mirror of
https://github.com/ZDoom/Raze.git
synced 2024-11-16 09:21:36 +00:00
710 lines
17 KiB
C++
710 lines
17 KiB
C++
/* --------------------------------------------------
|
|
|
|
Lighthouse3D
|
|
|
|
VSMatrix - Very Simple Matrix Library
|
|
|
|
http://www.lighthouse3d.com/very-simple-libs
|
|
|
|
This is a simplified version of VSMatrix that has been adjusted for GZDoom's needs.
|
|
|
|
----------------------------------------------------*/
|
|
|
|
#include <algorithm>
|
|
#include <math.h>
|
|
#include "matrix.h"
|
|
|
|
#ifdef _MSC_VER
|
|
#pragma warning(disable : 4244) // truncate from double to float
|
|
#endif
|
|
|
|
static inline FLOATTYPE
|
|
DegToRad(FLOATTYPE degrees)
|
|
{
|
|
return (FLOATTYPE)(degrees * (pi::pif() / 180.0f));
|
|
};
|
|
|
|
// sets the square matrix mat to the identity matrix,
|
|
// size refers to the number of rows (or columns)
|
|
void
|
|
VSMatrix::setIdentityMatrix( FLOATTYPE *mat, int size) {
|
|
|
|
// fill matrix with 0s
|
|
for (int i = 0; i < size * size; ++i)
|
|
mat[i] = 0.0f;
|
|
|
|
// fill diagonal with 1s
|
|
for (int i = 0; i < size; ++i)
|
|
mat[i + i * size] = 1.0f;
|
|
}
|
|
|
|
|
|
|
|
// gl LoadIdentity implementation
|
|
void
|
|
VSMatrix::loadIdentity()
|
|
{
|
|
// fill matrix with 0s
|
|
for (int i = 0; i < 16; ++i)
|
|
mMatrix[i] = 0.0f;
|
|
|
|
// fill diagonal with 1s
|
|
for (int i = 0; i < 4; ++i)
|
|
mMatrix[i + i * 4] = 1.0f;
|
|
}
|
|
|
|
|
|
// gl MultMatrix implementation
|
|
void
|
|
VSMatrix::multMatrix(const FLOATTYPE *aMatrix)
|
|
{
|
|
|
|
FLOATTYPE res[16];
|
|
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
for (int j = 0; j < 4; ++j)
|
|
{
|
|
res[j*4 + i] = 0.0f;
|
|
for (int k = 0; k < 4; ++k)
|
|
{
|
|
res[j*4 + i] += mMatrix[k*4 + i] * aMatrix[j*4 + k];
|
|
}
|
|
}
|
|
}
|
|
memcpy(mMatrix, res, 16 * sizeof(FLOATTYPE));
|
|
}
|
|
|
|
#ifdef USE_DOUBLE
|
|
// gl MultMatrix implementation
|
|
void
|
|
VSMatrix::multMatrix(const float *aMatrix)
|
|
{
|
|
|
|
FLOATTYPE res[16];
|
|
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
for (int j = 0; j < 4; ++j)
|
|
{
|
|
res[j * 4 + i] = 0.0f;
|
|
for (int k = 0; k < 4; ++k)
|
|
{
|
|
res[j*4 + i] += mMatrix[k*4 + i] * aMatrix[j*4 + k];
|
|
}
|
|
}
|
|
}
|
|
memcpy(mMatrix, res, 16 * sizeof(FLOATTYPE));
|
|
}
|
|
#endif
|
|
|
|
void VSMatrix::multQuaternion(const TVector4<FLOATTYPE>& q)
|
|
{
|
|
FLOATTYPE m[16] = { FLOATTYPE(0.0) };
|
|
