From e98d795d2b8dce6c3de4fde959f608d97965e0a8 Mon Sep 17 00:00:00 2001 From: castano Date: Tue, 11 Oct 2011 18:52:24 +0000 Subject: [PATCH] More header optimizations. --- src/nvcore/nvcore.h | 2 +- src/nvimage/FloatImage.cpp | 2 +- src/nvmath/Matrix.cpp | 4 + src/nvmath/Matrix.h | 1128 +--------------------------------- src/nvmath/Matrix.inl | 1124 +++++++++++++++++++++++++++++++++ src/nvmath/Plane.cpp | 2 +- src/nvthread/ParallelFor.cpp | 4 +- src/nvthread/ThreadPool.h | 10 +- src/nvtt/CubeSurface.cpp | 2 +- src/nvtt/InputOptions.cpp | 2 +- src/nvtt/InputOptions.h | 162 +++-- src/nvtt/Surface.cpp | 2 +- 12 files changed, 1227 insertions(+), 1217 deletions(-) create mode 100644 src/nvmath/Matrix.cpp create mode 100644 src/nvmath/Matrix.inl diff --git a/src/nvcore/nvcore.h b/src/nvcore/nvcore.h index ab2a81a..fa28cca 100644 --- a/src/nvcore/nvcore.h +++ b/src/nvcore/nvcore.h @@ -189,7 +189,7 @@ NV_COMPILER_CHECK(sizeof(uint32) == 4); #define NV_ARRAY_SIZE(x) (sizeof(x)/sizeof((x)[0])) -#if 1 +#if 0 // Disabled in The Witness. #if NV_CC_MSVC #define NV_MESSAGE(x) message(__FILE__ "(" NV_STRING(__LINE__) ") : " x) #else diff --git a/src/nvimage/FloatImage.cpp b/src/nvimage/FloatImage.cpp index 57e8dba..86a3680 100644 --- a/src/nvimage/FloatImage.cpp +++ b/src/nvimage/FloatImage.cpp @@ -6,7 +6,7 @@ #include "nvmath/Color.h" #include "nvmath/Vector.inl" -#include "nvmath/Matrix.h" +#include "nvmath/Matrix.inl" #include "nvcore/Utils.h" // max #include "nvcore/Ptr.h" diff --git a/src/nvmath/Matrix.cpp b/src/nvmath/Matrix.cpp new file mode 100644 index 0000000..1164d39 --- /dev/null +++ b/src/nvmath/Matrix.cpp @@ -0,0 +1,4 @@ +// This code is in the public domain -- castanyo@yahoo.es + +#include "Matrix.h" +#include "Matrix.inl" diff --git a/src/nvmath/Matrix.h b/src/nvmath/Matrix.h index 273e639..1601c3d 100644 --- a/src/nvmath/Matrix.h +++ b/src/nvmath/Matrix.h @@ -4,8 +4,7 @@ #ifndef NV_MATH_MATRIX_H #define NV_MATH_MATRIX_H -#include -#include +#include "Vector.h" namespace nv { @@ -38,165 +37,11 @@ namespace nv scalar m_data[9]; }; - inline Matrix3::Matrix3() {} - - inline Matrix3::Matrix3(float f) - { - for(int i = 0; i < 9; i++) { - m_data[i] = f; - } - } - inline Matrix3::Matrix3(identity_t) - { - for(int i = 0; i < 3; i++) { - for(int j = 0; j < 3; j++) { - m_data[3*j+i] = (i == j) ? 1.0f : 0.0f; - } - } - } - - inline Matrix3::Matrix3(const Matrix3 & m) - { - for(int i = 0; i < 9; i++) { - m_data[i] = m.m_data[i]; - } - } - - inline Matrix3::Matrix3(Vector3::Arg v0, Vector3::Arg v1, Vector3::Arg v2) - { - m_data[0] = v0.x; m_data[1] = v0.y; m_data[2] = v0.z; - m_data[3] = v1.x; m_data[4] = v1.y; m_data[5] = v1.z; - m_data[6] = v2.x; m_data[7] = v2.y; m_data[8] = v2.z; - } - - inline scalar Matrix3::get(uint row, uint col) const - { - nvDebugCheck(row < 3 && col < 3); - return m_data[col * 3 + row]; - } - inline scalar Matrix3::operator()(uint row, uint col) const - { - nvDebugCheck(row < 3 && col < 3); - return m_data[col * 3 + row]; - } - inline scalar & Matrix3::operator()(uint row, uint col) - { - nvDebugCheck(row < 3 && col < 3); - return m_data[col * 3 + row]; - } - - inline Vector3 Matrix3::row(uint i) const - { - nvDebugCheck(i < 3); - return Vector3(get(i, 0), get(i, 1), get(i, 2)); - } - inline Vector3 Matrix3::column(uint i) const - { - nvDebugCheck(i < 3); - return Vector3(get(0, i), get(1, i), get(2, i)); - } - - inline void Matrix3::operator*=(float s) - { - for(int i = 0; i < 9; i++) { - m_data[i] *= s; - } - } - - inline void Matrix3::operator/=(float s) - { - float is = 1.0f /s; - for(int i = 0; i < 9; i++) { - m_data[i] *= is; - } - } - - inline void Matrix3::operator+=(const Matrix3 & m) - { - for(int i = 0; i < 9; i++) { - m_data[i] += m.m_data[i]; - } - } - - inline void Matrix3::operator-=(const Matrix3 & m) - { - for(int i = 0; i < 9; i++) { - m_data[i] -= m.m_data[i]; - } - } - - inline Matrix3 operator+(const Matrix3 & a, const Matrix3 & b) - { - Matrix3 m = a; - m += b; - return m; - } - - inline Matrix3 operator-(const Matrix3 & a, const Matrix3 & b) - { - Matrix3 m = a; - m -= b; - return m; - } - - inline Matrix3 operator*(const Matrix3 & a, float s) - { - Matrix3 m = a; - m *= s; - return m; - } - - inline Matrix3 operator*(float s, const Matrix3 & a) - { - Matrix3 m = a; - m *= s; - return m; - } - - inline Matrix3 operator/(const Matrix3 & a, float s) - { - Matrix3 m = a; - m /= s; - return m; - } - - inline Matrix3 mul(const Matrix3 & a, const Matrix3 & b) - { - Matrix3 m; - - for(int i = 0; i < 3; i++) { - const scalar ai0 = a(i,0), ai1 = a(i,1), ai2 = a(i,2); - m(i, 0) = ai0 * b(0,0) + ai1 * b(1,0) + ai2 * b(2,0); - m(i, 1) = ai0 * b(0,1) + ai1 * b(1,1) + ai2 * b(2,1); - m(i, 2) = ai0 * b(0,2) + ai1 * b(1,2) + ai2 * b(2,2); - } - - return m; - } - - inline Matrix3 operator*(const Matrix3 & a, const Matrix3 & b) - { - return mul(a, b); - } - - inline float Matrix3::determinant() const - { - return - get(0,0) * get(1,1) * get(2,2) + - get(0,1) * get(1,2) * get(2,0) + - get(0,2) * get(1,0) * get(2,1) - - get(0,2) * get(1,1) * get(2,0) - - get(0,1) * get(1,0) * get(2,2) - - get(0,0) * get(1,2) * get(2,1); - } - - - - /// 4x4 transformation matrix. - /// -# Matrices are stored in memory in column major order. - /// -# Points are to be though of as column vectors. - /// -# Transformation of a point p by a matrix M is: p' = M * p + // 4x4 transformation matrix. + // -# Matrices are stored in memory in column major order. + // -# Points are to be though of as column vectors. + // -# Transformation of a point p by a matrix M is: p' = M * p class NVMATH_CLASS Matrix { public: @@ -231,969 +76,6 @@ namespace nv scalar m_data[16]; }; - - inline Matrix::Matrix() - { - } - - inline Matrix::Matrix(float f) - { - for(int i = 0; i < 16; i++) { - m_data[i] = 0.0f; - } - } - - inline Matrix::Matrix(identity_t) - { - for(int i = 0; i < 4; i++) { - for(int j = 0; j < 4; j++) { - m_data[4*j+i] = (i == j) ? 1.0f : 0.0f; - } - } - } - - inline Matrix::Matrix(const Matrix & m) - { - for(int i = 0; i < 16; i++) { - m_data[i] = m.m_data[i]; - } - } - - inline Matrix::Matrix(Vector4::Arg v0, Vector4::Arg v1, Vector4::Arg v2, Vector4::Arg v3) - { - m_data[ 0] = v0.x; m_data[ 1] = v0.y; m_data[ 2] = v0.z; m_data[ 3] = v0.w; - m_data[ 4] = v1.x; m_data[ 5] = v1.y; m_data[ 6] = v1.z; m_data[ 7] = v1.w; - m_data[ 8] = v2.x; m_data[ 9] = v2.y; m_data[10] = v2.z; m_data[11] = v2.w; - m_data[12] = v3.x; m_data[13] = v3.y; m_data[14] = v3.z; m_data[15] = v3.w; - } - - /*inline Matrix::Matrix(const scalar m[]) - { - for(int i = 0; i < 16; i++) { - m_data[i] = m[i]; - } - }*/ - - - // Accessors - inline scalar Matrix::data(uint idx) const - { - nvDebugCheck(idx < 16); - return m_data[idx]; - } - inline scalar & Matrix::data(uint idx) - { - nvDebugCheck(idx < 16); - return m_data[idx]; - } - inline scalar Matrix::get(uint row, uint col) const - { - nvDebugCheck(row < 4 && col < 4); - return m_data[col * 4 + row]; - } - inline scalar Matrix::operator()(uint row, uint col) const - { - nvDebugCheck(row < 4 && col < 4); - return m_data[col * 4 + row]; - } - inline scalar & Matrix::operator()(uint row, uint col) - { - nvDebugCheck(row < 4 && col < 4); - return m_data[col * 4 + row]; - } - - inline const scalar * Matrix::ptr() const - { - return m_data; - } - - inline Vector4 Matrix::row(uint i) const - { - nvDebugCheck(i < 4); - return Vector4(get(i, 0), get(i, 1), get(i, 2), get(i, 3)); - } - - inline Vector4 Matrix::column(uint i) const - { - nvDebugCheck(i < 4); - return Vector4(get(0, i), get(1, i), get(2, i), get(3, i)); - } - - /// Apply scale. - inline void Matrix::scale(scalar s) - { - m_data[0] *= s; m_data[1] *= s; m_data[2] *= s; m_data[3] *= s; - m_data[4] *= s; m_data[5] *= s; m_data[6] *= s; m_data[7] *= s; - m_data[8] *= s; m_data[9] *= s; m_data[10] *= s; m_data[11] *= s; - m_data[12] *= s; m_data[13] *= s; m_data[14] *= s; m_data[15] *= s; - } - - /// Apply scale. - inline void Matrix::scale(Vector3::Arg s) - { - m_data[0] *= s.x; m_data[1] *= s.x; m_data[2] *= s.x; m_data[3] *= s.x; - m_data[4] *= s.y; m_data[5] *= s.y; m_data[6] *= s.y; m_data[7] *= s.y; - m_data[8] *= s.z; m_data[9] *= s.z; m_data[10] *= s.z; m_data[11] *= s.z; - } - - /// Apply translation. - inline void Matrix::translate(Vector3::Arg t) - { - m_data[12] = m_data[0] * t.x + m_data[4] * t.y + m_data[8] * t.z + m_data[12]; - m_data[13] = m_data[1] * t.x + m_data[5] * t.y + m_data[9] * t.z + m_data[13]; - m_data[14] = m_data[2] * t.x + m_data[6] * t.y + m_data[10] * t.z + m_data[14]; - m_data[15] = m_data[3] * t.x + m_data[7] * t.y + m_data[11] * t.z + m_data[15]; - } - - Matrix rotation(scalar theta, scalar v0, scalar v1, scalar v2); - - /// Apply rotation. - inline void Matrix::rotate(scalar theta, scalar v0, scalar v1, scalar v2) - { - Matrix R(rotation(theta, v0, v1, v2)); - apply(R); - } - - /// Apply transform. - inline void Matrix::apply(Matrix::Arg m) - { - nvDebugCheck(this != &m); - - for(int i = 0; i < 4; i++) { - const scalar ai0 = get(i,0), ai1 = get(i,1), ai2 = get(i,2), ai3 = get(i,3); - m_data[0 + i] = ai0 * m(0,0) + ai1 * m(1,0) + ai2 * m(2,0) + ai3 * m(3,0); - m_data[4 + i] = ai0 * m(0,1) + ai1 * m(1,1) + ai2 * m(2,1) + ai3 * m(3,1); - m_data[8 + i] = ai0 * m(0,2) + ai1 * m(1,2) + ai2 * m(2,2) + ai3 * m(3,2); - m_data[12+ i] = ai0 * m(0,3) + ai1 * m(1,3) + ai2 * m(2,3) + ai3 * m(3,3); - } - } - - /// Get scale matrix. - inline Matrix scale(Vector3::Arg s) - { - Matrix m(identity); - m(0,0) = s.x; - m(1,1) = s.y; - m(2,2) = s.z; - return m; - } - - /// Get scale matrix. - inline Matrix scale(scalar s) - { - Matrix m(identity); - m(0,0) = m(1,1) = m(2,2) = s; - return m; - } - - /// Get translation matrix. - inline Matrix translation(Vector3::Arg t) - { - Matrix m(identity); - m(0,3) = t.x; - m(1,3) = t.y; - m(2,3) = t.z; - return m; - } - - /// Get rotation matrix. - inline Matrix rotation(scalar theta, scalar v0, scalar v1, scalar v2) - { - scalar cost = cosf(theta); - scalar sint = sinf(theta); - - Matrix m(identity); - - if( 1 == v0 && 0 == v1 && 0 == v2 ) { - m(1,1) = cost; m(2,1) = -sint; - m(1,2) = sint; m(2,2) = cost; - } - else if( 0 == v0 && 1 == v1 && 0 == v2 ) { - m(0,0) = cost; m(2,0) = sint; - m(1,2) = -sint; m(2,2) = cost; - } - else if( 0 == v0 && 0 == v1 && 1 == v2 ) { - m(0,0) = cost; m(1,0) = -sint; - m(0,1) = sint; m(1,1) = cost; - } - else { - scalar a2, b2, c2; - a2 = v0 * v0; - b2 = v1 * v1; - c2 = v2 * v2; - - scalar iscale = 1.0f / sqrtf(a2 + b2 + c2); - v0 *= iscale; - v1 *= iscale; - v2 *= iscale; - - scalar abm, acm, bcm; - scalar mcos, asin, bsin, csin; - mcos = 1.0f - cost; - abm = v0 * v1 * mcos; - acm = v0 * v2 * mcos; - bcm = v1 * v2 * mcos; - asin = v0 * sint; - bsin = v1 * sint; - csin = v2 * sint; - m(0,0) = a2 * mcos + cost; - m(1,0) = abm - csin; - m(2,0) = acm + bsin; - m(3,0) = abm + csin; - m(1,1) = b2 * mcos + cost; - m(2,1) = bcm - asin; - m(3,1) = acm - bsin; - m(1,2) = bcm + asin; - m(2,2) = c2 * mcos + cost; - } - return m; - } - - //Matrix rotation(scalar yaw, scalar pitch, scalar roll); - //Matrix skew(scalar angle, Vector3::Arg v1, Vector3::Arg v2); - - /// Get frustum matrix. - inline Matrix frustum(scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear, scalar zFar) - { - Matrix m(0.0f); - - scalar doubleznear = 2.0f * zNear; - scalar one_deltax = 1.0f / (xmax - xmin); - scalar one_deltay = 1.0f / (ymax - ymin); - scalar one_deltaz = 1.0f / (zFar - zNear); - - m(0,0) = doubleznear * one_deltax; - m(1,1) = doubleznear * one_deltay; - m(0,2) = (xmax + xmin) * one_deltax; - m(1,2) = (ymax + ymin) * one_deltay; - m(2,2) = -(zFar + zNear) * one_deltaz; - m(3,2) = -1.0f; - m(2,3) = -(zFar * doubleznear) * one_deltaz; - - return m; - } - - /// Get infinite frustum matrix. - inline Matrix frustum(scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear) - { - Matrix m(0.0f); - - scalar doubleznear = 2.0f * zNear; - scalar one_deltax = 1.0f / (xmax - xmin); - scalar one_deltay = 1.0f / (ymax - ymin); - scalar nudge = 1.0; // 0.999; - - m(0,0) = doubleznear * one_deltax; - m(1,1) = doubleznear * one_deltay; - m(0,2) = (xmax + xmin) * one_deltax; - m(1,2) = (ymax + ymin) * one_deltay; - m(2,2) = -1.0f * nudge; - m(3,2) = -1.0f; - m(2,3) = -doubleznear * nudge; - - return m; - } - - /// Get perspective matrix. - inline Matrix perspective(scalar fovy, scalar aspect, scalar zNear, scalar zFar) - { - scalar xmax = zNear * tan(fovy / 2); - scalar xmin = -xmax; - - scalar ymax = xmax / aspect; - scalar ymin = -ymax; - - return frustum(xmin, xmax, ymin, ymax, zNear, zFar); - } - - /// Get infinite perspective matrix. - inline Matrix perspective(scalar fovy, scalar aspect, scalar zNear) - { - scalar x = zNear * tan(fovy / 2); - scalar y = x / aspect; - return frustum( -x, x, -y, y, zNear ); - } - - /// Get matrix determinant. - inline scalar Matrix::determinant() const - { - return - m_data[3] * m_data[6] * m_data[ 9] * m_data[12] - m_data[2] * m_data[7] * m_data[ 9] * m_data[12] - m_data[3] * m_data[5] * m_data[10] * m_data[12] + m_data[1] * m_data[7] * m_data[10] * m_data[12] + - m_data[2] * m_data[5] * m_data[11] * m_data[12] - m_data[1] * m_data[6] * m_data[11] * m_data[12] - m_data[3] * m_data[6] * m_data[ 8] * m_data[13] + m_data[2] * m_data[7] * m_data[ 8] * m_data[13] + - m_data[3] * m_data[4] * m_data[10] * m_data[13] - m_data[0] * m_data[7] * m_data[10] * m_data[13] - m_data[2] * m_data[4] * m_data[11] * m_data[13] + m_data[0] * m_data[6] * m_data[11] * m_data[13] + - m_data[3] * m_data[5] * m_data[ 8] * m_data[14] - m_data[1] * m_data[7] * m_data[ 8] * m_data[14] - m_data[3] * m_data[4] * m_data[ 9] * m_data[14] + m_data[0] * m_data[7] * m_data[ 9] * m_data[14] + - m_data[1] * m_data[4] * m_data[11] * m_data[14] - m_data[0] * m_data[5] * m_data[11] * m_data[14] - m_data[2] * m_data[5] * m_data[ 8] * m_data[15] + m_data[1] * m_data[6] * m_data[ 8] * m_data[15] + - m_data[2] * m_data[4] * m_data[ 9] * m_data[15] - m_data[0] * m_data[6] * m_data[ 9] * m_data[15] - m_data[1] * m_data[4] * m_data[10] * m_data[15] + m_data[0] * m_data[5] * m_data[10] * m_data[15]; - } - - inline Matrix transpose(Matrix::Arg m) - { - Matrix r; - for (int i = 0; i < 4; i++) - { - for (int j = 0; j < 4; j++) - { - r(i, j) = m(j, i); - } - } - return r; - } - - inline Matrix inverse(Matrix::Arg m) - { - Matrix r; - r.data( 0) = m.data(6)*m.data(11)*m.data(13) - m.data(7)*m.data(10)*m.data(13) + m.data(7)*m.data(9)*m.data(14) - m.data(5)*m.data(11)*m.data(14) - m.data(6)*m.data(9)*m.data(15) + m.data(5)*m.data(10)*m.data(15); - r.data( 1) = m.data(3)*m.data(10)*m.data(13) - m.data(2)*m.data(11)*m.data(13) - m.data(3)*m.data(9)*m.data(14) + m.data(1)*m.data(11)*m.data(14) + m.data(2)*m.data(9)*m.data(15) - m.data(1)*m.data(10)*m.data(15); - r.data( 2) = m.data(2)*m.data( 7)*m.data(13) - m.data(3)*m.data( 6)*m.data(13) + m.data(3)*m.data(5)*m.data(14) - m.data(1)*m.data( 7)*m.data(14) - m.data(2)*m.data(5)*m.data(15) + m.data(1)*m.data( 6)*m.data(15); - r.data( 3) = m.data(3)*m.data( 6)*m.data( 9) - m.data(2)*m.data( 7)*m.data( 9) - m.data(3)*m.data(5)*m.data(10) + m.data(1)*m.data( 7)*m.data(10) + m.data(2)*m.data(5)*m.data(11) - m.data(1)*m.data( 6)*m.data(11); - r.data( 4) = m.data(7)*m.data(10)*m.data(12) - m.data(6)*m.data(11)*m.data(12) - m.data(7)*m.data(8)*m.data(14) + m.data(4)*m.data(11)*m.data(14) + m.data(6)*m.data(8)*m.data(15) - m.data(4)*m.data(10)*m.data(15); - r.data( 5) = m.data(2)*m.data(11)*m.data(12) - m.data(3)*m.data(10)*m.data(12) + m.data(3)*m.data(8)*m.data(14) - m.data(0)*m.data(11)*m.data(14) - m.data(2)*m.data(8)*m.data(15) + m.data(0)*m.data(10)*m.data(15); - r.data( 6) = m.data(3)*m.data( 6)*m.data(12) - m.data(2)*m.data( 7)*m.data(12) - m.data(3)*m.data(4)*m.data(14) + m.data(0)*m.data( 7)*m.data(14) + m.data(2)*m.data(4)*m.data(15) - m.data(0)*m.data( 6)*m.data(15); - r.data( 7) = m.data(2)*m.data( 7)*m.data( 8) - m.data(3)*m.data( 6)*m.data( 8) + m.data(3)*m.data(4)*m.data(10) - m.data(0)*m.data( 7)*m.data(10) - m.data(2)*m.data(4)*m.data(11) + m.data(0)*m.data( 6)*m.data(11); - r.data( 8) = m.data(5)*m.data(11)*m.data(12) - m.data(7)*m.data( 9)*m.data(12) + m.data(7)*m.data(8)*m.data(13) - m.data(4)*m.data(11)*m.data(13) - m.data(5)*m.data(8)*m.data(15) + m.data(4)*m.data( 9)*m.data(15); - r.data( 9) = m.data(3)*m.data( 9)*m.data(12) - m.data(1)*m.data(11)*m.data(12) - m.data(3)*m.data(8)*m.data(13) + m.data(0)*m.data(11)*m.data(13) + m.data(1)*m.data(8)*m.data(15) - m.data(0)*m.data( 9)*m.data(15); - r.data(10) = m.data(1)*m.data( 7)*m.data(12) - m.data(3)*m.data( 5)*m.data(12) + m.data(3)*m.data(4)*m.data(13) - m.data(0)*m.data( 7)*m.data(13) - m.data(1)*m.data(4)*m.data(15) + m.data(0)*m.data( 5)*m.data(15); - r.data(11) = m.data(3)*m.data( 5)*m.data( 8) - m.data(1)*m.data( 7)*m.data( 8) - m.data(3)*m.data(4)*m.data( 9) + m.data(0)*m.data( 7)*m.data( 9) + m.data(1)*m.data(4)*m.data(11) - m.data(0)*m.data( 5)*m.data(11); - r.data(12) = m.data(6)*m.data( 9)*m.data(12) - m.data(5)*m.data(10)*m.data(12) - m.data(6)*m.data(8)*m.data(13) + m.data(4)*m.data(10)*m.data(13) + m.data(5)*m.data(8)*m.data(14) - m.data(4)*m.data( 9)*m.data(14); - r.data(13) = m.data(1)*m.data(10)*m.data(12) - m.data(2)*m.data( 9)*m.data(12) + m.data(2)*m.data(8)*m.data(13) - m.data(0)*m.data(10)*m.data(13) - m.data(1)*m.data(8)*m.data(14) + m.data(0)*m.data( 9)*m.data(14); - r.data(14) = m.data(2)*m.data( 5)*m.data(12) - m.data(1)*m.data( 6)*m.data(12) - m.data(2)*m.data(4)*m.data(13) + m.data(0)*m.data( 6)*m.data(13) + m.data(1)*m.data(4)*m.data(14) - m.data(0)*m.data( 5)*m.data(14); - r.data(15) = m.data(1)*m.data( 6)*m.data( 8) - m.data(2)*m.data( 5)*m.data( 8) + m.data(2)*m.data(4)*m.data( 9) - m.data(0)*m.data( 6)*m.data( 9) - m.data(1)*m.data(4)*m.data(10) + m.data(0)*m.data( 5)*m.data(10); - r.scale(1.0f / m.determinant()); - return r; - } - - inline Matrix isometryInverse(Matrix::Arg m) - { - Matrix r(identity); - - // transposed 3x3 upper left matrix - for (int i = 0; i < 3; i++) - { - for (int j = 0; j < 3; j++) - { - r(i, j) = m(j, i); - } - } - - // translate by the negative offsets - r.translate(-Vector3(m.data(12), m.data(13), m.data(14))); - - return r; - } - - //Matrix affineInverse(Matrix::Arg m); - - /// Transform the given 3d point with the given matrix. - inline Vector3 transformPoint(Matrix::Arg m, Vector3::Arg p) - { - return Vector3( - p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2) + m(0,3), - p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2) + m(1,3), - p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2) + m(2,3)); - } - - /// Transform the given 3d vector with the given matrix. - inline Vector3 transformVector(Matrix::Arg m, Vector3::Arg p) - { - return Vector3( - p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2), - p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2), - p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2)); - } - - /// Transform the given 4d vector with the given matrix. - inline Vector4 transform(Matrix::Arg m, Vector4::Arg p) - { - return Vector4( - p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2) + p.w * m(0,3), - p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2) + p.w * m(1,3), - p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2) + p.w * m(2,3), - p.x * m(3,0) + p.y * m(3,1) + p.z * m(3,2) + p.w * m(3,3)); - } - - inline Matrix mul(Matrix::Arg a, Matrix::Arg b) - { - // @@ Is this the right order? mul(a, b) = b * a - Matrix m = a; - m.apply(b); - return m; - } - } // nv namespace - - - -#if 0 -/** @name Special matrices. */ -//@{ -/** Generate a translation matrix. */ -void TranslationMatrix(const Vec3 & v) { - data[0] = 1; data[1] = 0; data[2] = 0; data[3] = 0; - data[4] = 0; data[5] = 1; data[6] = 0; data[7] = 0; - data[8] = 0; data[9] = 0; data[10] = 1; data[11] = 0; - data[12] = v.x; data[13] = v.y; data[14] = v.z; data[15] = 1; -} - -/** Rotate theta degrees around v. */ -void RotationMatrix( scalar theta, scalar v0, scalar v1, scalar v2 ) { - scalar cost = cos(theta); - scalar sint = sin(theta); - - if( 1 == v0 && 0 == v1 && 0 == v2 ) { - data[0] = 1.0f; data[1] = 0.0f; data[2] = 0.0f; data[3] = 0.0f; - data[4] = 0.0f; data[5] = cost; data[6] = -sint;data[7] = 0.0f; - data[8] = 0.0f; data[9] = sint; data[10] = cost;data[11] = 0.0f; - data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; - } - else if( 0 == v0 && 1 == v1 && 0 == v2 ) { - data[0] = cost; data[1] = 