X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=matrixlib.h;h=ae83c1d68901cab73bf8642990b7ebb8bde2f7cf;hp=d8d14752d4a9463d12ddc9a35cd3034696a6f362;hb=2f606f773eb3e95ac0b58cbafc1c7782fc48796c;hpb=7653d161643a1e8ed9640d445a5a13d9248d4939 diff --git a/matrixlib.h b/matrixlib.h index d8d14752..ae83c1d6 100644 --- a/matrixlib.h +++ b/matrixlib.h @@ -2,17 +2,19 @@ #ifndef MATRIXLIB_H #define MATRIXLIB_H +#ifndef M_PI +#define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h +#endif + +//#define MATRIX4x4_OPENGLORIENTATION + typedef struct matrix4x4_s { float m[4][4]; } matrix4x4_t; -typedef struct matrix3x4_s -{ - float m[3][4]; -} -matrix3x4_t; +extern const matrix4x4_t identitymatrix; // functions for manipulating 4x4 matrices @@ -22,47 +24,110 @@ void Matrix4x4_Copy (matrix4x4_t *out, const matrix4x4_t *in); void Matrix4x4_CopyRotateOnly (matrix4x4_t *out, const matrix4x4_t *in); // copy only the translate portion of a matrix4x4 void Matrix4x4_CopyTranslateOnly (matrix4x4_t *out, const matrix4x4_t *in); -// make a matrix4x4 from a matrix3x4 -void Matrix4x4_FromMatrix3x4 (matrix4x4_t *out, const matrix3x4_t *in); // multiply two matrix4x4 together, combining their transformations // (warning: order matters - Concat(a, b, c) != Concat(a, c, b)) void Matrix4x4_Concat (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2); // swaps the rows and columns of the matrix // (is this useful for anything?) void Matrix4x4_Transpose (matrix4x4_t *out, const matrix4x4_t *in1); -// swaps the rows and columns of the rotation matrix -// (inverting the rotation, but leaving everything else the same) -void Matrix4x4_Transpose3x3 (matrix4x4_t *out, const matrix4x4_t *in1); +// creates a matrix that does the opposite of the matrix provided +// this is a full matrix inverter, it should be able to invert any matrix that +// is possible to invert +// (non-uniform scaling, rotation, shearing, and translation, possibly others) +// warning: this function is SLOW +int Matrix4x4_Invert_Full (matrix4x4_t *out, const matrix4x4_t *in1); // creates a matrix that does the opposite of the matrix provided // only supports translate, rotate, scale (not scale3) matrices void Matrix4x4_Invert_Simple (matrix4x4_t *out, const matrix4x4_t *in1); +// blends between two matrices, used primarily for animation interpolation +// (note: it is recommended to follow this with Matrix4x4_Normalize, a method +// known as nlerp rotation, often better for animation purposes than slerp) +void Matrix4x4_Interpolate (matrix4x4_t *out, matrix4x4_t *in1, matrix4x4_t *in2, double frac); +// zeros all matrix components, used with Matrix4x4_Accumulate +void Matrix4x4_Clear (matrix4x4_t *out); +// adds a weighted contribution from the supplied matrix, used to blend 3 or +// more matrices with weighting, it is recommended that Matrix4x4_Normalize be +// called afterward (a method known as nlerp rotation, often better for +// animation purposes than slerp) +void Matrix4x4_Accumulate (matrix4x4_t *out, matrix4x4_t *in, double weight); +// creates a matrix that does the same rotation and translation as the matrix +// provided, but no uniform scaling, does not support scale3 matrices +void Matrix4x4_Normalize (matrix4x4_t *out, matrix4x4_t *in1); +// creates a matrix with vectors normalized individually (use after +// Matrix4x4_Accumulate) +void Matrix4x4_Normalize3 (matrix4x4_t *out, matrix4x4_t *in1); +// modifies a matrix to have all vectors and origin reflected across the plane +// to the opposite side (at least if axisscale is -2) +void Matrix4x4_Reflect (matrix4x4_t *out, double normalx, double normaly, double normalz, double dist, double axisscale); // creates