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Added a bunch of files synched with 0.8.42

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This commit is contained in:
Don BURNS
2001-09-19 21:08:56 +00:00
parent fed86f3f03
commit e8f256a59d
446 changed files with 58397 additions and 10552 deletions
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190
src/osg/Matrix.cpp
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@@ -1,11 +1,14 @@
#include <math.h>
#include "osg/Matrix"
#include "osg/Input"
#include "osg/Output"
#include "osg/Notify"
#include <string.h>
#include <osg/Types>
#include <osg/Matrix>
#include <osg/Notify>
#include <osg/ref_ptr>
#define square(x) ((x)*(x))
#define DEG2RAD(x) ((x)*M_PI/180.0)
#define RAD2DEG(x) ((x)*180.0/M_PI)
using namespace osg;
@@ -51,7 +54,7 @@ typedef struct quaternion_
static void quaternion_matrix( quaternion *q, double mat[4][4] )
{
/* copied from Shoemake/ACM SIGGRAPH 89 */
/* copied from Shoemake/ACM SIGGRAPH 89 */
double xs, ys, zs, wx, wy, wz, xx, xy, xz, yy, yz, zz ;
xs = q->x + q->x;
@@ -136,50 +139,6 @@ Matrix::~Matrix()
}
Matrix* Matrix::instance()
{
static ref_ptr<Matrix> s_matrix(new Matrix());
return s_matrix.get();
}
bool Matrix::readLocalData(Input& fr)
{
bool iteratorAdvanced = false;
bool matched = true;
for(int k=0;k<16 && matched;++k)
{
matched = fr[k].isFloat();
}
if (matched)
{
int k=0;
for(int i=0;i<4;++i)
{
for(int j=0;j<4;++j)
{
fr[k].getFloat(_mat[i][j]);
k++;
}
}
fr += 16;
iteratorAdvanced = true;
}
return iteratorAdvanced;
}
bool Matrix::writeLocalData(Output& fw)
{
fw.indent() << _mat[0][0] << " " << _mat[0][1] << " " << _mat[0][2] << " " << _mat[0][3] << endl;
fw.indent() << _mat[1][0] << " " << _mat[1][1] << " " << _mat[1][2] << " " << _mat[1][3] << endl;
fw.indent() << _mat[2][0] << " " << _mat[2][1] << " " << _mat[2][2] << " " << _mat[2][3] << endl;
fw.indent() << _mat[3][0] << " " << _mat[3][1] << " " << _mat[3][2] << " " << _mat[3][3] << endl;
return true;
}
void Matrix::makeIdent()
{
_mat[0][0] = 1.0f;
@@ -203,11 +162,63 @@ void Matrix::makeIdent()
_mat[3][3] = 1.0f;
}
void Matrix::set(const float* m)
{
_mat[0][0] = m[0];
_mat[0][1] = m[1];
_mat[0][2] = m[2];
_mat[0][3] = m[3];
_mat[1][0] = m[4];
_mat[1][1] = m[5];
_mat[1][2] = m[6];
_mat[1][3] = m[7];
_mat[2][0] = m[8];
_mat[2][1] = m[9];
_mat[2][2] = m[10];
_mat[2][3] = m[11];
_mat[3][0] = m[12];
_mat[3][1] = m[13];
_mat[3][2] = m[14];
_mat[3][3] = m[15];
}
void Matrix::set(
float a00, float a01, float a02, float a03,
float a10, float a11, float a12, float a13,
float a20, float a21, float a22, float a23,
float a30, float a31, float a32, float a33)
{
_mat[0][0] = a00;
_mat[0][1] = a01;
_mat[0][2] = a02;
_mat[0][3] = a03;
_mat[1][0] = a10;
_mat[1][1] = a11;
_mat[1][2] = a12;
_mat[1][3] = a13;
_mat[2][0] = a20;
_mat[2][1] = a21;
_mat[2][2] = a22;
_mat[2][3] = a23;
_mat[3][0] = a30;
_mat[3][1] = a31;
_mat[3][2] = a32;
_mat[3][3] = a33;
}
