f9ee0fe44a
instead of four). Added support for multiplying mesh geometry by the matrix attached to the Lib3dsMesh structure, however this produces disjointed models so have to the default mode to bypass this multiplication code. Will need to revisit this in the future.
644 lines
12 KiB
C++
644 lines
12 KiB
C++
/*
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* The 3D Studio File Format Library
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* Copyright (C) 1996-2001 by J.E. Hoffmann <je-h@gmx.net>
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* All rights reserved.
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation; either version 2.1 of the License, or (at
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* 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, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
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* License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*
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* $Id$
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*/
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#define LIB3DS_EXPORT
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#include <matrix.h>
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#include <quat.h>
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#include <vector.h>
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#include <string.h>
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#include <math.h>
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/*!
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* \defgroup matrix Matrix Mathematics
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*
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* \author J.E. Hoffmann <je-h@gmx.net>
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*/
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/*!
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* \typedef Lib3dsMatrix
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* \ingroup matrix
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*/
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_zero(Lib3dsMatrix m)
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{
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int i,j;
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for (i=0; i<4; i++) {
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for (j=0; j<4; j++) m[i][j]=0.0f;
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_identity(Lib3dsMatrix m)
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{
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int i,j;
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for (i=0; i<4; i++) {
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for (j=0; j<4; j++) m[i][j]=0.0;
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}
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for (i=0; i<4; i++) m[i][i]=1.0;
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_copy(Lib3dsMatrix dest, Lib3dsMatrix src)
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{
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memcpy(dest, src, sizeof(Lib3dsMatrix));
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_neg(Lib3dsMatrix m)
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{
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int i,j;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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m[j][i]=-m[j][i];
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_abs(Lib3dsMatrix m)
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{
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int i,j;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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m[j][i]=(Lib3dsFloat)fabs(m[j][i]);
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_transpose(Lib3dsMatrix m)
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{
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int i,j;
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Lib3dsFloat swp;
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for (j=0; j<4; j++) {
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for (i=j+1; i<4; i++) {
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swp=m[j][i];
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m[j][i]=m[i][j];
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m[i][j]=swp;
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_add(Lib3dsMatrix m, Lib3dsMatrix a, Lib3dsMatrix b)
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{
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int i,j;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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m[j][i]=a[j][i]+b[j][i];
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_sub(Lib3dsMatrix m, Lib3dsMatrix a, Lib3dsMatrix b)
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{
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int i,j;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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m[j][i]=a[j][i]-b[j][i];
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_mul(Lib3dsMatrix m, Lib3dsMatrix a, Lib3dsMatrix b)
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{
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int i,j,k;
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Lib3dsFloat ab;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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ab=0.0f;
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for (k=0; k<4; k++) ab+=a[k][i]*b[j][k];
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m[j][i]=ab;
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}
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_scalar(Lib3dsMatrix m, Lib3dsFloat k)
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{
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int i,j;
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for (j=0; j<4; j++) {
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for (i=0; i<4; i++) {
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m[j][i]*=k;
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}
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}
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}
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static Lib3dsFloat
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det2x2(
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Lib3dsFloat a, Lib3dsFloat b,
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Lib3dsFloat c, Lib3dsFloat d)
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{
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return((a)*(d)-(b)*(c));
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}
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static Lib3dsFloat
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det3x3(
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Lib3dsFloat a1, Lib3dsFloat a2, Lib3dsFloat a3,
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Lib3dsFloat b1, Lib3dsFloat b2, Lib3dsFloat b3,
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Lib3dsFloat c1, Lib3dsFloat c2, Lib3dsFloat c3)
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{
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return(
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a1*det2x2(b2,b3,c2,c3)-
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b1*det2x2(a2,a3,c2,c3)+
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c1*det2x2(a2,a3,b2,b3)
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);
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}
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/*!
