1 /* 2 * Copy_right 2013 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * y_ou may_ not use this file ex_cept in compliance with the License. 6 * You may_ obtain a copy_ of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by_ applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either ex_press or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 //-------------------------------------------------------------------------------- 18 // vecmath.cpp 19 //-------------------------------------------------------------------------------- 20 #include "vecmath.h" 21 22 namespace ndk_helper 23 { 24 25 //-------------------------------------------------------------------------------- 26 // vec3 27 //-------------------------------------------------------------------------------- 28 Vec3::Vec3( const Vec4& vec ) 29 { 30 x_ = vec.x_; 31 y_ = vec.y_; 32 z_ = vec.z_; 33 } 34 35 //-------------------------------------------------------------------------------- 36 // vec4 37 //-------------------------------------------------------------------------------- 38 Vec4 Vec4::operator*( const Mat4& rhs ) const 39 { 40 Vec4 out; 41 out.x_ = x_ * rhs.f_[0] + y_ * rhs.f_[1] + z_ * rhs.f_[2] + w_ * rhs.f_[3]; 42 out.y_ = x_ * rhs.f_[4] + y_ * rhs.f_[5] + z_ * rhs.f_[6] + w_ * rhs.f_[7]; 43 out.z_ = x_ * rhs.f_[8] + y_ * rhs.f_[9] + z_ * rhs.f_[10] + w_ * rhs.f_[11]; 44 out.w_ = x_ * rhs.f_[12] + y_ * rhs.f_[13] + z_ * rhs.f_[14] + w_ * rhs.f_[15]; 45 return out; 46 } 47 48 //-------------------------------------------------------------------------------- 49 // mat4 50 //-------------------------------------------------------------------------------- 51 Mat4::Mat4() 52 { 53 for( int32_t i = 0; i < 16; ++i ) 54 f_[i] = 0.f; 55 } 56 57 Mat4::Mat4( const float* mIn ) 58 { 59 for( int32_t i = 0; i < 16; ++i ) 60 f_[i] = mIn[i]; 61 } 62 63 Mat4 Mat4::operator*( const Mat4& rhs ) const 64 { 65 Mat4 ret; 66 ret.f_[0] = f_[0] * rhs.f_[0] + f_[4] * rhs.f_[1] + f_[8] * rhs.f_[2] 67 + f_[12] * rhs.f_[3]; 68 ret.f_[1] = f_[1] * rhs.f_[0] + f_[5] * rhs.f_[1] + f_[9] * rhs.f_[2] 69 + f_[13] * rhs.f_[3]; 70 ret.f_[2] = f_[2] * rhs.f_[0] + f_[6] * rhs.f_[1] + f_[10] * rhs.f_[2] 71 + f_[14] * rhs.f_[3]; 72 ret.f_[3] = f_[3] * rhs.f_[0] + f_[7] * rhs.f_[1] + f_[11] * rhs.f_[2] 73 + f_[15] * rhs.f_[3]; 74 75 ret.f_[4] = f_[0] * rhs.f_[4] + f_[4] * rhs.f_[5] + f_[8] * rhs.f_[6] 76 + f_[12] * rhs.f_[7]; 77 ret.f_[5] = f_[1] * rhs.f_[4] + f_[5] * rhs.f_[5] + f_[9] * rhs.f_[6] 78 + f_[13] * rhs.f_[7]; 79 ret.f_[6] = f_[2] * rhs.f_[4] + f_[6] * rhs.f_[5] + f_[10] * rhs.f_[6] 