m[0 * 4 + 0] = FLOATTYPE(1.0) - FLOATTYPE(2.0) * q.Y * q.Y - FLOATTYPE(2.0) * q.Z * q.Z;
|
|
m[1 * 4 + 0] = FLOATTYPE(2.0) * q.X * q.Y - FLOATTYPE(2.0) * q.W * q.Z;
|
|
m[2 * 4 + 0] = FLOATTYPE(2.0) * q.X * q.Z + FLOATTYPE(2.0) * q.W * q.Y;
|
|
m[0 * 4 + 1] = FLOATTYPE(2.0) * q.X * q.Y + FLOATTYPE(2.0) * q.W * q.Z;
|
|
m[1 * 4 + 1] = FLOATTYPE(1.0) - FLOATTYPE(2.0) * q.X * q.X - FLOATTYPE(2.0) * q.Z * q.Z;
|
|
m[2 * 4 + 1] = FLOATTYPE(2.0) * q.Y * q.Z - FLOATTYPE(2.0) * q.W * q.X;
|
|
m[0 * 4 + 2] = FLOATTYPE(2.0) * q.X * q.Z - FLOATTYPE(2.0) * q.W * q.Y;
|
|
m[1 * 4 + 2] = FLOATTYPE(2.0) * q.Y * q.Z + FLOATTYPE(2.0) * q.W * q.X;
|
|
m[2 * 4 + 2] = FLOATTYPE(1.0) - FLOATTYPE(2.0) * q.X * q.X - FLOATTYPE(2.0) * q.Y * q.Y;
|
|
m[3 * 4 + 3] = FLOATTYPE(1.0);
|
|
multMatrix(m);
|
|
}
|
|
|
|
|
|
// gl LoadMatrix implementation
|
|
void
|
|
VSMatrix::loadMatrix(const FLOATTYPE *aMatrix)
|
|
{
|
|
memcpy(mMatrix, aMatrix, 16 * sizeof(FLOATTYPE));
|
|
}
|
|
|
|
#ifdef USE_DOUBLE
|
|
// gl LoadMatrix implementation
|
|
void
|
|
VSMatrix::loadMatrix(const float *aMatrix)
|
|
{
|
|
for (int i = 0; i < 16; ++i)
|
|
{
|
|
mMatrix[i] = aMatrix[i];
|
|
}
|
|
}
|
|
#endif
|
|
|
|
|
|
// gl Translate implementation
|
|
void
|
|
VSMatrix::translate(FLOATTYPE x, FLOATTYPE y, FLOATTYPE z)
|
|
{
|
|
mMatrix[12] = mMatrix[0] * x + mMatrix[4] * y + mMatrix[8] * z + mMatrix[12];
|
|
mMatrix[13] = mMatrix[1] * x + mMatrix[5] * y + mMatrix[9] * z + mMatrix[13];
|
|
mMatrix[14] = mMatrix[2] * x + mMatrix[6] * y + mMatrix[10] * z + mMatrix[14];
|
|
}
|
|
|
|
void VSMatrix::transpose()
|
|
{
|
|
FLOATTYPE original[16];
|
|
for (int cnt = 0; cnt < 16; cnt++)
|
|
original[cnt] = mMatrix[cnt];
|
|
|
|
mMatrix[0] = original[0];
|
|
mMatrix[1] = original[4];
|
|
mMatrix[2] = original[8];
|
|
mMatrix[3] = original[12];
|
|
mMatrix[4] = original[1];
|
|
mMatrix[5] = original[5];
|
|
mMatrix[6] = original[9];
|
|
mMatrix[7] = original[13];
|
|
mMatrix[8] = original[2];
|
|
mMatrix[9] = original[6];
|
|
mMatrix[10] = original[10];
|
|
mMatrix[11] = original[14];
|
|
mMatrix[12] = original[3];
|
|
mMatrix[13] = original[7];
|
|
mMatrix[14] = original[11];
|
|
mMatrix[15] = original[15];
|
|
}
|
|
|
|
// gl Scale implementation
|
|
void
|
|
VSMatrix::scale(FLOATTYPE x, FLOATTYPE y, FLOATTYPE z)
|
|
{
|
|
mMatrix[0] *= x; mMatrix[1] *= x; mMatrix[2] *= x; mMatrix[3] *= x;
|
|
mMatrix[4] *= y; mMatrix[5] *= y; mMatrix[6] *= y; mMatrix[7] *= y;
|
|
mMatrix[8] *= z; mMatrix[9] *= z; mMatrix[10] *= z; mMatrix[11] *= z;
