * rx + y3 * ry + z3 * rz;
+ this->fx = x1 * ux + y1 * uy + z1 * uz;
+ this->fy = x2 * ux + y2 * uy + z2 * uz;
+ this->fz = x3 * ux + y3 * uy + z3 * uz;
+ this->ux = x1 * ax + y1 * ay + z1 * az;
+ this->uy = x2 * ax + y2 * ay + z2 * az;
+ this->uz = x3 * ax + y3 * ay + z3 * az;
+ this->px = x1 * px + y1 * py + z1 * pz;
+ this->py = x2 * px + y2 * py + z2 * pz;
+ this->pz = x3 * px + y3 * py + z3 * pz;
}
CMatrix &
@@ -434,18 +434,18 @@ operator*(const CMatrix &m1, const CMatrix &m2)
{
// TODO: VU0 code
CMatrix out;
- out.right.x = m1.right.x * m2.right.x + m1.forward.x * m2.right.y + m1.up.x * m2.right.z;
- out.right.y = m1.right.y * m2.right.x + m1.forward.y * m2.right.y + m1.up.y * m2.right.z;
- out.right.z = m1.right.z * m2.right.x + m1.forward.z * m2.right.y + m1.up.z * m2.right.z;
- out.forward.x = m1.right.x * m2.forward.x + m1.forward.x * m2.forward.y + m1.up.x * m2.forward.z;
- out.forward.y = m1.right.y * m2.forward.x + m1.forward.y * m2.forward.y + m1.up.y * m2.forward.z;
- out.forward.z = m1.right.z * m2.forward.x + m1.forward.z * m2.forward.y + m1.up.z * m2.forward.z;
- out.up.x = m1.right.x * m2.up.x + m1.forward.x * m2.up.y + m1.up.x * m2.up.z;
- out.up.y = m1.right.y * m2.up.x + m1.forward.y * m2.up.y + m1.up.y * m2.up.z;
- out.up.z = m1.right.z * m2.up.x + m1.forward.z * m2.up.y + m1.up.z * m2.up.z;
- out.pos.x = m1.right.x * m2.pos.x + m1.forward.x * m2.pos.y + m1.up.x * m2.pos.z + m1.pos.x;
- out.pos.y = m1.right.y * m2.pos.x + m1.forward.y * m2.pos.y + m1.up.y * m2.pos.z + m1.pos.y;
- out.pos.z = m1.right.z * m2.pos.x + m1.forward.z * m2.pos.y + m1.up.z * m2.pos.z + m1.pos.z;
+ out.rx = m1.rx * m2.rx + m1.fx * m2.ry + m1.ux * m2.rz;
+ out.ry = m1.ry * m2.rx + m1.fy * m2.ry + m1.uy * m2.rz;
+ out.rz = m1.rz * m2.rx + m1.fz * m2.ry + m1.uz * m2.rz;
+ out.fx = m1.rx * m2.fx + m1.fx * m2.fy + m1.ux * m2.fz;
+ out.fy = m1.ry * m2.fx + m1.fy * m2.fy + m1.uy * m2.fz;
+ out.fz = m1.rz * m2.fx + m1.fz * m2.fy + m1.uz * m2.fz;
+ out.ux = m1.rx * m2.ux + m1.fx * m2.uy + m1.ux * m2.uz;
+ out.uy = m1.ry * m2.ux + m1.fy * m2.uy + m1.uy * m2.uz;
+ out.uz = m1.rz * m2.ux + m1.fz * m2.uy + m1.uz * m2.uz;
+ out.px = m1.rx * m2.px + m1.fx * m2.py + m1.ux * m2.pz + m1.px;
+ out.py = m1.ry * m2.px + m1.fy * m2.py + m1.uy * m2.pz + m1.py;
+ out.pz = m1.rz * m2.px + m1.fz * m2.py + m1.uz * m2.pz + m1.pz;
return out;
}
diff --git a/src/math/Matrix.h b/src/math/Matrix.h
index fdbd0b60..9d50a4f6 100644
--- a/src/math/Matrix.h
+++ b/src/math/Matrix.h
@@ -1,7 +1,5 @@
#pragma once
-#include "VuVector.h"
-
class CMatrix
{
public:
@@ -10,10 +8,10 @@ public:
float f[4][4];
struct
{
- CVuVector right;
- CVuVector forward;
- CVuVector up;
- CVuVector pos;
+ float rx, ry, rz, rw;
+ float fx, fy, fz, fw;
+ float ux, uy, uz, uw;
+ float px, py, pz, pw;
};
};
@@ -38,17 +36,23 @@ public:
CMatrix &operator+=(CMatrix const &rhs);
CMatrix &operator*=(CMatrix const &rhs);
- CVector &GetPosition(void){ return pos; }
- CVector &GetRight(void) { return right; }
- CVector &GetForward(void) { return forward; }
- CVector &GetUp(void) { return up; }
+ CVector &GetPosition(void) { return *(CVector*)&px; }
+ CVector &GetRight(void) { return *(CVector*)℞ }
+ CVector &GetForward(void) { return *(CVector*)&fx; }
+ CVector &GetUp(void) { return *(CVector*)&ux; }
+
+ const CVector &GetPosition(void) const { return *(CVector*)&px; }
+ const CVector &GetRight(void) const { return *(CVector*)℞ }
+ const CVector &GetForward(void) const { return *(CVector*)&fx; }