0.0f; data[2] = sint; data[3] = 0.0f; - data[4] = 0.0f; data[5] = 1.0f; data[6] = 0.0f; data[7] = 0.0f; - data[8] = -sint;data[9] = 0.0f;data[10] = cost; data[11] = 0.0f; - data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; - } - else if( 0 == v0 && 0 == v1 && 1 == v2 ) { - data[0] = cost; data[1] = -sint;data[2] = 0.0f; data[3] = 0.0f; - data[4] = sint; data[5] = cost; data[6] = 0.0f; data[7] = 0.0f; - data[8] = 0.0f; data[9] = 0.0f; data[10] = 1.0f;data[11] = 0.0f; - data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; - } - else { - //we need scale a,b,c to unit length. - scalar a2, b2, c2; - a2 = v0 * v0; - b2 = v1 * v1; - c2 = v2 * v2; - - scalar iscale = 1.0f / sqrtf(a2 + b2 + c2); - v0 *= iscale; - v1 *= iscale; - v2 *= iscale; - - scalar abm, acm, bcm; - scalar mcos, asin, bsin, csin; - mcos = 1.0f - cost; - abm = v0 * v1 * mcos; - acm = v0 * v2 * mcos; - bcm = v1 * v2 * mcos; - asin = v0 * sint; - bsin = v1 * sint; - csin = v2 * sint; - data[0] = a2 * mcos + cost; - data[1] = abm - csin; - data[2] = acm + bsin; - data[3] = abm + csin; - data[4] = 0.0f; - data[5] = b2 * mcos + cost; - data[6] = bcm - asin; - data[7] = acm - bsin; - data[8] = 0.0f; - data[9] = bcm + asin; - data[10] = c2 * mcos + cost; - data[11] = 0.0f; - data[12] = 0.0f; - data[13] = 0.0f; - data[14] = 0.0f; - data[15] = 1.0f; - } -} - -/* -void SkewMatrix(scalar angle, const Vec3 & v1, const Vec3 & v2) { -v1.Normalize(); -v2.Normalize(); - -Vec3 v3; -v3.Cross(v1, v2); -v3.Normalize(); - -// Get skew factor. -scalar costheta = Vec3DotProduct(v1, v2); -scalar sintheta = Real.Sqrt(1 - costheta * costheta); -scalar skew = tan(Trig.DegreesToRadians(angle) + acos(sintheta)) * sintheta - costheta; - -// Build orthonormal matrix. -v1 = FXVector3.Cross(v3, v2); -v1.Normalize(); - -Matrix R = Matrix::Identity; -R[0, 0] = v3.X; // Not sure this is in the correct order... -R[1, 0] = v3.Y; -R[2, 0] = v3.Z; -R[0, 1] = v1.X; -R[1, 1] = v1.Y; -R[2, 1] = v1.Z; -R[0, 2] = v2.X; -R[1, 2] = v2.Y; -R[2, 2] = v2.Z; - -// Build skew matrix. -Matrix S = Matrix::Identity; -S[2, 1] = -skew; - -// Return skew transform. -return R * S * R.Transpose; // Not sure this is in the correct order... -} -*/ - -/** -* Generate rotation matrix for the euler angles. This is the same as computing -* 3 rotation matrices and multiplying them together in our custom order. -* -* @todo Have to recompute this code for our new convention. -**/ -void RotationMatrix( scalar yaw, scalar pitch, scalar roll ) { - scalar sy = sin(yaw+ToRadian(90)); - scalar cy = cos(yaw+ToRadian(90)); - scalar sp = sin(pitch-ToRadian(90)); - scalar cp = cos(pitch-ToRadian(90)); - scalar sr = sin(roll); - scalar cr = cos(roll); - - data[0] = cr*cy + sr*sp*sy; - data[1] = cp*sy; - data[2] = -sr*cy + cr*sp*sy; - data[3] = 0; - - data[4] = -cr*sy + sr*sp*cy; - data[5] = cp*cy; - data[6] = sr*sy + cr*sp*cy; - data[7] = 0; - - data[8] = sr*cp; - data[9] = -sp; - data[10] = cr*cp; - data[11] = 0; - - data[12] = 0; - data[13] = 0; - data[14] = 0; - data[15] = 1; -} - -/** Create a frustum matrix with the far plane at the infinity. */ -void Frustum( scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear, scalar zFar ) { - scalar one_deltax, one_deltay, one_deltaz, doubleznear; - - doubleznear = 2.0f * zNear; - one_deltax = 1.0f / (xmax - xmin); - one_deltay = 1.0f / (ymax - ymin); - one_deltaz = 1.0f / (zFar - zNear); - - data[0] = (scalar)(doubleznear * one_deltax); - data[1] = 0.0f; - data[2] = 0.0f; - data[3] = 0.0f; - data[4] = 0.0f; - data[5] = (scalar)(doubleznear * one_deltay); - data[6] = 0.f; - data[7] = 0.f; - data[8] = (scalar)((xmax + xmin) * one_deltax); - data[9] = (scalar)((ymax + ymin) * one_deltay); - data[10] = (scalar)(-(zFar + zNear) * one_deltaz); - data[11] = -1.f; - data[12] = 0.f; - data[13] = 0.f; - data[14] = (scalar)(-(zFar * doubleznear) * one_deltaz); - data[15] = 0.f; -} - -/** Create a frustum matrix with the far plane at the infinity. */ -void FrustumInf( scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear ) { - scalar one_deltax, one_deltay, doubleznear, nudge; - - doubleznear = 2.0f * zNear; - one_deltax = 1.0f / (xmax - xmin); - one_deltay = 1.0f / (ymax - ymin); - nudge = 1.0; // 0.999; - - data[0] = doubleznear * one_deltax; - data[1] = 0.0f; - data[2] = 0.0f; - data[3] = 0.0f; - - data[4] = 0.0f; - data[5] = doubleznear * one_deltay; - data[6] = 0.f; - data[7] = 0.f; - - data[8] = (xmax + xmin) * one_deltax; - data[9] = (ymax + ymin) * one_deltay; - data[10] = -1.0f * nudge; - data[11] = -1.0f; - - data[12] = 0.f; - data[13] = 0.f; - data[14] = -doubleznear * nudge; - data[15] = 0.f; -} - -/** Create an inverse frustum matrix with the far plane at the infinity. */ -void FrustumInfInv( scalar left, scalar right, scalar bottom, scalar top, scalar zNear ) { - // this matrix is wrong (not tested scalarly) I think it should be transposed. - data[0] = (right - left) / (2 * zNear); - data[1] = 0; - data[2] = 0; - data[3] = (right + left) / (2 * zNear); - data[4] = 0; - data[5] = (top - bottom) / (2 * zNear); - data[6] = 0; - data[7] = (top + bottom) / (2 * zNear); - data[8] = 0; - data[9] = 0; - data[10] = 0; - data[11] = -1; - data[12] = 0; - data[13] = 0; - data[14] = -1 / (2 * zNear); - data[15] = 1 / (2 * zNear); -} - -/** Create an homogeneous projection matrix. */ -void Perspective( scalar fov, scalar aspect, scalar zNear, scalar zFar ) { - scalar xmin, xmax, ymin, ymax; - - xmax = zNear * tan( fov/2 ); - xmin = -xmax; - - ymax = xmax / aspect; - ymin = -ymax; - - Frustum(xmin, xmax, ymin, ymax, zNear, zFar); -} - -/** Create a projection matrix with the far plane at the infinity. */ -void PerspectiveInf( scalar fov, scalar aspect, scalar zNear ) { - scalar x = zNear * tan( fov/2 ); - scalar y = x / aspect; - FrustumInf( -x, x, -y, y, zNear ); -} - -/** Create an inverse projection matrix with far plane at the infinity. */ -void PerspectiveInfInv( scalar fov, scalar aspect, scalar zNear ) { - scalar x = zNear * tan( fov/2 ); - scalar y = x / aspect; - FrustumInfInv( -x, x, -y, y, zNear ); -} - -/** Build bone matrix from quatertion and offset. */ -void BoneMatrix(const Quat & q, const Vec3 & offset) { - scalar x2, y2, z2, xx, xy, xz, yy, yz, zz, wx, wy, wz; - - // calculate coefficients - x2 = q.x + q.x; - y2 = q.y + q.y; - z2 = q.z + q.z; - - xx = q.x * x2; xy = q.x * y2; xz = q.x * z2; - yy = q.y * y2; yz = q.y * z2; zz = q.z * z2; - wx = q.w * x2; wy = q.w * y2; wz = q.w * z2; - - data[0] = 1.0f - (yy + zz); - data[1] = xy - wz; - data[2] = xz + wy; - data[3] = 0.0f; - - data[4] = xy + wz; - data[5] = 1.0f - (xx + zz); - data[6] = yz - wx; - data[7] = 0.0f; - - data[8] = xz - wy; - data[9] = yz + wx; - data[10] = 1.0f - (xx + yy); - data[11] = 0.0f; - - data[12] = offset.x; - data[13] = offset.y; - data[14] = offset.z; - data[15] = 1.0f; -} - -//@} - - -/** @name Transformations: */ -//@{ - -/** Apply a general scale. */ -void Scale( scalar x, scalar y, scalar z ) { - data[0] *= x; data[4] *= y; data[8] *= z; - data[1] *= x; data[5] *= y; data[9] *= z; - data[2] *= x; data[6] *= y; data[10] *= z; - data[3] *= x; data[7] *= y; data[11] *= z; -} - -/** Apply a rotation of theta degrees around the axis v*/ -void Rotate( scalar theta, const Vec3 & v ) { - Matrix b; - b.RotationMatrix( theta, v[0], v[1], v[2] ); - Multiply4x3( b ); -} - -/** Apply a rotation of theta degrees around the axis v*/ -void Rotate( scalar theta, scalar v0, scalar v1, scalar v2 ) { - Matrix b; - b.RotationMatrix( theta, v0, v1, v2 ); - Multiply4x3( b ); -} - -/** -* Translate the matrix by t. This is the same as multiplying by a -* translation matrix with the given offset. -* this = T * this -*/ -void Translate( const Vec3 &t ) { - data[12] = data[0] * t.x + data[4] * t.y + data[8] * t.z + data[12]; - data[13] = data[1] * t.x + data[5] * t.y + data[9] * t.z + data[13]; - data[14] = data[2] * t.x + data[6] * t.y + data[10] * t.z + data[14]; - data[15] = data[3] * t.x + data[7] * t.y + data[11] * t.z + data[15]; -} - -/** -* Translate the matrix by x, y, z. This is the same as multiplying by a -* translation matrix with the given offsets. -*/ -void Translate( scalar x, scalar y, scalar z ) { - data[12] = data[0] * x + data[4] * y + data[8] * z + data[12]; - data[13] = data[1] * x + data[5] * y + data[9] * z + data[13]; - data[14] = data[2] * x + data[6] * y + data[10] * z + data[14]; - data[15] = data[3] * x + data[7] * y + data[11] * z + data[15]; -} - -/** Compute the transposed matrix. */ -void Transpose() { - piSwap(data[1], data[4]); - piSwap(data[2], data[8]); - piSwap(data[6], data[9]); - piSwap(data[3], data[12]); - piSwap(data[7], data[13]); - piSwap(data[11], data[14]); -} - -/** Compute the inverse of a rigid-body/isometry/orthonormal matrix. */ -void IsometryInverse() { - // transposed 3x3 upper left matrix - piSwap(data[1], data[4]); - piSwap(data[2], data[8]); - piSwap(data[6], data[9]); - - // translate by the negative offsets - Vec3 v(-data[12], -data[13], -data[14]); - data[12] = data[13] = data[14] = 0; - Translate(v); -} - -/** Compute the inverse of the affine portion of this matrix. */ -void AffineInverse() { - data[12] = data[13] = data[14] = 0; - Transpose(); -} -//@} - -/** @name Matrix operations: */ -//@{ - -/** Return the determinant of this matrix. */ -scalar Determinant() const { - return data[0] * data[5] * data[10] * data[15] + - data[1] * data[6] * data[11] * data[12] + - data[2] * data[7] * data[ 8] * data[13] + - data[3] * data[4] * data[ 9] * data[14] - - data[3] * data[6] * data[ 9] * data[12] - - data[2] * data[5] * data[ 8] * data[15] - - data[1] * data[4] * data[11] * data[14] - - data[0] * data[7] * data[10] * data[12]; -} - - -/** Standard matrix product: this *= B. */ -void Multiply4x4( const Matrix & restrict B ) { - Multiply4x4(*this, B); -} - -/** Standard matrix product: this = A * B. this != B*/ -void Multiply4x4( const Matrix & A, const Matrix & restrict B ) { - piDebugCheck(this != &B); - - for(int i = 0; i < 4; i++) { - const scalar ai0 = A(i,0), ai1 = A(i,1), ai2 = A(i,2), ai3 = A(i,3); - GetElem(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0) + ai3 * B(3,0); - GetElem(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1) + ai3 * B(3,1); - GetElem(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2) + ai3 * B(3,2); - GetElem(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3 * B(3,3); - } - - /* Unrolled but does not allow this == A - data[0] = A.data[0] * B.data[0] + A.data[4] * B.data[1] + A.data[8] * B.data[2] + A.data[12] * B.data[3]; - data[1] = A.data[1] * B.data[0] + A.data[5] * B.data[1] + A.data[9] * B.data[2] + A.data[13] * B.data[3]; - data[2] = A.data[2] * B.data[0] + A.data[6] * B.data[1] + A.data[10] * B.data[2] + A.data[14] * B.data[3]; - data[3] = A.data[3] * B.data[0] + A.data[7] * B.data[1] + A.data[11] * B.data[2] + A.data[15] * B.data[3]; - data[4] = A.data[0] * B.data[4] + A.data[4] * B.data[5] + A.data[8] * B.data[6] + A.data[12] * B.data[7]; - data[5] = A.data[1] * B.data[4] + A.data[5] * B.data[5] + A.data[9] * B.data[6] + A.data[13] * B.data[7]; - data[6] = A.data[2] * B.data[4] + A.data[6] * B.data[5] + A.data[10] * B.data[6] + A.data[14] * B.data[7]; - data[7] = A.data[3] * B.data[4] + A.data[7] * B.data[5] + A.data[11] * B.data[6] + A.data[15] * B.data[7]; - data[8] = A.data[0] * B.data[8] + A.data[4] * B.data[9] + A.data[8] * B.data[10] + A.data[12] * B.data[11]; - data[9] = A.data[1] * B.data[8] + A.data[5] * B.data[9] + A.data[9] * B.data[10] + A.data[13] * B.data[11]; - data[10]= A.data[2] * B.data[8] + A.data[6] * B.data[9] + A.data[10] * B.data[10] + A.data[14] * B.data[11]; - data[11]= A.data[3] * B.data[8] + A.data[7] * B.data[9] + A.data[11] * B.data[10] + A.data[15] * B.data[11]; - data[12]= A.data[0] * B.data[12] + A.data[4] * B.data[13] + A.data[8] * B.data[14] + A.data[12] * B.data[15]; - data[13]= A.data[1] * B.data[12] + A.data[5] * B.data[13] + A.data[9] * B.data[14] + A.data[13] * B.data[15]; - data[14]= A.data[2] * B.data[12] + A.data[6] * B.data[13] + A.data[10] * B.data[14] + A.data[14] * B.data[15]; - data[15]= A.data[3] * B.data[12] + A.data[7] * B.data[13] + A.data[11] * B.data[14] + A.data[15] * B.data[15]; - */ -} - -/** Standard matrix product: this *= B. */ -void Multiply4x3( const Matrix & restrict B ) { - Multiply4x3(*this, B); -} - -/** Standard product of matrices, where the last row is [0 0 0 1]. */ -void Multiply4x3( const Matrix & A, const Matrix & restrict B ) { - piDebugCheck(this != &B); - - for(int i = 0; i < 3; i++) { - const scalar ai0 = A(i,0), ai1 = A(i,1), ai2 = A(i,2), ai3 = A(i,3); - GetElem(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0) + ai3 * B(3,0); - GetElem(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1) + ai3 * B(3,1); - GetElem(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2) + ai3 * B(3,2); - GetElem(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3 * B(3,3); - } - data[3] = 0.0f; data[7] = 0.0f; data[11] = 0.0f; data[15] = 1.0f; - - /* Unrolled but does not allow this == A - data[0] = a.data[0] * b.data[0] + a.data[4] * b.data[1] + a.data[8] * b.data[2] + a.data[12] * b.data[3]; - data[1] = a.data[1] * b.data[0] + a.data[5] * b.data[1] + a.data[9] * b.data[2] + a.data[13] * b.data[3]; - data[2] = a.data[2] * b.data[0] + a.data[6] * b.data[1] + a.data[10] * b.data[2] + a.data[14] * b.data[3]; - data[3] = 0.0f; - data[4] = a.data[0] * b.data[4] + a.data[4] * b.data[5] + a.data[8] * b.data[6] + a.data[12] * b.data[7]; - data[5] = a.data[1] * b.data[4] + a.data[5] * b.data[5] + a.data[9] * b.data[6] + a.data[13] * b.data[7]; - data[6] = a.data[2] * b.data[4] + a.data[6] * b.data[5] + a.data[10] * b.data[6] + a.data[14] * b.data[7]; - data[7] = 0.0f; - data[8] = a.data[0] * b.data[8] + a.data[4] * b.data[9] + a.data[8] * b.data[10] + a.data[12] * b.data[11]; - data[9] = a.data[1] * b.data[8] + a.data[5] * b.data[9] + a.data[9] * b.data[10] + a.data[13] * b.data[11]; - data[10]= a.data[2] * b.data[8] + a.data[6] * b.data[9] + a.data[10] * b.data[10] + a.data[14] * b.data[11]; - data[11]= 0.0f; - data[12]= a.data[0] * b.data[12] + a.data[4] * b.data[13] + a.data[8] * b.data[14] + a.data[12] * b.data[15]; - data[13]= a.data[1] * b.data[12] + a.data[5] * b.data[13] + a.data[9] * b.data[14] + a.data[13] * b.data[15]; - data[14]= a.data[2] * b.data[12] + a.data[6] * b.data[13] + a.data[10] * b.data[14] + a.data[14] * b.data[15]; - data[15]= 1.0f; - */ -} -//@} - - -/** @name Vector operations: */ -//@{ - -/** Transform 3d vector (w=0). */ -void TransformVec3(const Vec3 & restrict orig, Vec3 * restrict dest) const { - piDebugCheck(&orig != dest); - dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8]; - dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9]; - dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10]; -} -/** Transform 3d vector by the transpose (w=0). */ -void TransformVec3T(const Vec3 & restrict orig, Vec3 * restrict dest) const { - piDebugCheck(&orig != dest); - dest->x = orig.x * data[0] + orig.y * data[1] + orig.z * data[2]; - dest->y = orig.x * data[4] + orig.y * data[5] + orig.z * data[6]; - dest->z = orig.x * data[8] + orig.y * data[9] + orig.z * data[10]; -} - -/** Transform a 3d homogeneous vector, where the fourth coordinate is assumed to be 1. */ -void TransformPoint(const Vec3 & restrict orig, Vec3 * restrict dest) const { - piDebugCheck(&orig != dest); - dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; - dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; - dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; -} - -/** Transform a point, normalize it, and return w. */ -scalar TransformPointAndNormalize(const Vec3 & restrict orig, Vec3 * restrict dest) const { - piDebugCheck(&orig != dest); - scalar w; - dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; - dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; - dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; - w = 1 / (orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]); - *dest *= w; - return w; -} - -/** Transform a point and return w. */ -scalar TransformPointReturnW(const Vec3 & restrict orig, Vec3 * restrict dest) const { - piDebugCheck(&orig != dest); - dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; - dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; - dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; - return orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]; -} - -/** Transform a normalized 3d point by a 4d matrix and return the resulting 4d vector. */ -void TransformVec4(const Vec3 & orig, Vec4 * dest) const { - dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; - dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; - dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; - dest->w = orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]; -} -//@} - -/** @name Matrix analysis. */ -//@{ - -/** Get the ZYZ euler angles from the matrix. Assumes the matrix is orthonormal. */ -void GetEulerAnglesZYZ(scalar * s, scalar * t, scalar * r) const { - if( GetElem(2,2) < 1.0f ) { - if( GetElem(2,2) > -1.0f ) { - // cs*ct*cr-ss*sr -ss*ct*cr-cs*sr st*cr - // cs*ct*sr+ss*cr -ss*ct*sr+cs*cr st*sr - // -cs*st ss*st ct - *s = atan2(GetElem(1,2), -GetElem(0,2)); - *t = acos(GetElem(2,2)); - *r = atan2(GetElem(2,1), GetElem(2,0)); - } - else { - // -c(s-r) s(s-r) 0 - // s(s-r) c(s-r) 0 - // 0 0 -1 - *s = atan2(GetElem(0, 1), -GetElem(0, 0)); // = s-r - *t = PI; - *r = 0; - } - } - else { - // c(s+r) -s(s+r) 0 - // s(s+r) c(s+r) 0 - // 0 0 1 - *s = atan2(GetElem(0, 1), GetElem(0, 0)); // = s+r - *t = 0; - *r = 0; - } -} - -//@} - -MATHLIB_API friend PiStream & operator<< ( PiStream & s, Matrix & m ); - -/** Print to debug output. */ -void Print() const { - piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[0], data[4], data[8], data[12] ); - piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[1], data[5], data[9], data[13] ); - piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[2], data[6], data[10], data[14] ); - piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[3], data[7], data[11], data[15] ); -} - - -public: - - scalar data[16]; - -}; -#endif - - - - #endif // NV_MATH_MATRIX_H diff --git a/src/nvmath/Matrix.inl b/src/nvmath/Matrix.inl new file mode 100644 index 0000000..dd8b84d --- /dev/null +++ b/src/nvmath/Matrix.inl @@ -0,0 +1,1124 @@ +// This code is in the public domain -- castanyo@yahoo.es + +#pragma once +#ifndef NV_MATH_MATRIX_INL +#define NV_MATH_MATRIX_INL + +#include "Matrix.h" + +namespace nv +{ + inline Matrix3::Matrix3() {} + + inline Matrix3::Matrix3(float f) + { + for(int i = 0; i < 9; i++) { + m_data[i] = f; + } + } + + inline Matrix3::Matrix3(identity_t) + { + for(int i = 0; i < 3; i++) { + for(int j = 0; j < 3; j++) { + m_data[3*j+i] = (i == j) ? 1.0f : 0.0f; + } + } + } + + inline Matrix3::Matrix3(const Matrix3 & m) + { + for(int i = 0; i < 9; i++) { + m_data[i] = m.m_data[i]; + } + } + + inline Matrix3::Matrix3(Vector3::Arg v0, Vector3::Arg v1, Vector3::Arg v2) + { + m_data[0] = v0.x; m_data[1] = v0.y; m_data[2] = v0.z; + m_data[3] = v1.x; m_data[4] = v1.y; m_data[5] = v1.z; + m_data[6] = v2.x; m_data[7] = v2.y; m_data[8] = v2.z; + } + + inline scalar Matrix3::get(uint row, uint col) const + { + nvDebugCheck(row < 3 && col < 3); + return m_data[col * 3 + row]; + } + inline scalar Matrix3::operator()(uint row, uint col) const + { + nvDebugCheck(row < 3 && col < 3); + return m_data[col * 3 + row]; + } + inline scalar & Matrix3::operator()(uint row, uint col) + { + nvDebugCheck(row < 3 && col < 3); + return m_data[col * 3 + row]; + } + + inline Vector3 Matrix3::row(uint i) const + { + nvDebugCheck(i < 3); + return Vector3(get(i, 0), get(i, 1), get(i, 2)); + } + inline Vector3 Matrix3::column(uint i) const + { + nvDebugCheck(i < 3); + return Vector3(get(0, i), get(1, i), get(2, i)); + } + + inline void Matrix3::operator*=(float s) + { + for(int i = 0; i < 9; i++) { + m_data[i] *= s; + } + } + + inline void Matrix3::operator/=(float s) + { + float is = 1.0f /s; + for(int i = 0; i < 9; i++) { + m_data[i] *= is; + } + } + + inline void Matrix3::operator+=(const Matrix3 & m) + { + for(int i = 0; i < 9; i++) { + m_data[i] += m.m_data[i]; + } + } + + inline void Matrix3::operator-=(const Matrix3 & m) + { + for(int i = 0; i < 9; i++) { + m_data[i] -= m.m_data[i]; + } + } + + inline Matrix3 operator+(const Matrix3 & a, const Matrix3 & b) + { + Matrix3 m = a; + m += b; + return m; + } + + inline Matrix3 operator-(const Matrix3 & a, const Matrix3 & b) + { + Matrix3 m = a; + m -= b; + return m; + } + + inline Matrix3 operator*(const Matrix3 & a, float s) + { + Matrix3 m = a; + m *= s; + return m; + } + + inline Matrix3 operator*(float s, const Matrix3 & a) + { + Matrix3 m = a; + m *= s; + return m; + } + + inline Matrix3 operator/(const Matrix3 & a, float s) + { + Matrix3 m = a; + m /= s; + return m; + } + + inline Matrix3 mul(const Matrix3 & a, const Matrix3 & b) + { + Matrix3 m; + + for(int i = 0; i < 3; i++) { + const scalar ai0 = a(i,0), ai1 = a(i,1), ai2 = a(i,2); + m(i, 0) = ai0 * b(0,0) + ai1 * b(1,0) + ai2 * b(2,0); + m(i, 1) = ai0 * b(0,1) + ai1 * b(1,1) + ai2 * b(2,1); + m(i, 2) = ai0 * b(0,2) + ai1 * b(1,2) + ai2 * b(2,2); + } + + return m; + } + + inline Matrix3 operator*(const Matrix3 & a, const Matrix3 & b) + { + return mul(a, b); + } + + inline float Matrix3::determinant() const + { + return + get(0,0) * get(1,1) * get(2,2) + + get(0,1) * get(1,2) * get(2,0) + + get(0,2) * get(1,0) * get(2,1) - + get(0,2) * get(1,1) * get(2,0) - + get(0,1) * get(1,0) * get(2,2) - + get(0,0) * get(1,2) * get(2,1); + } + + + + inline Matrix::Matrix() + { + } + + inline Matrix::Matrix(float f) + { + for(int i = 0; i < 16; i++) { + m_data[i] = 0.0f; + } + } + + inline Matrix::Matrix(identity_t) + { + for(int i = 0; i < 4; i++) { + for(int j = 0; j < 4; j++) { + m_data[4*j+i] = (i == j) ? 