-
Notifications
You must be signed in to change notification settings - Fork 8
/
Copy pathmatrix4.hpp
237 lines (194 loc) · 6.29 KB
/
matrix4.hpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
/**
Copyright (c) 2018 Gombe.
This software is released under the MIT License.
http://opensource.org/licenses/mit-license.php
*/
#include "fvector3.hpp"
#include "fvector4.hpp"
#include <stdint.h>
#include <math.h>
#include <stdio.h>
#ifndef __MATRIX4_HPP_
#define __MATRIX4_HPP_
class Matrix4{
public:
float m[16];
Matrix4(){
for(int i=0;i<16;i++){
m[i]=0;
}
for(int i=0;i<4;i++){
m[i*4+i]=1.f;
}
}
Matrix4(float m00,float m01,float m02,float m03,
float m10,float m11,float m12,float m13,
float m20,float m21,float m22,float m23,
float m30,float m31,float m32,float m33){
m[0]=m00,m[1]=m01,m[2]=m02,m[3]=m03;
m[4]=m10,m[5]=m11,m[6]=m12,m[7]=m13;
m[8]=m20,m[9]=m21,m[10]=m22,m[11]=m23;
m[12]=m30,m[13]=m31,m[14]=m32,m[15]=m33;
}
void set(int n,float a){
m[n] = a;
}
float operator[](unsigned int n)const{
return m[n];
}
void print();
Matrix4& rotate_x(uint16_t angle){
/*とりあえず。。。*/
int sint,cost;
sint = sin(((double)angle)*2*3.14159265359/65536)*65536;
cost = cos(((double)angle)*2*3.14159265359/65536)*65536;
int m1 = m[1], m2 = m[2],
m5 = m[5], m6 = m[6],
m9 = m[9], m10= m[10],
m13= m[13], m14= m[14];
m[1] = m1 * cost/65536 + m2 *-sint/65536;
m[2] = m1 * sint/65536 + m2 * cost/65536;
m[5] = m5 * cost/65536 + m6 *-sint/65536;
m[6] = m5 * sint/65536 + m6 * cost/65536;
m[9] = m9 * cost/65536 + m10*-sint/65536;
m[10]= m9 * sint/65536 + m10* cost/65536;
m[13]= m13* cost/65536 + m14*-sint/65536;
m[14]= m13* sint/65536 + m14* cost/65536;
return *this;
}
Matrix4& rotate_y(uint16_t angle) {
int sint,cost;
sint = sin(((double)angle)*2*3.14159265359/65536)*65536;
cost = cos(((double)angle)*2*3.14159265359/65536)*65536;
int m0 = m[0], m2 = m[2],
m4 = m[4], m6 = m[6],
m8 = m[8], m10= m[10],
m12= m[12], m14= m[14];
m[0] = m0 * cost/65536 + m2 * sint/65536;
m[2] = m0 *-sint/65536 + m2 * cost/65536;
m[4] = m4 * cost/65536 + m6 * sint/65536;
m[6] = m4 *-sint/65536 + m6 * cost/65536;
m[8] = m8 * cost/65536 + m10* sint/65536;
m[10]= m8 *-sint/65536 + m10* cost/65536;
m[12]= m12* cost/65536 + m14* sint/65536;
m[14]= m12*-sint/65536 + m14* cost/65536;
return *this;
}
Matrix4& rotate_z(uint16_t angle){
int sint,cost;
sint = sin(((double)angle)*2*3.14159265359/65536)*65536;
cost = cos(((double)angle)*2*3.14159265359/65536)*65536;
int m0 = m[0], m1 = m[1],
m4 = m[4], m5 = m[5],
m8 = m[8], m9 = m[9],
m12= m[12], m13= m[13];
m[0] = m0 * cost/65536 + m1 *-sint/65536;
m[1] = m0 * sint/65536 + m1 * cost/65536;
m[4] = m4 * cost/65536 + m5 *-sint/65536;
m[5] = m4 * sint/65536 + m5 * cost/65536;
m[8] = m8 * cost/65536 + m9 *-sint/65536;
m[9] = m8 * sint/65536 + m9 * cost/65536;
m[12]= m12* cost/65536 + m13*-sint/65536;
m[13]= m12* sint/65536 + m13* cost/65536;
return *this;
}
Matrix4& scale(float s){
return scale(s, s, s);
}
