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
|
// Copyright 2019 Dolphin Emulator Project
// Licensed under GPLv2+
// Refer to the license.txt file included.
#include "Common/Matrix.h"
#include <algorithm>
#include <cmath>
namespace
{
void MatrixMul(int n, const float* a, const float* b, float* result)
{
for (int i = 0; i < n; ++i)
{
for (int j = 0; j < n; ++j)
{
float temp = 0;
for (int k = 0; k < n; ++k)
{
temp += a[i * n + k] * b[k * n + j];
}
result[i * n + j] = temp;
}
}
}
} // namespace
namespace Common
{
Matrix33 Matrix33::Identity()
{
Matrix33 mtx = {};
mtx.data[0] = 1.0f;
mtx.data[4] = 1.0f;
mtx.data[8] = 1.0f;
return mtx;
}
Matrix33 Matrix33::RotateX(float rad)
{
const float s = sin(rad);
const float c = cos(rad);
Matrix33 mtx = {};
mtx.data[0] = 1;
mtx.data[4] = c;
mtx.data[5] = -s;
mtx.data[7] = s;
mtx.data[8] = c;
return mtx;
}
Matrix33 Matrix33::RotateY(float rad)
{
const float s = sin(rad);
const float c = cos(rad);
Matrix33 mtx = {};
mtx.data[0] = c;
mtx.data[2] = s;
mtx.data[4] = 1;
mtx.data[6] = -s;
mtx.data[8] = c;
return mtx;
}
Matrix33 Matrix33::RotateZ(float rad)
{
const float s = sin(rad);
const float c = cos(rad);
Matrix33 mtx = {};
mtx.data[0] = c;
mtx.data[1] = -s;
mtx.data[3] = s;
mtx.data[4] = c;
mtx.data[8] = 1;
return mtx;
}
Matrix33 Matrix33::Scale(const Vec3& vec)
{
Matrix33 mtx = {};
mtx.data[0] = vec.x;
mtx.data[4] = vec.y;
mtx.data[8] = vec.z;
return mtx;
}
void Matrix33::Multiply(const Matrix33& a, const Matrix33& b, Matrix33* result)
{
MatrixMul(3, a.data.data(), b.data.data(), result->data.data());
}
void Matrix33::Multiply(const Matrix33& a, const Vec3& vec, Vec3* result)
{
for (int i = 0; i < 3; ++i)
{
result->data[i] = 0;
for (int k = 0; k < 3; ++k)
{
result->data[i] += a.data[i * 3 + k] * vec.data[k];
}
}
}
Matrix44 Matrix44::Identity()
{
Matrix44 mtx = {};
mtx.data[0] = 1.0f;
mtx.data[5] = 1.0f;
mtx.data[10] = 1.0f;
mtx.data[15] = 1.0f;
return mtx;
}
Matrix44 Matrix44::FromMatrix33(const Matrix33& m33)
{
Matrix44 mtx;
for (int i = 0; i < 3; ++i)
{
for (int j = 0; j < 3; ++j)
{
mtx.data[i * 4 + j] = m33.data[i * 3 + j];
}
}
for (int i = 0; i < 3; ++i)
{
mtx.data[i * 4 + 3] = 0;
mtx.data[i + 12] = 0;
}
mtx.data[15] = 1.0f;
return mtx;
}
Matrix44 Matrix44::FromArray(const std::array<float, 16>& arr)
{
Matrix44 mtx;
mtx.data = arr;
return mtx;
}
Matrix44 Matrix44::Translate(const Vec3& vec)
{
Matrix44 mtx = Matrix44::Identity();
mtx.data[3] = vec.x;
mtx.data[7] = vec.y;
mtx.data[11] = vec.z;
return mtx;
}
Matrix44 Matrix44::Shear(const float a, const float b)
{
Matrix44 mtx = Matrix44::Identity();
mtx.data[2] = a;
mtx.data[6] = b;
return mtx;
}
void Matrix44::Multiply(const Matrix44& a, const Matrix44& b, Matrix44* result)
{
MatrixMul(4, a.data.data(), b.data.data(), result->data.data());
}
} // namespace Common
|