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* \ingroup matrix
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*/
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Lib3dsFloat
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lib3ds_matrix_det(Lib3dsMatrix m)
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{
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Lib3dsFloat a1,a2,a3,a4,b1,b2,b3,b4,c1,c2,c3,c4,d1,d2,d3,d4;
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a1 = m[0][0];
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b1 = m[1][0];
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c1 = m[2][0];
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d1 = m[3][0];
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a2 = m[0][1];
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b2 = m[1][1];
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c2 = m[2][1];
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d2 = m[3][1];
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a3 = m[0][2];
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b3 = m[1][2];
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c3 = m[2][2];
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d3 = m[3][2];
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a4 = m[0][3];
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b4 = m[1][3];
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c4 = m[2][3];
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d4 = m[3][3];
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return(
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a1 * det3x3(b2, b3, b4, c2, c3, c4, d2, d3, d4)-
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b1 * det3x3(a2, a3, a4, c2, c3, c4, d2, d3, d4)+
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c1 * det3x3(a2, a3, a4, b2, b3, b4, d2, d3, d4)-
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d1 * det3x3(a2, a3, a4, b2, b3, b4, c2, c3, c4)
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);
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_adjoint(Lib3dsMatrix m)
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{
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Lib3dsFloat a1,a2,a3,a4,b1,b2,b3,b4,c1,c2,c3,c4,d1,d2,d3,d4;
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a1 = m[0][0];
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b1 = m[1][0];
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c1 = m[2][0];
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d1 = m[3][0];
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a2 = m[0][1];
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b2 = m[1][1];
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c2 = m[2][1];
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d2 = m[3][1];
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a3 = m[0][2];
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b3 = m[1][2];
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c3 = m[2][2];
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d3 = m[3][2];
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a4 = m[0][3];
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b4 = m[1][3];
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c4 = m[2][3];
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d4 = m[3][3];
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m[0][0]= det3x3 (b2, b3, b4, c2, c3, c4, d2, d3, d4);
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m[0][1]= -det3x3 (a2, a3, a4, c2, c3, c4, d2, d3, d4);
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m[0][2]= det3x3 (a2, a3, a4, b2, b3, b4, d2, d3, d4);
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m[0][3]= -det3x3 (a2, a3, a4, b2, b3, b4, c2, c3, c4);
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m[1][0]= -det3x3 (b1, b3, b4, c1, c3, c4, d1, d3, d4);
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m[1][1]= det3x3 (a1, a3, a4, c1, c3, c4, d1, d3, d4);
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m[1][2]= -det3x3 (a1, a3, a4, b1, b3, b4, d1, d3, d4);
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m[1][3]= det3x3 (a1, a3, a4, b1, b3, b4, c1, c3, c4);
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m[2][0]= det3x3 (b1, b2, b4, c1, c2, c4, d1, d2, d4);
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m[2][1]= -det3x3 (a1, a2, a4, c1, c2, c4, d1, d2, d4);
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m[2][2]= det3x3 (a1, a2, a4, b1, b2, b4, d1, d2, d4);
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m[2][3]= -det3x3 (a1, a2, a4, b1, b2, b4, c1, c2, c4);
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m[3][0]= -det3x3 (b1, b2, b3, c1, c2, c3, d1, d2, d3);
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m[3][1]= det3x3 (a1, a2, a3, c1, c2, c3, d1, d2, d3);
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m[3][2]= -det3x3 (a1, a2, a3, b1, b2, b3, d1, d2, d3);
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m[3][3]= det3x3 (a1, a2, a3, b1, b2, b3, c1, c2, c3);
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}
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/*!
