Merge pull request #992 from dafioram/daffine_fmatrix_work
TITANIC: Daffine and FMatrix work
This commit is contained in:
Paul Gilbert
GitHub
commit
38c02017f5
6 changed files with 55 additions and 131 deletions
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@ -115,69 +115,29 @@ void DAffine::setRotationMatrix(Axis axis, double angleDeg) {
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}
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}
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//TODO: Check math and provide source
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//TODO: Check column 4 math
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DAffine DAffine::inverseTransform() const {
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double val1 = _col1._x * _col3._z * _col2._y;
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double val2 = 0.0;
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double val3 = val1;
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if (val1 < 0.0) {
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val2 = val3;
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val1 = 0.0;
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}
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double val4 = _col3._x * _col1._y * _col2._z;
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if (val4 < 0.0)
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val2 = val2 + val4;
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else
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val1 = val1 + val4;
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double val5 = _col3._y * _col1._z * _col2._x;
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if (val5 < 0.0)
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val2 = val2 + val5;
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else
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val1 = val1 + val5;
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if (-(_col3._x * _col2._y * _col1._z) < 0.0)
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val2 = val2 - _col3._x * _col2._y * _col1._z;
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else
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val1 = val1 - _col3._x * _col2._y * _col1._z;
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if (-(_col1._y * _col3._z * _col2._x) < 0.0)
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val2 = val2 - _col1._y * _col3._z * _col2._x;
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else
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val1 = val1 - _col1._y * _col3._z * _col2._x;
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val3 = _col3._y * _col2._z;
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double val6 = -(_col1._x * val3);
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if (val6 < 0.0)
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val2 = val2 + val6;
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else
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val1 = val1 + val6;
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double val7 = val2 + val1;
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assert(!(val7 == 0.0 || fabs(val7 / (val1 - val2)) < 1.0e-10));
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double val8 = _col3._z * _col2._y;
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double val9 = 1.0 / val7;
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DAffine m;
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m._col1._x = (val8 - val3) * val9;
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m._col2._x = -((_col3._z * _col2._x - _col3._x * _col2._z) * val9);
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m._col3._x = (_col3._y * _col2._x - _col3._x * _col2._y) * val9;
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m._col1._y = -((_col1._y * _col3._z - _col3._y * _col1._z) * val9);
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m._col2._y = (_col1._x * _col3._z - _col3._x * _col1._z) * val9;
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m._col3._y = -((_col1._x * _col3._y - _col3._x * _col1._y) * val9);
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m._col1._z = (_col1._y * _col2._z - _col2._y * _col1._z) * val9;
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m._col2._z = -((_col1._x * _col2._z - _col1._z * _col2._x) * val9);
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m._col3._z = (_col1._x * _col2._y - _col1._y * _col2._x) * val9;
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m._col4._x = -(m._col1._x * _col4._x + _col4._y * m._col2._x
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+ _col4._z * m._col3._x);
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m._col4._y = -(_col4._z * m._col3._y + _col4._y * m._col2._y
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+ _col4._x * m._col1._y);
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m._col4._z = -(_col4._z * m._col3._z + _col4._x * m._col1._z
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+ _col4._y * m._col2._z);
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DAffine m;
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//Inverse of rotation matrix is the transpose
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m._col1._x = _col1._x;
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m._col2._x = _col1._y;
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m._col3._x = _col1._z;
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m._col1._y = _col2._x;
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m._col2._y = _col2._y;
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m._col3._y = _col2._z;
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m._col1._z = _col3._x;
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m._col2._z = _col3._y;
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m._col3._z = _col3._z;
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m._col4._x = -(_col4._x * m._col1._x
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+ _col4._y * m._col2._x
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+ _col4._z * m._col3._x);
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m._col4._y = -(_col4._x * m._col1._y
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+ _col4._y * m._col2._y
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+ _col4._z * m._col3._y);
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m._col4._z = -(_col4._x * m._col1._z
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+ _col4._y * m._col2._z
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+ _col4._z * m._col3._z);
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return m;
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}
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@ -83,6 +83,7 @@ void FPose::identity() {
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_vector.clear();
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}
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// Source: https://en.wikipedia.org/wiki/Rotation_matrix
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void FPose::setRotationMatrix(Axis axis, float amount) {
