Math/Matrix4: Rework "transform matrix" support
This commit is contained in:
SirLynix
parent
f9d4451b4a
commit
c209552f81
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@ -1234,7 +1234,7 @@ int main()
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if (Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::LControl) || Nz::Keyboard::IsKeyPressed(Nz::Keyboard::VKey::RControl))
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viewerPos += Nz::Vector3f::Down() * cameraSpeed;
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viewerInstance.UpdateViewMatrix(Nz::Matrix4f::ViewMatrix(viewerPos, camQuat));
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viewerInstance.UpdateViewMatrix(Nz::Matrix4f::TransformInverse(viewerPos, camQuat));
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}
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Nz::RenderFrame frame = window.AcquireFrame();
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@ -368,7 +368,7 @@ int main()
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if (!frame)
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continue;
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ubo.viewMatrix = Nz::Matrix4f::ViewMatrix(viewerPos, camAngles);
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ubo.viewMatrix = Nz::Matrix4f::TransformInverse(viewerPos, camAngles);
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if (uboUpdate)
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{
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@ -88,7 +88,7 @@ namespace Nz
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NazaraError("failed to inverse projection matrix");
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m_viewMatrix = viewMatrix;
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if (!m_viewMatrix.GetInverseAffine(&m_invViewMatrix))
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if (!m_viewMatrix.GetInverseTransform(&m_invViewMatrix))
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NazaraError("failed to inverse view matrix");
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m_viewProjMatrix = m_projectionMatrix * m_viewMatrix;
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@ -134,7 +134,7 @@ namespace Nz
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inline void ViewerInstance::UpdateViewMatrix(const Matrix4f& viewMatrix)
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{
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m_viewMatrix = viewMatrix;
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if (!m_viewMatrix.GetInverseAffine(&m_invViewMatrix))
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if (!m_viewMatrix.GetInverseTransform(&m_invViewMatrix))
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NazaraError("failed to inverse view matrix");
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m_viewProjMatrix = m_viewMatrix * m_projectionMatrix;
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@ -31,7 +31,7 @@ namespace Nz
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inline void WorldInstance::UpdateWorldMatrix(const Matrix4f& worldMatrix)
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{
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m_worldMatrix = worldMatrix;
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if (!m_worldMatrix.GetInverseAffine(&m_invWorldMatrix))
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if (!m_worldMatrix.GetInverseTransform(&m_invWorldMatrix))
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NazaraError("failed to inverse world matrix");
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m_dataInvalided = true;
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@ -33,12 +33,13 @@
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* 2D/3D mathematics module including matrix, vector, box, sphere, quaternion, ...
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*/
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/// Each modification of a paramater of the module needs a recompilation of the unit
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/// Each modification of a parameter of the module needs a recompilation of the unit
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// Optimize automatically the operation on affine matrices (Ask several comparisons to determine if the matrix is affine)
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#define NAZARA_MATH_MATRIX4_CHECK_AFFINE 0
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// Checks for transform matrix on common operations (Concatenate, Inverse, ...) and warns if the operation could be optimized
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// also checks if transform calls are called on transform matrices
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#define NAZARA_MATH_MATRIX4_CHECK_TRANSFORM 0
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// Enable tests of security based on the code (Advised for the developpement)
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// Enable tests of security based on the code (Advised for the development)
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#define NAZARA_MATH_SAFE 1
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#endif // NAZARA_MATH_CONFIG_HPP
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@ -45,15 +45,13 @@ namespace Nz
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Matrix4& ApplyTranslation(const Vector3<T>& translation);
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Matrix4& Concatenate(const Matrix4& matrix);
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Matrix4& ConcatenateAffine(const Matrix4& matrix);
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void Decompose(Vector3<T>& translation, Quaternion<T>& rotation, Vector3<T>& scale);
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Matrix4& ConcatenateTransform(const Matrix4& matrix);
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Vector4<T> GetColumn(unsigned int column) const;
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T GetDeterminant() const;
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T GetDeterminantAffine() const;
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T GetDeterminantTransform() const;
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bool GetInverse(Matrix4* dest) const;
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bool GetInverseAffine(Matrix4* dest) const;
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bool GetInverseTransform(Matrix4* dest) const;
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Quaternion<T> GetRotation() const;
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//Matrix3 GetRotationMatrix() const;
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Vector4<T> GetRow(unsigned int row) const;
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@ -66,9 +64,9 @@ namespace Nz
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bool HasScale() const;
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Matrix4& Inverse(bool* succeeded = nullptr);
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Matrix4& InverseAffine(bool* succeeded = nullptr);
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Matrix4& InverseTransform(bool* succeeded = nullptr);
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bool IsAffine() const;
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bool IsTransformMatrix() const;
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bool IsIdentity() const;
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Matrix4& MakeIdentity();
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@ -80,7 +78,7 @@ namespace Nz
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Matrix4& MakeTranslation(const Vector3<T>& translation);
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Matrix4& MakeTransform(const Vector3<T>& translation, const Quaternion<T>& rotation);
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Matrix4& MakeTransform(const Vector3<T>& translation, const Quaternion<T>& rotation, const Vector3<T>& scale);
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Matrix4& MakeViewMatrix(const Vector3<T>& translation, const Quaternion<T>& rotation);
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Matrix4& MakeTransformInverse(const Vector3<T>& translation, const Quaternion<T>& rotation);
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Matrix4& MakeZero();
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Matrix4& Set(T r11, T r12, T r13, T r14,
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@ -122,7 +120,7 @@ namespace Nz
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bool operator!=(const Matrix4& mat) const;
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static Matrix4 Concatenate(const Matrix4& left, const Matrix4& right);