1.0f : 0.0f; + } + } + } + + inline Matrix::Matrix(const Matrix & m) + { + for(int i = 0; i < 16; i++) { + m_data[i] = m.m_data[i]; + } + } + + inline Matrix::Matrix(Vector4::Arg v0, Vector4::Arg v1, Vector4::Arg v2, Vector4::Arg v3) + { + m_data[ 0] = v0.x; m_data[ 1] = v0.y; m_data[ 2] = v0.z; m_data[ 3] = v0.w; + m_data[ 4] = v1.x; m_data[ 5] = v1.y; m_data[ 6] = v1.z; m_data[ 7] = v1.w; + m_data[ 8] = v2.x; m_data[ 9] = v2.y; m_data[10] = v2.z; m_data[11] = v2.w; + m_data[12] = v3.x; m_data[13] = v3.y; m_data[14] = v3.z; m_data[15] = v3.w; + } + + /*inline Matrix::Matrix(const scalar m[]) + { + for(int i = 0; i < 16; i++) { + m_data[i] = m[i]; + } + }*/ + + + // Accessors + inline scalar Matrix::data(uint idx) const + { + nvDebugCheck(idx < 16); + return m_data[idx]; + } + inline scalar & Matrix::data(uint idx) + { + nvDebugCheck(idx < 16); + return m_data[idx]; + } + inline scalar Matrix::get(uint row, uint col) const + { + nvDebugCheck(row < 4 && col < 4); + return m_data[col * 4 + row]; + } + inline scalar Matrix::operator()(uint row, uint col) const + { + nvDebugCheck(row < 4 && col < 4); + return m_data[col * 4 + row]; + } + inline scalar & Matrix::operator()(uint row, uint col) + { + nvDebugCheck(row < 4 && col < 4); + return m_data[col * 4 + row]; + } + + inline const scalar * Matrix::ptr() const + { + return m_data; + } + + inline Vector4 Matrix::row(uint i) const + { + nvDebugCheck(i < 4); + return Vector4(get(i, 0), get(i, 1), get(i, 2), get(i, 3)); + } + + inline Vector4 Matrix::column(uint i) const + { + nvDebugCheck(i < 4); + return Vector4(get(0, i), get(1, i), get(2, i), get(3, i)); + } + + // Apply scale. + inline void Matrix::scale(scalar s) + { + m_data[0] *= s; m_data[1] *= s; m_data[2] *= s; m_data[3] *= s; + m_data[4] *= s; m_data[5] *= s; m_data[6] *= s; m_data[7] *= s; + m_data[8] *= s; m_data[9] *= s; m_data[10] *= s; m_data[11] *= s; + m_data[12] *= s; m_data[13] *= s; m_data[14] *= s; m_data[15] *= s; + } + + // Apply scale. + inline void Matrix::scale(Vector3::Arg s) + { + m_data[0] *= s.x; m_data[1] *= s.x; m_data[2] *= s.x; m_data[3] *= s.x; + m_data[4] *= s.y; m_data[5] *= s.y; m_data[6] *= s.y; m_data[7] *= s.y; + m_data[8] *= s.z; m_data[9] *= s.z; m_data[10] *= s.z; m_data[11] *= s.z; + } + + // Apply translation. + inline void Matrix::translate(Vector3::Arg t) + { + m_data[12] = m_data[0] * t.x + m_data[4] * t.y + m_data[8] * t.z + m_data[12]; + m_data[13] = m_data[1] * t.x + m_data[5] * t.y + m_data[9] * t.z + m_data[13]; + m_data[14] = m_data[2] * t.x + m_data[6] * t.y + m_data[10] * t.z + m_data[14]; + m_data[15] = m_data[3] * t.x + m_data[7] * t.y + m_data[11] * t.z + m_data[15]; + } + + Matrix rotation(scalar theta, scalar v0, scalar v1, scalar v2); + + // Apply rotation. + inline void Matrix::rotate(scalar theta, scalar v0, scalar v1, scalar v2) + { + Matrix R(rotation(theta, v0, v1, v2)); + apply(R); + } + + // Apply transform. + inline void Matrix::apply(Matrix::Arg m) + { + nvDebugCheck(this != &m); + + for(int i = 0; i < 4; i++) { + const scalar ai0 = get(i,0), ai1 = get(i,1), ai2 = get(i,2), ai3 = get(i,3); + m_data[0 + i] = ai0 * m(0,0) + ai1 * m(1,0) + ai2 * m(2,0) + ai3 * m(3,0); + m_data[4 + i] = ai0 * m(0,1) + ai1 * m(1,1) + ai2 * m(2,1) + ai3 * m(3,1); + m_data[8 + i] = ai0 * m(0,2) + ai1 * m(1,2) + ai2 * m(2,2) + ai3 * m(3,2); + m_data[12+ i] = ai0 * m(0,3) + ai1 * m(1,3) + ai2 * m(2,3) + ai3 * m(3,3); + } + } + + // Get scale matrix. + inline Matrix scale(Vector3::Arg s) + { + Matrix m(identity); + m(0,0) = s.x; + m(1,1) = s.y; + m(2,2) = s.z; + return m; + } + + // Get scale matrix. + inline Matrix scale(scalar s) + { + Matrix m(identity); + m(0,0) = m(1,1) = m(2,2) = s; + return m; + } + + // Get translation matrix. + inline Matrix translation(Vector3::Arg t) + { + Matrix m(identity); + m(0,3) = t.x; + m(1,3) = t.y; + m(2,3) = t.z; + return m; + } + + // Get rotation matrix. + inline Matrix rotation(scalar theta, scalar v0, scalar v1, scalar v2) + { + scalar cost = cosf(theta); + scalar sint = sinf(theta); + + Matrix m(identity); + + if( 1 == v0 && 0 == v1 && 0 == v2 ) { + m(1,1) = cost; m(2,1) = -sint; + m(1,2) = sint; m(2,2) = cost; + } + else if( 0 == v0 && 1 == v1 && 0 == v2 ) { + m(0,0) = cost; m(2,0) = sint; + m(1,2) = -sint; m(2,2) = cost; + } + else if( 0 == v0 && 0 == v1 && 1 == v2 ) { + m(0,0) = cost; m(1,0) = -sint; + m(0,1) = sint; m(1,1) = cost; + } + else { + scalar a2, b2, c2; + a2 = v0 * v0; + b2 = v1 * v1; + c2 = v2 * v2; + + scalar iscale = 1.0f / sqrtf(a2 + b2 + c2); + v0 *= iscale; + v1 *= iscale; + v2 *= iscale; + + scalar abm, acm, bcm; + scalar mcos, asin, bsin, csin; + mcos = 1.0f - cost; + abm = v0 * v1 * mcos; + acm = v0 * v2 * mcos; + bcm = v1 * v2 * mcos; + asin = v0 * sint; + bsin = v1 * sint; + csin = v2 * sint; + m(0,0) = a2 * mcos + cost; + m(1,0) = abm - csin; + m(2,0) = acm + bsin; + m(3,0) = abm + csin; + m(1,1) = b2 * mcos + cost; + m(2,1) = bcm - asin; + m(3,1) = acm - bsin; + m(1,2) = bcm + asin; + m(2,2) = c2 * mcos + cost; + } + return m; + } + + //Matrix rotation(scalar yaw, scalar pitch, scalar roll); + //Matrix skew(scalar angle, Vector3::Arg v1, Vector3::Arg v2); + + // Get frustum matrix. + inline Matrix frustum(scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear, scalar zFar) + { + Matrix m(0.0f); + + scalar doubleznear = 2.0f * zNear; + scalar one_deltax = 1.0f / (xmax - xmin); + scalar one_deltay = 1.0f / (ymax - ymin); + scalar one_deltaz = 1.0f / (zFar - zNear); + + m(0,0) = doubleznear * one_deltax; + m(1,1) = doubleznear * one_deltay; + m(0,2) = (xmax + xmin) * one_deltax; + m(1,2) = (ymax + ymin) * one_deltay; + m(2,2) = -(zFar + zNear) * one_deltaz; + m(3,2) = -1.0f; + m(2,3) = -(zFar * doubleznear) * one_deltaz; + + return m; + } + + // Get infinite frustum matrix. + inline Matrix frustum(scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear) + { + Matrix m(0.0f); + + scalar doubleznear = 2.0f * zNear; + scalar one_deltax = 1.0f / (xmax - xmin); + scalar one_deltay = 1.0f / (ymax - ymin); + scalar nudge = 1.0; // 0.999; + + m(0,0) = doubleznear * one_deltax; + m(1,1) = doubleznear * one_deltay; + m(0,2) = (xmax + xmin) * one_deltax; + m(1,2) = (ymax + ymin) * one_deltay; + m(2,2) = -1.0f * nudge; + m(3,2) = -1.0f; + m(2,3) = -doubleznear * nudge; + + return m; + } + + // Get perspective matrix. + inline Matrix perspective(scalar fovy, scalar aspect, scalar zNear, scalar zFar) + { + scalar xmax = zNear * tan(fovy / 2); + scalar xmin = -xmax; + + scalar ymax = xmax / aspect; + scalar ymin = -ymax; + + return frustum(xmin, xmax, ymin, ymax, zNear, zFar); + } + + // Get infinite perspective matrix. + inline Matrix perspective(scalar fovy, scalar aspect, scalar zNear) + { + scalar x = zNear * tan(fovy / 2); + scalar y = x / aspect; + return frustum( -x, x, -y, y, zNear ); + } + + // Get matrix determinant. + inline scalar Matrix::determinant() const + { + return + m_data[3] * m_data[6] * m_data[ 9] * m_data[12] - m_data[2] * m_data[7] * m_data[ 9] * m_data[12] - m_data[3] * m_data[5] * m_data[10] * m_data[12] + m_data[1] * m_data[7] * m_data[10] * m_data[12] + + m_data[2] * m_data[5] * m_data[11] * m_data[12] - m_data[1] * m_data[6] * m_data[11] * m_data[12] - m_data[3] * m_data[6] * m_data[ 8] * m_data[13] + m_data[2] * m_data[7] * m_data[ 8] * m_data[13] + + m_data[3] * m_data[4] * m_data[10] * m_data[13] - m_data[0] * m_data[7] * m_data[10] * m_data[13] - m_data[2] * m_data[4] * m_data[11] * m_data[13] + m_data[0] * m_data[6] * m_data[11] * m_data[13] + + m_data[3] * m_data[5] * m_data[ 8] * m_data[14] - m_data[1] * m_data[7] * m_data[ 8] * m_data[14] - m_data[3] * m_data[4] * m_data[ 9] * m_data[14] + m_data[0] * m_data[7] * m_data[ 9] * m_data[14] + + m_data[1] * m_data[4] * m_data[11] * m_data[14] - m_data[0] * m_data[5] * m_data[11] * m_data[14] - m_data[2] * m_data[5] * m_data[ 8] * m_data[15] + m_data[1] * m_data[6] * m_data[ 8] * m_data[15] + + m_data[2] * m_data[4] * m_data[ 9] * m_data[15] - m_data[0] * m_data[6] * m_data[ 9] * m_data[15] - m_data[1] * m_data[4] * m_data[10] * m_data[15] + m_data[0] * m_data[5] * m_data[10] * m_data[15]; + } + + inline Matrix transpose(Matrix::Arg m) + { + Matrix r; + for (int i = 0; i < 4; i++) + { + for (int j = 0; j < 4; j++) + { + r(i, j) = m(j, i); + } + } + return r; + } + + inline Matrix inverse(Matrix::Arg m) + { + Matrix r; + r.data( 0) = m.data(6)*m.data(11)*m.data(13) - m.data(7)*m.data(10)*m.data(13) + m.data(7)*m.data(9)*m.data(14) - m.data(5)*m.data(11)*m.data(14) - m.data(6)*m.data(9)*m.data(15) + m.data(5)*m.data(10)*m.data(15); + r.data( 1) = m.data(3)*m.data(10)*m.data(13) - m.data(2)*m.data(11)*m.data(13) - m.data(3)*m.data(9)*m.data(14) + m.data(1)*m.data(11)*m.data(14) + m.data(2)*m.data(9)*m.data(15) - m.data(1)*m.data(10)*m.data(15); + r.data( 