void Matrix::copy(const Matrix& matrix)
{
memcpy(_mat,matrix._mat,sizeof(_mat));
}
void Matrix::makeScale(float sx, float sy, float sz)
{
makeIdent();
@@ -224,6 +235,7 @@ void Matrix::preScale( float sx, float sy, float sz, const Matrix& m )
mult(transMat,m);
}
void Matrix::postScale( const Matrix& m, float sx, float sy, float sz )
{
Matrix transMat;
@@ -231,6 +243,7 @@ void Matrix::postScale( const Matrix& m, float sx, float sy, float sz )
mult(m,transMat);
}
void Matrix::preScale( float sx, float sy, float sz )
{
Matrix transMat;
@@ -238,6 +251,7 @@ void Matrix::preScale( float sx, float sy, float sz )
preMult(transMat);
}
void Matrix::postScale( float sx, float sy, float sz )
{
Matrix transMat;
@@ -246,8 +260,6 @@ void Matrix::postScale( float sx, float sy, float sz )
}
void Matrix::makeTrans( float tx, float ty, float tz )
{
makeIdent();
@@ -256,6 +268,7 @@ void Matrix::makeTrans( float tx, float ty, float tz )
_mat[3][2] = tz;
}
void Matrix::preTrans( float tx, float ty, float tz, const Matrix& m )
{
Matrix transMat;
@@ -263,6 +276,7 @@ void Matrix::preTrans( float tx, float ty, float tz, const Matrix& m )
mult(transMat,m);
}
void Matrix::postTrans( const Matrix& m, float tx, float ty, float tz )
{
Matrix transMat;
@@ -270,6 +284,7 @@ void Matrix::postTrans( const Matrix& m, float tx, float ty, float tz )
mult(m,transMat);
}
void Matrix::preTrans( float tx, float ty, float tz )
{
_mat[3][0] = (tx * _mat[0][0]) + (ty * _mat[1][0]) + (tz * _mat[2][0]) + _mat[3][0];
@@ -278,6 +293,7 @@ void Matrix::preTrans( float tx, float ty, float tz )
_mat[3][3] = (tx * _mat[0][3]) + (ty * _mat[1][3]) + (tz * _mat[2][3]) + _mat[3][3];
}
void Matrix::postTrans( float tx, float ty, float tz )
{
Matrix transMat;
@@ -285,6 +301,21 @@ void Matrix::postTrans( float tx, float ty, float tz )
postMult(transMat);
}
void Matrix::makeRot( const Vec3& old_vec, const Vec3& new_vec )
{
/* dot product == cos(angle old_vec<>new_vec). */
double d = new_vec * old_vec;
if ( d < 0.9999 )
{
double angle = acos( d );
Vec3 rot_axis = new_vec ^ old_vec;
makeRot( RAD2DEG(angle),
rot_axis.x(), rot_axis.y(), rot_axis.z() );
}
else
makeIdent();
}
void Matrix::makeRot( float deg, float x, float y, float z )
{
double __mat[4][4];
@@ -313,6 +344,7 @@ void Matrix::makeRot( float deg, float x, float y, float z )
}
}
void Matrix::preRot( float deg, float x, float y, float z, const Matrix& m )
{
Matrix rotMat;
@@ -320,6 +352,7 @@ void Matrix::preRot( float deg, float x, float y, float z, const Matrix& m )
mult(rotMat,m);
}
void Matrix::postRot( const Matrix& m, float deg, float x, float y, float z )
{
Matrix rotMat;
@@ -327,6 +360,7 @@ void Matrix::postRot( const Matrix& m, float deg, float x, float y, float z )
mult(m,rotMat);
}
void Matrix::preRot( float deg, float x, float y, float z )
{
quaternion q;
@@ -351,6 +385,7 @@ void Matrix::preRot( float deg, float x, float y, float z )
memcpy( _mat, res_mat, sizeof( _mat ) );
}
