413 lines
12 KiB
C++
413 lines
12 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2012 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtc_matrix_transform
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/// @file glm/gtc/matrix_transform.inl
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/// @date 2009-04-29 / 2011-06-15
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/// @author Christophe Riccio
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///////////////////////////////////////////////////////////////////////////////////
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namespace glm
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{
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate
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(
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detail::tmat4x4<T> const & m,
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detail::tvec3<T> const & v
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)
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{
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detail::tmat4x4<T> Result(m);
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Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3];
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate
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(
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detail::tmat4x4<T> const & m,
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T const & angle,
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detail::tvec3<T> const & v
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)
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{
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T a = radians(angle);
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T c = cos(a);
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T s = sin(a);
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detail::tvec3<T> axis = normalize(v);
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detail::tvec3<T> temp = (T(1) - c) * axis;
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detail::tmat4x4<T> Rotate(detail::tmat4x4<T>::null);
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Rotate[0][0] = c + temp[0] * axis[0];
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Rotate[0][1] = 0 + temp[0] * axis[1] + s * axis[2];
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Rotate[0][2] = 0 + temp[0] * axis[2] - s * axis[1];
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Rotate[1][0] = 0 + temp[1] * axis[0] - s * axis[2];
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Rotate[1][1] = c + temp[1] * axis[1];
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Rotate[1][2] = 0 + temp[1] * axis[2] + s * axis[0];
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Rotate[2][0] = 0 + temp[2] * axis[0] + s * axis[1];
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Rotate[2][1] = 0 + temp[2] * axis[1] - s * axis[0];
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Rotate[2][2] = c + temp[2] * axis[2];
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detail::tmat4x4<T> Result(detail::tmat4x4<T>::null);
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Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2];
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Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2];
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Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2];
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Result[3] = m[3];
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale
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(
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detail::tmat4x4<T> const & m,
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detail::tvec3<T> const & v
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)
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{
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detail::tmat4x4<T> Result(detail::tmat4x4<T>::null);
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Result[0] = m[0] * v[0];
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Result[1] = m[1] * v[1];
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Result[2] = m[2] * v[2];
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Result[3] = m[3];
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> translate_slow
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(
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detail::tmat4x4<T> const & m,
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detail::tvec3<T> const & v
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)
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{
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detail::tmat4x4<T> Result(T(1));
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Result[3] = detail::tvec4<T>(v, T(1));
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return m * Result;
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//detail::tmat4x4<valType> Result(m);
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Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3];
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//Result[3][0] = m[0][0] * v[0] + m[1][0] * v[1] + m[2][0] * v[2] + m[3][0];
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//Result[3][1] = m[0][1] * v[0] + m[1][1] * v[1] + m[2][1] * v[2] + m[3][1];
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//Result[3][2] = m[0][2] * v[0] + m[1][2] * v[1] + m[2][2] * v[2] + m[3][2];
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//Result[3][3] = m[0][3] * v[0] + m[1][3] * v[1] + m[2][3] * v[2] + m[3][3];
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//return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> rotate_slow
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(
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detail::tmat4x4<T> const & m,
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T const & angle,
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detail::tvec3<T> const & v
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)
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{
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T a = radians(angle);
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T c = cos(a);
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T s = sin(a);
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detail::tmat4x4<T> Result;
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detail::tvec3<T> axis = normalize(v);
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Result[0][0] = c + (1 - c) * axis.x * axis.x;
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Result[0][1] = (1 - c) * axis.x * axis.y + s * axis.z;
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Result[0][2] = (1 - c) * axis.x * axis.z - s * axis.y;
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Result[0][3] = 0;
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Result[1][0] = (1 - c) * axis.y * axis.x - s * axis.z;
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Result[1][1] = c + (1 - c) * axis.y * axis.y;
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Result[1][2] = (1 - c) * axis.y * axis.z + s * axis.x;
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Result[1][3] = 0;
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Result[2][0] = (1 - c) * axis.z * axis.x + s * axis.y;
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Result[2][1] = (1 - c) * axis.z * axis.y - s * axis.x;
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Result[2][2] = c + (1 - c) * axis.z * axis.z;
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Result[2][3] = 0;
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Result[3] = detail::tvec4<T>(0, 0, 0, 1);
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return m * Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> scale_slow
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(
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detail::tmat4x4<T> const & m,
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detail::tvec3<T> const & v
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)
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{
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detail::tmat4x4<T> Result(T(1));
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Result[0][0] = v.x;
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Result[1][1] = v.y;