an identity matrix // (a matrix which does nothing) void Matrix4x4_CreateIdentity (matrix4x4_t *out); // creates a translate matrix // (moves vectors) -void Matrix4x4_CreateTranslate (matrix4x4_t *out, float x, float y, float z); +void Matrix4x4_CreateTranslate (matrix4x4_t *out, double x, double y, double z); // creates a rotate matrix // (rotates vectors) -void Matrix4x4_CreateRotate (matrix4x4_t *out, float angle, float x, float y, float z); +void Matrix4x4_CreateRotate (matrix4x4_t *out, double angle, double x, double y, double z); // creates a scaling matrix // (expands or contracts vectors) // (warning: do not apply this kind of matrix to direction vectors) -void Matrix4x4_CreateScale (matrix4x4_t *out, float x); +void Matrix4x4_CreateScale (matrix4x4_t *out, double x); // creates a squishing matrix // (expands or contracts vectors differently in different axis) // (warning: this is not reversed by Invert_Simple) // (warning: do not apply this kind of matrix to direction vectors) -void Matrix4x4_CreateScale3 (matrix4x4_t *out, float x, float y, float z); +void Matrix4x4_CreateScale3 (matrix4x4_t *out, double x, double y, double z); // creates a matrix for a quake entity -void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale); +void Matrix4x4_CreateFromQuakeEntity(matrix4x4_t *out, double x, double y, double z, double pitch, double yaw, double roll, double scale); // converts a matrix4x4 to a set of 3D vectors for the 3 axial directions, and the translate void Matrix4x4_ToVectors(const matrix4x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]); // creates a matrix4x4 from a set of 3D vectors for axial directions, and translate void Matrix4x4_FromVectors(matrix4x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]); +// converts a matrix4x4 to a double[16] array in the OpenGL orientation +void Matrix4x4_ToArrayDoubleGL(const matrix4x4_t *in, double out[16]); +// creates a matrix4x4 from a double[16] array in the OpenGL orientation +void Matrix4x4_FromArrayDoubleGL(matrix4x4_t *out, const double in[16]); +// converts a matrix4x4 to a double[16] array in the Direct3D orientation +void Matrix4x4_ToArrayDoubleD3D(const matrix4x4_t *in, double out[16]); +// creates a matrix4x4 from a double[16] array in the Direct3D orientation +void Matrix4x4_FromArrayDoubleD3D(matrix4x4_t *out, const double in[16]); + +// converts a matrix4x4 to a float[16] array in the OpenGL orientation +void Matrix4x4_ToArrayFloatGL(const matrix4x4_t *in, float out[16]); +// creates a matrix4x4 from a float[16] array in the OpenGL orientation +void Matrix4x4_FromArrayFloatGL(matrix4x4_t *out, const float in[16]); +// converts a matrix4x4 to a float[16] array in the Direct3D orientation +void Matrix4x4_ToArrayFloatD3D(const matrix4x4_t *in, float out[16]); +// creates a matrix4x4 from a float[16] array in the Direct3D orientation +void Matrix4x4_FromArrayFloatD3D(matrix4x4_t *out, const float in[16]); + +// converts a matrix4x4 to a float[12] array in the OpenGL orientation +void Matrix4x4_ToArray12FloatGL(const matrix4x4_t *in, float out[12]); +// creates a matrix4x4 from a float[12] array in the OpenGL orientation +void Matrix4x4_FromArray12FloatGL(matrix4x4_t *out, const float in[12]); +// converts a matrix4x4 to a float[12] array in the Direct3D orientation +void Matrix4x4_ToArray12FloatD3D(const matrix4x4_t *in, float out[12]); +// creates a matrix4x4 from a float[12] array in the Direct3D orientation +void Matrix4x4_FromArray12FloatD3D(matrix4x4_t *out, const float in[12]); + +// creates a matrix4x4 from an origin and quaternion (used mostly with skeletal model formats such as PSK) +void