matrix4x4 perspective_proj_matrix_rh_gl(real const& l, real const& r, real const& b, real const& t, real const& n, real const& f)
{
return matrix4x4(2*n/(r-l), 0, 0, 0,
0, 2*n/(t-b), 0, 0,
(r + l)/(r - l), (t + b)/(t - b), -(f + n)/(f - n), -1,
0, 0, -2*f*n/(f - n), 0);
}
matrix4x4 rotation_matrix_z(real const& ang)
{
return matrix4x4(cos(ang), sin(ang), 0, 0,
-sin(ang), cos(ang), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1);
}
matrix4x4 perspective_proj_matrix_lh_dx(real const& l, real const& r, real const& b, real const& t, real const& n, real const& f)
{
return matrix4x4(2*n/(r-l), 0, 0, 0,
0, 2*n/(t-b), 0, 0,
-(r + l)/(r - l), -(t + b)/(t - b), f/(f - n), 1,
0, 0, -f*n/(f - n), 0);
}
matrix4x4 translation_matrix(vector3 const& v)
{
return matrix4x4 (1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
v.x(), v.y(), v.z(), 1);
}
matrix4x4 lookat_matrix_lh_dx( vector3 const& pos, vector3 const& at, vector3 const& up)
{
vector3 v = normalize(at - pos);
vector3 r = cross(normalize(up), v);
vector3 u = cross(v,r);
vector3 ip = vector3(-dot(r,pos), -dot(u,pos), -dot(v,pos));
return matrix4x4(r.x(), u.x(), v.x(), 0,
r.y(), u.y(), v.y(), 0,
r.z(), u.z(), v.z(), 0,
ip.x(), ip.y(), ip.z(), 1);
}
void CRotDoor :: OnClearParent( void )
{
matrix4x4 parent = GetParentToWorldTransform();
matrix4x4 angle1 = parent.ConcatTransforms( matrix4x4( g_vecZero, m_vecAngle1 ));
angle1.GetAngles( m_vecAngle1 );
// just recalc angle2 without transforms
m_vecAngle2 = m_vecAngle1 + pev->movedir * m_flMoveDistance;
// update angles if needed
if( GetState() == STATE_ON )
SetAbsAngles( m_vecAngle2 );
else if( GetState() == STATE_OFF )
SetAbsAngles( m_vecAngle1 );
}
quaternion(vector3 vDir)
{
vector3 vUp (vDir);
vector3 vDirection (1, 0, 0);
vector3 vRight = vUp.crossProduct(vDirection);
// Step 2. Put the three vectors into the matrix to bulid a basis rotation matrix
// This step isnt necessary, but im adding it because often you would want to convert from matricies to quaternions instead of vectors to quaternions
// If you want to skip this step, you can use the vector values directly in the quaternion setup below
matrix4x4 mBasis= matrix4x4(vRight.x, vRight.y, vRight.z, 0.0f,
vUp.x, vUp.y, vUp.z, 0.0f,
vDirection.x, vDirection.y, vDirection.z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
// Step 3. Build a quaternion from the matrix
w = (float)Ogre::Math::Sqrt(1.0f + mBasis[0][0] + mBasis[1][1] + mBasis[2][2]) / 2.0f;
double dfWScale = w * 4.0;
x = (float)((mBasis[2][1] - mBasis[1][2]) / dfWScale);
y = (float)((mBasis[0][2] - mBasis[2][0]) / dfWScale);
z = (float)((mBasis[1][0] - mBasis[0][1]) / dfWScale);
}
Matrix4x4 SceneGraph::local_pose(TransformInstance i) const