+ const CVector &GetUp(void) const { return *(CVector*)&ux; }
+
void SetTranslate(float x, float y, float z);
void SetTranslate(const CVector &trans){ SetTranslate(trans.x, trans.y, trans.z); }
void Translate(float x, float y, float z){
- pos.x += x;
- pos.y += y;
- pos.z += z;
+ px += x;
+ py += y;
+ pz += z;
}
void Translate(const CVector &trans){ Translate(trans.x, trans.y, trans.z); }
@@ -72,17 +76,17 @@ public:
float c = Cos(angle);
float s = Sin(angle);
- right.x = c * scale;
- right.y = s * scale;
- right.z = 0.0f;
+ rx = c * scale;
+ ry = s * scale;
+ rz = 0.0f;
- forward.x = -s * scale;
- forward.y = c * scale;
- forward.z = 0.0f;
+ fx = -s * scale;
+ fy = c * scale;
+ fz = 0.0f;
- up.x = 0.0f;
- up.y = 0.0f;
- up.z = scale;
+ ux = 0.0f;
+ uy = 0.0f;
+ uz = scale;
}
void SetRotateX(float angle);
void SetRotateY(float angle);
@@ -98,9 +102,9 @@ public:
void SetUnity(void);
void ResetOrientation(void);
void SetTranslateOnly(float x, float y, float z) {
- pos.x = x;
- pos.y = y;
- pos.z = z;
+ px = x;
+ py = y;
+ pz = z;
}
void SetTranslateOnly(const CVector& pos) {
SetTranslateOnly(pos.x, pos.y, pos.z);
@@ -114,11 +118,11 @@ CMatrix Invert(const CMatrix &matrix);
CMatrix operator*(const CMatrix &m1, const CMatrix &m2);
inline CVector MultiplyInverse(const CMatrix &mat, const CVector &vec)
{
- CVector v(vec.x - mat.pos.x, vec.y - mat.pos.y, vec.z - mat.pos.z);
+ CVector v(vec.x - mat.px, vec.y - mat.py, vec.z - mat.pz);
return CVector(
- mat.right.x * v.x + mat.right.y * v.y + mat.right.z * v.z,
- mat.forward.x * v.x + mat.forward.y * v.y + mat.forward.z * v.z,
- mat.up.x * v.x + mat.up.y * v.y + mat.up.z * v.z);
+ mat.rx * v.x + mat.ry * v.y + mat.rz * v.z,
+ mat.fx * v.x + mat.fy * v.y + mat.fz * v.z,
+ mat.ux * v.x + mat.uy * v.y + mat.uz * v.z);
}
diff --git a/src/math/Vector.cpp b/src/math/Vector.cpp
index 3bc395d8..ee76e555 100644
--- a/src/math/Vector.cpp
+++ b/src/math/Vector.cpp
@@ -23,24 +23,24 @@ CVector
Multiply3x3(const CMatrix &mat, const CVector &vec)
{
// TODO: VU0 code
- return CVector(mat.right.x * vec.x + mat.forward.x * vec.y + mat.up.x * vec.z,
- mat.right.y * vec.x + mat.forward.y * vec.y + mat.up.y * vec.z,
- mat.right.z * vec.x + mat.forward.z * vec.y + mat.up.z * vec.z);
+ return CVector(mat.rx * vec.x + mat.fx * vec.y + mat.ux * vec.z,
+ mat.ry * vec.x + mat.fy * vec.y + mat.uy * vec.z,
+ mat.rz * vec.x + mat.fz * vec.y + mat.uz * vec.z);
}
CVector
Multiply3x3(const CVector &vec, const CMatrix &mat)
{
- return CVector(mat.right.x * vec.x + mat.right.y * vec.y + mat.right.z * vec.z,
- mat.forward.x * vec.x + mat.forward.y * vec.y + mat.forward.z * vec.z,
- mat.up.x * vec.x + mat.up.y * vec.y + mat.up.z * vec.z);
+ return CVector(mat.rx * vec.x + mat.ry * vec.y + mat.rz * vec.z,
+ mat.fx * vec.x + mat.fy * vec.y + mat.fz * vec.z,
+ mat.ux * vec.x + mat.uy * vec.y + mat.uz * vec.z);
}
CVector
operator*(const CMatrix &mat, const CVector &vec)
{
// TODO: VU0 code
- return CVector(mat.right.x * vec.x + mat.forward.x * vec.y + mat.up.x * vec.z + mat.pos.x,
- mat.right.y * vec.x + mat.forward.y * vec.y + mat.up.y * vec.z + mat.pos.y,
- mat.right.z * vec.x + mat.forward.z * vec.y + mat.up.z * vec.z + mat.pos.z);
+ return CVector(mat.rx * vec.x + mat.fx * vec.y + mat.ux * vec.z + mat.px,
+ mat.ry * vec.x + mat.fy * vec.y + mat.uy * vec.z + mat.py,
+ mat.rz * vec.x + mat.fz * vec.y + mat.uz * vec.z + mat.pz);
}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-17 15:08:31 +0100