80 + f_[14] * rhs.f_[7]; 81 ret.f_[7] = f_[3] * rhs.f_[4] + f_[7] * rhs.f_[5] + f_[11] * rhs.f_[6] 82 + f_[15] * rhs.f_[7]; 83 84 ret.f_[8] = f_[0] * rhs.f_[8] + f_[4] * rhs.f_[9] + f_[8] * rhs.f_[10] 85 + f_[12] * rhs.f_[11]; 86 ret.f_[9] = f_[1] * rhs.f_[8] + f_[5] * rhs.f_[9] + f_[9] * rhs.f_[10] 87 + f_[13] * rhs.f_[11]; 88 ret.f_[10] = f_[2] * rhs.f_[8] + f_[6] * rhs.f_[9] + f_[10] * rhs.f_[10] 89 + f_[14] * rhs.f_[11]; 90 ret.f_[11] = f_[3] * rhs.f_[8] + f_[7] * rhs.f_[9] + f_[11] * rhs.f_[10] 91 + f_[15] * rhs.f_[11]; 92 93 ret.f_[12] = f_[0] * rhs.f_[12] + f_[4] * rhs.f_[13] + f_[8] * rhs.f_[14] 94 + f_[12] * rhs.f_[15]; 95 ret.f_[13] = f_[1] * rhs.f_[12] + f_[5] * rhs.f_[13] + f_[9] * rhs.f_[14] 96 + f_[13] * rhs.f_[15]; 97 ret.f_[14] = f_[2] * rhs.f_[12] + f_[6] * rhs.f_[13] + f_[10] * rhs.f_[14] 98 + f_[14] * rhs.f_[15]; 99 ret.f_[15] = f_[3] * rhs.f_[12] + f_[7] * rhs.f_[13] + f_[11] * rhs.f_[14] 100 + f_[15] * rhs.f_[15]; 101 102 return ret; 103 } 104 105 Vec4 Mat4::operator*( const Vec4& rhs ) const 106 { 107 Vec4 ret; 108 ret.x_ = rhs.x_ * f_[0] + rhs.y_ * f_[4] + rhs.z_ * f_[8] + rhs.w_ * f_[12]; 109 ret.y_ = rhs.x_ * f_[1] + rhs.y_ * f_[5] + rhs.z_ * f_[9] + rhs.w_ * f_[13]; 110 ret.z_ = rhs.x_ * f_[2] + rhs.y_ * f_[6] + rhs.z_ * f_[10] + rhs.w_ * f_[14]; 111 ret.w_ = rhs.x_ * f_[3] + rhs.y_ * f_[7] + rhs.z_ * f_[11] + rhs.w_ * f_[15]; 112 return ret; 113 } 114 115 Mat4 Mat4::Inverse() 116 { 117 Mat4 ret; 118 float det_1; 119 float pos = 0; 120 float neg = 0; 121 float temp; 122 123 temp = f_[0] * f_[5] * f_[10]; 124 if( temp >= 0 ) 125 pos += temp; 126 else 127 neg += temp; 128 temp = f_[4] * f_[9] * f_[2]; 129 if( temp >= 0 ) 130 pos += temp; 131 else 132 neg += temp; 133 temp = f_[8] * f_[1] * f_[6]; 134 if( temp >= 0 ) 135 pos += temp; 136 else 137 neg += temp; 138 temp = -f_[8] * f_[5] * f_[2]; 139 if( temp >= 0 ) 140 pos += temp; 141 else 142 neg += temp; 143 temp = -f_[4] * f_[1] * f_[10]; 144 if( temp >= 0 ) 145 pos += temp; 146 else 147 neg += temp; 148 temp = -f_[0] * f_[9] * f_[6]; 149 if( temp >= 0 ) 150 pos += temp; 151 else 152 neg += temp; 153 det_1 = pos + neg; 154 155 if( det_1 == 0.0 ) 156 { 157 //Error 158 } 159 else 160 { 161 det_1 = 1.0f / det_1; 162 ret.f_[0] = (f_[5] * f_[10] - f_[9] * f_[6]) * det_1; 163 ret.f_[1] = -(f_[1] * f_[10] - f_[9] * f_[2]) * det_1; 164 ret.f_[2] = (f_[1] * f_[6] - f_[5] * f_[2]) * det_1; 165 ret.f_[4] = -(f_[4] * f_[10] - f_[8] * f_[6]) * det_1; 166 ret.f_[5] = (f_[0] * f_[10] - f_[8] * f_[2]) * det_1; 167 ret.f_[6] = -(f_[0] * f_[6] - f_[4] * f_[2]) * det_1; 168 ret.f_[8] = (f_[4] * f_[9] - f_[8] * f_[5]) * det_1; 169 ret.f_[9] = -(f_[0] * f_[9] - f_[8] * f_[1]) * det_1; 170 ret.f_[10] = (f_[0] * f_[5] - f_[4] * f_[1]) * det_1; 171 172 /* Calculate -C * inverse(A) */ 173 ret.f_[12] = -(f_[12] * ret.f_[0] + f_[13] * ret.f_[4] + f_[14] * ret.f_[8]); 174 ret.f_[13] = -(f_[12] * ret.f_[1] + f_[13] * ret.f_[5] + f_[14] * ret.f_[9]); 175 ret.f_[14] = -(f_[12] * ret.f_[2] + f_[13] * ret.f_[6] + f_[14] * ret.f_[10]); 176 177 ret.f_[3] = 0.0f; 178 ret.f_[7] = 0.0f; 179 ret.f_[11] = 0.0f; 180 ret.f_[15] = 1.0f; 181 } 182 183 *this = ret; 184 return *this; 185 } 186 187 //-------------------------------------------------------------------------------- 188 // Misc 189 //-------------------------------------------------------------------------------- 190 Mat4 Mat4::RotationX( const float fAngle ) 191 { 192 Mat4 ret; 193 float fCosine, fSine; 194 195 fCosine = cosf( fAngle ); 196 fSine = sinf( fAngle ); 197 198 ret.f_[0] = 1.0f; 199 ret.f_[4] = 0.0f; 200 ret.f_[8] = 0.0f; 201 ret.f_[12] = 0.0f; 202 ret.f_[1] = 0.0f; 203 ret.f_[5] = fCosine; 204 ret.f_[9] = fSine; 205 ret.f_[13] = 0.0f; 206 ret.f_[2] = 0.0f; 207 ret.f_[6] = -fSine; 208 ret.f_[10] = fCosine; 209 ret.f_[14] = 0.0f; 210 ret.f_[3] = 0.0f; 211 ret.f_[7] = 0.0f; 212 ret.f_[11] = 0.0f; 213 ret.f_[15] = 1.0f; 214 return ret; 215 } 216 217 Mat4 Mat4::RotationY( const float fAngle ) 218 { 219 Mat4 ret; 220 float fCosine, fSine; 221 222 fCosine = cosf( fAngle ); 223 fSine = sinf( fAngle ); 224 225 ret.f_[0] = fCosine; 226 ret.f_[4] = 0.0f; 227 ret.f_[8] = -fSine; 228 ret.f_[12] = 0.0f; 229 ret.f_[1] = 0.0f; 230 ret.f_[5] = 1.0f; 231 ret.f_[9] = 0.0f; 232 ret.f_[13] = 0.0f; 233 ret.f_[2] = fSine; 234 ret.f_[6] = 0.0f; 235 ret.f_[10] = fCosine; 236 ret.f_[14] = 0.0f; 237 ret.f_[3] = 0.0f; 238 ret.f_[7] = 0.0f; 239 ret.f_[11] = 0.0f; 240 ret.f_[15] = 1.0f; 241 return ret; 242 243 } 244 245 Mat4 Mat4::RotationZ( const float fAngle ) 246 { 247 Mat4 ret; 248 float fCosine, fSine; 249 250 fCosine = cosf( fAngle ); 251 fSine = sinf( fAngle ); 252 253 ret.f_[0] = fCosine; 254 ret.f_[4] = fSine; 255 ret.f_[8] = 0.0f; 256 ret.f_[12] = 0.0f; 257 ret.f_[1] = -fSine; 258 ret.f_[5] = fCosine; 259 ret.f_[9] = 0.0f; 260 ret.f_[13] = 0.0f; 261 ret.f_[2] = 0.0f; 262 ret.f_[6] = 0.0f; 263 ret.f_[10] = 1.0f; 264 ret.f_[14] = 0.0f; 265 ret.f_[3] = 0.0f; 266 ret.f_[7] = 0.0f; 267 ret.f_[11] = 0.0f; 268 ret.f_[15] = 1.0f; 269 return ret; 270 } 271 272 Mat4 Mat4::Translation( const float fX, const float fY, const float fZ ) 273 { 274 Mat4 ret; 275 