diff options
Diffstat (limited to 'src/code/sys_matrix.c')
| -rw-r--r-- | src/code/sys_matrix.c | 28 |
1 files changed, 15 insertions, 13 deletions
diff --git a/src/code/sys_matrix.c b/src/code/sys_matrix.c index ac2555b56..856db9e03 100644 --- a/src/code/sys_matrix.c +++ b/src/code/sys_matrix.c @@ -293,12 +293,12 @@ void Matrix_RotateZ(f32 z, u8 mode) { } /** - * Rotates the top of the matrix stack by `z` degrees, then - * rotates that matrix by `y` degrees, then rotates that matrix - * by `x` degrees. (roll-pitch-yaw) + * Rotate using ZYX Tait-Bryan angles. + * This means a (column) vector is first rotated around X, then around Y, then around Z, then (if `mode` is + * `MTXMODE_APPLY`) gets transformed according to whatever the matrix was before adding the ZYX rotation. * Original Name: Matrix_RotateXYZ, changed to reflect rotation order. */ -void Matrix_RotateRPY(s16 x, s16 y, s16 z, u8 mode) { +void Matrix_RotateZYX(s16 x, s16 y, s16 z, u8 mode) { MtxF* cmf = sCurrentMatrix; f32 temp1; f32 temp2; @@ -379,14 +379,16 @@ void Matrix_RotateRPY(s16 x, s16 y, s16 z, u8 mode) { cmf->wz = temp2 * cos - temp1 * sin; } } else { - SkinMatrix_SetRotateRPY(cmf, x, y, z); + SkinMatrix_SetRotateZYX(cmf, x, y, z); } } /** - * Roll-pitch-yaw rotation and position + * Translate and rotate using ZYX Tait-Bryan angles. + * This means a (column) vector is first rotated around X, then around Y, then around Z, then translated, then gets + * transformed according to whatever the matrix was previously. */ -void Matrix_JointPosition(Vec3f* position, Vec3s* rotation) { +void Matrix_TranslateRotateZYX(Vec3f* translation, Vec3s* rotation) { MtxF* cmf = sCurrentMatrix; f32 sin = Math_SinS(rotation->z); f32 cos = Math_CosS(rotation->z); @@ -395,25 +397,25 @@ void Matrix_JointPosition(Vec3f* position, Vec3s* rotation) { temp1 = cmf->xx; temp2 = cmf->xy; - cmf->xw += temp1 * position->x + temp2 * position->y + cmf->xz * position->z; + cmf->xw += temp1 * translation->x + temp2 * translation->y + cmf->xz * translation->z; cmf->xx = temp1 * cos + temp2 * sin; cmf->xy = temp2 * cos - temp1 * sin; temp1 = cmf->yx; temp2 = cmf->yy; - cmf->yw += temp1 * position->x + temp2 * position->y + cmf->yz * position->z; + cmf->yw += temp1 * translation->x + temp2 * translation->y + cmf->yz * translation->z; cmf->yx = temp1 * cos + temp2 * sin; cmf->yy = temp2 * cos - temp1 * sin; temp1 = cmf->zx; temp2 = cmf->zy; - cmf->zw += temp1 * position->x + temp2 * position->y + cmf->zz * position->z; + cmf->zw += temp1 * translation->x + temp2 * translation->y + cmf->zz * translation->z; cmf->zx = temp1 * cos + temp2 * sin; cmf->zy = temp2 * cos - temp1 * sin; temp1 = cmf->wx; temp2 = cmf->wy; - cmf->ww += temp1 * position->x + temp2 * position->y + cmf->wz * position->z; + cmf->ww += temp1 * translation->x + temp2 * translation->y + cmf->wz * translation->z; cmf->wx = temp1 * cos + temp2 * sin; cmf->wy = temp2 * cos - temp1 * sin; @@ -740,7 +742,7 @@ void func_800D1FD4(MtxF* mf) { } /** - * Gets the rotation the specified matrix represents, using Euler YXZ. + * Gets the rotation the specified matrix represents, using Tait-Bryan YXZ angles. * The flag value doesn't matter for a rotation matrix. Not 0 does extra calculation. */ void Matrix_MtxFToYXZRotS(MtxF* mf, Vec3s* rotDest, s32 flag) { @@ -793,7 +795,7 @@ void Matrix_MtxFToYXZRotS(MtxF* mf, Vec3s* rotDest, s32 flag) { } /** - * Gets the rotation the specified matrix represents, using Euler ZYX. + * Gets the rotation the specified matrix represents, using Tait-Bryan ZYX angles. * The flag value doesn't matter for a rotation matrix. Not 0 does extra calculation. */ void Matrix_MtxFToZYXRotS(MtxF* mf, Vec3s* rotDest, s32 flag) { |