|
|
}
|
|
|
|
|
|
// gl Rotate implementation
|
|
void
|
|
VSMatrix::rotate(FLOATTYPE angle, FLOATTYPE x, FLOATTYPE y, FLOATTYPE z)
|
|
{
|
|
FLOATTYPE mat[16];
|
|
FLOATTYPE v[3];
|
|
|
|
v[0] = x;
|
|
v[1] = y;
|
|
v[2] = z;
|
|
|
|
FLOATTYPE radAngle = DegToRad(angle);
|
|
FLOATTYPE co = cos(radAngle);
|
|
FLOATTYPE si = sin(radAngle);
|
|
normalize(v);
|
|
FLOATTYPE x2 = v[0]*v[0];
|
|
FLOATTYPE y2 = v[1]*v[1];
|
|
FLOATTYPE z2 = v[2]*v[2];
|
|
|
|
// mat[0] = x2 + (y2 + z2) * co;
|
|
mat[0] = co + x2 * (1 - co);// + (y2 + z2) * co;
|
|
mat[4] = v[0] * v[1] * (1 - co) - v[2] * si;
|
|
mat[8] = v[0] * v[2] * (1 - co) + v[1] * si;
|
|
mat[12]= 0.0f;
|
|
|
|
mat[1] = v[0] * v[1] * (1 - co) + v[2] * si;
|
|
// mat[5] = y2 + (x2 + z2) * co;
|
|
mat[5] = co + y2 * (1 - co);
|
|
mat[9] = v[1] * v[2] * (1 - co) - v[0] * si;
|
|
mat[13]= 0.0f;
|
|
|
|
mat[2] = v[0] * v[2] * (1 - co) - v[1] * si;
|
|
mat[6] = v[1] * v[2] * (1 - co) + v[0] * si;
|
|
// mat[10]= z2 + (x2 + y2) * co;
|
|
mat[10]= co + z2 * (1 - co);
|
|
mat[14]= 0.0f;
|
|
|
|
mat[3] = 0.0f;
|
|
mat[7] = 0.0f;
|
|
mat[11]= 0.0f;
|
|
mat[15]= 1.0f;
|
|
|
|
multMatrix(mat);
|
|
}
|
|
|
|
|
|
// gluLookAt implementation
|
|
void
|
|
VSMatrix::lookAt(FLOATTYPE xPos, FLOATTYPE yPos, FLOATTYPE zPos,
|
|
FLOATTYPE xLook, FLOATTYPE yLook, FLOATTYPE zLook,
|
|
FLOATTYPE xUp, FLOATTYPE yUp, FLOATTYPE zUp)
|
|
{
|
|
FLOATTYPE dir[3], right[3], up[3];
|
|
|
|
up[0] = xUp; up[1] = yUp; up[2] = zUp;
|
|
|
|
dir[0] = (xLook - xPos);
|
|
dir[1] = (yLook - yPos);
|
|
dir[2] = (zLook - zPos);
|
|
normalize(dir);
|
|
|
|
crossProduct(dir,up,right);
|
|
normalize(right);
|
|
|
|
crossProduct(right,dir,up);
|
|
normalize(up);
|
|
|
|
FLOATTYPE m1[16],m2[16];
|
|
|
|
m1[0] = right[0];
|
|
m1[4] = right[1];
|
|
m1[8] = right[2];
|
|
m1[12] = 0.0f;
|
|
|
|
m1[1] = up[0];
|
|
m1[5] = up[1];
|
|
m1[9] = up[2];
|
|
m1[13] = 0.0f;
|
|
|
|
m1[2] = -dir[0];
|
|
m1[6] = -dir[1];
|
|
m1[10] = -dir[2];
|
|
m1[14] = 0.0f;
|
|
|
|
m1[3] = 0.0f;
|
|
m1[7] = 0.0f;
|
|
m1[11] = 0.0f;
|
|
m1[15] = 1.0f;
|
|
|
|
setIdentityMatrix(m2,4);
|
|
m2[12] = -xPos;
|
|
m2[13] = -yPos;
|
|
m2[14] = -zPos;
|
|
|
|
multMatrix(m1);
|
|
multMatrix(m2);
|
|
}
|
|
|
|
|
|
// gluPerspective implementation
|
|
void
|
|
VSMatrix::perspective(FLOATTYPE fov, FLOATTYPE ratio, FLOATTYPE nearp, FLOATTYPE farp)
|
|
{
|
|
FLOATTYPE f = 1.0f / tan (fov * (pi::pif() / 360.0f));
|
|
|
|
loadIdentity();
