matrix_utils.cpp (7810B)
1 // 2 // Copyright 2018 The ANGLE Project Authors. All rights reserved. 3 // Use of this source code is governed by a BSD-style license that can be 4 // found in the LICENSE file. 5 // 6 7 // matrix_utils.cpp: Contains implementations for Mat4 methods. 8 9 #include "common/matrix_utils.h" 10 11 namespace angle 12 { 13 14 Mat4::Mat4() : Mat4(1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 1.f) 15 {} 16 17 Mat4::Mat4(const Matrix<float> generalMatrix) : Matrix(std::vector<float>(16, 0), 4, 4) 18 { 19 unsigned int minCols = std::min((unsigned int)4, generalMatrix.columns()); 20 unsigned int minRows = std::min((unsigned int)4, generalMatrix.rows()); 21 for (unsigned int i = 0; i < minCols; i++) 22 { 23 for (unsigned int j = 0; j < minRows; j++) 24 { 25 mElements[j * minCols + i] = generalMatrix.at(j, i); 26 } 27 } 28 } 29 30 Mat4::Mat4(const std::vector<float> &elements) : Matrix(elements, 4) {} 31 32 Mat4::Mat4(const float *elements) : Matrix(elements, 4) {} 33 34 Mat4::Mat4(float m00, 35 float m01, 36 float m02, 37 float m03, 38 float m10, 39 float m11, 40 float m12, 41 float m13, 42 float m20, 43 float m21, 44 float m22, 45 float m23, 46 float m30, 47 float m31, 48 float m32, 49 float m33) 50 : Matrix(std::vector<float>(16, 0), 4, 4) 51 { 52 mElements[0] = m00; 53 mElements[1] = m01; 54 mElements[2] = m02; 55 mElements[3] = m03; 56 mElements[4] = m10; 57 mElements[5] = m11; 58 mElements[6] = m12; 59 mElements[7] = m13; 60 mElements[8] = m20; 61 mElements[9] = m21; 62 mElements[10] = m22; 63 mElements[11] = m23; 64 mElements[12] = m30; 65 mElements[13] = m31; 66 mElements[14] = m32; 67 mElements[15] = m33; 68 } 69 70 // static 71 Mat4 Mat4::Rotate(float angle, const Vector3 &axis) 72 { 73 auto axis_normalized = axis.normalized(); 74 float angle_radians = angle * (3.14159265358979323f / 180.0f); 75 float c = cos(angle_radians); 76 float ci = 1.f - c; 77 float s = sin(angle_radians); 78 79 float x = axis_normalized.x(); 80 float y = axis_normalized.y(); 81 float z = axis_normalized.z(); 82 83 float x2 = x * x; 84 float y2 = y * y; 85 float z2 = z * z; 86 87 float xy = x * y; 88 float yz = y * z; 89 float zx = z * x; 90 91 float r00 = c + ci * x2; 92 float r01 = ci * xy + s * z; 93 float r02 = ci * zx - s * y; 94 float r03 = 0.f; 95 96 float r10 = ci * xy - s * z; 97 float r11 = c + ci * y2; 98 float r12 = ci * yz + s * x; 99 float r13 = 0.f; 100 101 float r20 = ci * zx + s * y; 102 float r21 = ci * yz - s * x; 103 float r22 = c + ci * z2; 104 float r23 = 0.f; 105 106 float r30 = 0.f; 107 float r31 = 0.f; 108 float r32 = 0.f; 109 float r33 = 1.f; 110 111 return Mat4(r00, r01, r02, r03, r10, r11, r12, r13, r20, r21, r22, r23, r30, r31, r32, r33); 112 } 113 114 // static 115 Mat4 Mat4::Translate(const Vector3 &t) 116 { 117 float r00 = 1.f; 118 float r01 = 0.f; 119 float r02 = 0.f; 120 float r03 = 0.f; 121 122 float r10 = 0.f; 123 float r11 = 1.f; 124 float r12 = 0.f; 125 float r13 = 0.f; 126 127 float r20 = 0.f; 128 float r21 = 0.f; 129 float r22 = 1.f; 130 float r23 = 0.f; 131 132 float r30 = t.x(); 133 float r31 = t.y(); 134 float r32 = t.z(); 135 float r33 = 1.f; 136 137 return Mat4(r00, r01, r02, r03, r10, r11, r12, r13, r20, r21, r22, r23, r30, r31, r32, r33); 138 } 139 140 // static 141 Mat4 Mat4::Scale(const Vector3 &s) 142 { 143 float r00 = s.x(); 144 float r01 = 0.f; 145 float r02 = 0.f; 146 float r03 = 0.f; 147 148 float r10 = 0.f; 149 float r11 = s.y(); 150 float r12 = 0.f; 151 float r13 = 0.f; 152 153 float r20 = 0.f; 154 float r21 = 0.f; 155 float r22 = s.z(); 156 float r23 = 0.f; 157 158 float r30 = 0.f; 159 float r31 = 0.f; 160 float r32 = 0.f; 161 float r33 = 1.f; 162 163 return Mat4(r00, r01, r02, r03, r10, r11, r12, r13, r20, r21, r22, r23, r30, r31, r32, r33); 164 } 165 166 // static 167 Mat4 Mat4::Frustum(float l, float