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* \ingroup matrix
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*
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* GGemsII, K.Wu, Fast Matrix Inversion
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*/
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Lib3dsBool
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lib3ds_matrix_inv(Lib3dsMatrix m)
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{
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int i,j,k;
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int pvt_i[4], pvt_j[4]; /* Locations of pivot elements */
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Lib3dsFloat pvt_val; /* Value of current pivot element */
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Lib3dsFloat hold; /* Temporary storage */
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Lib3dsFloat determinat;
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determinat = 1.0f;
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for (k=0; k<4; k++) {
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/* Locate k'th pivot element */
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pvt_val=m[k][k]; /* Initialize for search */
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pvt_i[k]=k;
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pvt_j[k]=k;
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for (i=k; i<4; i++) {
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for (j=k; j<4; j++) {
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if (fabs(m[i][j]) > fabs(pvt_val)) {
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pvt_i[k]=i;
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pvt_j[k]=j;
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pvt_val=m[i][j];
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}
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}
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}
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/* Product of pivots, gives determinant when finished */
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determinat*=pvt_val;
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if (fabs(determinat)<LIB3DS_EPSILON) {
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return(LIB3DS_FALSE); /* Matrix is singular (zero determinant) */
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}
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/* "Interchange" rows (with sign change stuff) */
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i=pvt_i[k];
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if (i!=k) { /* If rows are different */
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for (j=0; j<4; j++) {
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hold=-m[k][j];
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m[k][j]=m[i][j];
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m[i][j]=hold;
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}
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}
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/* "Interchange" columns */
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j=pvt_j[k];
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if (j!=k) { /* If columns are different */
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for (i=0; i<4; i++) {
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hold=-m[i][k];
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m[i][k]=m[i][j];
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m[i][j]=hold;
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}
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}
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/* Divide column by minus pivot value */
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for (i=0; i<4; i++) {
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if (i!=k) m[i][k]/=( -pvt_val) ;
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}
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/* Reduce the matrix */
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for (i=0; i<4; i++) {
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hold = m[i][k];
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for (j=0; j<4; j++) {
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if (i!=k && j!=k) m[i][j]+=hold*m[k][j];
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}
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}
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/* Divide row by pivot */
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for (j=0; j<4; j++) {
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if (j!=k) m[k][j]/=pvt_val;
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}
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/* Replace pivot by reciprocal (at last we can touch it). */
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m[k][k] = 1.0f/pvt_val;
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}
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/* That was most of the work, one final pass of row/column interchange */
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/* to finish */
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for (k=4-2; k>=0; k--) { /* Don't need to work with 1 by 1 corner*/
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i=pvt_j[k]; /* Rows to swap correspond to pivot COLUMN */
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if (i!=k) { /* If rows are different */
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for(j=0; j<4; j++) {
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hold = m[k][j];
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m[k][j]=-m[i][j];
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m[i][j]=hold;
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}
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}
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j=pvt_i[k]; /* Columns to swap correspond to pivot ROW */
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if (j!=k) /* If columns are different */
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for (i=0; i<4; i++) {
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hold=m[i][k];
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m[i][k]=-m[i][j];
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m[i][j]=hold;
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}
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}
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return(LIB3DS_TRUE);
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_translate_xyz(Lib3dsMatrix m, Lib3dsFloat x, Lib3dsFloat y, Lib3dsFloat z)
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{
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int i;
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for (i=0; i<3; i++) {
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m[3][i]+= m[0][i]*x + m[1][i]*y + m[2][i]*z;
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_translate(Lib3dsMatrix m, Lib3dsVector t)
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{
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int i;
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for (i=0; i<3; i++) {
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m[3][i]+= m[0][i]*t[0] + m[1][i]*t[1] + m[2][i]*t[2];
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_scale_xyz(Lib3dsMatrix m, Lib3dsFloat x, Lib3dsFloat y, Lib3dsFloat z)
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{
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int i;
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for (i=0; i<4; i++) {
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m[0][i]*=x;
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m[1][i]*=y;
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m[2][i]*=z;
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_scale(Lib3dsMatrix m, Lib3dsVector s)
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{
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int i;
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for (i=0; i<4; i++) {
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m[0][i]*=s[0];
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m[1][i]*=s[1];
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m[2][i]*=s[2];
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}
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_rotate_x(Lib3dsMatrix m, Lib3dsFloat phi)
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{
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Lib3dsFloat SinPhi,CosPhi;
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Lib3dsFloat a1[4],a2[4];
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SinPhi=(Lib3dsFloat)sin(phi);
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CosPhi=(Lib3dsFloat)cos(phi);
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memcpy(a1,m[1],4*sizeof(Lib3dsFloat));
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memcpy(a2,m[2],4*sizeof(Lib3dsFloat));
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m[1][0]=CosPhi*a1[0]+SinPhi*a2[0];
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m[1][1]=CosPhi*a1[1]+SinPhi*a2[1];
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m[1][2]=CosPhi*a1[2]+SinPhi*a2[2];
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m[1][3]=CosPhi*a1[3]+SinPhi*a2[3];
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m[2][0]=-SinPhi*a1[0]+CosPhi*a2[0];
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m[2][1]=-SinPhi*a1[1]+CosPhi*a2[1];
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m[2][2]=-SinPhi*a1[2]+CosPhi*a2[2];
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m[2][3]=-SinPhi*a1[3]+CosPhi*a2[3];
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}
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/*!