2) = m.data(2)*m.data( 7)*m.data(13) - m.data(3)*m.data( 6)*m.data(13) + m.data(3)*m.data(5)*m.data(14) - m.data(1)*m.data( 7)*m.data(14) - m.data(2)*m.data(5)*m.data(15) + m.data(1)*m.data( 6)*m.data(15); + r.data( 3) = m.data(3)*m.data( 6)*m.data( 9) - m.data(2)*m.data( 7)*m.data( 9) - m.data(3)*m.data(5)*m.data(10) + m.data(1)*m.data( 7)*m.data(10) + m.data(2)*m.data(5)*m.data(11) - m.data(1)*m.data( 6)*m.data(11); + r.data( 4) = m.data(7)*m.data(10)*m.data(12) - m.data(6)*m.data(11)*m.data(12) - m.data(7)*m.data(8)*m.data(14) + m.data(4)*m.data(11)*m.data(14) + m.data(6)*m.data(8)*m.data(15) - m.data(4)*m.data(10)*m.data(15); + r.data( 5) = m.data(2)*m.data(11)*m.data(12) - m.data(3)*m.data(10)*m.data(12) + m.data(3)*m.data(8)*m.data(14) - m.data(0)*m.data(11)*m.data(14) - m.data(2)*m.data(8)*m.data(15) + m.data(0)*m.data(10)*m.data(15); + r.data( 6) = m.data(3)*m.data( 6)*m.data(12) - m.data(2)*m.data( 7)*m.data(12) - m.data(3)*m.data(4)*m.data(14) + m.data(0)*m.data( 7)*m.data(14) + m.data(2)*m.data(4)*m.data(15) - m.data(0)*m.data( 6)*m.data(15); + r.data( 7) = m.data(2)*m.data( 7)*m.data( 8) - m.data(3)*m.data( 6)*m.data( 8) + m.data(3)*m.data(4)*m.data(10) - m.data(0)*m.data( 7)*m.data(10) - m.data(2)*m.data(4)*m.data(11) + m.data(0)*m.data( 6)*m.data(11); + r.data( 8) = m.data(5)*m.data(11)*m.data(12) - m.data(7)*m.data( 9)*m.data(12) + m.data(7)*m.data(8)*m.data(13) - m.data(4)*m.data(11)*m.data(13) - m.data(5)*m.data(8)*m.data(15) + m.data(4)*m.data( 9)*m.data(15); + r.data( 9) = m.data(3)*m.data( 9)*m.data(12) - m.data(1)*m.data(11)*m.data(12) - m.data(3)*m.data(8)*m.data(13) + m.data(0)*m.data(11)*m.data(13) + m.data(1)*m.data(8)*m.data(15) - m.data(0)*m.data( 9)*m.data(15); + r.data(10) = m.data(1)*m.data( 7)*m.data(12) - m.data(3)*m.data( 5)*m.data(12) + m.data(3)*m.data(4)*m.data(13) - m.data(0)*m.data( 7)*m.data(13) - m.data(1)*m.data(4)*m.data(15) + m.data(0)*m.data( 5)*m.data(15); + r.data(11) = m.data(3)*m.data( 5)*m.data( 8) - m.data(1)*m.data( 7)*m.data( 8) - m.data(3)*m.data(4)*m.data( 9) + m.data(0)*m.data( 7)*m.data( 9) + m.data(1)*m.data(4)*m.data(11) - m.data(0)*m.data( 5)*m.data(11); + r.data(12) = m.data(6)*m.data( 9)*m.data(12) - m.data(5)*m.data(10)*m.data(12) - m.data(6)*m.data(8)*m.data(13) + m.data(4)*m.data(10)*m.data(13) + m.data(5)*m.data(8)*m.data(14) - m.data(4)*m.data( 9)*m.data(14); + r.data(13) = m.data(1)*m.data(10)*m.data(12) - m.data(2)*m.data( 9)*m.data(12) + m.data(2)*m.data(8)*m.data(13) - m.data(0)*m.data(10)*m.data(13) - m.data(1)*m.data(8)*m.data(14) + m.data(0)*m.data( 9)*m.data(14); + r.data(14) = m.data(2)*m.data( 5)*m.data(12) - m.data(1)*m.data( 6)*m.data(12) - m.data(2)*m.data(4)*m.data(13) + m.data(0)*m.data( 6)*m.data(13) + m.data(1)*m.data(4)*m.data(14) - m.data(0)*m.data( 5)*m.data(14); + r.data(15) = m.data(1)*m.data( 6)*m.data( 8) - m.data(2)*m.data( 5)*m.data( 8) + m.data(2)*m.data(4)*m.data( 9) - m.data(0)*m.data( 6)*m.data( 9) - m.data(1)*m.data(4)*m.data(10) + m.data(0)*m.data( 5)*m.data(10); + r.scale(1.0f / m.determinant()); + return r; + } + + inline Matrix isometryInverse(Matrix::Arg m) + { + Matrix r(identity); + + // transposed 3x3 upper left matrix + for (int i = 0; i < 3; i++) + { + for (int j = 0; j < 3; j++) + { + r(i, j) = m(j, i); + } + } + + // translate by the negative offsets + r.translate(-Vector3(m.data(12), m.data(13), m.data(14))); + + return r; + } + + // Transform the given 3d point with the given matrix. + inline Vector3 transformPoint(Matrix::Arg m, Vector3::Arg p) + { + return Vector3( + p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2) + m(0,3), + p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2) + m(1,3), + p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2) + m(2,3)); + } + + // Transform the given 3d vector with the given matrix. + inline Vector3 transformVector(Matrix::Arg m, Vector3::Arg p) + { + return Vector3( + p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2), + p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2), + p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2)); + } + + // Transform the given 4d vector with the given matrix. + inline Vector4 transform(Matrix::Arg m, Vector4::Arg p) + { + return Vector4( + p.x * m(0,0) + p.y * m(0,1) + p.z * m(0,2) + p.w * m(0,3), + p.x * m(1,0) + p.y * m(1,1) + p.z * m(1,2) + p.w * m(1,3), + p.x * m(2,0) + p.y * m(2,1) + p.z * m(2,2) + p.w * m(2,3), + p.x * m(3,0) + p.y * m(3,1) + p.z * m(3,2) + p.w * m(3,3)); + } + + inline Matrix mul(Matrix::Arg a, Matrix::Arg b) + { + // @@ Is this the right order? mul(a, b) = b * a + Matrix m = a; + m.apply(b); + return m; + } + +} // nv namespace + + +#if 0 // old code. +/** @name Special matrices. */ +//@{ +/** Generate a translation matrix. */ +void TranslationMatrix(const Vec3 & v) { + data[0] = 1; data[1] = 0; data[2] = 0; data[3] = 0; + data[4] = 0; data[5] = 1; data[6] = 0; data[7] = 0; + data[8] = 0; data[9] = 0; data[10] = 1; data[11] = 0; + data[12] = v.x; data[13] = v.y; data[14] = v.z; data[15] = 1; +} + +/** Rotate theta degrees around v. */ +void RotationMatrix( scalar theta, scalar v0, scalar v1, scalar v2 ) { + scalar cost = cos(theta); + scalar sint = sin(theta); + + if( 1 == v0 && 0 == v1 && 0 == v2 ) { + data[0] = 1.0f; data[1] = 0.0f; data[2] = 0.0f; data[3] = 0.0f; + data[4] = 0.0f; data[5] = cost; data[6] = -sint;data[7] = 0.0f; + data[8] = 0.0f; data[9] = sint; data[10] = cost;data[11] = 0.0f; + data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; + } + else if( 0 == v0 && 1 == v1 && 0 == v2 ) { + data[0] = cost; data[1] = 0.0f; data[2] = sint; data[3] = 0.0f; + data[4] = 0.0f; data[5] = 1.0f; data[6] = 0.0f; data[7] = 0.0f; + data[8] = -sint;data[9] = 0.0f;data[10] = cost; data[11] = 0.0f; + data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; + } + else if( 0 == v0 && 0 == v1 && 1 == v2 ) { + data[0] = cost; data[1] = -sint;data[2] = 0.0f; data[3] = 0.0f; + data[4] = sint; data[5] = cost; data[6] = 0.0f; data[7] = 0.0f; + data[8] = 0.0f; data[9] = 0.0f; data[10] = 1.0f;data[11] = 0.0f; + data[12] = 0.0f;data[13] = 0.0f;data[14] = 0.0f;data[15] = 1.0f; + } + else { + //we need scale a,b,c to unit length. + scalar a2, b2, c2; + a2 = v0 * v0; + b2 = v1 * v1; + c2 = v2 * v2; + + scalar iscale = 1.0f / sqrtf(a2 + b2 + c2); + v0 *= iscale; + v1 *= iscale; + v2 *= iscale; + + scalar abm, acm, bcm; + scalar mcos, asin, bsin, csin; + mcos = 1.0f - cost; + abm = v0 * v1 * mcos; + acm = v0 * v2 * mcos; + bcm = v1 * v2 * mcos; + asin = v0 * sint; + bsin = v1 * sint; + csin = v2 * sint; + data[0] = a2 * mcos + cost; + data[1] = abm - csin; + data[2] = acm + bsin; + data[3] = abm + csin; + data[4] = 0.0f; + data[5] = b2 * mcos + cost; + data[6] = bcm - asin; + data[7] = acm - bsin; + data[8] = 0.0f; + data[9] = bcm + asin; + data[10] = c2 * mcos + cost; + data[11] = 0.0f; + data[12] = 0.0f; + data[13] = 0.0f; + data[14] = 0.0f; + data[15] = 1.0f; + } +} + +/* +void SkewMatrix(scalar angle, const Vec3 & v1, const Vec3 & v2) { +v1.Normalize(); +v2.Normalize(); + +Vec3 v3; +v3.Cross(v1, v2); +v3.Normalize(); + +// Get skew factor. +scalar costheta = Vec3DotProduct(v1, v2); +scalar sintheta = Real.Sqrt(1 - costheta * costheta); +scalar skew = tan(Trig.DegreesToRadians(angle) + acos(sintheta)) * sintheta - costheta; + +// Build orthonormal matrix. +v1 = FXVector3.Cross(v3, v2); +v1.Normalize(); + +Matrix R = Matrix::Identity; +R[0, 0] = v3.X; // Not sure this is in the correct order... +R[1, 0] = v3.Y; +R[2, 0] = v3.Z; +R[0, 1] = v1.X; +R[1, 1] = v1.Y; +R[2, 1] = v1.Z; +R[0, 2] = v2.X; +R[1, 2] = v2.Y; +R[2, 2] = v2.Z; + +// Build skew matrix. +Matrix S = Matrix::Identity; +S[2, 1] = -skew; + +// Return skew transform. +return R * S * R.Transpose; // Not sure this is in the correct order... +} +*/ + +/** +* Generate rotation matrix for the euler angles. This is the same as computing +* 3 rotation matrices and multiplying them together in our custom order. +* +* @todo Have to recompute this code for our new convention. +**/ +void RotationMatrix( scalar yaw, scalar pitch, scalar roll ) { + scalar sy = sin(yaw+ToRadian(90)); + scalar cy = cos(yaw+ToRadian(90)); + scalar sp = sin(pitch-ToRadian(90)); + scalar cp = cos(pitch-ToRadian(90)); + scalar sr = sin(roll); + scalar cr = cos(roll); + + data[0] = cr*cy + sr*sp*sy; + data[1] = cp*sy; + data[2] = -sr*cy + cr*sp*sy; + data[3] = 0; + + data[4] = -cr*sy + sr*sp*cy; + data[5] = cp*cy; + data[6] = sr*sy + cr*sp*cy; + data[7] = 0; + + data[8] = sr*cp; + data[9] = -sp; + data[10] = cr*cp; + data[11] = 0; + + data[12] = 0; + data[13] = 0; + data[14] = 0; + data[15] = 1; +} + +/** Create a frustum matrix with the far plane at the infinity. */ +void Frustum( scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear, scalar zFar ) { + scalar one_deltax, one_deltay, one_deltaz, doubleznear; + + doubleznear = 2.0f * zNear; + one_deltax = 1.0f / (xmax - xmin); + one_deltay = 1.0f / (ymax - ymin); + one_deltaz = 1.0f / (zFar - zNear); + + data[0] = (scalar)(doubleznear * one_deltax); + data[1] = 0.0f; + data[2] = 0.0f; + data[3] = 0.0f; + data[4] = 0.0f; + data[5] = (scalar)(doubleznear * one_deltay); + data[6] = 0.f; + data[7] = 0.f; + data[8] = (scalar)((xmax + xmin) * one_deltax); + data[9] = (scalar)((ymax + ymin) * one_deltay); + data[10] = (scalar)(-(zFar + zNear) * one_deltaz); + data[11] = -1.f; + data[12] = 0.f; + data[13] = 0.f; + data[14] = (scalar)(-(zFar * doubleznear) * one_deltaz); + data[15] = 0.f; +} + +/** Create a frustum matrix with the far plane at the infinity. */ +void FrustumInf( scalar xmin, scalar xmax, scalar ymin, scalar ymax, scalar zNear ) { + scalar one_deltax, one_deltay, doubleznear, nudge; + + doubleznear = 2.0f * zNear; + one_deltax = 1.0f / (xmax - xmin); + one_deltay = 1.0f / (ymax - ymin); + nudge = 1.0; // 0.999; + + data[0] = doubleznear * one_deltax; + data[1] = 0.0f; + data[2] = 0.0f; + data[3] = 0.0f; + + data[4] = 0.0f; + data[5] = doubleznear * one_deltay; + data[6] = 0.f; + data[7] = 0.f; + + data[8] = (xmax + xmin) * one_deltax; + data[9] = (ymax + ymin) * one_deltay; + data[10] = -1.0f * nudge; + data[11] = -1.0f; + + data[12] = 0.f; + data[13] = 0.f; + data[14] = -doubleznear * nudge; + data[15] = 0.f; +} + +/** Create an inverse frustum matrix with the far plane at the infinity. */ +void FrustumInfInv( scalar left, scalar right, scalar bottom, scalar top, scalar zNear ) { + // this matrix is wrong (not tested scalarly) I think it should be transposed. + data[0] = (right - left) / (2 * zNear); + data[1] = 0; + data[2] = 0; + data[3] = (right + left) / (2 * zNear); + data[4] = 0; + data[5] = (top - bottom) / (2 * zNear); + data[6] = 0; + data[7] = (top + bottom) / (2 * zNear); + data[8] = 0; + data[9] = 0; + data[10] = 0; + data[11] = -1; + data[12] = 0; + data[13] = 0; + data[14] = -1 / (2 * zNear); + data[15] = 1 / (2 * zNear); +} + +/** Create an homogeneous projection matrix. */ +void Perspective( scalar fov, scalar aspect, scalar zNear, scalar zFar ) { + scalar xmin, xmax, ymin, ymax; + + xmax = zNear * tan( fov/2 ); + xmin = -xmax; + + ymax = xmax / aspect; + ymin = -ymax; + + Frustum(xmin, xmax, ymin, ymax, zNear, zFar); +} + +/** Create a projection matrix with the far plane at the infinity. */ +void PerspectiveInf( scalar fov, scalar aspect, scalar zNear ) { + scalar x = zNear * tan( fov/2 ); + scalar y = x / aspect; + FrustumInf( -x, x, -y, y, zNear ); +} + +/** Create an inverse projection matrix with far plane at the infinity. */ +void PerspectiveInfInv( scalar fov, scalar aspect, scalar zNear ) { + scalar x = zNear * tan( fov/2 ); + scalar y = x / aspect; + FrustumInfInv( -x, x, -y, y, zNear ); +} + +/** Build bone matrix from quatertion and offset. */ +void BoneMatrix(const Quat & q, const Vec3 & offset) { + scalar x2, y2, z2, xx, xy, xz, yy, yz, zz, wx, wy, wz; + + // calculate coefficients + x2 = q.x + q.x; + y2 = q.y + q.y; + z2 = q.z + q.z; + + xx = q.x * x2; xy = q.x * y2; xz = q.x * z2; + yy = q.y * y2; yz = q.y * z2; zz = q.z * z2; + wx = q.w * x2; wy = q.w * y2; wz = q.w * z2; + + data[0] = 1.0f - (yy + zz); + data[1] = xy - wz; + data[2] = xz + wy; + data[3] = 0.0f; + + data[4] = xy + wz; + data[5] = 1.0f - (xx + zz); + data[6] = yz - wx; + data[7] = 0.0f; + + data[8] = xz - wy; + data[9] = yz + wx; + data[10] = 1.0f - (xx + yy); + data[11] = 0.0f; + + data[12] = offset.x; + data[13] = offset.y; + data[14] = offset.z; + data[15] = 1.0f; +} + +//@} + + +/** @name Transformations: */ +//@{ + +/** Apply a general scale. */ +void Scale( scalar x, scalar y, scalar z ) { + data[0] *= x; data[4] *= y; data[8] *= z; + data[1] *= x; data[5] *= y; data[9] *= z; + data[2] *= x; data[6] *= y; data[10] *= z; + data[3] *= x; data[7] *= y; data[11] *= z; +} + +/** Apply a rotation of theta degrees around the axis v*/ +void Rotate( scalar theta, const Vec3 & v ) { + Matrix b; + b.RotationMatrix( theta, v[0], v[1], v[2] ); + Multiply4x3( b ); +} + +/** Apply a rotation of theta degrees around the axis v*/ +void Rotate( scalar theta, scalar v0, scalar v1, scalar v2 ) { + Matrix b; + b.RotationMatrix( theta, v0, v1, v2 ); + Multiply4x3( b ); +} + +/** +* Translate the matrix by t. This is the same as multiplying by a +* translation matrix with the given offset. +* this = T * this +*/ +void Translate( const Vec3 &t ) { + data[12] = data[0] * t.x + data[4] * t.y + data[8] * t.z + data[12]; + data[13] = data[1] * t.x + data[5] * t.y + data[9] * t.z + data[13]; + data[14] = data[2] * t.x + data[6] * t.y + data[10] * t.z + data[14]; + data[15] = data[3] * t.x + data[7] * t.y + data[11] * t.z + data[15]; +} + +/** +* Translate the matrix by x, y, z. This is the same as multiplying by a +* translation matrix with the given offsets. +*/ +void Translate( scalar x, scalar y, scalar z ) { + data[12] = data[0] * x + data[4] * y + data[8] * z + data[12]; + data[13] = data[1] * x + data[5] * y + data[9] * z + data[13]; + data[14] = data[2] * x + data[6] * y + data[10] * z + data[14]; + data[15] = data[3] * x + data[7] * y + data[11] * z + data[15]; +} + +/** Compute the transposed matrix. */ +void Transpose() { + piSwap(data[1], data[4]); + piSwap(data[2], data[8]); + piSwap(data[6], data[9]); + piSwap(data[3], data[12]); + piSwap(data[7], data[13]); + piSwap(data[11], data[14]); +} + +/** Compute the inverse of a rigid-body/isometry/orthonormal matrix. */ +void IsometryInverse() { + // transposed 3x3 upper left matrix + piSwap(data[1], data[4]); + piSwap(data[2], data[8]); + piSwap(data[6], data[9]); + + // translate by the negative offsets + Vec3 v(-data[12], -data[13], -data[14]); + data[12] = data[13] = data[14] = 0; + Translate(v); +} + +/** Compute the inverse of the affine portion of this matrix. */ +void AffineInverse() { + data[12] = data[13] = data[14] = 0; + Transpose(); +} +//@} + +/** @name Matrix operations: */ +//@{ + +/** Return the determinant of this matrix. */ +scalar Determinant() const { + return data[0] * data[5] * data[10] * data[15] + + data[1] * data[6] * data[11] * data[12] + + data[2] * data[7] * data[ 8] * data[13] + + data[3] * data[4] * data[ 9] * data[14] - + data[3] * data[6] * data[ 9] * data[12] - + data[2] * data[5] * data[ 8] * data[15] - + data[1] * data[4] * data[11] * data[14] - + data[0] * data[7] * data[10] * data[12]; +} + + +/** Standard matrix product: this *= B. */ +void Multiply4x4( const Matrix & restrict B ) { + Multiply4x4(*this, B); +} + +/** Standard matrix product: this = A * B. this != B*/ +void Multiply4x4( const Matrix & A, const Matrix & restrict B ) { + piDebugCheck(this != &B); + + for(int i = 0; i < 4; i++) { + const scalar ai0 = A(i,0), ai1 = A(i,1), ai2 = A(i,2), ai3 = A(i,3); + GetElem(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0) + ai3 * B(3,0); + GetElem(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1) + ai3 * B(3,1); + GetElem(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2) + ai3 * B(3,2); + GetElem(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3 * B(3,3); + } + + /* Unrolled but does not allow this == A + data[0] = A.data[0] * B.data[0] + A.data[4] * B.data[1] + A.data[8] * B.data[2] + A.data[12] * B.data[3]; + data[1] = A.data[1] * B.data[0] + A.data[5] * B.data[1] + A.data[9] * B.data[2] + A.data[13] * B.data[3]; + data[2] = A.data[2] * B.data[0] + A.data[6] * B.data[1] + A.data[10] * B.data[2] + A.data[14] * B.data[3]; + data[3] = A.data[3] * B.data[0] + A.data[7] * B.data[1] + A.data[11] * B.data[2] + A.data[15] * B.data[3]; + data[4] = A.data[0] * B.data[4] + A.data[4] * B.data[5] + A.data[8] * B.data[6] + A.data[12] * B.data[7]; + data[5] = A.data[1] * B.data[4] + A.data[5] * B.data[5] + A.data[9] * B.data[6] + A.data[13] * B.data[7]; + data[6] = A.data[2] * B.data[4] + A.data[6] * B.data[5] + A.data[10] * B.data[6] + A.data[14] * B.data[7]; + data[7] = A.data[3] * B.data[4] + A.data[7] * B.data[5] + A.data[11] * B.data[6] + A.data[15] * B.data[7]; + data[8] = A.data[0] * B.data[8] + A.data[4] * B.data[9] + A.data[8] * B.data[10] + A.data[12] * B.data[11]; + data[9] = A.data[1] * B.data[8] + A.data[5] * B.data[9] + A.data[9] * B.data[10] + A.data[13] * B.data[11]; + data[10]= A.data[2] * B.data[8] + A.data[6] * B.data[9] + A.data[10] * B.data[10] + A.data[14] * B.data[11]; + data[11]= A.data[3] * B.data[8] + A.data[7] * B.data[9] + A.data[11] * B.data[10] + A.data[15] * B.data[11]; + data[12]= A.data[0] * B.data[12] + A.data[4] * B.data[13] + A.data[8] * B.data[14] + A.data[12] * B.data[15]; + data[13]= A.data[1] * B.data[12] + A.data[5] * B.data[13] + A.data[9] * B.data[14] + A.data[13] * B.data[15]; + data[14]= A.data[2] * B.data[12] + A.data[6] * B.data[13] + A.data[10] * B.data[14] + A.data[14] * B.data[15]; + data[15]= A.data[3] * B.data[12] + A.data[7] * B.data[13] + A.data[11] * B.data[14] + A.data[15] * B.data[15]; + */ +} + +/** Standard matrix product: this *= B. */ +void Multiply4x3( const Matrix & restrict B ) { + Multiply4x3(*this, B); +} + +/** Standard product of matrices, where the last row is [0 0 0 1]. */ +void Multiply4x3( const Matrix & A, const Matrix & restrict B ) { + piDebugCheck(this != &B); + + for(int i = 0; i < 3; i++) { + const scalar ai0 = A(i,0), ai1 = A(i,1), ai2 = A(i,2), ai3 = A(i,3); + GetElem(i,0) = ai0 * B(0,0) + ai1 * B(1,0) + ai2 * B(2,0) + ai3 * B(3,0); + GetElem(i,1) = ai0 * B(0,1) + ai1 * B(1,1) + ai2 * B(2,1) + ai3 * B(3,1); + GetElem(i,2) = ai0 * B(0,2) + ai1 * B(1,2) + ai2 * B(2,2) + ai3 * B(3,2); + GetElem(i,3) = ai0 * B(0,3) + ai1 * B(1,3) + ai2 * B(2,3) + ai3 * B(3,3); + } + data[3] = 0.0f; data[7] = 0.0f; data[11] = 0.0f; data[15] = 1.0f; + + /* Unrolled but does not allow this == A + data[0] = a.data[0] * b.data[0] + a.data[4] * b.data[1] + a.data[8] * b.data[2] + a.data[12] * b.data[3]; + data[1] = a.data[1] * b.data[0] + a.data[5] * b.data[1] + a.data[9] * b.data[2] + a.data[13] * b.data[3]; + data[2] = a.data[2] * b.data[0] + a.data[6] * b.data[1] + a.data[10] * b.data[2] + a.data[14] * b.data[3]; + data[3] = 0.0f; + data[4] = a.data[0] * b.data[4] + a.data[4] * b.data[5] + a.data[8] * b.data[6] + a.data[12] * b.data[7]; + data[5] = a.data[1] * b.data[4] + a.data[5] * b.data[5] + a.data[9] * b.data[6] + a.data[13] * b.data[7]; + data[6] = a.data[2] * b.data[4] + a.data[6] * b.data[5] + a.data[10] * b.data[6] + a.data[14] * b.data[7]; + data[7] = 0.0f; + data[8] = a.data[0] * b.data[8] + a.data[4] * b.data[9] + a.data[8] * b.data[10] + a.data[12] * b.data[11]; + data[9] = a.data[1] * b.data[8] + a.data[5] * b.data[9] + a.data[9] * b.data[10] + a.data[13] * b.data[11]; + data[10]= a.data[2] * b.data[8] + a.data[6] * b.data[9] + a.data[10] * b.data[10] + a.data[14] * b.data[11]; + data[11]= 0.0f; + data[12]= a.data[0] * b.data[12] + a.data[4] * b.data[13] + a.data[8] * b.data[14] + a.data[12] * b.data[15]; + data[13]= a.data[1] * b.data[12] + a.data[5] * b.data[13] + a.data[9] * b.data[14] + a.data[13] * b.data[15]; + data[14]= a.data[2] * b.data[12] + a.data[6] * b.data[13] + a.data[10] * b.data[14] + a.data[14] * b.data[15]; + data[15]= 1.0f; + */ +} +//@} + + +/** @name Vector operations: */ +//@{ + +/** Transform 3d vector (w=0). */ +void TransformVec3(const Vec3 & restrict orig, Vec3 * restrict dest) const { + piDebugCheck(&orig != dest); + dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8]; + dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9]; + dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10]; +} +/** Transform 