|
|
mMatrix[0] = f / ratio;
|
|
mMatrix[1 * 4 + 1] = f;
|
|
mMatrix[2 * 4 + 2] = (farp + nearp) / (nearp - farp);
|
|
mMatrix[3 * 4 + 2] = (2.0f * farp * nearp) / (nearp - farp);
|
|
mMatrix[2 * 4 + 3] = -1.0f;
|
|
mMatrix[3 * 4 + 3] = 0.0f;
|
|
}
|
|
|
|
|
|
// gl Ortho implementation
|
|
void
|
|
VSMatrix::ortho(FLOATTYPE left, FLOATTYPE right,
|
|
FLOATTYPE bottom, FLOATTYPE top,
|
|
FLOATTYPE nearp, FLOATTYPE farp)
|
|
{
|
|
loadIdentity();
|
|
|
|
mMatrix[0 * 4 + 0] = 2 / (right - left);
|
|
mMatrix[1 * 4 + 1] = 2 / (top - bottom);
|
|
mMatrix[2 * 4 + 2] = -2 / (farp - nearp);
|
|
mMatrix[3 * 4 + 0] = -(right + left) / (right - left);
|
|
mMatrix[3 * 4 + 1] = -(top + bottom) / (top - bottom);
|
|
mMatrix[3 * 4 + 2] = -(farp + nearp) / (farp - nearp);
|
|
}
|
|
|
|
|
|
// gl Frustum implementation
|
|
void
|
|
VSMatrix::frustum(FLOATTYPE left, FLOATTYPE right,
|
|
FLOATTYPE bottom, FLOATTYPE top,
|
|
FLOATTYPE nearp, FLOATTYPE farp)
|
|
{
|
|
FLOATTYPE m[16];
|
|
|
|
setIdentityMatrix(m,4);
|
|
|
|
m[0 * 4 + 0] = 2 * nearp / (right-left);
|
|
m[1 * 4 + 1] = 2 * nearp / (top - bottom);
|
|
m[2 * 4 + 0] = (right + left) / (right - left);
|
|
m[2 * 4 + 1] = (top + bottom) / (top - bottom);
|
|
m[2 * 4 + 2] = - (farp + nearp) / (farp - nearp);
|
|
m[2 * 4 + 3] = -1.0f;
|
|
m[3 * 4 + 2] = - 2 * farp * nearp / (farp-nearp);
|
|
m[3 * 4 + 3] = 0.0f;
|
|
|
|
multMatrix(m);
|
|
}
|
|
|
|
|
|
/*
|
|
// returns a pointer to the requested matrix
|
|
FLOATTYPE *
|
|
VSMatrix::get(MatrixTypes aType)
|
|
{
|
|
return mMatrix[aType];
|
|
}
|
|
*/
|
|
|
|
|
|
/* -----------------------------------------------------
|
|
SEND MATRICES TO OPENGL
|
|
------------------------------------------------------*/
|
|
|
|
// -----------------------------------------------------
|
|
// AUX functions
|
|
// -----------------------------------------------------
|
|
|
|
|
|
// Compute res = M * point
|
|
void
|
|
VSMatrix::multMatrixPoint(const FLOATTYPE *point, FLOATTYPE *res)
|
|
{
|
|
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
|
|
res[i] = 0.0f;
|
|
|
|
for (int j = 0; j < 4; j++) {
|
|
|
|
res[i] += point[j] * mMatrix[j*4 + i];
|
|
}
|
|
}
|
|
}
|
|
|
|
// res = a cross b;
|
|
void
|
|
VSMatrix::crossProduct(const FLOATTYPE *a, const FLOATTYPE *b, FLOATTYPE *res) {
|
|
|
|
res[0] = a[1] * b[2] - b[1] * a[2];
|
|
res[1] = a[2] * b[0] - b[2] * a[0];
|
|
res[2] = a[0] * b[1] - b[0] * a[1];
|
|
}
|
|
|
|
|
|
// returns a . b
|
|
