405 lines
11 KiB
C++
405 lines
11 KiB
C++
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/*
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** Command & Conquer Renegade(tm)
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** Copyright 2025 Electronic Arts Inc.
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**
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** This program is free software: you can redistribute it and/or modify
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** it under the terms of the GNU General Public License as published by
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** the Free Software Foundation, either version 3 of the License, or
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** (at your option) any later version.
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**
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** This program is distributed in the hope that it will be useful,
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** but WITHOUT ANY WARRANTY; without even the implied warranty of
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** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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** GNU General Public License for more details.
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**
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** You should have received a copy of the GNU General Public License
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** along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/***********************************************************************************************
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*** C O N F I D E N T I A L --- W E S T W O O D S T U D I O S ***
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***********************************************************************************************
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* *
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* Project Name : WWMath *
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* *
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* $Archive:: /Commando/Code/Tools/max2w3d/WWmatrix3.cpp $*
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* *
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* Author:: Greg_h *
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* *
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* $Modtime:: 2/02/00 2:05p $*
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* *
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* $Revision:: 17 $*
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* *
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*---------------------------------------------------------------------------------------------*
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* Functions: *
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* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
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#include "wwmatrix3.h"
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#include "matrix3d.h"
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#include "matrix4.h"
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#include "w3dquat.h"
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/*
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** Some pre-initialized Matrix3's
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*/
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const Matrix3 Matrix3::Identity
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(
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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);
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const Matrix3 Matrix3::RotateX90
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(
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1.0, 0.0, 0.0,
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0.0, 0.0, -1.0,
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0.0, 1.0, 0.0
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);
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const Matrix3 Matrix3::RotateX180
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(
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1.0, 0.0, 0.0,
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0.0, -1.0, 0.0,
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0.0, 0.0, -1.0
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);
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const Matrix3 Matrix3::RotateX270
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(
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1.0, 0.0, 0.0,
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0.0, 0.0, 1.0,
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0.0, -1.0, 0.0
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);
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const Matrix3 Matrix3::RotateY90
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(
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0.0, 0.0, 1.0,
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0.0, 1.0, 0.0,
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-1.0, 0.0, 0.0
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);
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const Matrix3 Matrix3::RotateY180
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(
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-1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, -1.0
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);
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const Matrix3 Matrix3::RotateY270
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(
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0.0, 0.0, -1.0,
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0.0, 1.0, 0.0,
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1.0, 0.0, 0.0
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);
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const Matrix3 Matrix3::RotateZ90
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(
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0.0, -1.0, 0.0,
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1.0, 0.0, 0.0,
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0.0, 0.0, 1.0
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);
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const Matrix3 Matrix3::RotateZ180
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(
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-1.0, 0.0, 0.0,
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0.0, -1.0, 0.0,
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0.0, 0.0, 1.0
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);
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const Matrix3 Matrix3::RotateZ270
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(
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0.0, 1.0, 0.0,
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-1.0, 0.0, 0.0,
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0.0, 0.0, 1.0
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);
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/***********************************************************************************************
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* Matrix3::Matrix3 -- Convert a Matrix3D (fake 4x4) to a Matrix3 *
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* *
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* INPUT: *
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* *
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* OUTPUT: *
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* *
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* WARNINGS: *
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* *
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* HISTORY: *
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* 06/02/1997 GH : Created. *
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*=============================================================================================*/
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Matrix3::Matrix3(const Matrix3D & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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}
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Matrix3::Matrix3(const Matrix4 & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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}
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void Matrix3::Set(const Matrix3D & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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}
