175 lines
4.4 KiB
C++
175 lines
4.4 KiB
C++
/* ScummVM - Graphic Adventure Engine
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*
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* ScummVM is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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*/
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#include "titanic/star_control/fpose.h"
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namespace Titanic {
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FPose::FPose() {
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clear();
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}
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FPose::FPose(Axis axis, float amount) {
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setRotationMatrix(axis, amount);
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}
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FPose::FPose(const FPose &src) : FMatrix() {
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copyFrom(src);
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}
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FPose::FPose(const FPose &s1, const FPose &s2) {
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_row1._x = s2._row1._x * s1._row1._x
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+ s1._row1._z * s2._row3._x
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+ s1._row1._y * s2._row2._x;
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_row1._y = s1._row1._x * s2._row1._y
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+ s2._row3._y * s1._row1._z
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+ s2._row2._y * s1._row1._y;
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_row1._z = s1._row1._x * s2._row1._z
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+ s2._row3._z * s1._row1._z
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+ s2._row2._z * s1._row1._y;
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_row2._x = s2._row1._x * s1._row2._x
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+ s1._row2._y * s2._row2._x
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+ s1._row2._z * s2._row3._x;
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_row2._y = s1._row2._y * s2._row2._y
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+ s1._row2._z * s2._row3._y
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+ s2._row1._y * s1._row2._x;
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_row2._z = s2._row1._z * s1._row2._x
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+ s1._row2._y * s2._row2._z
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+ s1._row2._z * s2._row3._z;
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_row3._x = s2._row1._x * s1._row3._x
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+ s1._row3._y * s2._row2._x
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+ s1._row3._z * s2._row3._x;
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_row3._y = s1._row3._z * s2._row3._y
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+ s1._row3._y * s2._row2._y
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+ s2._row1._y * s1._row3._x;
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_row3._z = s2._row3._z * s1._row3._z
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+ s2._row2._z * s1._row3._y
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+ s2._row1._z * s1._row3._x;
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_vector._x = s2._row1._x * s1._vector._x
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+ s1._vector._y * s2._row2._x
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+ s1._vector._z * s2._row3._x
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+ s2._vector._x;
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_vector._y = s1._vector._z * s2._row3._y
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+ s1._vector._y * s2._row2._y
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+ s1._vector._x * s2._row1._y
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+ s2._vector._y;
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_vector._z = s1._vector._y * s2._row2._z
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+ s1._vector._z * s2._row3._z
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+ s1._vector._x * s2._row1._z
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+ s2._vector._z;
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}
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void FPose::identity() {
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FMatrix::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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float cosVal = cos(amount * ROTATION);
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switch (axis) {
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case X_AXIS:
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_row1._x = 1.0;
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_row1._y = 0.0;
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_row1._z = 0.0;
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_row2._x = 0.0;
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_row2._y = cosVal;
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_row2._z = sinVal;
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_row3._x = 0.0;
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_row3._y = -sinVal;
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_row3._z = cosVal;
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break;
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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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_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._y = 0.0;
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_row3._z = cosVal;
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break;
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case Z_AXIS:
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_row1._x = cosVal;
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_row1._y = sinVal;
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_row1._z = 0.0;
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_row2._x = -sinVal;
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_row2._y = cosVal;
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_row2._z = 0.0;
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_row3._x = 0.0;
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_row3._y = 0.0;
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_row3._z = 1.0;
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break;
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default:
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break;
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}
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_vector.clear();
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}
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void FPose::copyFrom(const FPose &src) {
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_row1 = src._row1;
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_row2 = src._row2;
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_row3 = src._row3;
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_vector = src._vector;
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}
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void FPose::copyFrom(const FMatrix &src) {
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_row1 = src._row1;
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_row2 = src._row2;
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_row3 = src._row3;
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}
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FPose FPose::inverseTransform() const {
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FPose result;
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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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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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} // End of namespace Titanic
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