3d vector by the transpose (w=0). */ +void TransformVec3T(const Vec3 & restrict orig, Vec3 * restrict dest) const { + piDebugCheck(&orig != dest); + dest->x = orig.x * data[0] + orig.y * data[1] + orig.z * data[2]; + dest->y = orig.x * data[4] + orig.y * data[5] + orig.z * data[6]; + dest->z = orig.x * data[8] + orig.y * data[9] + orig.z * data[10]; +} + +/** Transform a 3d homogeneous vector, where the fourth coordinate is assumed to be 1. */ +void TransformPoint(const Vec3 & restrict orig, Vec3 * restrict dest) const { + piDebugCheck(&orig != dest); + dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; + dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; + dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; +} + +/** Transform a point, normalize it, and return w. */ +scalar TransformPointAndNormalize(const Vec3 & restrict orig, Vec3 * restrict dest) const { + piDebugCheck(&orig != dest); + scalar w; + dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; + dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; + dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; + w = 1 / (orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]); + *dest *= w; + return w; +} + +/** Transform a point and return w. */ +scalar TransformPointReturnW(const Vec3 & restrict orig, Vec3 * restrict dest) const { + piDebugCheck(&orig != dest); + dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; + dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; + dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; + return orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]; +} + +/** Transform a normalized 3d point by a 4d matrix and return the resulting 4d vector. */ +void TransformVec4(const Vec3 & orig, Vec4 * dest) const { + dest->x = orig.x * data[0] + orig.y * data[4] + orig.z * data[8] + data[12]; + dest->y = orig.x * data[1] + orig.y * data[5] + orig.z * data[9] + data[13]; + dest->z = orig.x * data[2] + orig.y * data[6] + orig.z * data[10] + data[14]; + dest->w = orig.x * data[3] + orig.y * data[7] + orig.z * data[11] + data[15]; +} +//@} + +/** @name Matrix analysis. */ +//@{ + +/** Get the ZYZ euler angles from the matrix. Assumes the matrix is orthonormal. */ +void GetEulerAnglesZYZ(scalar * s, scalar * t, scalar * r) const { + if( GetElem(2,2) < 1.0f ) { + if( GetElem(2,2) > -1.0f ) { + // cs*ct*cr-ss*sr -ss*ct*cr-cs*sr st*cr + // cs*ct*sr+ss*cr -ss*ct*sr+cs*cr st*sr + // -cs*st ss*st ct + *s = atan2(GetElem(1,2), -GetElem(0,2)); + *t = acos(GetElem(2,2)); + *r = atan2(GetElem(2,1), GetElem(2,0)); + } + else { + // -c(s-r) s(s-r) 0 + // s(s-r) c(s-r) 0 + // 0 0 -1 + *s = atan2(GetElem(0, 1), -GetElem(0, 0)); // = s-r + *t = PI; + *r = 0; + } + } + else { + // c(s+r) -s(s+r) 0 + // s(s+r) c(s+r) 0 + // 0 0 1 + *s = atan2(GetElem(0, 1), GetElem(0, 0)); // = s+r + *t = 0; + *r = 0; + } +} + +//@} + +MATHLIB_API friend PiStream & operator<< ( PiStream & s, Matrix & m ); + +/** Print to debug output. */ +void Print() const { + piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[0], data[4], data[8], data[12] ); + piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[1], data[5], data[9], data[13] ); + piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[2], data[6], data[10], data[14] ); + piDebug( "[ %5.2f %5.2f %5.2f %5.2f ]\n", data[3], data[7], data[11], data[15] ); +} + + +public: + + scalar data[16]; + +}; +#endif + + +#endif // NV_MATH_MATRIX_INL diff --git a/src/nvmath/Plane.cpp b/src/nvmath/Plane.cpp index e292ee0..bfc0983 100644 --- a/src/nvmath/Plane.cpp +++ b/src/nvmath/Plane.cpp @@ -2,7 +2,7 @@ #include "Plane.h" #include "Plane.inl" -#include "Matrix.h" +#include "Matrix.inl" namespace nv { diff --git a/src/nvthread/ParallelFor.cpp b/src/nvthread/ParallelFor.cpp index cf30504..7b2cb0b 100644 --- a/src/nvthread/ParallelFor.cpp +++ b/src/nvthread/ParallelFor.cpp @@ -5,6 +5,8 @@ #include "Atomic.h" #include "ThreadPool.h" +#include "nvcore/Utils.h" // toI32 + using namespace nv; #define ENABLE_PARALLEL_FOR 0 @@ -52,7 +54,7 @@ void ParallelFor::run(uint count) { nvDebugCheck(idx >= count); #else - for (int i = 0; i < count; i++) { + for (int i = 0; i < toI32(count); i++) { task(context, i); } #endif diff --git a/src/nvthread/ThreadPool.h b/src/nvthread/ThreadPool.h index 84fc41e..147a607 100644 --- a/src/nvthread/ThreadPool.h +++ b/src/nvthread/ThreadPool.h @@ -1,8 +1,8 @@ -// This code is in the public domain -- castano@gmail.com - -#pragma once -#ifndef NV_THREAD_THREADPOOL_H -#define NV_THREAD_THREADPOOL_H +// This code is in the public domain -- castano@gmail.com + +#pragma once +#ifndef NV_THREAD_THREADPOOL_H +#define NV_THREAD_THREADPOOL_H #include "nvthread.h" diff --git a/src/nvtt/CubeSurface.cpp b/src/nvtt/CubeSurface.cpp index b194574..495b42a 100644 --- a/src/nvtt/CubeSurface.cpp +++ b/src/nvtt/CubeSurface.cpp @@ -518,7 +518,7 @@ Vector3 CubeSurface::Private::applyCosinePowerFilter(const Vector3 & filterDir, // Focal point in polar coordinates: Vector2 Fp = toPolar(F); nvCheck(Fp.y >= 0.0f); // top - nvCheck(Fp.y <= PI/2); // horizon + //nvCheck(Fp.y <= PI/2); // horizon // If this is an ellipse: if (Fp.y + coneAngle < PI/2) { diff --git a/src/nvtt/InputOptions.cpp b/src/nvtt/InputOptions.cpp index fff9069..8052990 100644 --- a/src/nvtt/InputOptions.cpp +++ b/src/nvtt/InputOptions.cpp @@ -29,7 +29,7 @@ #include "nvcore/Utils.h" // nextPowerOfTwo #include "nvcore/Memory.h" -#include // memcpy +#include // memcpy, memset diff --git a/src/nvtt/InputOptions.h b/src/nvtt/InputOptions.h index 4a9915e..953957c 100644 --- a/src/nvtt/InputOptions.h +++ b/src/nvtt/InputOptions.h @@ -1,84 +1,82 @@ // Copyright (c) 2009-2011 Ignacio Castano // Copyright (c) 2007-2009 NVIDIA Corporation -- Ignacio Castano -// -// Permission is hereby granted, free of charge, to any person -// obtaining a copy of this software and associated documentation -// files (the "Software"), to deal in the Software without -// restriction, including without limitation the rights to use, -// copy, modify, merge, publish, distribute, sublicense, and/or sell -// copies of the Software, and to permit persons to whom the -// Software is furnished to do so, subject to the following -// conditions: -// -// The above copyright notice and this permission notice shall be -// included in all copies or substantial portions of the Software. -// -// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, -// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES -// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND -// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT -// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, -// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING -// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR -// OTHER DEALINGS IN THE SOFTWARE. - -#ifndef NVTT_INPUTOPTIONS_H -#define NVTT_INPUTOPTIONS_H - -#include -#include -#include -#include -#include -#include "nvtt.h" - -namespace nvtt -{ - - struct InputOptions::Private - { - Private() : images(NULL) {} - - WrapMode wrapMode; - TextureType textureType; - InputFormat inputFormat; - AlphaMode alphaMode; - - uint width; - uint height; - uint depth; - uint faceCount; - uint mipmapCount; - uint imageCount; - - void ** images; - - // Gamma conversion. - float inputGamma; - float outputGamma; - - // Mipmap generation options. - bool generateMipmaps; - int maxLevel; - MipmapFilter mipmapFilter; - - // Kaiser filter parameters. - float kaiserWidth; - float kaiserAlpha; - float kaiserStretch; - - // Normal map options. - bool isNormalMap; - bool normalizeMipmaps; - bool convertToNormalMap; - nv::Vector4 heightFactors; - nv::Vector4 bumpFrequencyScale; - - // Adjust extents. - uint maxExtent; - RoundMode roundMode; - }; - -} // nvtt namespace - -#endif // NVTT_INPUTOPTIONS_H +// +// Permission is hereby granted, free of charge, to any person +// obtaining a copy of this software and associated documentation +// files (the "Software"), to deal in the Software without +// restriction, including without limitation the rights to use, +// copy, modify, merge, publish, distribute, sublicense, and/or sell +// copies of the Software, and to permit persons to whom the +// Software is furnished to do so, subject to the following +// conditions: +// +// The above copyright notice and this permission notice shall be +// included in all copies or substantial portions of the Software. +// +// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +// EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES +// OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND +// NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT +// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +// WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR +// OTHER DEALINGS IN THE SOFTWARE. + +#ifndef NVTT_INPUTOPTIONS_H +#define NVTT_INPUTOPTIONS_H + +#include "nvtt.h" + +#include "nvmath/Vector.h" + + +namespace nvtt +{ + + struct InputOptions::Private + { + Private() : images(NULL) {} + + WrapMode wrapMode; + TextureType textureType; + InputFormat inputFormat; + AlphaMode alphaMode; + + uint width; + uint height; + uint depth; + uint faceCount; + uint mipmapCount; + uint imageCount; + + void ** images; + + // Gamma conversion. + float inputGamma; + float outputGamma; + + // Mipmap generation options. + bool generateMipmaps; + int maxLevel; + MipmapFilter mipmapFilter; + + // Kaiser filter parameters. + float kaiserWidth; + float kaiserAlpha; + float kaiserStretch; + + // Normal map options. + bool isNormalMap; + bool normalizeMipmaps; + bool convertToNormalMap; + nv::Vector4 heightFactors; + nv::Vector4 bumpFrequencyScale; + + // Adjust extents. + uint maxExtent; + RoundMode roundMode; + }; + +} // nvtt namespace + +#endif // NVTT_INPUTOPTIONS_H diff --git a/src/nvtt/Surface.cpp b/src/nvtt/Surface.cpp index 59f8148..49c68dd 100644 --- a/src/nvtt/Surface.cpp +++ b/src/nvtt/Surface.cpp @@ -25,7 +25,7 @@ #include "Surface.h" #include "nvmath/Vector.inl" -#include "nvmath/Matrix.h" +#include "nvmath/Matrix.inl" #include "nvmath/Color.h" #include "nvmath/Half.h"