FLOATTYPE
|
|
VSMatrix::dotProduct(const FLOATTYPE *a, const FLOATTYPE *b) {
|
|
|
|
FLOATTYPE res = a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
|
|
|
|
return res;
|
|
}
|
|
|
|
|
|
// Normalize a vec3
|
|
void
|
|
VSMatrix::normalize(FLOATTYPE *a) {
|
|
|
|
FLOATTYPE mag = sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]);
|
|
|
|
a[0] /= mag;
|
|
a[1] /= mag;
|
|
a[2] /= mag;
|
|
}
|
|
|
|
|
|
// res = b - a
|
|
void
|
|
VSMatrix::subtract(const FLOATTYPE *a, const FLOATTYPE *b, FLOATTYPE *res) {
|
|
|
|
res[0] = b[0] - a[0];
|
|
res[1] = b[1] - a[1];
|
|
res[2] = b[2] - a[2];
|
|
}
|
|
|
|
|
|
// res = a + b
|
|
void
|
|
VSMatrix::add(const FLOATTYPE *a, const FLOATTYPE *b, FLOATTYPE *res) {
|
|
|
|
res[0] = b[0] + a[0];
|
|
res[1] = b[1] + a[1];
|
|
res[2] = b[2] + a[2];
|
|
}
|
|
|
|
|
|
// returns |a|
|
|
FLOATTYPE
|
|
VSMatrix::length(const FLOATTYPE *a) {
|
|
|
|
return(sqrt(a[0] * a[0] + a[1] * a[1] + a[2] * a[2]));
|
|
|
|
}
|
|
|
|
|
|
|
|
// computes the derived normal matrix for the view matrix
|
|
void
|
|
VSMatrix::computeNormalMatrix(const FLOATTYPE *aMatrix)
|
|
{
|
|
|
|
double mMat3x3[9];
|
|
|
|
mMat3x3[0] = aMatrix[0];
|
|
mMat3x3[1] = aMatrix[1];
|
|
mMat3x3[2] = aMatrix[2];
|
|
|
|
mMat3x3[3] = aMatrix[4];
|
|
mMat3x3[4] = aMatrix[5];
|
|
mMat3x3[5] = aMatrix[6];
|
|
|
|
mMat3x3[6] = aMatrix[8];
|
|
mMat3x3[7] = aMatrix[9];
|
|
mMat3x3[8] = aMatrix[10];
|
|
|
|
double det, invDet;
|
|
|
|
det = mMat3x3[0] * (mMat3x3[4] * mMat3x3[8] - mMat3x3[5] * mMat3x3[7]) +
|
|
mMat3x3[1] * (mMat3x3[5] * mMat3x3[6] - mMat3x3[8] * mMat3x3[3]) +
|
|
mMat3x3[2] * (mMat3x3[3] * mMat3x3[7] - mMat3x3[4] * mMat3x3[6]);
|
|
|
|
invDet = 1.0/det;
|
|
|
|
mMatrix[0] = (mMat3x3[4] * mMat3x3[8] - mMat3x3[5] * mMat3x3[7]) * invDet;
|
|
mMatrix[1] = (mMat3x3[5] * mMat3x3[6] - mMat3x3[8] * mMat3x3[3]) * invDet;
|
|
mMatrix[2] = (mMat3x3[3] * mMat3x3[7] - mMat3x3[4] * mMat3x3[6]) * invDet;
|
|
mMatrix[3] = 0.0f;
|
|
mMatrix[4] = (mMat3x3[2] * mMat3x3[7] - mMat3x3[1] * mMat3x3[8]) * invDet;
|
|
mMatrix[5] = (mMat3x3[0] * mMat3x3[8] - mMat3x3[2] * mMat3x3[6]) * invDet;
|
|
mMatrix[6] = (mMat3x3[1] * mMat3x3[6] - mMat3x3[7] * mMat3x3[0]) * invDet;
|
|
mMatrix[7] = 0.0f;
|
|
mMatrix[8] = (mMat3x3[1] * mMat3x3[5] - mMat3x3[4] * mMat3x3[2]) * invDet;
|
|
mMatrix[9] = (mMat3x3[2] * mMat3x3[3] - mMat3x3[0] * mMat3x3[5]) * invDet;
|
|
mMatrix[10] =(mMat3x3[0] * mMat3x3[4] - mMat3x3[3] * mMat3x3[1]) * invDet;
|
|