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* \ingroup matrix
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*/
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void
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lib3ds_matrix_rotate_y(Lib3dsMatrix m, Lib3dsFloat phi)
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{
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Lib3dsFloat SinPhi,CosPhi;
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Lib3dsFloat a0[4],a2[4];
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SinPhi=(Lib3dsFloat)sin(phi);
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CosPhi=(Lib3dsFloat)cos(phi);
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memcpy(a0,m[0],4*sizeof(Lib3dsFloat));
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memcpy(a2,m[2],4*sizeof(Lib3dsFloat));
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m[0][0]=CosPhi*a0[0]-SinPhi*a2[0];
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m[0][1]=CosPhi*a0[1]-SinPhi*a2[1];
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m[0][2]=CosPhi*a0[2]-SinPhi*a2[2];
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m[0][3]=CosPhi*a0[3]-SinPhi*a2[3];
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m[2][0]=SinPhi*a0[0]+CosPhi*a2[0];
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m[2][1]=SinPhi*a0[1]+CosPhi*a2[1];
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m[2][2]=SinPhi*a0[2]+CosPhi*a2[2];
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|
m[2][3]=SinPhi*a0[3]+CosPhi*a2[3];
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}
|
|
|
|
|
|
/*!
|
|
* \ingroup matrix
|
|
*/
|
|
void
|
|
lib3ds_matrix_rotate_z(Lib3dsMatrix m, Lib3dsFloat phi)
|
|
{
|
|
Lib3dsFloat SinPhi,CosPhi;
|
|
Lib3dsFloat a0[4],a1[4];
|
|
|
|
SinPhi=(Lib3dsFloat)sin(phi);
|
|
CosPhi=(Lib3dsFloat)cos(phi);
|
|
memcpy(a0,m[0],4*sizeof(Lib3dsFloat));
|
|
memcpy(a1,m[1],4*sizeof(Lib3dsFloat));
|
|
m[0][0]=CosPhi*a0[0]+SinPhi*a1[0];
|
|
m[0][1]=CosPhi*a0[1]+SinPhi*a1[1];
|
|
m[0][2]=CosPhi*a0[2]+SinPhi*a1[2];
|
|
m[0][3]=CosPhi*a0[3]+SinPhi*a1[3];
|
|
m[1][0]=-SinPhi*a0[0]+CosPhi*a1[0];
|
|
m[1][1]=-SinPhi*a0[1]+CosPhi*a1[1];
|
|
m[1][2]=-SinPhi*a0[2]+CosPhi*a1[2];
|
|
m[1][3]=-SinPhi*a0[3]+CosPhi*a1[3];
|
|
}
|
|
|
|
|
|
/*!