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const float ROTATION = 2 * M_PI / 360.0;
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float sinVal = sin(amount * ROTATION);
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@ -104,11 +105,11 @@ void FPose::setRotationMatrix(Axis axis, float amount) {
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case Y_AXIS:
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_row1._x = cosVal;
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_row1._y = 0.0;
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_row1._z = sinVal;
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_row1._z = -sinVal;
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_row2._x = 0.0;
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_row2._y = 1.0;
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_row2._z = 0.0;
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_row3._x = -sinVal;
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_row3._x = sinVal;
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_row3._y = 0.0;
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_row3._z = cosVal;
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break;
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@ -145,68 +146,28 @@ void FPose::copyFrom(const FMatrix &src) {
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_row3 = src._row3;
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}
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FPose FPose::fn4() const {
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float v2, v3, v6, v7, v8, v9, v10, v11;
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float v12, v13, v14, v15, v16, v17, v18;
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FPose FPose::inverseTransform() const {
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FPose result;
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v16 = _row3._z * _row2._y;
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v2 = _row1._x * v16;
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v3 = 0.0;
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v18 = v2;
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if (v2 < 0.0) {
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v3 = v18;
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v2 = 0.0;
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}
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v6 = _row3._x * _row1._y * _row2._z;
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if (v6 < 0.0)
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v3 = v3 + v6;
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else
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v2 = v2 + v6;
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v7 = _row3._y * _row1._z * _row2._x;
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if (v7 < 0.0)
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v3 = v3 + v7;
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else
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v2 = v2 + v7;
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if (-(_row3._x * _row1._z * _row2._y) < 0.0)
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v3 = v3 - _row3._x * _row1._z * _row2._y;
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else
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v2 = v2 - _row3._x * _row1._z * _row2._y;
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if (-(_row1._y * _row2._x * _row3._z) < 0.0)
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v3 = v3 - _row1._y * _row2._x * _row3._z;
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else
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v2 = v2 - _row1._y * _row2._x * _row3._z;
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v17 = _row2._z * _row3._y;
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if (-(_row1._x * v17) < 0.0)
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v3 = v3 - _row1._x * v17;
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else
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v2 = v2 - _row1._x * v17;
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v18 = v3 + v2;
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assert(!(v18 == 0.0 || fabs(v18 / (v2 - v3)) < 1.0e-10));
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result._row1._x = _row1._x;
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result._row2._x = _row1._y;
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result._row3._x = _row1._z;
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result._row1._y = _row2._x;
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result._row2._y = _row2._y;
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result._row3._y = _row2._z;
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result._row1._z = _row3._x;
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result._row2._z = _row3._y;
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result._row3._z = _row3._z;
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v8 = 1.0 / v18;
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v18 = v8;
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result._row1._x = (v16 - v17) * v8;
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result._row2._x = -(_row2._x * _row3._z - _row3._x * _row2._z) * v8;
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result._row3._x = (_row3._y * _row2._x - _row3._x * _row2._y) * v8;
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result._row1._y = -(_row1._y * _row3._z - _row3._y * _row1._z) * v8;
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result._row2._y = (_row1._x * _row3._z - _row3._x * _row1._z) * v8;
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result._row3._y = -(_row1._x * _row3._y - _row3._x * _row1._y) * v8;
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result._row1._z = (_row1._y * _row2._z - _row1._z * _row2._y) * v8;
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result._row2._z = -(_row1._x * _row2._z - _row1._z * _row2._x) * v8;
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v9 = result._row1._x;
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v10 = result._row2._y;
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v11 = result._row3._y;
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v12 = result._row1._z;
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v13 = result._row2._z;
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result._row3._z = (_row1._x * _row2._y - _row1._y * _row2._x) * v18;
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v14 = v9;
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v15 = result._row3._z;
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result._vector._x = -(v14 * _vector._x
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+ _vector._y * result._row2._x
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+ _vector._z * result._row3._x);
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result._vector._y = -(_vector._x * result._row1._y + v10 * _vector._y + v11 * _vector._z);
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result._vector._z = -(v12 * _vector._x + v13 * _vector._y + v15 * _vector._z);