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static Matrix4 ConcatenateAffine(const Matrix4& left, const Matrix4& right);
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static Matrix4 ConcatenateTransform(const Matrix4& left, const Matrix4& right);
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static Matrix4 Identity();
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static Matrix4 LookAt(const Vector3<T>& eye, const Vector3<T>& target, const Vector3<T>& up = Vector3<T>::Up());
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static Matrix4 Ortho(T left, T right, T top, T bottom, T zNear = -1.0, T zFar = 1.0);
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@ -132,13 +130,13 @@ namespace Nz
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static Matrix4 Translate(const Vector3<T>& translation);
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static Matrix4 Transform(const Vector3<T>& translation, const Quaternion<T>& rotation);
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static Matrix4 Transform(const Vector3<T>& translation, const Quaternion<T>& rotation, const Vector3<T>& scale);
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static Matrix4 ViewMatrix(const Vector3<T>& translation, const Quaternion<T>& rotation);
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static Matrix4 TransformInverse(const Vector3<T>&translation, const Quaternion<T>&rotation);
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static Matrix4 Zero();
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T m11, m12, m13, m14,
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m21, m22, m23, m24,
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m31, m32, m33, m34,
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m41, m42, m43, m44;
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m21, m22, m23, m24,
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m31, m32, m33, m34,
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m41, m42, m43, m44;
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};
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using Matrix4d = Matrix4<double>;
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@ -5,6 +5,7 @@
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#include <Nazara/Math/Matrix4.hpp>
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#include <Nazara/Core/Algorithm.hpp>
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#include <Nazara/Core/Error.hpp>
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#include <Nazara/Core/Log.hpp>
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#include <Nazara/Math/Algorithm.hpp>
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#include <Nazara/Math/Config.hpp>
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#include <Nazara/Math/EulerAngles.hpp>
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@ -136,17 +137,19 @@ namespace Nz
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*
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* \param matrix Matrix to multiply with
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*
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* \remark if NAZARA_MATH_MATRIX4_CHECK_AFFINE is defined, ConcatenateAffine is called
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* \remark if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM is defined, will print a message if both matrices are transform matrices (and will call ConcatenateTransform)
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*
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* \see ConcatenateAffine
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* \see ConcatenateTransform
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*/
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template<typename T>
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Matrix4<T>& Matrix4<T>::Concatenate(const Matrix4& matrix)
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{
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#if NAZARA_MATH_MATRIX4_CHECK_AFFINE
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if (IsAffine() && matrix.IsAffine())
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return ConcatenateAffine(matrix);
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#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
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if (IsTransformMatrix() && matrix.IsTransformMatrix())
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{
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NazaraDebug("Matrix4::Concatenate was called on transform matrices, use Matrix4::ConcatenateTransform");
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return ConcatenateTransform(matrix);
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}
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#endif
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return Set(m11*matrix.m11 + m12*matrix.m21 + m13*matrix.m31 + m14*matrix.m41,
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@ -176,24 +179,23 @@ namespace Nz
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*
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* \param matrix Matrix to multiply with
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*
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* \remark if NAZARA_DEBUG is defined and matrices are not affine, a NazaraWarning is produced and Concatenate is called
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* \remark if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM is defined and matrices are not transform matrices, a NazaraWarning is produced and Concatenate is called
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*
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* \see Concatenate
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*/
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template<typename T>
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Matrix4<T>& Matrix4<T>::ConcatenateAffine(const Matrix4& matrix)
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Matrix4<T>& Matrix4<T>::ConcatenateTransform(const Matrix4& matrix)
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{
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#ifdef NAZARA_DEBUG
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if (!IsAffine())
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#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
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if (!IsTransformMatrix())
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{
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NazaraWarning("First matrix not affine");
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NazaraDebug("Matrix4::ConcatenateTransform first matrix is not a transform matrix");
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return Concatenate(matrix);
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}
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if (!matrix.IsAffine())
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if (!matrix.IsTransformMatrix())
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{
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NazaraWarning("Second matrix not affine");
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NazaraDebug("Matrix4::ConcatenateTransform second matrix is not a transform matrix");
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return Concatenate(matrix);
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}
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#endif
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@ -219,25 +221,6 @@ namespace Nz
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T(1.0));
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}
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template<typename T>
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void Matrix4<T>::Decompose(Vector3<T>& translation, Quaternion<T>& rotation, Vector3<T>& scale)
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{
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Matrix4f localMat(*this);
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translation = localMat.GetTranslation();
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scale = localMat.GetScale();
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Vector3<T> invScale;
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invScale.x = T(1) / scale.x;
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invScale.y = T(1) / scale.y;
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invScale.z = T(1) / scale.z;
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localMat.ApplyScale(invScale);
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rotation = localMat.GetRotation();
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}
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/*!