{
Matrix4x4 tr = matrix4x4(rotation(_data.local[i.i].rotation), _data.local[i.i].position);
set_scale(tr, _data.local[i.i].scale);
return tr;
}
/**
****************************************************************************************************
\fn void UnitTest( void )
\brief The unit test of Matrix class
\param NONE
\return NONE
****************************************************************************************************
*/
void GameEngine::Math::Matrix::UnitTest( void )
{
FUNCTION_START;
Matrix matrix2x2( 2, 2 );
// Check creation
for( UINT8 i = 0; i < 2; ++i )
{
for( UINT8 j = 0; j < 2; ++j )
assert( matrix2x2(i, j) == 0 );
}
// Check matrix identity
matrix2x2(0, 0) = 1;
matrix2x2(0, 1) = 2;
matrix2x2(1, 0) = 3;
matrix2x2(1, 1) = 4;
Matrix identityMatrix( 2, 2 );
identityMatrix(0, 0) = 1;
identityMatrix(1, 1) = 1;
Matrix m( 2, 2 );
m = matrix2x2.Identity();
assert( matrix2x2.Identity() == identityMatrix );
// Check matrix transpose
Matrix matrix2x3( 2, 3 );
matrix2x3( 0, 0 ) = 1;
matrix2x3( 0, 1 ) = 2;
matrix2x3( 0, 2 ) = 3;
matrix2x3( 1, 0 ) = 4;
matrix2x3( 1, 1 ) = 5;
matrix2x3( 1, 2 ) = 6;
matrix2x3.Transpose();
Matrix matrix3x2( 3, 2 );
matrix3x2( 0, 0 ) = 1;
matrix3x2( 0, 1 ) = 4;
matrix3x2( 1, 0 ) = 2;
matrix3x2( 1, 1 ) = 5;
matrix3x2( 2, 0 ) = 3;
matrix3x2( 2, 1 ) = 6;
assert( matrix2x3 == matrix3x2 );
// Check matrix 3x3 inverse
Matrix matrix3x3( 3, 3 );
matrix3x3( 0, 0 ) = 2;
matrix3x3( 0, 1 ) = -1;
matrix3x3( 0, 2 ) = 3;
matrix3x3( 1, 0 ) = 1;
matrix3x3( 1, 1 ) = 6;
matrix3x3( 1, 2 ) = -4;
matrix3x3( 2, 0 ) = 5;
matrix3x3( 2, 1 ) = 0;
matrix3x3( 2, 2 ) = 8;
Matrix matrix3x3Inverse( 3, 3 );
Matrix3Inverse( matrix3x3, matrix3x3Inverse );
assert( (matrix3x3 * matrix3x3Inverse) == matrix3x3.Identity() );
// Check matrix 4x4 inverse
Matrix matrix4x4( 4, 4 );
matrix4x4( 0, 0 ) = 2;
matrix4x4( 0, 1 ) = 3;
matrix4x4( 0, 2 ) = 4;
matrix4x4( 0, 3 ) = 5;
matrix4x4( 1, 0 ) = 5;
matrix4x4( 1, 1 ) = 7;
matrix4x4( 1, 2 ) = 9;
matrix4x4( 1, 3 ) = 9;
matrix4x4( 2, 0 ) = 5;
matrix4x4( 2, 1 ) = 8;
matrix4x4( 2, 2 ) = 7;
matrix4x4( 2, 3 ) = 4;
matrix4x4( 3, 0 ) = 4;
matrix4x4( 3, 1 ) = 3;
matrix4x4( 3, 2 ) = 3;
matrix4x4( 3, 3 ) = 2;
Matrix matrix4x4Inverse( 4, 4 );
Matrix4Inverse( matrix4x4, matrix4x4Inverse );
Matrix matrix4x4Result( 4, 4 );
matrix4x4Result = matrix4x4 * matrix4x4Inverse;
assert( (matrix4x4 * matrix4x4Inverse) == matrix4x4.Identity() );
FUNCTION_FINISH;
}
matrix4x4 scale_matrix(vector3 const& v)
{
return matrix4x4(v.x(), 0, 0, 0, 0, v.y(), 0, 0, 0, 0, v.z(), 0, 0, 0, 0, 1);
}
matrix4x4 rotation_matrix(vector3 const& axis, real const& ang)
{
// TODO: need to implement this
assert(false);
return matrix4x4();
}