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Merge pull request #992 from dafioram/daffine_fmatrix_work

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TITANIC: Daffine and FMatrix work
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Paul Gilbert 2017-08-17 22:08:10 -04:00 • committed by GitHub
commit 38c02017f5
6 changed files with 55 additions and 131 deletions
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82
engines/titanic/star_control/daffine.cpp
View file

@ -115,69 +115,29 @@ void DAffine::setRotationMatrix(Axis axis, double angleDeg) {
} }
} }
//TODO: Check math and provide source //TODO: Check column 4 math
DAffine DAffine::inverseTransform() const { DAffine DAffine::inverseTransform() const {
double val1 = _col1._x * _col3._z * _col2._y; DAffine m;
double val2 = 0.0; //Inverse of rotation matrix is the transpose
double val3 = val1; m._col1._x = _col1._x;
m._col2._x = _col1._y;
if (val1 < 0.0) { m._col3._x = _col1._z;
val2 = val3; m._col1._y = _col2._x;
val1 = 0.0; m._col2._y = _col2._y;
} m._col3._y = _col2._z;
m._col1._z = _col3._x;
double val4 = _col3._x * _col1._y * _col2._z; m._col2._z = _col3._y;
if (val4 < 0.0) m._col3._z = _col3._z;
val2 = val2 + val4;
else
val1 = val1 + val4;
double val5 = _col3._y * _col1._z * _col2._x;
if (val5 < 0.0)
val2 = val2 + val5;
else
val1 = val1 + val5;
if (-(_col3._x * _col2._y * _col1._z) < 0.0)
val2 = val2 - _col3._x * _col2._y * _col1._z;
else
val1 = val1 - _col3._x * _col2._y * _col1._z;
if (-(_col1._y * _col3._z * _col2._x) < 0.0)
val2 = val2 - _col1._y * _col3._z * _col2._x;
else
val1 = val1 - _col1._y * _col3._z * _col2._x;
val3 = _col3._y * _col2._z;
double val6 = -(_col1._x * val3);
if (val6 < 0.0)
val2 = val2 + val6;
else
val1 = val1 + val6;
double val7 = val2 + val1;
assert(!(val7 == 0.0 || fabs(val7 / (val1 - val2)) < 1.0e-10));
double val8 = _col3._z * _col2._y;
double val9 = 1.0 / val7;
DAffine m;
m._col1._x = (val8 - val3) * val9;
m._col2._x = -((_col3._z * _col2._x - _col3._x * _col2._z) * val9);
m._col3._x = (_col3._y * _col2._x - _col3._x * _col2._y) * val9;
m._col1._y = -((_col1._y * _col3._z - _col3._y * _col1._z) * val9);
m._col2._y = (_col1._x * _col3._z - _col3._x * _col1._z) * val9;
m._col3._y = -((_col1._x * _col3._y - _col3._x * _col1._y) * val9);
m._col1._z = (_col1._y * _col2._z - _col2._y * _col1._z) * val9;
m._col2._z = -((_col1._x * _col2._z - _col1._z * _col2._x) * val9);
m._col3._z = (_col1._x * _col2._y - _col1._y * _col2._x) * val9;
m._col4._x = -(m._col1._x * _col4._x + _col4._y * m._col2._x
+ _col4._z * m._col3._x);
m._col4._y = -(_col4._z * m._col3._y + _col4._y * m._col2._y
+ _col4._x * m._col1._y);
m._col4._z = -(_col4._z * m._col3._z + _col4._x * m._col1._z
+ _col4._y * m._col2._z);
m._col4._x = -(_col4._x * m._col1._x
+ _col4._y * m._col2._x
+ _col4._z * m._col3._x);
m._col4._y = -(_col4._x * m._col1._y
+ _col4._y * m._col2._y
+ _col4._z * m._col3._y);
m._col4._z = -(_col4._x * m._col1._z
+ _col4._y * m._col2._z
+ _col4._z * m._col3._z);
return m; return m;
} }