Matrix4x4_FromOriginQuat(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z, double w); +// creates an origin and quaternion from a matrix4x4_t, quat[3] is always positive +void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat); +// creates a matrix4x4 from an origin and canonical unit-length quaternion (used mostly with skeletal model formats such as MD5) +void Matrix4x4_FromDoom3Joint(matrix4x4_t *m, double ox, double oy, double oz, double x, double y, double z); + +// creates a matrix4x4_t from an origin and canonical unit-length quaternion in short[6] normalized format +void Matrix4x4_FromBonePose6s(matrix4x4_t *m, float originscale, const short *pose6s); +// creates a short[6] representation from normalized matrix4x4_t +void Matrix4x4_ToBonePose6s(const matrix4x4_t *m, float origininvscale, short *pose6s); + +// blends two matrices together, at a given percentage (blend controls percentage of in2) +void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend); + // transforms a 3D vector through a matrix4x4 void Matrix4x4_Transform (const matrix4x4_t *in, const float v[3], float out[3]); // transforms a 4D vector through a matrix4x4 @@ -75,87 +140,33 @@ void Matrix4x4_Transform4 (const matrix4x4_t *in, const float v[4], float out[4] //void Matrix4x4_SimpleUntransform (const matrix4x4_t *in, const float v[3], float out[3]); // transforms a direction vector through the rotation part of a matrix void Matrix4x4_Transform3x3 (const matrix4x4_t *in, const float v[3], float out[3]); +// transforms a positive distance plane (A*x+B*y+C*z-D=0) through a rotation or translation matrix +void Matrix4x4_TransformPositivePlane (const matrix4x4_t *in, float x, float y, float z, float d, float *o); +// transforms a standard plane (A*x+B*y+C*z+D=0) through a rotation or translation matrix +void Matrix4x4_TransformStandardPlane (const matrix4x4_t *in, float x, float y, float z, float d, float *o); // ease of use functions // immediately applies a Translate to the matrix -void Matrix4x4_ConcatTranslate (matrix4x4_t *out, float x, float y, float z); +void Matrix4x4_ConcatTranslate (matrix4x4_t *out, double x, double y, double z); // immediately applies a Rotate to the matrix -void Matrix4x4_ConcatRotate (matrix4x4_t *out, float angle, float x, float y, float z); +void Matrix4x4_ConcatRotate (matrix4x4_t *out, double angle, double x, double y, double z); // immediately applies a Scale to the matrix -void Matrix4x4_ConcatScale (matrix4x4_t *out, float x); +void Matrix4x4_ConcatScale (matrix4x4_t *out, double x); // immediately applies a Scale3 to the matrix -void Matrix4x4_ConcatScale3 (matrix4x4_t *out, float x, float y, float z); - -// print a matrix to the console -void Matrix4x4_Print(const matrix4x4_t *in); - - -// functions for manipulating 3x4 matrices - -// copy a matrix3x4 -void Matrix3x4_Copy (matrix3x4_t *out, const matrix3x4_t *in); -// copy only the rotation portion of a matrix3x4 -void Matrix3x4_CopyRotateOnly (matrix3x4_t *out, const matrix3x4_t *in); -// copy only the translate portion of a matrix3x4 -void Matrix3x4_CopyTranslateOnly (matrix3x4_t *out, const matrix3x4_t *in); -// make a matrix3x4 from a matrix4x4 -void Matrix3x4_FromMatrix4x4 (matrix3x4_t *out, const matrix4x4_t *in); -// multiply two matrix3x4 together, combining their transformations -// (warning: order matters - Concat(a, b, c) != Concat(a, c, b)) -void Matrix3x4_Concat (matrix3x4_t *out, const matrix3x4_t *in1, const matrix3x4_t *in2); -// swaps the rows and columns of the rotation matrix -// (inverting the rotation, but leaving everything else the same) -void Matrix3x4_Transpose3x3 (matrix3x4_t *out, const matrix3x4_t *in1); -// creates a matrix that does