void Matrix::postRot( float deg, float x, float y, float z )
{
quaternion q;
@@ -375,12 +410,15 @@ void Matrix::postRot( float deg, float x, float y, float z )
memcpy( _mat, res_mat, sizeof( _mat ) );
}
void Matrix::setTrans( float tx, float ty, float tz )
{
_mat[3][0] = tx;
_mat[3][1] = ty;
_mat[3][1] = ty;
_mat[3][2] = tz;
}
void Matrix::setTrans( const Vec3& v )
{
_mat[3][0] = v[0];
@@ -388,6 +426,7 @@ void Matrix::setTrans( const Vec3& v )
_mat[3][2] = v[2];
}
void Matrix::preMult(const Matrix& m)
{
Matrix tm;
@@ -395,6 +434,7 @@ void Matrix::preMult(const Matrix& m)
*this = tm;
}
void Matrix::postMult(const Matrix& m)
{
Matrix tm;
@@ -402,25 +442,41 @@ void Matrix::postMult(const Matrix& m)
*this = tm;
}
void Matrix::mult(const Matrix& lhs,const Matrix& rhs)
{
matrix_mult( lhs._mat, rhs._mat, _mat );
if (&lhs==this || &rhs==this)
{
osg::Matrix tm;
matrix_mult( lhs._mat, rhs._mat, tm._mat );
*this = tm;
}
else
{
matrix_mult( lhs._mat, rhs._mat, _mat );
}
}
Matrix Matrix::operator * (const Matrix& m) const
{
Matrix nm;
matrix_mult( _mat,m._mat, nm._mat );
return nm;
Matrix tm;
matrix_mult( _mat,m._mat, tm._mat );
return tm;
}
bool Matrix::invert(const Matrix& _m)
bool Matrix::invert(const Matrix& invm)
{
if (&invm==this) {
Matrix tm(invm);
return invert(tm);
}
// code lifted from VR Juggler.
// not cleanly added, but seems to work. RO.
const float* a = reinterpret_cast<const float*>(_m._mat);
const float* a = reinterpret_cast<const float*>(invm._mat);
float* b = reinterpret_cast<float*>(_mat);
int n = 4;
@@ -428,14 +484,14 @@ bool Matrix::invert(const Matrix& _m)
int r[ 4], c[ 4], row[ 4], col[ 4];
float m[ 4][ 4*2], pivot, max_m, tmp_m, fac;
/* Initialization */
/* Initialization */
for ( i = 0; i < n; i ++ )
{
r[ i] = c[ i] = 0;
row[ i] = col[ i] = 0;
}
/* Set working matrix */
/* Set working matrix */
for ( i = 0; i < n; i++ )
{
for ( j = 0; j < n; j++ )
@@ -445,10 +501,10 @@ bool Matrix::invert(const Matrix& _m)
}
}
/* Begin of loop */
/* Begin of loop */
for ( k = 0; k < n; k++ )
{
/* Choosing the pivot */
/* Choosing the pivot */
for ( i = 0, max_m = 0; i < n; i++ )
{
if ( row[ i] ) continue;
@@ -470,11 +526,11 @@ bool Matrix::invert(const Matrix& _m)
if ( fabs( pivot) <= 1e-20)
{
notify(WARN) << "*** pivot = %f in mat_inv. ***\n";
//exit( 0);
//exit( 0);
return false;
}
/* Normalization */
/* Normalization */
for ( j = 0; j < 2*n; j++ )
{
if ( j == c[ k] )
@@ -483,7 +539,7 @@ bool Matrix::invert(const Matrix& _m)
m[ r[ k]][ j] /=pivot;
}
/* Reduction */
/* Reduction */
for ( i = 0; i < n; i++ )
{
if ( i == r[ k] )
@@ -499,7 +555,7 @@ bool Matrix::invert(const Matrix& _m)
}
}
/* Assign invers to a matrix */
/* Assign invers to a matrix */
for ( i = 0; i < n; i++ )
for ( j = 0; j < n; j++ )
row[ i] = ( c[ j] == i ) ? r[j] : row[ i];
@@ -508,5 +564,5 @@ bool Matrix::invert(const Matrix& _m)
for ( j = 0; j < n; j++ )
b[ i * n + j] = m[ row[ i]][j + n];
return true; // It worked
return true; // It worked
}