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/* 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.
*
*/
#include "bladerunner/matrix.h"
#include "common/scummsys.h"
namespace BladeRunner {
Matrix3x2::Matrix3x2() {
for (int r = 0; r != 2; ++r)
for (int c = 0; c != 3; ++c)
_m[r][c] = (r == c) ? 1.0f : 0.0f;
}
Matrix3x2::Matrix3x2(float d[6]) {
for (int r = 0; r != 2; ++r)
for (int c = 0; c != 3; ++c)
_m[r][c] = d[r*3+c];
}
Matrix3x2::Matrix3x2(
float m00, float m01, float m02,
float m10, float m11, float m12) {
_m[0][0] = m00;
_m[0][1] = m01;
_m[0][2] = m02;
_m[1][0] = m10;
_m[1][1] = m11;
_m[1][2] = m12;
}
Matrix4x3::Matrix4x3() {
for (int r = 0; r != 3; ++r)
for (int c = 0; c != 4; ++c)
_m[r][c] = (r == c) ? 1.0f : 0.0f;
}
Matrix4x3::Matrix4x3(float d[12]) {
for (int r = 0; r != 3; ++r)
for (int c = 0; c != 4; ++c)
_m[r][c] = d[r*4+c];
}
Matrix4x3::Matrix4x3(
float m00, float m01, float m02, float m03,
float m10, float m11, float m12, float m13,
float m20, float m21, float m22, float m23) {
_m[0][0] = m00;
_m[0][1] = m01;
_m[0][2] = m02;
_m[0][3] = m03;
_m[1][0] = m10;
_m[1][1] = m11;
_m[1][2] = m12;
_m[1][3] = m13;
_m[2][0] = m20;
_m[2][1] = m21;
_m[2][2] = m22;
_m[2][3] = m23;
}
Matrix4x3 rotationMatrixX(float angle) {
float ca = cos(angle);
float sa = sin(angle);
return Matrix4x3( 1.0f, 0.0f, 0.0f, 0.0f,
0.0f, ca, sa, 0.0f,
0.0f, -sa, ca, 0.0f );
}
static inline void swapRows(double *r1, double *r2) {
for (int c = 0; c != 8; ++c) {
double t = r1[c];
r1[c] = r2[c];
r2[c] = t;
}
}
static inline void subtractRow(double *r1, double factor, double *r2) {
for (int c = 0; c != 8; ++c)
r1[c] -= factor * r2[c];
}
static inline void divideRow(double *r1, double d) {
for (int c = 0; c != 8; ++c)
r1[c] /= d;
}
Matrix4x3 invertMatrix(const Matrix4x3 &m) {
double w[3][8];
for (int r = 0; r != 3; ++r) {
for (int c = 0; c != 4; ++c) {
w[r][c] = m(r, c);
w[r][c+4] = (r == c) ? 1.0 : 0.0;
}
}
if (w[0][0] == 0.0) {
if (w[1][0] != 0.0)
swapRows(w[0], w[1]);
else
swapRows(w[0], w[2]);
}
divideRow(w[0], w[0][0]);
subtractRow(w[1], w[1][0], w[0]);
subtractRow(w[2], w[2][0], w[0]);
if (w[1][1] == 0.0)
swapRows(w[1], w[2]);
divideRow(w[1], w[1][1]);
subtractRow(w[0], w[0][1], w[1]);
subtractRow(w[2], w[2][1], w[1]);
divideRow(w[2], w[2][2]);
subtractRow(w[0], w[0][2], w[2]);
subtractRow(w[1], w[1][2], w[2]);
for (int r = 0; r != 3; ++r) {
w[r][7] = -w[r][3];
w[r][3] = 0.0;
}
Matrix4x3 result;
for (int r = 0; r != 3; ++r)
for (int c = 0; c != 4; ++c)
result(r, c) = float(w[r][c+4]);
return result;
}
void Matrix4x3::unknown() {
Matrix4x3 t;
// Transpose the 3x3 top left submatrix
for (int r = 0; r != 3; ++r)
for (int c = 0; c != 3; ++c)
t(r, c) = _m[c][r];
t(0,3) = -(_m[0][3] * _m[0][0] + _m[1][3] * _m[1][0] + _m[2][3] * _m[2][0]);
t(1,3) = -(_m[0][3] * _m[0][1] + _m[1][3] * _m[1][1] + _m[2][3] * _m[2][1]);
t(2,3) = -(_m[0][3] * _m[0][2] + _m[1][3] * _m[1][2] + _m[2][3] * _m[2][2]);
*this = t;
}
} // End of namespace BladeRunner
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