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tp/src/m_Do/m_Do_mtx.cpp

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/**
* m_Do_mtx.cpp
* Matrix Helper Functions
*/
#include "m_Do/m_Do_mtx.h"
#include "JSystem/JGeometry.h"
#include "JSystem/JMath/JMath.h"
#include "JSystem/JUtility/JUTAssert.h"
#include "SSystem/SComponent/c_m3d.h"
#include "SSystem/SComponent/c_math.h"
#include "global.h"
Mtx mDoMtx_stack_c::now;
Mtx mDoMtx_stack_c::buffer[16];
Mtx* mDoMtx_stack_c::next = mDoMtx_stack_c::buffer;
Mtx* mDoMtx_stack_c::end = mDoMtx_stack_c::buffer + 16;
static mDoMtx_stack_c mDoMtx_stack;
static mDoMtx_quatStack_c mDoMtx_quatStack;
Mtx g_mDoMtx_identity = {
{1.0f, 0.0f, 0.0f, 0.0f},
{0.0f, 1.0f, 0.0f, 0.0f},
{0.0f, 0.0f, 1.0f, 0.0f},
};
#if VERSION != VERSION_GCN_JPN
static void dummy() {
OSReport("mDoMtx_Dump %s\n");
}
#endif
void mDoMtx_XYZrotS(Mtx mtx, s16 x, s16 y, s16 z) {
Mtx tmp;
if (z != 0) {
mDoMtx_ZrotS(mtx, z);
} else {
mDoMtx_identity(mtx);
}
if (y != 0) {
mDoMtx_YrotS(tmp, y);
mDoMtx_concat(mtx, tmp, mtx);
}
if (x != 0) {
mDoMtx_XrotS(tmp, x);
mDoMtx_concat(mtx, tmp, mtx);
}
}
void mDoMtx_XYZrotM(Mtx mtx, s16 x, s16 y, s16 z) {
Mtx tmp;
if (z != 0) {
mDoMtx_ZrotS(tmp, z);
mDoMtx_concat(mtx, tmp, mtx);
}
if (y != 0) {
mDoMtx_YrotS(tmp, y);
mDoMtx_concat(mtx, tmp, mtx);
}
if (x != 0) {
mDoMtx_XrotS(tmp, x);
mDoMtx_concat(mtx, tmp, mtx);
}
}
void mDoMtx_ZXYrotS(Mtx mtx, s16 x, s16 y, s16 z) {
Mtx tmp;
if (y != 0) {
mDoMtx_YrotS(mtx, y);
} else {
mDoMtx_identity(mtx);
}
if (x != 0) {
mDoMtx_XrotS(tmp, x);
mDoMtx_concat(mtx, tmp, mtx);
}
if (z != 0) {
mDoMtx_ZrotS(tmp, z);
mDoMtx_concat(mtx, tmp, mtx);
}
}
void mDoMtx_ZXYrotM(Mtx mtx, s16 x, s16 y, s16 z) {
Mtx tmp;
if (y != 0) {
mDoMtx_YrotS(tmp, y);
mDoMtx_concat(mtx, tmp, mtx);
}
if (x != 0) {
mDoMtx_XrotS(tmp, x);
mDoMtx_concat(mtx, tmp, mtx);
}
if (z != 0) {
mDoMtx_ZrotS(tmp, z);
mDoMtx_concat(mtx, tmp, mtx);
}
}
void mDoMtx_XrotS(Mtx mtx, s16 x) {
f32 l_cos = JMASCos(x);
f32 l_sin = JMASSin(x);
mtx[0][0] = 1.0f;
mtx[0][1] = 0.0f;
mtx[0][2] = 0.0f;
mtx[0][3] = 0.0f;
mtx[1][0] = 0.0f;
mtx[1][1] = l_cos;
mtx[1][2] = -l_sin;
mtx[1][3] = 0.0f;
mtx[2][0] = 0.0f;
mtx[2][1] = l_sin;
mtx[2][2] = l_cos;
mtx[2][3] = 0.0f;
}
void mDoMtx_XrotM(Mtx mtx, s16 x) {
Mtx tmp;
mDoMtx_XrotS(tmp, x);
mDoMtx_concat(mtx, tmp, mtx);
}
/**
* @brief Sets the given matrix to a rotation transformation around the Y-axis.
