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-rw-r--r--engines/titanic/star_control/daffine.cpp31
-rw-r--r--engines/titanic/star_control/matrix_inv.h189
2 files changed, 210 insertions, 10 deletions
diff --git a/engines/titanic/star_control/daffine.cpp b/engines/titanic/star_control/daffine.cpp
index 5b935838fa..616042d715 100644
--- a/engines/titanic/star_control/daffine.cpp
+++ b/engines/titanic/star_control/daffine.cpp
@@ -22,6 +22,7 @@
#include "titanic/star_control/daffine.h"
#include "titanic/star_control/fmatrix.h" // includes FVector
+#include "titanic/star_control/matrix_inv.h"
#include "titanic/star_control/matrix_transform.h"
namespace Titanic {
@@ -115,11 +116,26 @@ void DAffine::setRotationMatrix(Axis axis, double angleDeg) {
}
}
-//TODO: Check column 4 math
DAffine DAffine::inverseTransform() const {
DAffine m;
+ // Create a 4x4 matrix so that the column 4
+ // for the inverse can be obtained,
+ // it is not simply -inv(R)*_col4
+ // Load input matrix
+ double A[16]={_col1._x,_col1._y,_col1._z, 0.0,
+ _col2._x,_col2._y,_col2._z, 0.0,
+ _col3._x,_col3._y,_col3._z, 0.0,
+ _col4._x,_col4._y,_col4._z, 1.0};
+ // Inverse matrix
+ double B[16]={};
+
+ // B contains inverse of A
+ matrix4Inverse(A,B);
+
// Inverse of rotation matrix is the transpose
+ // While B contains the inverse of the rotation
+ // this method is more numerically accurate
m._col1._x = _col1._x;
m._col2._x = _col1._y;
m._col3._x = _col1._z;
@@ -130,15 +146,10 @@ DAffine DAffine::inverseTransform() const {
m._col2._z = _col3._y;
m._col3._z = _col3._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);
+ m._col4._x = B[12];
+ m._col4._y = B[13];
+ m._col4._z = B[14];
+
return m;
}
diff --git a/engines/titanic/star_control/matrix_inv.h b/engines/titanic/star_control/matrix_inv.h
new file mode 100644
index 0000000000..21eb1d3a6f
--- /dev/null
+++ b/engines/titanic/star_control/matrix_inv.h
@@ -0,0 +1,189 @@
+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * This program is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2
+ * of the License, or (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ */
+
+/*
+* Files matrix_inv.h are a part of the MESA 3D Library (MIT License)
+*
+* Copyright (C) 1999-2007 Brian Paul All Rights Reserved.
+*
+* Permission is hereby granted, free of charge, to any person obtaining a
+* copy of this software and associated documentation files (the "Software"),
+* to deal in the Software without restriction, including without limitation
+* the rights to use, copy, modify, merge, publish, distribute, sublicense,
+* and/or sell copies of the Software, and to permit persons to whom the
+* Software is furnished to do so, subject to the following conditions:
+*
+* The above copyright notice and this permission notice shall be included
+* in all copies or substantial portions of the Software.
+*
+* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+* SOFTWARE.