mMatrix[11] = 0.0;
|
|
mMatrix[12] = 0.0;
|
|
mMatrix[13] = 0.0;
|
|
mMatrix[14] = 0.0;
|
|
mMatrix[15] = 1.0;
|
|
|
|
}
|
|
|
|
|
|
// aux function resMat = resMat * aMatrix
|
|
void
|
|
VSMatrix::multMatrix(FLOATTYPE *resMat, const FLOATTYPE *aMatrix)
|
|
{
|
|
|
|
FLOATTYPE res[16];
|
|
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
for (int j = 0; j < 4; ++j)
|
|
{
|
|
res[j*4 + i] = 0.0f;
|
|
for (int k = 0; k < 4; ++k)
|
|
{
|
|
res[j*4 + i] += resMat[k*4 + i] * aMatrix[j*4 + k];
|
|
}
|
|
}
|
|
}
|
|
memcpy(resMat, res, 16 * sizeof(FLOATTYPE));
|
|
}
|
|
|
|
static double mat3Determinant(const FLOATTYPE *mMat3x3)
|
|
{
|
|
return mMat3x3[0] * (mMat3x3[4] * mMat3x3[8] - mMat3x3[5] * mMat3x3[7]) +
|
|
mMat3x3[1] * (mMat3x3[5] * mMat3x3[6] - mMat3x3[8] * mMat3x3[3]) +
|
|
mMat3x3[2] * (mMat3x3[3] * mMat3x3[7] - mMat3x3[4] * mMat3x3[6]);
|
|
}
|
|
|
|
static double mat4Determinant(const FLOATTYPE *matrix)
|
|
{
|
|
FLOATTYPE mMat3x3_a[9] =
|
|
{
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_b[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_c[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_d[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
|
|
};
|
|
|
|
FLOATTYPE a, b, c, d;
|
|
FLOATTYPE value;
|
|
|
|
a = mat3Determinant(mMat3x3_a);
|
|
b = mat3Determinant(mMat3x3_b);
|
|
c = mat3Determinant(mMat3x3_c);
|
|
d = mat3Determinant(mMat3x3_d);
|
|
|
|
value = matrix[0 * 4 + 0] * a;
|
|
value -= matrix[0 * 4 + 1] * b;
|
|
value += matrix[0 * 4 + 2] * c;
|
|
value -= matrix[0 * 4 + 3] * d;
|
|
|
|
return value;
|
|
}
|
|
|
|
static void mat4Adjoint(const FLOATTYPE *matrix, FLOATTYPE *result)
|
|
{
|
|
FLOATTYPE mMat3x3_a[9] =
|
|
{
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_b[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_c[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_d[9] =
|
|
{
|
|
matrix[1 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[1 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[1 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_e[9] =
|
|
{
|
|
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_f[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_g[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 3], matrix[2 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_h[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[2 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[2 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[2 * 4 + 2], matrix[3 * 4 + 2]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_i[9] =