|
|
* \ingroup matrix
|
|
*/
|
|
void
|
|
lib3ds_matrix_rotate(Lib3dsMatrix m, Lib3dsQuat q)
|
|
{
|
|
Lib3dsFloat s,xs,ys,zs,wx,wy,wz,xx,xy,xz,yy,yz,zz,l;
|
|
Lib3dsMatrix a,b;
|
|
|
|
lib3ds_matrix_copy(a, m);
|
|
|
|
l=q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
|
|
if (fabs(l)<LIB3DS_EPSILON) {
|
|
s=1.0f;
|
|
}
|
|
else {
|
|
s=2.0f/l;
|
|
}
|
|
|
|
xs = q[0] * s; ys = q[1] * s; zs = q[2] * s;
|
|
wx = q[3] * xs; wy = q[3] * ys; wz = q[3] * zs;
|
|
xx = q[0] * xs; xy = q[0] * ys; xz = q[0] * zs;
|
|
yy = q[1] * ys; yz = q[1] * zs; zz = q[2] * zs;
|
|
|
|
b[0][0]=1.0f - (yy +zz);
|
|
b[1][0]=xy - wz;
|
|
b[2][0]=xz + wy;
|
|
b[0][1]=xy + wz;
|
|
b[1][1]=1.0f - (xx +zz);
|
|
b[2][1]=yz - wx;
|
|
b[0][2]=xz - wy;
|
|
b[1][2]=yz + wx;
|
|
b[2][2]=1.0f - (xx + yy);
|
|
b[3][0]=b[3][1]=b[3][2]=b[0][3]=b[1][3]=b[2][3]=0.0f;
|
|
b[3][3]=1.0f;
|
|
|
|
lib3ds_matrix_mul(m,a,b);
|
|
}
|
|
|
|
|
|
/*!
|
|
* \ingroup matrix
|
|
*/
|
|
void
|
|
lib3ds_matrix_rotate_axis(Lib3dsMatrix m, Lib3dsVector axis, Lib3dsFloat angle)
|
|
{
|
|
Lib3dsQuat q;
|
|
|
|
lib3ds_quat_axis_angle(q,axis,angle);
|
|
lib3ds_matrix_rotate(m,q);
|
|
}
|
|
|
|
|
|
/*!
|
|
* \ingroup matrix
|
|
*/
|
|
void
|
|
lib3ds_matrix_camera(Lib3dsMatrix matrix, Lib3dsVector pos,
|
|
Lib3dsVector tgt, Lib3dsFloat roll)
|
|
{
|
|
Lib3dsMatrix M,R;
|
|
Lib3dsVector x, y, z;
|
|
|
|
lib3ds_vector_sub(y, tgt, pos);
|
|
lib3ds_vector_normalize(y);
|
|
|
|
z[0] = 0;
|
|
z[1] = 0;
|
|
z[2] = 1.0;
|
|
|
|
lib3ds_vector_cross(x, y, z);
|
|
lib3ds_vector_cross(z, x, y);
|
|
lib3ds_vector_normalize(x);
|
|
lib3ds_vector_normalize(y);
|
|
|
|
lib3ds_matrix_identity(M);
|
|
M[0][0] = x[0];
|
|
M[1][0] = x[1];
|
|
M[2][0] = x[2];
|
|
M[0][1] = y[0];
|
|
M[1][1] = y[1];
|
|
M[2][1] = y[2];
|
|
M[0][2] = z[0];
|
|
M[1][2] = z[1];
|
|
M[2][2] = z[2];
|
|
|
|
lib3ds_matrix_identity(R);
|
|
lib3ds_matrix_rotate_y(R, roll);
|
|
lib3ds_matrix_mul(matrix, R,M);
|
|
lib3ds_matrix_translate_xyz(matrix, -pos[0],-pos[1],-pos[2]);
|
|
}
|
|
|
|
|
|
/*!
|
|
* \ingroup matrix
|
|
*/
|
|
void
|
|
lib3ds_matrix_dump(Lib3dsMatrix matrix)
|
|
{
|
|
int i,j;
|
|
|
|
for (i=0; i<4; ++i) {
|
|
for (j=0; j<3; ++j) {
|
|
printf("%f ", matrix[j][i]);
|
|
}
|
|
printf("%f\n", matrix[j][i]);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|