+*
+*/
+
+#ifndef TITANIC_MATRIX_INV_H
+#define TITANIC_MATRIX_INV_H
+
+namespace Titanic {
+
+// 4x4 Matrix m is column major, e.x., m[3] is the row 4 column 1 element
+// Modified version of MESA 3D library function (MIT license)
+bool matrix4Inverse(const double m[16], double invOut[16])
+{
+ double temp_inv[16];
+ double determinant;
+ double determinant_inv;
+ int i;
+
+ temp_inv[0] = m[5] * m[10] * m[15] -
+ m[5] * m[11] * m[14] -
+ m[9] * m[6] * m[15] +
+ m[9] * m[7] * m[14] +
+ m[13] * m[6] * m[11] -
+ m[13] * m[7] * m[10];
+
+ temp_inv[4] = -m[4] * m[10] * m[15] +
+ m[4] * m[11] * m[14] +
+ m[8] * m[6] * m[15] -
+ m[8] * m[7] * m[14] -
+ m[12] * m[6] * m[11] +
+ m[12] * m[7] * m[10];
+
+ temp_inv[8] = m[4] * m[9] * m[15] -
+ m[4] * m[11] * m[13] -
+ m[8] * m[5] * m[15] +
+ m[8] * m[7] * m[13] +
+ m[12] * m[5] * m[11] -
+ m[12] * m[7] * m[9];
+
+ temp_inv[12] = -m[4] * m[9] * m[14] +
+ m[4] * m[10] * m[13] +
+ m[8] * m[5] * m[14] -
+ m[8] * m[6] * m[13] -
+ m[12] * m[5] * m[10] +
+ m[12] * m[6] * m[9];
+
+ temp_inv[1] = -m[1] * m[10] * m[15] +
+ m[1] * m[11] * m[14] +
+ m[9] * m[2] * m[15] -
+ m[9] * m[3] * m[14] -
+ m[13] * m[2] * m[11] +
+ m[13] * m[3] * m[10];
+
+ temp_inv[5] = m[0] * m[10] * m[15] -
+ m[0] * m[11] * m[14] -
+ m[8] * m[2] * m[15] +
+ m[8] * m[3] * m[14] +
+ m[12] * m[2] * m[11] -
+ m[12] * m[3] * m[10];
+
+ temp_inv[9] = -m[0] * m[9] * m[15] +
+ m[0] * m[11] * m[13] +
+ m[8] * m[1] * m[15] -
+ m[8] * m[3] * m[13] -
+ m[12] * m[1] * m[11] +
+ m[12] * m[3] * m[9];
+
+ temp_inv[13] = m[0] * m[9] * m[14] -
+ m[0] * m[10] * m[13] -
+ m[8] * m[1] * m[14] +
+ m[8] * m[2] * m[13] +
+ m[12] * m[1] * m[10] -
+ m[12] * m[2] * m[9];
+
+ temp_inv[2] = m[1] * m[6] * m[15] -
+ m[1] * m[7] * m[14] -
+ m[5] * m[2] * m[15] +
+ m[5] * m[3] * m[14] +
+ m[13] * m[2] * m[7] -
+ m[13] * m[3] * m[6];
+
+ temp_inv[6] = -m[0] * m[6] * m[15] +
+ m[0] * m[7] * m[14] +
+ m[4] * m[2] * m[15] -
+ m[4] * m[3] * m[14] -
+ m[12] * m[2] * m[7] +
+ m[12] * m[3] * m[6];
+
+ temp_inv[10] = m[0] * m[5] * m[15] -
+ m[0] * m[7] * m[13] -
+ m[4] * m[1] * m[15] +
+ m[4] * m[3] * m[13] +
+ m[12] * m[1] * m[7] -
+ m[12] * m[3] * m[5];
+
+ temp_inv[14] = -m[0] * m[5] * m[14] +
+ m[0] * m[6] * m[13] +
+ m[4] * m[1] * m[14] -
+ m[4] * m[2] * m[13] -
+ m[12] * m[1] * m[6] +
+ m[12] * m[2] * m[5];
+
+ temp_inv[3] = -m[1] * m[6] * m[11] +
+ m[1] * m[7] * m[10] +
+ m[5] * m[2] * m[11] -
+ m[5] * m[3] * m[10] -
+ m[9] * m[2] * m[7] +
+ m[9] * m[3] * m[6];
+
+ temp_inv[7] = m[0] * m[6] * m[11] -
+ m[0] * m[7] * m[10] -
+ m[4] * m[2] * m[11] +
+ m[4] * m[3] * m[10] +
+ m[8] * m[2] * m[7] -
+ m[8] * m[3] * m[6];
+
+ temp_inv[11] = -m[0] * m[5] * m[11] +
+ m[0] * m[7] * m[9] +
+ m[4] * m[1] * m[11] -
+ m[4] * m[3] * m[9] -
+ m[8] * m[1] * m[7] +
+ m[8] * m[3] * m[5];
+
+ temp_inv[15] = m[0] * m[5] * m[10] -
+ m[0] * m[6] * m[9] -
+ m[4] * m[1] * m[10] +
+ m[4] * m[2] * m[9] +
+ m[8] * m[1] * m[6] -
+ m[8] * m[2] * m[5];
+
+ determinant = m[0] * temp_inv[0] + m[1] * temp_inv[4] + m[2] * temp_inv[8] + m[3] * temp_inv[12];
+
+ if (determinant == 0)
+ return false;
+
+ determinant_inv = 1.0 / determinant;
+
+ for (i = 0; i < 16; i++)
+ invOut[i] = temp_inv[i] * determinant_inv;
+
+ return true;
+}
+
+} // End of namespace Titanic
+
+#endif /* TITANIC_MATRIX_INV_H */
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