|
|
{
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_j[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_k[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[3 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_l[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[3 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[3 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[3 * 4 + 2]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_m[9] =
|
|
{
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_n[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_o[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
|
|
matrix[0 * 4 + 3], matrix[1 * 4 + 3], matrix[2 * 4 + 3]
|
|
};
|
|
|
|
FLOATTYPE mMat3x3_p[9] =
|
|
{
|
|
matrix[0 * 4 + 0], matrix[1 * 4 + 0], matrix[2 * 4 + 0],
|
|
matrix[0 * 4 + 1], matrix[1 * 4 + 1], matrix[2 * 4 + 1],
|
|
matrix[0 * 4 + 2], matrix[1 * 4 + 2], matrix[2 * 4 + 2]
|
|
};
|
|
|
|
result[0 * 4 + 0] = mat3Determinant(mMat3x3_a);
|
|
result[1 * 4 + 0] = -mat3Determinant(mMat3x3_b);
|
|
result[2 * 4 + 0] = mat3Determinant(mMat3x3_c);
|
|
result[3 * 4 + 0] = -mat3Determinant(mMat3x3_d);
|
|
result[0 * 4 + 1] = -mat3Determinant(mMat3x3_e);
|
|
result[1 * 4 + 1] = mat3Determinant(mMat3x3_f);
|
|
result[2 * 4 + 1] = -mat3Determinant(mMat3x3_g);
|
|
result[3 * 4 + 1] = mat3Determinant(mMat3x3_h);
|
|
result[0 * 4 + 2] = mat3Determinant(mMat3x3_i);
|
|
result[1 * 4 + 2] = -mat3Determinant(mMat3x3_j);
|
|
result[2 * 4 + 2] = mat3Determinant(mMat3x3_k);
|
|
result[3 * 4 + 2] = -mat3Determinant(mMat3x3_l);
|
|
result[0 * 4 + 3] = -mat3Determinant(mMat3x3_m);
|
|
result[1 * 4 + 3] = mat3Determinant(mMat3x3_n);
|
|
result[2 * 4 + 3] = -mat3Determinant(mMat3x3_o);
|
|
result[3 * 4 + 3] = mat3Determinant(mMat3x3_p);
|
|
}
|
|
|
|
bool VSMatrix::inverseMatrix(VSMatrix &result)
|
|
{
|
|
// Calculate mat4 determinant
|
|
FLOATTYPE det = mat4Determinant(mMatrix);
|
|
|
|
// Inverse unknown when determinant is close to zero
|
|
if (fabs(det) < 1e-15)
|
|
{
|
|
for (int i = 0; i < 16; i++)
|
|
result.mMatrix[i] = FLOATTYPE(0.0);
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
mat4Adjoint(mMatrix, result.mMatrix);
|
|
|
|
FLOATTYPE invDet = FLOATTYPE(1.0) / det;
|
|
for (int i = 0; i < 16; i++)
|
|
{
|
|
result.mMatrix[i] = result.mMatrix[i] * invDet;
|
|
}
|
|
}
|
|
return true;
|
|
}
|