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* \brief Gets the ith column of the matrix
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* \return Vector4 which is the transformation of this axis
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@ -268,20 +251,22 @@ namespace Nz
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}
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/*!
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* \brief Calcultes the determinant of this matrix
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* \brief Computes the determinant of this matrix
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* \return The value of the determinant
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*
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* \remark if NAZARA_MATH_MATRIX4_CHECK_AFFINE is defined, GetDeterminantAffine is called
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* \remark if NAZARA_MATH_MATRIX4_CHECK_AFFINE is defined, GetDeterminantTransform is called
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*
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* \see GetDeterminantAffine
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* \see GetDeterminantTransform
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*/
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template<typename T>
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T Matrix4<T>::GetDeterminant() const
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{
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#if NAZARA_MATH_MATRIX4_CHECK_AFFINE
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if (IsAffine())
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return GetDeterminantAffine();
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#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
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if (IsTransformMatrix())
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{
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NazaraDebug("Matrix4::GetDeterminant was called on a transform matrix, use Matrix4::GetDeterminantTransform");
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return GetDeterminantTransform();
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}
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#endif
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T A = m22*(m33*m44 - m43*m34) - m32*(m23*m44 - m43*m24) + m42*(m23*m34 - m33*m24);
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@ -293,21 +278,20 @@ namespace Nz
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}
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/*!
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* \brief Calcultes the determinant of this matrix
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* \brief Computes the determinant of this matrix
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* \return The value of the determinant
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*
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* \remark if NAZARA_DEBUG is defined and matrix is not affine, a NazaraWarning is produced and GetDeterminant is called
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*
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* \see GetDeterminant
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*/
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template<typename T>
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T Matrix4<T>::GetDeterminantAffine() const
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T Matrix4<T>::GetDeterminantTransform() const
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{
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#ifdef NAZARA_DEBUG
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if (!IsAffine())
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#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
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if (!IsTransformMatrix())
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{
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NazaraWarning("First matrix not affine");
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NazaraDebug("matrix is not a transform matrix");
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return GetDeterminant();
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}
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#endif
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@ -335,145 +319,140 @@ namespace Nz
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template<typename T>
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bool Matrix4<T>::GetInverse(Matrix4* dest) const
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{
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#if NAZARA_MATH_MATRIX4_CHECK_AFFINE
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if (IsAffine())
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return GetInverseAffine(dest);
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#endif
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NazaraAssert(dest, "destination matrix must be valid");
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#ifdef NAZARA_DEBUG
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if (!dest)
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#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
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if (IsTransformMatrix())