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void Matrix3::Set(const Matrix4 & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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}
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void Matrix3::Set(const Quaternion & q)
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{
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Row[0][0] = (float)(1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]));
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Row[0][1] = (float)(2.0 * (q[0] * q[1] - q[2] * q[3]));
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Row[0][2] = (float)(2.0 * (q[2] * q[0] + q[1] * q[3]));
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Row[1][0] = (float)(2.0 * (q[0] * q[1] + q[2] * q[3]));
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Row[1][1] = (float)(1.0 - 2.0f * (q[2] * q[2] + q[0] * q[0]));
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Row[1][2] = (float)(2.0 * (q[1] * q[2] - q[0] * q[3]));
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Row[2][0] = (float)(2.0 * (q[2] * q[0] - q[1] * q[3]));
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Row[2][1] = (float)(2.0 * (q[1] * q[2] + q[0] * q[3]));
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Row[2][2] =(float)(1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]));
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}
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Matrix3 & Matrix3::operator = (const Matrix3D & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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return *this;
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}
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Matrix3 & Matrix3::operator = (const Matrix4 & m)
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{
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Row[0].Set(m[0][0],m[0][1],m[0][2]);
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Row[1].Set(m[1][0],m[1][1],m[1][2]);
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Row[2].Set(m[2][0],m[2][1],m[2][2]);
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return *this;
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}
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void Matrix3::Multiply(const Matrix3D & a, const Matrix3 & b,Matrix3 * res)
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{
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#define ROWCOL(i,j) a[i][0]*b[0][j] + a[i][1]*b[1][j] + a[i][2]*b[2][j]
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(*res)[0][0] = ROWCOL(0,0);
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(*res)[0][1] = ROWCOL(0,1);
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(*res)[0][2] = ROWCOL(0,2);
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(*res)[1][0] = ROWCOL(1,0);
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(*res)[1][1] = ROWCOL(1,1);
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(*res)[1][2] = ROWCOL(1,2);
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(*res)[2][0] = ROWCOL(2,0);
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(*res)[2][1] = ROWCOL(2,1);
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(*res)[2][2] = ROWCOL(2,2);
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#undef ROWCOL
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}
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void Matrix3::Multiply(const Matrix3 & a, const Matrix3D & b,Matrix3 * res)
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{
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#define ROWCOL(i,j) a[i][0]*b[0][j] + a[i][1]*b[1][j] + a[i][2]*b[2][j]
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(*res)[0][0] = ROWCOL(0,0);
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(*res)[0][1] = ROWCOL(0,1);
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(*res)[0][2] = ROWCOL(0,2);
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(*res)[1][0] = ROWCOL(1,0);
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(*res)[1][1] = ROWCOL(1,1);
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(*res)[1][2] = ROWCOL(1,2);
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(*res)[2][0] = ROWCOL(2,0);
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(*res)[2][1] = ROWCOL(2,1);
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(*res)[2][2] = ROWCOL(2,2);
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#undef ROWCOL
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}
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Matrix3 operator * (const Matrix3D & a, const Matrix3 & b)
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{
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#define ROWCOL(i,j) a[i][0]*b[0][j] + a[i][1]*b[1][j] + a[i][2]*b[2][j]
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return Matrix3(
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Vector3(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2) ),
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Vector3(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2) ),
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Vector3(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2) )
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);
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#undef ROWCOL
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}
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Matrix3 operator * (const Matrix3 & a, const Matrix3D & b)
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{
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#define ROWCOL(i,j) a[i][0]*b[0][j] + a[i][1]*b[1][j] + a[i][2]*b[2][j]
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return Matrix3(
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Vector3(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2) ),
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Vector3(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2) ),
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Vector3(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2) )
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);
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#undef ROWCOL
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}
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#if 0
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void Matrix3::Compute_Jacobi_Rotation(int i,int j,Matrix3 * r,Matrix3 * rinv)
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{
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}
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void Matrix3::Symmetric_Eigen_Solve(void)
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{
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Matrix3 eigen_vals = *this;
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Matrix3 eigen_vecs(1);
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Matrix3 jr,jrinv;
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while (!done) {
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eigen_vals.Compute_Jacobi_Rotation(i,j,&jr,&jrinv);
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eigen_vals = jr * (eigenvals) * jrinv;
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eigen_vecs = eigen_vecs * jr;
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}
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/*
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** Done! Eigen values are the diagonals of
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** the eigen_vals matrix and the eigen vectors
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** are the columns of the eigen_vecs matrix
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*/
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}
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#endif
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void Matrix3::Multiply(const Matrix3 & A,const Matrix3 & B,Matrix3 * set_res)
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{
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Matrix3 tmp;
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Matrix3 * Aptr;
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float tmp1,tmp2,tmp3;
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// Check for aliased parameters, copy the 'A' matrix into a temporary if the
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// result is going into 'A'. (in this case, this function is no better than
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// the overloaded C++ operator...)