Matrix4& scale(float x, float y, float z){
m[0] = m[0]*x; m[4] = m[4]*x; m[8] = m[8] *x; m[12] = m[12] * x;
m[1] = m[1]*y; m[5] = m[5]*y; m[9] = m[9] *y; m[13] = m[13] * y;
m[2] = m[2]*z; m[6] = m[6]*z; m[10] = m[10] *z; m[14] = m[14] * z;
return *this;
}
fvector3 mul_fv3(fvector3 v){
float rw;
fvector3 av;
av.x = (v.x)*m[0]+(m[4])*v.y+(v.z)*m[8]+m[12];
av.y = (v.x)*m[1]+(m[5])*v.y+(v.z)*m[9]+m[13];
av.z = (v.x)*m[2]+(m[6])*v.y+(v.z)*m[10]+m[14];
rw = 1.f/(v.x*m[3]+m[7]*v.y+v.z*m[11]+m[15]);
// printf("wwwww%d\n",w);
av.x=av.x*rw;
av.y=av.y*rw;
av.z=av.z*rw;
return av;
}
Matrix4 transpose_rotation(){
return Matrix4(
m[0],m[4],m[8],0,
m[1],m[5],m[9],0,
m[2],m[6],m[10],0,
0,0,0,1);
}
fvector4 mul_fv4(fvector3 v){
float rw;
fvector4 av;
av.x = (v.x)*m[0]+(m[4])*v.y+(v.z)*m[8]+m[12];
av.y = (v.x)*m[1]+(m[5])*v.y+(v.z)*m[9]+m[13];
av.z = (v.x)*m[2]+(m[6])*v.y+(v.z)*m[10]+m[14];
av.w = (v.x*m[3]+m[7]*v.y+v.z*m[11]+m[15]);
rw = 1.f/av.w;
// printf("wwwww%d\n",w);
av.x=av.x*rw;
av.y=av.y*rw;
av.z=av.z*rw;
return av;
}
fvector3 reversetranslation(void){
return fvector3(m[12],m[13],m[14]);
}
};
Matrix4 rotatex(uint16_t ang);
Matrix4 rotatey(uint16_t ang);
Matrix4 rotatez(uint16_t ang);
Matrix4 translation(fvector3 v);
void print(Matrix4 );
static inline
Matrix4 operator*(const Matrix4& m,const Matrix4& n) {
Matrix4 r;
r= Matrix4(m[0]*n[0] + m[4]*n[1] + m[8]*n[2] + m[12]*n[3],
m[1]*n[0] + m[5]*n[1] + m[9]*n[2] + m[13]*n[3],
m[2]*n[0] + m[6]*n[1] + m[10]*n[2] + m[14]*n[3],
m[3]*n[0] + m[7]*n[1] + m[11]*n[2] + m[15]*n[3],
m[0]*n[4] + m[4]*n[5] + m[8]*n[6] + m[12]*n[7],
m[1]*n[4] + m[5]*n[5] + m[9]*n[6] + m[13]*n[7],
m[2]*n[4] + m[6]*n[5] + m[10]*n[6] + m[14]*n[7],
m[3]*n[4] + m[7]*n[5] + m[11]*n[6] + m[15]*n[7],
m[0]*n[8] + m[4]*n[9] + m[8]*n[10] + m[12]*n[11],
m[1]*n[8] + m[5]*n[9] + m[9]*n[10] + m[13]*n[11],
m[2]*n[8] + m[6]*n[9] + m[10]*n[10]+ m[14]*n[11],
m[3]*n[8] + m[7]*n[9] + m[11]*n[10]+ m[15]*n[11],
m[0]*n[12]+ m[4]*n[13]+ m[8]*n[14] + m[12]*n[15],
m[1]*n[12]+ m[5]*n[13]+ m[9]*n[14] + m[13]*n[15],
m[2]*n[12]+ m[6]*n[13]+ m[10]*n[14]+ m[14]*n[15],
m[3]*n[12]+ m[7]*n[13]+ m[11]*n[14]+ m[15]*n[15]);
return r;
}
static inline
Matrix4 operator+(const Matrix4& m,const Matrix4& n) {
Matrix4 r;
r= Matrix4(m[0]+n[0],m[1]+n[1],m[2]+n[2],m[3]+n[3],
m[4]+n[4],m[5]+n[5],m[6]+n[6],m[7]+n[7],
m[8]+n[8],m[9]+n[9],m[10]+n[10],m[11]+n[11],
m[12]+n[12],m[13]+n[13],m[14]+n[14],m[15]+n[15]
);
return r;
}
static inline
Matrix4 operator*(const Matrix4& m,const float n) {
Matrix4 r;
r= Matrix4(m[0]*n,m[1]*n,m[2]*n,m[3]*n,
m[4]*n,m[5]*n,m[6]*n,m[7]*n,
m[8]*n,m[9]*n,m[10]*n,m[11]*n,
m[12]*n,m[13]*n,m[14]*n,m[15]*n
);
return r;
}
Matrix4 rotation_axis_and_angle(fvector3 axis,float angle);
Matrix4 rotation_axis_and_cosv(fvector3 u,float cosv);
Matrix4 loadPerspective(float fovy, float aspect,float zNear, float zFar,int width,int height);
Matrix4 magnify(float n);
Matrix4 lookat(fvector3 eye,fvector3 goal);
Matrix4 magnify_y(int n);
#endif