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{
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NazaraError("Destination matrix must be valid");
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return false;
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NazaraDebug("Matrix4::GetInverse was called on a transform matrix, use Matrix4::GetInverseTransform");
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return GetInverseTransform(dest);
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}
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#endif
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T det = GetDeterminant();
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if (det != T(0.0))
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{
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// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
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T inv[16];
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inv[0] = m22 * m33 * m44 -
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m22 * m34 * m43 -
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m32 * m23 * m44 +
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m32 * m24 * m43 +
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m42 * m23 * m34 -
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m42 * m24 * m33;
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inv[1] = -m12 * m33 * m44 +
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m12 * m34 * m43 +
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m32 * m13 * m44 -
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m32 * m14 * m43 -
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m42 * m13 * m34 +
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m42 * m14 * m33;
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inv[2] = m12 * m23 * m44 -
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m12 * m24 * m43 -
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m22 * m13 * m44 +
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m22 * m14 * m43 +
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m42 * m13 * m24 -
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m42 * m14 * m23;
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inv[3] = -m12 * m23 * m34 +
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m12 * m24 * m33 +
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m22 * m13 * m34 -
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m22 * m14 * m33 -
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m32 * m13 * m24 +
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m32 * m14 * m23;
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inv[4] = -m21 * m33 * m44 +
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m21 * m34 * m43 +
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m31 * m23 * m44 -
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m31 * m24 * m43 -
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m41 * m23 * m34 +
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m41 * m24 * m33;
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inv[5] = m11 * m33 * m44 -
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m11 * m34 * m43 -
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m31 * m13 * m44 +
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m31 * m14 * m43 +
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m41 * m13 * m34 -
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m41 * m14 * m33;
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inv[6] = -m11 * m23 * m44 +
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m11 * m24 * m43 +
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m21 * m13 * m44 -
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m21 * m14 * m43 -
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m41 * m13 * m24 +
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m41 * m14 * m23;
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inv[7] = m11 * m23 * m34 -
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m11 * m24 * m33 -
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m21 * m13 * m34 +
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m21 * m14 * m33 +
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m31 * m13 * m24 -
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m31 * m14 * m23;
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inv[8] = m21 * m32 * m44 -
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m21 * m34 * m42 -
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m31 * m22 * m44 +
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m31 * m24 * m42 +
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m41 * m22 * m34 -
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m41 * m24 * m32;
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inv[9] = -m11 * m32 * m44 +
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m11 * m34 * m42 +
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m31 * m12 * m44 -
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m31 * m14 * m42 -
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m41 * m12 * m34 +
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m41 * m14 * m32;
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inv[10] = m11 * m22 * m44 -
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m11 * m24 * m42 -
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m21 * m12 * m44 +
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m21 * m14 * m42 +