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if (set_res == &A) {
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tmp = A;
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Aptr = &tmp;
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} else {
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Aptr = (Matrix3 *)&A;
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}
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tmp1 = B[0][0];
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tmp2 = B[1][0];
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tmp3 = B[2][0];
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(*set_res)[0][0] = (float)((*Aptr)[0][0]*tmp1 + (*Aptr)[0][1]*tmp2 + (*Aptr)[0][2]*tmp3);
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(*set_res)[1][0] = (float)((*Aptr)[1][0]*tmp1 + (*Aptr)[1][1]*tmp2 + (*Aptr)[1][2]*tmp3);
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(*set_res)[2][0] = (float)((*Aptr)[2][0]*tmp1 + (*Aptr)[2][1]*tmp2 + (*Aptr)[2][2]*tmp3);
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tmp1 = B[0][1];
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tmp2 = B[1][1];
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tmp3 = B[2][1];
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(*set_res)[0][1] = (float)((*Aptr)[0][0]*tmp1 + (*Aptr)[0][1]*tmp2 + (*Aptr)[0][2]*tmp3);
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(*set_res)[1][1] = (float)((*Aptr)[1][0]*tmp1 + (*Aptr)[1][1]*tmp2 + (*Aptr)[1][2]*tmp3);
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(*set_res)[2][1] = (float)((*Aptr)[2][0]*tmp1 + (*Aptr)[2][1]*tmp2 + (*Aptr)[2][2]*tmp3);
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tmp1 = B[0][2];
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tmp2 = B[1][2];
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tmp3 = B[2][2];
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(*set_res)[0][2] = (float)((*Aptr)[0][0]*tmp1 + (*Aptr)[0][1]*tmp2 + (*Aptr)[0][2]*tmp3);
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(*set_res)[1][2] = (float)((*Aptr)[1][0]*tmp1 + (*Aptr)[1][1]*tmp2 + (*Aptr)[1][2]*tmp3);
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(*set_res)[2][2] = (float)((*Aptr)[2][0]*tmp1 + (*Aptr)[2][1]*tmp2 + (*Aptr)[2][2]*tmp3);
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}
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int Matrix3::Is_Orthogonal(void) const
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{
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Vector3 x(Row[0].X,Row[0].Y,Row[0].Z);
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Vector3 y(Row[1].X,Row[1].Y,Row[1].Z);
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Vector3 z(Row[2].X,Row[2].Y,Row[2].Z);
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if (Vector3::Dot_Product(x,y) > WWMATH_EPSILON) return 0;
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if (Vector3::Dot_Product(y,z) > WWMATH_EPSILON) return 0;
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if (Vector3::Dot_Product(z,x) > WWMATH_EPSILON) return 0;
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if (WWMath::Fabs(x.Length() - 1.0f) > WWMATH_EPSILON) return 0;
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if (WWMath::Fabs(y.Length() - 1.0f) > WWMATH_EPSILON) return 0;
|
||
|
|
if (WWMath::Fabs(z.Length() - 1.0f) > WWMATH_EPSILON) return 0;
|
||
|
|
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
void Matrix3::Re_Orthogonalize(void)
|
||
|
|
{
|
||
|
|
Vector3 x(Row[0][0],Row[0][1],Row[0][2]);
|
||
|
|
Vector3 y(Row[1][0],Row[1][1],Row[1][2]);
|
||
|
|
Vector3 z;
|
||
|
|
|
||
|
|
Vector3::Cross_Product(x,y,&z);
|
||
|
|
Vector3::Cross_Product(z,x,&y);
|
||
|
|
|
||
|
|
float len = x.Length();
|
||
|
|
if (len < WWMATH_EPSILON) {
|
||
|
|
Make_Identity();
|
||
|
|
return;
|
||
|
|
} else {
|
||
|
|
x /= len;
|
||
|
|
}
|
||
|
|
|
||
|
|
len = y.Length();
|
||
|
|
if (len < WWMATH_EPSILON) {
|
||
|
|
Make_Identity();
|
||
|
|
return;
|
||
|
|
} else {
|
||
|
|
y /= len;
|
||
|
|
}
|
||
|
|
|
||
|
|
len = z.Length();
|
||
|
|
if (len < WWMATH_EPSILON) {
|
||
|
|
Make_Identity();
|
||
|
|
return;
|
||
|
|
} else {
|
||
|
|
z /= len;
|
||
|
|
}
|
||
|
|
|
||
|
|
Row[0][0] = x.X;
|
||
|
|
Row[0][1] = x.Y;
|
||
|
|
Row[0][2] = x.Z;
|
||
|
|
|
||
|
|
Row[1][0] = y.X;
|
||
|
|
Row[1][1] = y.Y;
|
||
|
|
Row[1][2] = y.Z;
|
||
|
|
|
||
|
|
Row[2][0] = z.X;
|
||
|
|
Row[2][1] = z.Y;
|
||
|
|
Row[2][2] = z.Z;
|
||
|
|
}
|
||
|
|
|
||
|
|
void Matrix3::Rotate_AABox_Extent(const Vector3 & extent,Vector3 * set_extent)
|
||
|
|
{
|
||
|
|
// push each extent out to the projections of the original extents
|
||
|
|
for (int i=0; i<3; i++) {
|
||
|
|
|
||
|
|
// start the center out at the translation portion of the matrix
|
||
|
|
// and the extent at zero
|
||
|
|
(*set_extent)[i] = 0.0f;
|
||
|
|
|
||
|
|
for (int j=0; j<3; j++) {
|
||
|
|
(*set_extent)[i] += WWMath::Fabs(Row[i][j] * extent[j]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|