the opposite of the matrix provided -// only supports translate, rotate, scale (not scale3) matrices -void Matrix3x4_Invert_Simple (matrix3x4_t *out, const matrix3x4_t *in1); - -// creates an identity matrix -// (a matrix which does nothing) -void Matrix3x4_CreateIdentity (matrix3x4_t *out); -// creates a translate matrix -// (moves vectors) -void Matrix3x4_CreateTranslate (matrix3x4_t *out, float x, float y, float z); -// creates a rotate matrix -// (rotates vectors) -void Matrix3x4_CreateRotate (matrix3x4_t *out, float angle, float x, float y, float z); -// creates a scaling matrix -// (expands or contracts vectors) -// (warning: do not apply this kind of matrix to direction vectors) -void Matrix3x4_CreateScale (matrix3x4_t *out, float x); -// creates a squishing matrix -// (expands or contracts vectors differently in different axis) -// (warning: this is not reversed by Invert_Simple) -// (warning: do not apply this kind of matrix to direction vectors) -void Matrix3x4_CreateScale3 (matrix3x4_t *out, float x, float y, float z); -// creates a matrix for a quake entity -void Matrix3x4_CreateFromQuakeEntity(matrix3x4_t *out, float x, float y, float z, float pitch, float yaw, float roll, float scale); - -// converts a matrix3x4 to a set of 3D vectors for the 3 axial directions, and the translate -void Matrix3x4_ToVectors(const matrix3x4_t *in, float vx[3], float vy[3], float vz[3], float t[3]); -// creates a matrix3x4 from a set of 3D vectors for axial directions, and translate -void Matrix3x4_FromVectors(matrix3x4_t *out, const float vx[3], const float vy[3], const float vz[3], const float t[3]); - -// transforms a 3D vector through a matrix3x4 -void Matrix3x4_Transform (const matrix3x4_t *in, const float v[3], float out[3]); -// reverse transforms a 3D vector through a matrix3x4, at least for *simple* -// cases (rotation and translation *ONLY*), this attempts to undo the results -// of Transform -//void Matrix3x4_SimpleUntransform (const matrix3x4_t *in, const float v[3], float out[3]); -// transforms a direction vector through the rotation part of a matrix -void Matrix3x4_Transform3x3 (const matrix3x4_t *in, const float v[3], float out[3]); - -// ease of use functions -// immediately applies a Translate to the matrix -void Matrix3x4_ConcatTranslate (matrix3x4_t *out, float x, float y, float z); -// immediately applies a Rotate to the matrix -void Matrix3x4_ConcatRotate (matrix3x4_t *out, float angle, float x, float y, float z); -// immediately applies a Scale to the matrix -void Matrix3x4_ConcatScale (matrix3x4_t *out, float x); -// immediately applies a Scale3 to the matrix -void Matrix3x4_ConcatScale3 (matrix3x4_t *out, float x, float y, float z); - -// print a matrix to the console -void Matrix3x4_Print(const matrix3x4_t *in); +void Matrix4x4_ConcatScale3 (matrix4x4_t *out, double x, double y, double z); + +// extracts origin vector (translate) from matrix +void Matrix4x4_OriginFromMatrix (const matrix4x4_t *in, float *out); +// extracts scaling factor from matrix (only works for uniform scaling) +double Matrix4x4_ScaleFromMatrix (const matrix4x4_t *in); + +// replaces origin vector (translate) in matrix +void Matrix4x4_SetOrigin (matrix4x4_t *out, double x, double y, double z); +// moves origin vector (translate) in matrix by a simple translate +void Matrix4x4_AdjustOrigin (matrix4x4_t *out, double x, double y, double z); +// scales vectors of a matrix in place and allows you to scale origin as well +void Matrix4x4_Scale (matrix4x4_t *out, double rotatescale, double originscale); +// ensures each element of the 3x3 rotation matrix is facing in the + direction +void Matrix4x4_Abs (matrix4x4_t *out); #endif