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m41 * m12 * m24 -
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m41 * m14 * m22;
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inv[11] = -m11 * m22 * m34 +
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m11 * m24 * m32 +
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m21 * m12 * m34 -
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m21 * m14 * m32 -
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m31 * m12 * m24 +
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m31 * m14 * m22;
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inv[12] = -m21 * m32 * m43 +
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m21 * m33 * m42 +
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m31 * m22 * m43 -
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m31 * m23 * m42 -
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m41 * m22 * m33 +
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m41 * m23 * m32;
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inv[13] = m11 * m32 * m43 -
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m11 * m33 * m42 -
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m31 * m12 * m43 +
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m31 * m13 * m42 +
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m41 * m12 * m33 -
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m41 * m13 * m32;
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inv[14] = -m11 * m22 * m43 +
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m11 * m23 * m42 +
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m21 * m12 * m43 -
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m21 * m13 * m42 -
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m41 * m12 * m23 +
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m41 * m13 * m22;
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inv[15] = m11 * m22 * m33 -
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m11 * m23 * m32 -
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m21 * m12 * m33 +
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m21 * m13 * m32 +
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m31 * m12 * m23 -
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m31 * m13 * m22;
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T invDet = T(1.0) / det;
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for (unsigned int i = 0; i < 16; ++i)
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inv[i] *= invDet;
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*dest = inv;
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return true;
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}
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else
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if (det == T(0.0))
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return false;
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// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
|
||||
T inv[16];
|
||||
inv[0] = m22 * m33 * m44 -
|
||||
m22 * m34 * m43 -
|
||||
m32 * m23 * m44 +
|
||||
m32 * m24 * m43 +
|
||||
m42 * m23 * m34 -
|
||||
m42 * m24 * m33;
|
||||
|
||||
inv[1] = -m12 * m33 * m44 +
|
||||
m12 * m34 * m43 +
|
||||
m32 * m13 * m44 -
|
||||
m32 * m14 * m43 -
|
||||
m42 * m13 * m34 +
|
||||
m42 * m14 * m33;
|
||||
|
||||
inv[2] = m12 * m23 * m44 -
|
||||
m12 * m24 * m43 -
|
||||
m22 * m13 * m44 +
|
||||
m22 * m14 * m43 +
|
||||
m42 * m13 * m24 -
|
||||
m42 * m14 * m23;
|
||||
|
||||
inv[3] = -m12 * m23 * m34 +
|
||||
m12 * m24 * m33 +
|
||||
m22 * m13 * m34 -
|
||||
m22 * m14 * m33 -
|
||||
m32 * m13 * m24 +
|
||||
m32 * m14 * m23;
|
||||
|
||||
inv[4] = -m21 * m33 * m44 +
|
||||
m21 * m34 * m43 +
|
||||
m31 * m23 * m44 -
|
||||
m31 * m24 * m43 -
|
||||
m41 * m23 * m34 +
|
||||
m41 * m24 * m33;
|
||||
|
||||
inv[5] = m11 * m33 * m44 -
|
||||
m11 * m34 * m43 -
|
||||
m31 * m13 * m44 +
|
||||
m31 * m14 * m43 +
|
||||
m41 * m13 * m34 -
|
||||
m41 * m14 * m33;
|
||||
|
||||
inv[6] = -m11 * m23 * m44 +
|
||||
m11 * m24 * m43 +
|
||||
m21 * m13 * m44 -
|
||||
m21 * m14 * m43 -
|
||||
m41 * m13 * m24 +
|
||||
m41 * m14 * m23;
|
||||
|
||||
inv[7] = m11 * m23 * m34 -
|
||||
m11 * m24 * m33 -
|
||||
m21 * m13 * m34 +
|
||||
m21 * m14 * m33 +
|
||||
m31 * m13 * m24 -
|
||||
m31 * m14 * m23;
|
||||
|
||||
inv[8] = m21 * m32 * m44 -
|
||||
m21 * m34 * m42 -
|
||||
m31 * m22 * m44 +
|
||||
m31 * m24 * m42 +
|
||||
m41 * m22 * m34 -
|
||||
m41 * m24 * m32;
|
||||
|
||||
inv[9] = -m11 * m32 * m44 +
|
||||
m11 * m34 * m42 +
|
||||
m31 * m12 * m44 -
|
||||
m31 * m14 * m42 -
|
||||
m41 * m12 * m34 +
|
||||
m41 * m14 * m32;
|
||||
|
||||
inv[10] = m11 * m22 * m44 -
|
||||
m11 * m24 * m42 -
|
||||
m21 * m12 * m44 +
|
||||
m21 * m14 * m42 +
|
||||
m41 * m12 * m24 -
|
||||
m41 * m14 * m22;
|
||||
|
||||
inv[11] = -m11 * m22 * m34 +
|
||||
m11 * m24 * m32 +
|
||||
m21 * m12 * m34 -
|
||||
m21 * m14 * m32 -
|
||||
m31 * m12 * m24 +
|
||||
m31 * m14 * m22;
|
||||
|
||||
inv[12] = -m21 * m32 * m43 +
|
||||
m21 * m33 * m42 +
|
||||
m31 * m22 * m43 -
|
||||
m31 * m23 * m42 -
|
||||
m41 * m22 * m33 +
|
||||
m41 * m23 * m32;
|
||||
|
||||
inv[13] = m11 * m32 * m43 -
|
||||
m11 * m33 * m42 -
|
||||
m31 * m12 * m43 +
|
||||
m31 * m13 * m42 +
|
||||
m41 * m12 * m33 -
|
||||
m41 * m13 * m32;
|
||||
|
||||
inv[14] = -m11 * m22 * m43 +
|
||||
m11 * m23 * m42 +
|
||||
m21 * m12 * m43 -
|
||||
m21 * m13 * m42 -
|
||||
m41 * m12 * m23 +
|
||||
m41 * m13 * m22;