ret.f_[0] = 1.0f; 276 ret.f_[4] = 0.0f; 277 ret.f_[8] = 0.0f; 278 ret.f_[12] = fX; 279 ret.f_[1] = 0.0f; 280 ret.f_[5] = 1.0f; 281 ret.f_[9] = 0.0f; 282 ret.f_[13] = fY; 283 ret.f_[2] = 0.0f; 284 ret.f_[6] = 0.0f; 285 ret.f_[10] = 1.0f; 286 ret.f_[14] = fZ; 287 ret.f_[3] = 0.0f; 288 ret.f_[7] = 0.0f; 289 ret.f_[11] = 0.0f; 290 ret.f_[15] = 1.0f; 291 return ret; 292 } 293 294 Mat4 Mat4::Translation( const Vec3 vec ) 295 { 296 Mat4 ret; 297 ret.f_[0] = 1.0f; 298 ret.f_[4] = 0.0f; 299 ret.f_[8] = 0.0f; 300 ret.f_[12] = vec.x_; 301 ret.f_[1] = 0.0f; 302 ret.f_[5] = 1.0f; 303 ret.f_[9] = 0.0f; 304 ret.f_[13] = vec.y_; 305 ret.f_[2] = 0.0f; 306 ret.f_[6] = 0.0f; 307 ret.f_[10] = 1.0f; 308 ret.f_[14] = vec.z_; 309 ret.f_[3] = 0.0f; 310 ret.f_[7] = 0.0f; 311 ret.f_[11] = 0.0f; 312 ret.f_[15] = 1.0f; 313 return ret; 314 } 315 316 Mat4 Mat4::Perspective( float width, float height, float nearPlane, float farPlane ) 317 { 318 float n2 = 2.0f * nearPlane; 319 float rcpnmf = 1.f / (nearPlane - farPlane); 320 321 Mat4 result; 322 result.f_[0] = n2 / width; 323 result.f_[4] = 0; 324 result.f_[8] = 0; 325 result.f_[12] = 0; 326 result.f_[1] = 0; 327 result.f_[5] = n2 / height; 328 result.f_[9] = 0; 329 result.f_[13] = 0; 330 result.f_[2] = 0; 331 result.f_[6] = 0; 332 result.f_[10] = (farPlane + nearPlane) * rcpnmf; 333 result.f_[14] = farPlane * rcpnmf * n2; 334 result.f_[3] = 0; 335 result.f_[7] = 0; 336 result.f_[11] = -1.0; 337 result.f_[15] = 0; 338 339 return result; 340 } 341 342 Mat4 Mat4::LookAt( const Vec3& vec_eye, const Vec3& vec_at, const Vec3& vec_up ) 343 { 344 Vec3 vec_forward, vec_up_norm, vec_side; 345 Mat4 result; 346 347 vec_forward.x_ = vec_eye.x_ - vec_at.x_; 348 vec_forward.y_ = vec_eye.y_ - vec_at.y_; 349 vec_forward.z_ = vec_eye.z_ - vec_at.z_; 350 351 vec_forward.Normalize(); 352 vec_up_norm = vec_up; 353 vec_up_norm.Normalize(); 354 vec_side = vec_up_norm.Cross( vec_forward ); 355 vec_up_norm = vec_forward.Cross( vec_side ); 356 357 result.f_[0] = vec_side.x_; 358 result.f_[4] = vec_side.y_; 359 result.f_[8] = vec_side.z_; 360 result.f_[12] = 0; 361 result.f_[1] = vec_up_norm.x_; 362 result.f_[5] = vec_up_norm.y_; 363 result.f_[9] = vec_up_norm.z_; 364 result.f_[13] = 0; 365 result.f_[2] = vec_forward.x_; 366 result.f_[6] = vec_forward.y_; 367 result.f_[10] = vec_forward.z_; 368 result.f_[14] = 0; 369 result.f_[3] = 0; 370 result.f_[7] = 0; 371 result.f_[11] = 0; 372 result.f_[15] = 1.0; 373 374 result.PostTranslate( -vec_eye.x_, -vec_eye.y_, -vec_eye.z_ ); 375 return result; 376 } 377 378 } //namespace ndkHelper 379 380