83
engines/titanic/star_control/fpose.cpp
View file

@ -83,6 +83,7 @@ void FPose::identity() {
_vector.clear(); _vector.clear();
} }
// Source: https://en.wikipedia.org/wiki/Rotation_matrix
void FPose::setRotationMatrix(Axis axis, float amount) { void FPose::setRotationMatrix(Axis axis, float amount) {
const float ROTATION = 2 * M_PI / 360.0; const float ROTATION = 2 * M_PI / 360.0;
float sinVal = sin(amount * ROTATION); float sinVal = sin(amount * ROTATION);
@ -104,11 +105,11 @@ void FPose::setRotationMatrix(Axis axis, float amount) {
case Y_AXIS: case Y_AXIS:
_row1._x = cosVal; _row1._x = cosVal;
_row1._y = 0.0; _row1._y = 0.0;
_row1._z = sinVal; _row1._z = -sinVal;
_row2._x = 0.0; _row2._x = 0.0;
_row2._y = 1.0; _row2._y = 1.0;
_row2._z = 0.0; _row2._z = 0.0;
_row3._x = -sinVal; _row3._x = sinVal;
_row3._y = 0.0; _row3._y = 0.0;
_row3._z = cosVal; _row3._z = cosVal;
break; break;
@ -145,68 +146,28 @@ void FPose::copyFrom(const FMatrix &src) {
_row3 = src._row3; _row3 = src._row3;
} }
FPose FPose::fn4() const { FPose FPose::inverseTransform() const {
float v2, v3, v6, v7, v8, v9, v10, v11;
float v12, v13, v14, v15, v16, v17, v18;
FPose result; FPose result;
v16 = _row3._z * _row2._y; result._row1._x = _row1._x;
v2 = _row1._x * v16; result._row2._x = _row1._y;
v3 = 0.0; result._row3._x = _row1._z;
v18 = v2; result._row1._y = _row2._x;
if (v2 < 0.0) { result._row2._y = _row2._y;
v3 = v18; result._row3._y = _row2._z;
v2 = 0.0; result._row1._z = _row3._x;
} result._row2._z = _row3._y;
v6 = _row3._x * _row1._y * _row2._z; result._row3._z = _row3._z;
if (v6 < 0.0)
v3 = v3 + v6;
else
v2 = v2 + v6;
v7 = _row3._y * _row1._z * _row2._x;
if (v7 < 0.0)
v3 = v3 + v7;
else
v2 = v2 + v7;
if (-(_row3._x * _row1._z * _row2._y) < 0.0)
v3 = v3 - _row3._x * _row1._z * _row2._y;
else
v2 = v2 - _row3._x * _row1._z * _row2._y;
if (-(_row1._y * _row2._x * _row3._z) < 0.0)
v3 = v3 - _row1._y * _row2._x * _row3._z;
else
v2 = v2 - _row1._y * _row2._x * _row3._z;
v17 = _row2._z * _row3._y;
if (-(_row1._x * v17) < 0.0)
v3 = v3 - _row1._x * v17;
else
v2 = v2 - _row1._x * v17;
v18 = v3 + v2;
assert(!(v18 == 0.0 || fabs(v18 / (v2 - v3)) < 1.0e-10));
v8 = 1.0 / v18; result._vector._x = -(_vector._x * result._row1._x
v18 = v8; + _vector._y * result._row2._x
result._row1._x = (v16 - v17) * v8; + _vector._z * result._row3._x);
result._row2._x = -(_row2._x * _row3._z - _row3._x * _row2._z) * v8; result._vector._y = -(_vector._x * result._row1._y
result._row3._x = (_row3._y * _row2._x - _row3._x * _row2._y) * v8; + _vector._y * result._row2._y
result._row1._y = -(_row1._y * _row3._z - _row3._y * _row1._z) * v8; + _vector._z * result._row3._y);
result._row2._y = (_row1._x * _row3._z - _row3._x * _row1._z) * v8; result._vector._z = -(_vector._x * result._row1._z
result._row3._y = -(_row1._x * _row3._y - _row3._x * _row1._y) * v8; + _vector._y * result._row2._z
result._row1._z = (_row1._y * _row2._z - _row1._z * _row2._y) * v8; + _vector._z * result._row3._z);
result._row2._z = -(_row1._x * _row2._z - _row1._z * _row2._x) * v8;
v9 = result._row1._x;
v10 = result._row2._y;
v11 = result._row3._y;
v12 = result._row1._z;
v13 = result._row2._z;
result._row3._z = (_row1._x * _row2._y - _row1._y * _row2._x) * v18;
v14 = v9;
v15 = result._row3._z;
result._vector._x = -(v14 * _vector._x
+ _vector._y * result._row2._x
+ _vector._z * result._row3._x);
result._vector._y = -(_vector._x * result._row1._y + v10 * _vector._y + v11 * _vector._z);
result._vector._z = -(v12 * _vector._x + v13 * _vector._y + v15 * _vector._z);
return result; return result;
} }