|
||||
|
||||
inv[15] = m11 * m22 * m33 -
|
||||
m11 * m23 * m32 -
|
||||
m21 * m12 * m33 +
|
||||
m21 * m13 * m32 +
|
||||
m31 * m12 * m23 -
|
||||
m31 * m13 * m22;
|
||||
|
||||
T invDet = T(1.0) / det;
|
||||
for (unsigned int i = 0; i < 16; ++i)
|
||||
inv[i] *= invDet;
|
||||
|
||||
*dest = inv;
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
|
|
@ -488,94 +467,88 @@ namespace Nz
|
|||
*
|
||||
* \see GetInverse
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
bool Matrix4<T>::GetInverseAffine(Matrix4* dest) const
|
||||
bool Matrix4<T>::GetInverseTransform(Matrix4* dest) const
|
||||
{
|
||||
#ifdef NAZARA_DEBUG
|
||||
if (!IsAffine())
|
||||
{
|
||||
NazaraWarning("Matrix is not affine");
|
||||
return GetInverse(dest);
|
||||
}
|
||||
NazaraAssert(dest, "destination matrix must be valid");
|
||||
|
||||
if (!dest)
|
||||
#if NAZARA_MATH_MATRIX4_CHECK_TRANSFORM
|
||||
if (!IsTransformMatrix())
|
||||
{
|
||||
NazaraError("Destination matrix must be valid");
|
||||
return false;
|
||||
NazaraDebug("matrix is not a transform matrix");
|
||||
return GetInverse(dest);
|
||||
}
|
||||
#endif
|
||||
|
||||
T det = GetDeterminantAffine();
|
||||
if (det != T(0.0))
|
||||
{
|
||||
// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
|
||||
T inv[16];
|
||||
inv[0] = m22 * m33 -
|
||||
m32 * m23;
|
||||
|
||||
inv[1] = -m12 * m33 +
|
||||
m32 * m13;
|
||||
|
||||
inv[2] = m12 * m23 -
|
||||
m22 * m13;
|
||||
|
||||
inv[3] = T(0.0);
|
||||
|
||||
inv[4] = -m21 * m33 +
|
||||
m31 * m23;
|
||||
|
||||
inv[5] = m11 * m33 -
|
||||
m31 * m13;
|
||||
|
||||
inv[6] = -m11 * m23 +
|
||||
m21 * m13;
|
||||
|
||||
inv[7] = T(0.0);
|
||||
|
||||
inv[8] = m21 * m32 -
|
||||
m31 * m22;
|
||||
|
||||
inv[9] = -m11 * m32 +
|
||||
m31 * m12;
|
||||
|
||||
inv[10] = m11 * m22 -
|
||||
m21 * m12;
|
||||
|
||||
inv[11] = T(0.0);
|
||||
|
||||
inv[12] = -m21 * m32 * m43 +
|
||||
m21 * m33 * m42 +
|
||||
m31 * m22 * m43 -
|
||||
m31 * m23 * m42 -
|
||||
m41 * m22 * m33 +
|
||||
m41 * m23 * m32;
|
||||
|
||||
inv[13] = m11 * m32 * m43 -
|
||||
m11 * m33 * m42 -
|
||||
m31 * m12 * m43 +
|
||||
m31 * m13 * m42 +
|
||||
m41 * m12 * m33 -
|
||||
m41 * m13 * m32;
|
||||
|
||||
inv[14] = -m11 * m22 * m43 +
|
||||
m11 * m23 * m42 +
|
||||
m21 * m12 * m43 -
|
||||
m21 * m13 * m42 -
|
||||
m41 * m12 * m23 +
|
||||
m41 * m13 * m22;
|
||||
|
||||
T invDet = T(1.0) / det;
|
||||
for (unsigned int i = 0; i < 16; ++i)
|
||||
inv[i] *= invDet;
|
||||
|
||||
inv[15] = T(1.0);
|
||||
|
||||
*dest = inv;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
T det = GetDeterminantTransform();
|
||||
if (det == T(0.0))
|
||||
return false;
|
||||
|
||||
|
||||
// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
|
||||
T inv[16];
|
||||
inv[0] = m22 * m33 -
|
||||
m32 * m23;
|
||||
|
||||
inv[1] = -m12 * m33 +
|
||||
m32 * m13;
|
||||
|
||||
inv[2] = m12 * m23 -
|
||||
m22 * m13;
|
||||
|
||||
inv[3] = T(0.0);
|
||||
|
||||
inv[4] = -m21 * m33 +
|
||||
m31 * m23;
|
||||
|
||||
inv[5] = m11 * m33 -
|
||||
m31 * m13;
|
||||
|
||||
inv[6] = -m11 * m23 +
|
||||
m21 * m13;
|
||||
|
||||
inv[7] = T(0.0);
|
||||
|
||||
inv[8] = m21 * m32 -
|
||||
m31 * m22;
|
||||
|
||||
inv[9] = -m11 * m32 +
|
||||
m31 * m12;
|
||||
|
||||
inv[10] = m11 * m22 -
|
||||
m21 * m12;
|
||||
|
||||
inv[11] = T(0.0);
|
||||
|
||||
inv[12] = -m21 * m32 * m43 +
|
||||
m21 * m33 * m42 +
|
||||
m31 * m22 * m43 -
|
||||
m31 * m23 * m42 -
|
||||
m41 * m22 * m33 +
|
||||
m41 * m23 * m32;
|
||||
|
||||
inv[13] = m11 * m32 * m43 -
|
||||
m11 * m33 * m42 -
|
||||
m31 * m12 * m43 +
|
||||
m31 * m13 * m42 +
|
||||
m41 * m12 * m33 -
|
||||
m41 * m13 * m32;
|
||||
|
||||
inv[14] = -m11 * m22 * m43 +
|
||||
m11 * m23 * m42 +
|
||||
m21 * m12 * m43 -
|
||||
m21 * m13 * m42 -
|
||||
m41 * m12 * m23 +
|
||||
m41 * m13 * m22;
|
||||
|
||||
T invDet = T(1.0) / det;
|
||||
for (unsigned int i = 0; i < 16; ++i)
|
||||
inv[i] *= invDet;
|
||||
|
||||
inv[15] = T(1.0);
|
||||
|
||||
*dest = inv;
|
||||
return true;
|
||||
}
|
||||
|
||||
/*!
|
||||
|
|
@ -773,9 +746,8 @@ namespace Nz
|
|||
*
|
||||
* \param succeeded Optional argument to know if matrix has been successfully inverted
|
||||
*
|
||||
* \see InverseAffine
|
||||
* \see InverseTransform
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T>& Matrix4<T>::Inverse(bool* succeeded)
|
||||
{
|
||||
|
|
@ -794,11 +766,10 @@ namespace Nz
|
|||
*
|
||||
* \see Inverse
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T>& Matrix4<T>::InverseAffine(bool* succeeded)
|
||||
Matrix4<T>& Matrix4<T>::InverseTransform(bool* succeeded)
|
||||
{
|
||||
bool result = GetInverseAffine(this);
|
||||
bool result = GetInverseTransform(this);
|
||||
if (succeeded)
|
||||
*succeeded = result;
|
||||
|
||||
|
|
@ -811,7 +782,7 @@ namespace Nz
|
|||
*/
|
||||
|
||||
template<typename T>
|
||||
bool Matrix4<T>::IsAffine() const
|
||||
bool Matrix4<T>::IsTransformMatrix() const
|
||||
{
|
||||
return NumberEquals(m14, T(0.0)) && NumberEquals(m24, T(0.0)) && NumberEquals(m34, T(0.0)) && NumberEquals(m44, T(1.0));
|
||||
}
|
||||
|
|
@ -858,7 +829,6 @@ namespace Nz
|
|||
*
|
||||
* \see LookAt
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T>& Matrix4<T>::MakeLookAt(const Vector3<T>& eye, const Vector3<T>& target, const Vector3<T>& up)
|
||||
{
|
||||
|
|
@ -1039,22 +1009,21 @@ namespace Nz
|
|||
{
|
||||
MakeTransform(translation, rotation);
|
||||
|
||||
// Then we apply the homothety to current values
|
||||
// Then we apply the scale to current values
|
||||
return ApplyScale(scale);
|
||||
}
|
||||
|
||||
/*!