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result._vector._x = -(_vector._x * result._row1._x
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+ _vector._y * result._row2._x
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+ _vector._z * result._row3._x);
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result._vector._y = -(_vector._x * result._row1._y
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+ _vector._y * result._row2._y
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+ _vector._z * result._row3._y);
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result._vector._z = -(_vector._x * result._row1._z
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+ _vector._y * result._row2._z
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+ _vector._z * result._row3._z);
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return result;
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}
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@ -29,6 +29,7 @@ namespace Titanic {
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/*
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* This class combines a position and orientation in 3D space
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* TODO: Merge with DAffine
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*/
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class FPose : public FMatrix {
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public:
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@ -59,7 +60,10 @@ public:
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*/
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void copyFrom(const FMatrix &src);
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FPose fn4() const;
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/**
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* The inverse of rotation and the position vector
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*/
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FPose inverseTransform() const;
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};
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} // End of namespace Titanic
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@ -230,14 +230,14 @@ void CStarCamera::setViewportAngle(const FPoint &angles) {
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if (_matrixRow == -1) {
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// No locked markers
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FPose subX(X_AXIS, angles._y);
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FPose subY(Y_AXIS, angles._x);
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FPose subY(Y_AXIS, -angles._x); // needs to be negative or looking left will cause the view to go right
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FPose sub(subX, subY);
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proc22(sub);
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} else if (_matrixRow == 0) {
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// 1 marker is locked in
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FVector row1 = _matrix._row1;
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FPose poseX(X_AXIS, angles._y);
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FPose poseY(Y_AXIS, angles._x);
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FPose poseY(Y_AXIS, -angles._x); // needs to be negative or looking left will cause the view to go right
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FPose pose(poseX, poseY);
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FMatrix m1 = _viewport.getOrientation();
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@ -176,9 +176,8 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
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}
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case Common::KEYCODE_z:
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case Common::KEYCODE_c:
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if (matchedIndex == -1) {
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pose.setRotationMatrix(key == Common::KEYCODE_z ? Y_AXIS : X_AXIS, 1.0);
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pose.setRotationMatrix(Y_AXIS, -1.0);
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_camera.proc22(pose);
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_camera.updatePosition(errorCode);
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return true;
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@ -211,7 +210,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
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case Common::KEYCODE_x:
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if (matchedIndex == -1) {
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pose.setRotationMatrix(Y_AXIS, -1.0);
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pose.setRotationMatrix(Y_AXIS, 1.0);
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_camera.proc22(pose);
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_camera.updatePosition(errorCode);
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return true;
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@ -220,7 +219,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
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case Common::KEYCODE_QUOTE:
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if (matchedIndex == -1) {
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pose.setRotationMatrix(X_AXIS, -1.0);
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pose.setRotationMatrix(X_AXIS, 1.0);
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_camera.proc22(pose);
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_camera.updatePosition(errorCode);
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return true;
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@ -229,7 +228,7 @@ bool CStarView::KeyCharMsg(int key, CErrorCode *errorCode) {
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case Common::KEYCODE_SLASH:
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if (matchedIndex == -1) {
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pose.setRotationMatrix(X_AXIS, 1.0);
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pose.setRotationMatrix(X_AXIS, -1.0);
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_camera.proc22(pose);
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_camera.updatePosition(errorCode);
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return true;
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@ -248,7 +248,7 @@ void CViewport::reset() {
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_rawPose.copyFrom(_orientation);
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_rawPose._vector = _position;
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_currentPose = _rawPose.fn4();
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_currentPose = _rawPose.inverseTransform();
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_center = FPoint((double)_width * 0.5, (double)_height * 0.5);
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_centerVector._x = MIN(_center._x, _center._y);
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