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Result[2][2] = v.z;
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return m * Result;
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> ortho
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(
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valType const & left,
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valType const & right,
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valType const & bottom,
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valType const & top,
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valType const & zNear,
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valType const & zFar
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)
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{
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detail::tmat4x4<valType> Result(1);
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Result[0][0] = valType(2) / (right - left);
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Result[1][1] = valType(2) / (top - bottom);
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Result[2][2] = - valType(2) / (zFar - zNear);
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Result[3][0] = - (right + left) / (right - left);
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Result[3][1] = - (top + bottom) / (top - bottom);
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Result[3][2] = - (zFar + zNear) / (zFar - zNear);
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return Result;
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> ortho(
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valType const & left,
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valType const & right,
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valType const & bottom,
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valType const & top)
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{
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detail::tmat4x4<valType> Result(1);
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Result[0][0] = valType(2) / (right - left);
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Result[1][1] = valType(2) / (top - bottom);
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Result[2][2] = - valType(1);
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Result[3][0] = - (right + left) / (right - left);
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Result[3][1] = - (top + bottom) / (top - bottom);
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return Result;
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> frustum
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(
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valType const & left,
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valType const & right,
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valType const & bottom,
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valType const & top,
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valType const & nearVal,
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valType const & farVal
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)
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{
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detail::tmat4x4<valType> Result(0);
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Result[0][0] = (valType(2) * nearVal) / (right - left);
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Result[1][1] = (valType(2) * nearVal) / (top - bottom);
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Result[2][0] = (right + left) / (right - left);
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Result[2][1] = (top + bottom) / (top - bottom);
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Result[2][2] = -(farVal + nearVal) / (farVal - nearVal);
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Result[2][3] = valType(-1);
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Result[3][2] = -(valType(2) * farVal * nearVal) / (farVal - nearVal);
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return Result;
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> perspective
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(
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valType const & fovy,
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valType const & aspect,
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valType const & zNear,
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valType const & zFar
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)
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{
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valType range = tan(radians(fovy / valType(2))) * zNear;
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valType left = -range * aspect;
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valType right = range * aspect;
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valType bottom = -range;
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valType top = range;
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detail::tmat4x4<valType> Result(valType(0));
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Result[0][0] = (valType(2) * zNear) / (right - left);
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Result[1][1] = (valType(2) * zNear) / (top - bottom);
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Result[2][2] = - (zFar + zNear) / (zFar - zNear);
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Result[2][3] = - valType(1);
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Result[3][2] = - (valType(2) * zFar * zNear) / (zFar - zNear);
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return Result;
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}
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template <typename valType>
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GLM_FUNC_QUALIFIER detail::tmat4x4<valType> perspectiveFov
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(
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valType const & fov,
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valType const & width,
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valType const & height,
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valType const & zNear,
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valType const & zFar
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)
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{
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valType rad = glm::radians(fov);
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valType h = glm::cos(valType(0.5) * rad) / glm::sin(valType(0.5) * rad);
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valType w = h * height / width;
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detail::tmat4x4<valType> Result(valType(0));
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Result[0][0] = w;
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Result[1][1] = h;
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Result[2][2] = (zFar + zNear) / (zFar - zNear);
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Result[2][3] = -valType(1);
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Result[3][2] = (valType(2) * zFar * zNear) / (zFar - zNear);
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> infinitePerspective
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(
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T fovy,
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T aspect,
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T zNear
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)
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{
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T range = tan(radians(fovy / T(2))) * zNear;
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T left = -range * aspect;
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T right = range * aspect;
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T bottom = -range;
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T top = range;
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detail::tmat4x4<T> Result(T(0));
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Result[0][0] = (T(2) * zNear) / (right - left);
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Result[1][1] = (T(2) * zNear) / (top - bottom);
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Result[2][2] = - T(1);