|
||||
* \brief Makes the matrix a 'view matrix'
|
||||
* \return A reference to this matrix transformed in 'view matrix'
|
||||
* \brief Makes the matrix an inverse transform matrix (aka view matrix)
|
||||
* \return A reference to this matrix
|
||||
*
|
||||
* \param translation Vector3 representing the translation
|
||||
* \param rotation Quaternion representing a rotation of space
|
||||
*
|
||||
* \see ViewMatrix
|
||||
* \see InverseTransformMatrix
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T>& Matrix4<T>::MakeViewMatrix(const Vector3<T>& translation, const Quaternion<T>& rotation)
|
||||
Matrix4<T>& Matrix4<T>::MakeTransformInverse(const Vector3<T>& translation, const Quaternion<T>& rotation)
|
||||
{
|
||||
// A view matrix must apply an inverse transformation of the 'world' matrix
|
||||
Quaternion<T> invRot = rotation.GetConjugate(); // Inverse of the rotation
|
||||
|
|
@ -1068,7 +1037,6 @@ namespace Nz
|
|||
*
|
||||
* \see Zero
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T>& Matrix4<T>::MakeZero()
|
||||
{
|
||||
|
|
@ -1503,14 +1471,13 @@ namespace Nz
|
|||
* \param left Left-hand side matrix
|
||||
* \param right Right-hand side matrix
|
||||
*
|
||||
* \see ConcatenateAffine
|
||||
* \see ConcatenateTransform
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T> Matrix4<T>::ConcatenateAffine(const Matrix4& left, const Matrix4& right)
|
||||
Matrix4<T> Matrix4<T>::ConcatenateTransform(const Matrix4& left, const Matrix4& right)
|
||||
{
|
||||
Matrix4 matrix(left); // Copy of left-hand side matrix
|
||||
matrix.ConcatenateAffine(right); // Affine concatenation with right-hand side
|
||||
matrix.ConcatenateTransform(right); // Affine concatenation with right-hand side
|
||||
|
||||
return matrix;
|
||||
}
|
||||
|
|
@ -1617,7 +1584,7 @@ namespace Nz
|
|||
* \brief Shorthand for the 'scale' matrix
|
||||
* \return A Matrix4 which is is the scale
|
||||
*
|
||||
* \param scale Vector3 representing the homothety
|
||||
* \param scale Vector3 representing the scale
|
||||
*
|
||||
* \see MakeScale
|
||||
*/
|
||||
|
|
@ -1699,14 +1666,13 @@ namespace Nz
|
|||
* \param translation Vector3 representing the translation
|
||||
* \param rotation Quaternion representing a rotation of space
|
||||
*
|
||||
* \see MakeViewMatrix
|
||||
* \see MakeInverseTransformMatrix
|
||||
*/
|
||||
|
||||
template<typename T>
|
||||
Matrix4<T> Matrix4<T>::ViewMatrix(const Vector3<T>& translation, const Quaternion<T>& rotation)
|
||||
Matrix4<T> Matrix4<T>::TransformInverse(const Vector3<T>& translation, const Quaternion<T>& rotation)
|
||||
{
|
||||
Matrix4 mat;
|
||||
mat.MakeViewMatrix(translation, rotation);
|
||||
mat.MakeTransformInverse(translation, rotation);
|
||||
|
||||
return mat;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -335,7 +335,7 @@ namespace Nz
|
|||
width.z, height.z, depth.z, corner.z,
|
||||
T(0.0), T(0.0), T(0.0), T(1.0));
|
||||
|
||||
matrix.InverseAffine();
|
||||
matrix.InverseTransform();
|
||||
|
||||
corner = matrix.Transform(corner);
|
||||
oppositeCorner = matrix.Transform(oppositeCorner);
|
||||
|
|
|
|||
|
|
@ -319,7 +319,7 @@ namespace Nz
|
|||
|
||||
ViewerInstance& viewerInstance = entityCamera.GetViewerInstance();
|
||||
viewerInstance.UpdateEyePosition(cameraPosition);
|
||||
viewerInstance.UpdateViewMatrix(Nz::Matrix4f::ViewMatrix(cameraPosition, entityNode.GetRotation(CoordSys::Global)));
|
||||
viewerInstance.UpdateViewMatrix(Nz::Matrix4f::TransformInverse(cameraPosition, entityNode.GetRotation(CoordSys::Global)));
|
||||
|
||||
m_pipeline->InvalidateViewer(cameraEntity->viewerIndex);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -747,7 +747,7 @@ namespace Nz
|
|||
|
||||
// Face +X
|
||||
transform.MakeTransform(Vector3f::UnitX() * halfLengths.x, EulerAnglesf(-90.f, -90.f, 180.f));
|
||||
GeneratePlane(Vector2ui(subdivision.z, subdivision.y), Vector2f(lengths.z, lengths.y), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.z, subdivision.y), Vector2f(lengths.z, lengths.y), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += xVertexCount;
|
||||
indices += xIndexCount;
|
||||
|
||||
|
|
@ -764,7 +764,7 @@ namespace Nz