6
engines/titanic/star_control/fpose.h
View file

@ -29,6 +29,7 @@ namespace Titanic {
/* /*
* This class combines a position and orientation in 3D space * This class combines a position and orientation in 3D space
* TODO: Merge with DAffine
*/ */
class FPose : public FMatrix { class FPose : public FMatrix {
public: public:
@ -59,7 +60,10 @@ public:
*/ */
void copyFrom(const FMatrix &src); void copyFrom(const FMatrix &src);
FPose fn4() const; /**
* The inverse of rotation and the position vector
*/
FPose inverseTransform() const;
}; };
} // End of namespace Titanic } // End of namespace Titanic

4
engines/titanic/star_control/star_camera.cpp
View file

@ -230,14 +230,14 @@ void CStarCamera::setViewportAngle(const FPoint &angles) {
if (_matrixRow == -1) { if (_matrixRow == -1) {
// No locked markers // No locked markers
FPose subX(X_AXIS, angles._y); FPose subX(X_AXIS, angles._y);
FPose subY(Y_AXIS, angles._x); FPose subY(Y_AXIS, -angles._x); // needs to be negative or looking left will cause the view to go right
FPose sub(subX, subY); FPose sub(subX, subY);
proc22(sub); proc22(sub);
} else if (_matrixRow == 0) { } else if (_matrixRow == 0) {
// 1 marker is locked in // 1 marker is locked in
FVector row1 = _matrix._row1; FVector row1 = _matrix._row1;
FPose poseX(X_AXIS, angles._y); FPose poseX(X_AXIS, angles._y);
FPose poseY(Y_AXIS, angles._x); FPose poseY(Y_AXIS, -angles._x); // needs to be negative or looking left will cause the view to go right
FPose pose(poseX, poseY); FPose pose(poseX, poseY);
FMatrix m1 = _viewport.getOrientation(); FMatrix m1 = _viewport.getOrientation();

9
engines/titanic/star_control/star_view.cpp
View file

@ -176,9 +176,8 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
} }
case Common::KEYCODE_z: case Common::KEYCODE_z:
case Common::KEYCODE_c:
if (matchedIndex == -1) { if (matchedIndex == -1) {
pose.setRotationMatrix(key == Common::KEYCODE_z ? Y_AXIS : X_AXIS, 1.0); pose.setRotationMatrix(Y_AXIS, -1.0);
_camera.proc22(pose); _camera.proc22(pose);
_camera.updatePosition(errorCode); _camera.updatePosition(errorCode);
return true; return true;
@ -211,7 +210,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
case Common::KEYCODE_x: case Common::KEYCODE_x:
if (matchedIndex == -1) { if (matchedIndex == -1) {
pose.setRotationMatrix(Y_AXIS, -1.0); pose.setRotationMatrix(Y_AXIS, 1.0);
_camera.proc22(pose); _camera.proc22(pose);
_camera.updatePosition(errorCode); _camera.updatePosition(errorCode);
return true; return true;
@ -220,7 +219,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
case Common::KEYCODE_QUOTE: case Common::KEYCODE_QUOTE:
if (matchedIndex == -1) { if (matchedIndex == -1) {
pose.setRotationMatrix(X_AXIS, -1.0); pose.setRotationMatrix(X_AXIS, 1.0);
_camera.proc22(pose); _camera.proc22(pose);
_camera.updatePosition(errorCode); _camera.updatePosition(errorCode);
return true; return true;
@ -229,7 +228,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
case Common::KEYCODE_SLASH: case Common::KEYCODE_SLASH:
if (matchedIndex == -1) { if (matchedIndex == -1) {
pose.setRotationMatrix(X_AXIS, 1.0); pose.setRotationMatrix(X_AXIS, -1.0);
_camera.proc22(pose); _camera.proc22(pose);
_camera.updatePosition(errorCode); _camera.updatePosition(errorCode);
return true; return true;

2
engines/titanic/star_control/viewport.cpp
View file

@ -248,7 +248,7 @@ void CViewport::reset() {
_rawPose.copyFrom(_orientation); _rawPose.copyFrom(_orientation);
_rawPose._vector = _position; _rawPose._vector = _position;
_currentPose = _rawPose.fn4(); _currentPose = _rawPose.inverseTransform();
_center = FPoint((double)_width * 0.5, (double)_height * 0.5); _center = FPoint((double)_width * 0.5, (double)_height * 0.5);
_centerVector._x = MIN(_center._x, _center._y); _centerVector._x = MIN(_center._x, _center._y);