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Result[2][3] = - T(1);
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Result[3][2] = - T(2) * zNear;
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return Result;
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> tweakedInfinitePerspective
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(
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T fovy,
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T aspect,
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T zNear
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)
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{
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T range = tan(radians(fovy / T(2))) * zNear;
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T left = -range * aspect;
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T right = range * aspect;
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T bottom = -range;
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T top = range;
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detail::tmat4x4<T> Result(T(0));
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Result[0][0] = (T(2) * zNear) / (right - left);
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Result[1][1] = (T(2) * zNear) / (top - bottom);
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Result[2][2] = T(0.0001) - T(1);
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Result[2][3] = T(-1);
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Result[3][2] = - (T(0.0001) - T(2)) * zNear;
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return Result;
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}
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template <typename T, typename U>
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GLM_FUNC_QUALIFIER detail::tvec3<T> project
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(
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detail::tvec3<T> const & obj,
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detail::tmat4x4<T> const & model,
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detail::tmat4x4<T> const & proj,
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detail::tvec4<U> const & viewport
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)
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{
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detail::tvec4<T> tmp = detail::tvec4<T>(obj, T(1));
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tmp = model * tmp;
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tmp = proj * tmp;
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tmp /= tmp.w;
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tmp = tmp * T(0.5) + T(0.5);
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tmp[0] = tmp[0] * T(viewport[2]) + T(viewport[0]);
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tmp[1] = tmp[1] * T(viewport[3]) + T(viewport[1]);
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return detail::tvec3<T>(tmp);
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}
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template <typename T, typename U>
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GLM_FUNC_QUALIFIER detail::tvec3<T> unProject
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(
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detail::tvec3<T> const & win,
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detail::tmat4x4<T> const & model,
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detail::tmat4x4<T> const & proj,
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detail::tvec4<U> const & viewport
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)
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{
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detail::tmat4x4<T> inverse = glm::inverse(proj * model);
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detail::tvec4<T> tmp = detail::tvec4<T>(win, T(1));
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tmp.x = (tmp.x - T(viewport[0])) / T(viewport[2]);
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tmp.y = (tmp.y - T(viewport[1])) / T(viewport[3]);
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tmp = tmp * T(2) - T(1);
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detail::tvec4<T> obj = inverse * tmp;
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obj /= obj.w;
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return detail::tvec3<T>(obj);
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}
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template <typename T, typename U>
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detail::tmat4x4<T> pickMatrix
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(
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detail::tvec2<T> const & center,
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detail::tvec2<T> const & delta,
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detail::tvec4<U> const & viewport
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)
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{
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assert(delta.x > T(0) && delta.y > T(0));
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detail::tmat4x4<T> Result(1.0f);
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if(!(delta.x > T(0) && delta.y > T(0)))
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return Result; // Error
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detail::tvec3<T> Temp(
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(T(viewport[2]) - T(2) * (center.x - T(viewport[0]))) / delta.x,
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(T(viewport[3]) - T(2) * (center.y - T(viewport[1]))) / delta.y,
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T(0));
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// Translate and scale the picked region to the entire window
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Result = translate(Result, Temp);
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return scale(Result, detail::tvec3<T>(T(viewport[2]) / delta.x, T(viewport[3]) / delta.y, T(1)));
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}
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template <typename T>
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GLM_FUNC_QUALIFIER detail::tmat4x4<T> lookAt
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(
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detail::tvec3<T> const & eye,
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detail::tvec3<T> const & center,
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detail::tvec3<T> const & up
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)
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{
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detail::tvec3<T> f = normalize(center - eye);
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detail::tvec3<T> u = normalize(up);
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detail::tvec3<T> s = normalize(cross(f, u));
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u = cross(s, f);
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detail::tmat4x4<T> Result(1);
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Result[0][0] = s.x;
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Result[1][0] = s.y;
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Result[2][0] = s.z;
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Result[0][1] = u.x;
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Result[1][1] = u.y;
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Result[2][1] = u.z;
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Result[0][2] =-f.x;
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Result[1][2] =-f.y;
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Result[2][2] =-f.z;
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/* Test this instead of translate3D
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Result[3][0] =-dot(s, eye);
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Result[3][1] =-dot(y, eye);
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Result[3][2] = dot(f, eye);
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*/
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return translate(Result, -eye);
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}
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}//namespace glm
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