|
|||
|
||||
// Face +Y
|
||||
transform.MakeTransform(Vector3f::UnitY() * halfLengths.y, EulerAnglesf(0.f, 0.f, 0.f));
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.z), Vector2f(lengths.x, lengths.z), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.z), Vector2f(lengths.x, lengths.z), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += yVertexCount;
|
||||
indices += yIndexCount;
|
||||
|
||||
|
|
@ -781,7 +781,7 @@ namespace Nz
|
|||
|
||||
// Face +Z
|
||||
transform.MakeTransform(Vector3f::UnitZ() * halfLengths.z, EulerAnglesf(90.f, 0.f, 0.f));
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.y), Vector2f(lengths.x, lengths.y), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.y), Vector2f(lengths.x, lengths.y), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += zVertexCount;
|
||||
indices += zIndexCount;
|
||||
|
||||
|
|
@ -798,7 +798,7 @@ namespace Nz
|
|||
|
||||
// Face -X
|
||||
transform.MakeTransform(-Vector3f::UnitX() * halfLengths.x, EulerAnglesf(-90.f, 90.f, 180.f));
|
||||
GeneratePlane(Vector2ui(subdivision.z, subdivision.y), Vector2f(lengths.z, lengths.y), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.z, subdivision.y), Vector2f(lengths.z, lengths.y), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += xVertexCount;
|
||||
indices += xIndexCount;
|
||||
|
||||
|
|
@ -815,7 +815,7 @@ namespace Nz
|
|||
|
||||
// Face -Y
|
||||
transform.MakeTransform(-Vector3f::UnitY() * halfLengths.y, EulerAnglesf(0.f, 180.f, 180.f));
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.z), Vector2f(lengths.x, lengths.z), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.z), Vector2f(lengths.x, lengths.z), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += yVertexCount;
|
||||
indices += yIndexCount;
|
||||
|
||||
|
|
@ -832,7 +832,7 @@ namespace Nz
|
|||
|
||||
// Face -Z
|
||||
transform.MakeTransform(-Vector3f::UnitZ() * halfLengths.z, EulerAnglesf(90.f, 180.f, 0.f));
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.y), Vector2f(lengths.x, lengths.y), Matrix4f::ConcatenateAffine(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
GeneratePlane(Vector2ui(subdivision.x, subdivision.y), Vector2f(lengths.x, lengths.y), Matrix4f::ConcatenateTransform(matrix, transform), textureCoords, vertexPointers, indices, nullptr, indexOffset);
|
||||
indexOffset += zVertexCount;
|
||||
indices += zIndexCount;
|
||||
|
||||
|
|
|
|||
|
|
@ -74,16 +74,8 @@ namespace Nz
|
|||
if (parent >= 0)
|
||||
joint->SetParent(skeleton->GetJoint(parent));
|
||||
|
||||
joint->SetInverseBindMatrix(Matrix4f::TransformInverse(joints[i].bindPos, joints[i].bindOrient));
|
||||
joint->SetName(joints[i].name);
|
||||
|
||||
Matrix4f bindMatrix;
|
||||
|
||||
if (parent >= 0)
|
||||
bindMatrix.MakeTransform(joints[i].bindPos, joints[i].bindOrient);
|
||||
else
|
||||
bindMatrix.MakeTransform(rotationQuat * joints[i].bindPos, rotationQuat * joints[i].bindOrient);
|
||||
|
||||
joint->SetInverseBindMatrix(bindMatrix.InverseAffine());
|
||||
}
|
||||
|
||||
mesh->SetMaterialCount(meshCount);
|
||||
|
|
|
|||
|
|
@ -82,8 +82,7 @@ namespace Nz
|
|||
if (!m_transformMatrixUpdated)
|
||||
UpdateTransformMatrix();
|
||||
|
||||
m_skinningMatrix.Set(m_inverseBindMatrix);
|
||||
m_skinningMatrix.ConcatenateAffine(m_transformMatrix);
|
||||
m_skinningMatrix = Matrix4f::ConcatenateTransform(m_inverseBindMatrix, m_transformMatrix);
|
||||
m_skinningMatrixUpdated = true;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -33,10 +33,10 @@ SCENARIO("Matrix4", "[MATH][MATRIX4]")
|
|||
THEN("It keeps being a identity")
|
||||
{
|
||||
CHECK(firstIdentity.Concatenate(secondIdentity) == firstIdentity);
|
||||
CHECK(firstIdentity.ConcatenateAffine(secondIdentity) == firstIdentity);
|
||||
CHECK(firstIdentity.ConcatenateTransform(secondIdentity) == firstIdentity);
|
||||
CHECK((firstIdentity * secondIdentity) == firstIdentity);
|
||||
CHECK((1.f * firstIdentity) == firstIdentity);
|
||||
CHECK(firstIdentity.Inverse() == secondIdentity.InverseAffine());
|
||||
CHECK(firstIdentity.Inverse() == secondIdentity.InverseTransform());
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue