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-rw-r--r--src/math/math.cpp139
1 files changed, 139 insertions, 0 deletions
diff --git a/src/math/math.cpp b/src/math/math.cpp
index c1199fcc..e8b7d933 100644
--- a/src/math/math.cpp
+++ b/src/math/math.cpp
@@ -5,6 +5,145 @@
// TODO: move more stuff into here
void
+CMatrix::SetRotate(float xAngle, float yAngle, float zAngle)
+{
+ float cX = Cos(xAngle);
+ float sX = Sin(xAngle);
+ float cY = Cos(yAngle);
+ float sY = Sin(yAngle);
+ float cZ = Cos(zAngle);
+ float sZ = Sin(zAngle);
+
+ m_matrix.right.x = cZ * cY - (sZ * sX) * sY;
+ m_matrix.right.y = (cZ * sX) * sY + sZ * cY;
+ m_matrix.right.z = -cX * sY;
+
+ m_matrix.up.x = -sZ * cX;
+ m_matrix.up.y = cZ * cX;
+ m_matrix.up.z = sX;
+
+ m_matrix.at.x = (sZ * sX) * cY + cZ * sY;
+ m_matrix.at.y = sZ * sY - (cZ * sX) * cY;
+ m_matrix.at.z = cX * cY;
+
+ m_matrix.pos.x = 0.0f;
+ m_matrix.pos.y = 0.0f;
+ m_matrix.pos.z = 0.0f;
+}
+
+void
+CMatrix::Rotate(float x, float y, float z)
+{
+ // TODO? do this directly without creating another matrix
+ CMatrix rot;
+ rot.SetRotate(x, y, z);
+ *this = rot * *this;
+}
+
+void
+CMatrix::Reorthogonalise(void)
+{
+ CVector &r = GetRight();
+ CVector &f = GetForward();
+ CVector &u = GetUp();
+ u = CrossProduct(r, f);
+ u.Normalise();
+ r = CrossProduct(f, u);
+ r.Normalise();
+ f = CrossProduct(u, r);
+}
+
+CMatrix&
+Invert(const CMatrix &src, CMatrix &dst)
+{
+ // GTA handles this as a raw 4x4 orthonormal matrix
+ // and trashes the RW flags, let's not do that
+ // actual copy of librw code:
+ RwMatrix *d = &dst.m_matrix;
+ const RwMatrix *s = &src.m_matrix;
+ d->right.x = s->right.x;
+ d->right.y = s->up.x;
+ d->right.z = s->at.x;
+ d->up.x = s->right.y;
+ d->up.y = s->up.y;
+ d->up.z = s->at.y;
+ d->at.x = s->right.z;
+ d->at.y = s->up.z;
+ d->at.z = s->at.z;
+ d->pos.x = -(s->pos.x*s->right.x +
+ s->pos.y*s->right.y +
+ s->pos.z*s->right.z);
+ d->pos.y = -(s->pos.x*s->up.x +
+ s->pos.y*s->up.y +
+ s->pos.z*s->up.z);
+ d->pos.z = -(s->pos.x*s->at.x +
+ s->pos.y*s->at.y +
+ s->pos.z*s->at.z);
+ d->flags = rwMATRIXTYPEORTHONORMAL;
+ return dst;
+}
+
+CVector
+operator*(const CMatrix &mat, const CVector &vec)
+{
+ return CVector(
+ mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z + mat.m_matrix.pos.x,
+ mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z + mat.m_matrix.pos.y,
+ mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z + mat.m_matrix.pos.z);
+}
+
+CMatrix
+operator*(const CMatrix &m1, const CMatrix &m2)
+{
+ CMatrix out;
+ RwMatrix *dst = &out.m_matrix;
+ const RwMatrix *src1 = &m1.m_matrix;
+ const RwMatrix *src2 = &m2.m_matrix;
+ dst->right.x = src1->right.x*src2->right.x + src1->up.x*src2->right.y + src1->at.x*src2->right.z;
+ dst->right.y = src1->right.y*src2->right.x + src1->up.y*src2->right.y + src1->at.y*src2->right.z;
+ dst->right.z = src1->right.z*src2->right.x + src1->up.z*src2->right.y + src1->at.z*src2->right.z;
+ dst->up.x = src1->right.x*src2->up.x + src1->up.x*src2->up.y + src1->at.x*src2->up.z;
+ dst->up.y = src1->right.y*src2->up.x + src1->up.y*src2->up.y + src1->at.y*src2->up.z;
+ dst->up.z = src1->right.z*src2->up.x + src1->up.z*src2->up.y + src1->at.z*src2->up.z;
+ dst->at.x = src1->right.x*src2->at.x + src1->up.x*src2->at.y + src1->at.x*src2->at.z;
+ dst->at.y = src1->right.y*src2->at.x + src1->up.y*src2->at.y + src1->at.y*src2->at.z;
+ dst->at.z = src1->right.z*src2->at.x + src1->up.z*src2->at.y + src1->at.z*src2->at.z;
+ dst->pos.x = src1->right.x*src2->pos.x + src1->up.x*src2->pos.y + src1->at.x*src2->pos.z + src1->pos.x;
+ dst->pos.y = src1->right.y*src2->pos.x + src1->up.y*src2->pos.y + src1->at.y*src2->pos.z + src1->pos.y;
+ dst->pos.z = src1->right.z*src2->pos.x + src1->up.z*src2->pos.y + src1->at.z*src2->pos.z + src1->pos.z;
+ return out;
+}
+
+CVector
+MultiplyInverse(const CMatrix &mat, const CVector &vec)
+{
+ CVector v(vec.x - mat.m_matrix.pos.x, vec.y - mat.m_matrix.pos.y, vec.z - mat.m_matrix.pos.z);
+ return CVector(
+ mat.m_matrix.right.x * v.x + mat.m_matrix.right.y * v.y + mat.m_matrix.right.z * v.z,
+ mat.m_matrix.up.x * v.x + mat.m_matrix.up.y * v.y + mat.m_matrix.up.z * v.z,
+ mat.m_matrix.at.x * v.x + mat.m_matrix.at.y * v.y + mat.m_matrix.at.z * v.z);
+}
+
+CVector
+Multiply3x3(const CMatrix &mat, const CVector &vec)
+{
+ return CVector(
+ mat.m_matrix.right.x * vec.x + mat.m_matrix.up.x * vec.y + mat.m_matrix.at.x * vec.z,
+ mat.m_matrix.right.y * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.at.y * vec.z,
+ mat.m_matrix.right.z * vec.x + mat.m_matrix.up.z * vec.y + mat.m_matrix.at.z * vec.z);
+}
+
+CVector
+Multiply3x3(const CVector &vec, const CMatrix &mat)
+{
+ return CVector(
+ mat.m_matrix.right.x * vec.x + mat.m_matrix.right.y * vec.y + mat.m_matrix.right.z * vec.z,
+ mat.m_matrix.up.x * vec.x + mat.m_matrix.up.y * vec.y + mat.m_matrix.up.z * vec.z,
+ mat.m_matrix.at.x * vec.x + mat.m_matrix.at.y * vec.y + mat.m_matrix.at.z * vec.z);
+}
+
+
+void
CQuaternion::Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t)
{
if(theta == 0.0f)