*
* This function constructs a 3x4 rotation matrix for rotating around the Y-axis by the specified angle.
* The matrix is filled directly with cosine and sine values computed from the angle.
*
* The resulting matrix layout is:
* - Row 0: cos(y), 0, sin(y), 0
* - Row 1: 0, 1, 0, 0
* - Row 2: -sin(y), 0, cos(y), 0
*
* @param mtx The 3x4 matrix to modify (output parameter).
* @param y The rotation angle as a signed 16-bit integer.
*/
void mDoMtx_YrotS(Mtx mtx, s16 y) {
f32 l_cos = JMASCos(y);
f32 l_sin = JMASSin(y);
mtx[0][0] = l_cos;
mtx[0][1] = 0.0f;
mtx[0][2] = l_sin;
mtx[0][3] = 0.0f;
mtx[1][0] = 0.0f;
mtx[1][1] = 1.0;
mtx[1][2] = 0.0;
mtx[1][3] = 0.0f;
mtx[2][0] = -l_sin;
mtx[2][1] = 0.0f;
mtx[2][2] = l_cos;
mtx[2][3] = 0.0f;
}
void mDoMtx_YrotM(Mtx mtx, s16 y) {
Mtx tmp;
mDoMtx_YrotS(tmp, y);
mDoMtx_concat(mtx, tmp, mtx);
}
void mDoMtx_ZrotS(Mtx mtx, s16 z) {
f32 l_cos = JMASCos(z);
f32 l_sin = JMASSin(z);
mtx[0][0] = l_cos;
mtx[0][1] = -l_sin;
mtx[0][2] = 0.0f;
mtx[0][3] = 0.0f;
mtx[1][0] = l_sin;
mtx[1][1] = l_cos;
mtx[1][2] = 0.0;
mtx[1][3] = 0.0f;
mtx[2][0] = 0.0f;
mtx[2][1] = 0.0f;
mtx[2][2] = 1.0f;
mtx[2][3] = 0.0f;
}
void mDoMtx_ZrotM(Mtx mtx, s16 z) {
Mtx tmp;
mDoMtx_ZrotS(tmp, z);
mDoMtx_concat(mtx, tmp, mtx);
}
void mDoMtx_lookAt(Mtx mtx, Vec const* param_1, Vec const* param_2, s16 param_3) {
cXyz stack_48(*(cXyz*)param_1);
cXyz local_54;
cXyz local_60;
cXyz local_6c;
local_6c = stack_48 - cXyz(*(cXyz*)param_2);
local_6c.normalize();
local_54.set(0.0f, 1.0f, 0.0f);
local_54 = local_54.outprod(local_6c);
if (!local_54.normalizeRS()) {
local_54.set(-local_6c.y, 0.0f, 0.0f);
local_54 = local_54.outprod(local_6c);
local_54.normalize();
}
local_60 = local_6c.outprod(local_54);
local_60.normalize();
mtx[0][0] = local_54.x;
mtx[0][1] = local_54.y;
mtx[0][2] = local_54.z;
mtx[0][3] = -local_54.inprod(stack_48);
mtx[1][0] = local_60.x;
mtx[1][1] = local_60.y;
mtx[1][2] = local_60.z;
mtx[1][3] = -local_60.inprod(stack_48);
mtx[2][0] = local_6c.x;
mtx[2][1] = local_6c.y;
mtx[2][2] = local_6c.z;
mtx[2][3] = -local_6c.inprod(stack_48);
Mtx tmp;
mDoMtx_ZrotS(tmp, param_3);
mDoMtx_concat(tmp, mtx, mtx);
}
void mDoMtx_lookAt(Mtx mtx, Vec const* i_eye, Vec const* i_center, Vec const* i_up, s16 i_bank) {
cXyz eye = *i_eye;
cXyz center = *i_center;
cXyz up = *i_up;
cXyz local_70 = eye - center;