r, float b, float t, float n, float f) 168 { 169 float nn = 2.f * n; 170 float fpn = f + n; 171 float fmn = f - n; 172 float tpb = t + b; 173 float tmb = t - b; 174 float rpl = r + l; 175 float rml = r - l; 176 177 float r00 = nn / rml; 178 float r01 = 0.f; 179 float r02 = 0.f; 180 float r03 = 0.f; 181 182 float r10 = 0.f; 183 float r11 = nn / tmb; 184 float r12 = 0.f; 185 float r13 = 0.f; 186 187 float r20 = rpl / rml; 188 float r21 = tpb / tmb; 189 float r22 = -fpn / fmn; 190 float r23 = -1.f; 191 192 float r30 = 0.f; 193 float r31 = 0.f; 194 float r32 = -nn * f / fmn; 195 float r33 = 0.f; 196 197 return Mat4(r00, r01, r02, r03, r10, r11, r12, r13, r20, r21, r22, r23, r30, r31, r32, r33); 198 } 199 200 // static 201 Mat4 Mat4::Perspective(float fov, float aspectRatio, float n, float f) 202 { 203 const float frustumHeight = tanf(static_cast<float>(fov / 360.0f * 3.14159265358979323)) * n; 204 const float frustumWidth = frustumHeight * aspectRatio; 205 return Frustum(-frustumWidth, frustumWidth, -frustumHeight, frustumHeight, n, f); 206 } 207 208 // static 209 Mat4 Mat4::Ortho(float l, float r, float b, float t, float n, float f) 210 { 211 float fpn = f + n; 212 float fmn = f - n; 213 float tpb = t + b; 214 float tmb = t - b; 215 float rpl = r + l; 216 float rml = r - l; 217 218 float r00 = 2.f / rml; 219 float r01 = 0.f; 220 float r02 = 0.f; 221 float r03 = 0.f; 222 223 float r10 = 0.f; 224 float r11 = 2.f / tmb; 225 float r12 = 0.f; 226 float r13 = 0.f; 227 228 float r20 = 0.f; 229 float r21 = 0.f; 230 float r22 = -2.f / fmn; 231 float r23 = 0.f; 232 233 float r30 = -rpl / rml; 234 float r31 = -tpb / tmb; 235 float r32 = -fpn / fmn; 236 float r33 = 1.f; 237 238 return Mat4(r00, r01, r02, r03, r10, r11, r12, r13, r20, r21, r22, r23, r30, r31, r32, r33); 239 } 240 241 Mat4 Mat4::product(const Mat4 &m) 242 { 243 const float *a = mElements.data(); 244 const float *b = m.mElements.data(); 245 246 return Mat4(a[0] * b[0] + a[4] * b[1] + a[8] * b[2] + a[12] * b[3], 247 a[1] * b[0] + a[5] * b[1] + a[9] * b[2] + a[13] * b[3], 248 a[2] * b[0] + a[6] * b[1] + a[10] * b[2] + a[14] * b[3], 249 a[3] * b[0] + a[7] * b[1] + a[11] * b[2] + a[15] * b[3], 250 251 a[0] * b[4] + a[4] * b[5] + a[8] * b[6] + a[12] * b[7], 252 a[1] * b[4] + a[5] * b[5] + a[9] * b[6] + a[13] * b[7], 253 a[2] * b[4] + a[6] * b[5] + a[10] * b[6] + a[14] * b[7], 254 a[3] * b[4] + a[7] * b[5] + a[11] * b[6] + a[15] * b[7], 255 256 a[0] * b[8] + a[4] * b[9] + a[8] * b[10] + a[12] * b[11], 257 a[1] * b[8] + a[5] * b[9] + a[9] * b[10] + a[13] * b[11], 258 a[2] * b[8] + a[6] * b[9] + a[10] * b[10] + a[14] * b[11], 259 a[3] * b[8] + a[7] * b[9] + a[11] * b[10] + a[15] * b[11], 260 261 a[0] * b[12] + a[4] * b[13] + a[8] * b[14] + a[12] * b[15], 262 a[1] * b[12] + a[5] * b[13] + a[9] * b[14] + a[13] * b[15], 263 a[2] * b[12] + a[6] * b[13] + a[10] * b[14] + a[14] * b[15], 264 a[3] * b[12] + a[7] * b[13] + a[11] * b[14] + a[15] * b[15]); 265 } 266 267 Vector4 Mat4::product(const Vector4 &b) 268 { 269 return Vector4( 270 mElements[0] * b.x() + mElements[4] * b.y() + mElements[8] * b.z() + mElements[12] * b.w(), 271 mElements[1] * b.x() + mElements[5] * b.y() + mElements[9] * b.z() + mElements[13] * b.w(), 272 mElements[2] * b.x() + mElements[6] * b.y() + mElements[10] * b.z() + mElements[14] * b.w(), 273 mElements[3] * b.x() + mElements[7] * b.y() + mElements[11] * b.z() + 274 mElements[15] * b.w()); 275 } 276 277 void Mat4::dump() 278 { 279 printf("[ %f %f %f %f ]\n", mElements[0], mElements[4], mElements[8], mElements[12]); 280 printf("[ %f %f %f %f ]\n", mElements[1], mElements[5], mElements[9], mElements[13]); 281 printf("[ %f %f %f %f ]\n", mElements[2], mElements[6], mElements[10], mElements[14]); 282 printf("[ %f %f %f %f ]\n", mElements[3], mElements[7], mElements[11], mElements[15]); 283 } 284 285 } // namespace angle