if (!local_70.normalizeRS()) {
OS_REPORT("%s: lookat: bad position!\n", __FILE__);
OS_REPORT("%s: ctr %f %f %f+1.0\n", __FILE__, center.x, center.y, center.z);
OS_REPORT("%s: eye %f %f %f\n", __FILE__, eye.x, eye.y, eye.z);
center.z += 1.0f;
}
if (cM3d_IsZero(up.x) && cM3d_IsZero(up.y) && cM3d_IsZero(up.z)) {
OS_REPORT("%s: lookat: Zero Vector @ UP!\n", __FILE__);
up.y = 1.0f;
}
C_MTXLookAt(mtx, &eye, &up, &center);
Mtx bank_mtx;
mDoMtx_ZrotS(bank_mtx, i_bank);
mDoMtx_concat(bank_mtx, mtx, mtx);
JGeometry::TVec3<f32> local_7c(0.0f, mtx[1][1], mtx[2][1]);
if (local_7c.isZero()) {
center.y += 1.0f;
C_MTXLookAt(mtx, &eye, &up, &center);
mDoMtx_ZrotS(bank_mtx, i_bank);
mDoMtx_concat(bank_mtx, mtx, mtx);
}
}
void mDoMtx_concatProjView(const Mtx a, const Mtx b, Mtx c) {
mDoMtx_concat(a, b, c);
c[3][0] = a[3][0] * b[0][0] + a[3][1] * b[1][0] + a[3][2] * b[2][0];
c[3][1] = a[3][0] * b[0][1] + a[3][1] * b[1][1] + a[3][2] * b[2][1];
c[3][2] = a[3][0] * b[0][2] + a[3][1] * b[1][2] + a[3][2] * b[2][2];
c[3][3] = a[3][0] * b[0][3] + a[3][1] * b[1][3] + a[3][2] * b[2][3] + a[3][3];
}
bool mDoMtx_inverseTranspose(const Mtx a, Mtx b) {
f32 f31 = a[0][0] * a[1][1] * a[2][2] + a[0][1] * a[1][2] * a[2][0] +
a[0][2] * a[1][0] * a[2][1] - a[2][0] * a[1][1] * a[0][2] -
a[1][0] * a[0][1] * a[2][2] - a[0][0] * a[2][1] * a[1][2];
if (f31 == 0.0f) {
return false;
}
f31 = 1.0f / f31;
Mtx23 tmp;
tmp[0][0] = f31 * (a[1][1] * a[2][2] - a[2][1] * a[1][2]);
tmp[0][1] = f31 * -(a[1][0] * a[2][2] - a[2][0] * a[1][2]);
tmp[0][2] = f31 * (a[1][0] * a[2][1] - a[2][0] * a[1][1]);
tmp[1][0] = f31 * -(a[0][1] * a[2][2] - a[2][1] * a[0][2]);
tmp[1][1] = f31 * (a[0][0] * a[2][2] - a[2][0] * a[0][2]);
tmp[1][2] = f31 * -(a[0][0] * a[2][1] - a[2][0] * a[0][1]);
b[2][0] = f31 * (a[0][1] * a[1][2] - a[1][1] * a[0][2]);
b[2][1] = f31 * -(a[0][0] * a[1][2] - a[1][0] * a[0][2]);
b[2][2] = f31 * (a[0][0] * a[1][1] - a[1][0] * a[0][1]);
b[0][0] = tmp[0][0];
b[0][1] = tmp[0][1];
b[0][2] = tmp[0][2];
b[0][3] = 0.0f;
b[1][0] = tmp[1][0];
b[1][1] = tmp[1][1];
b[1][2] = tmp[1][2];
b[1][3] = 0.0f;
b[2][3] = 0.0f;
return true;
}
void mDoMtx_QuatConcat(const Quaternion* a, const Quaternion* b, Quaternion* c) {
c->w = (a->w * b->w) - (a->x * b->x) - (a->y * b->y) - (a->z * b->z);
c->x = (a->w * b->x) + (a->x * b->w) + (a->y * b->z) - (a->z * b->y);
c->y = (a->w * b->y) + (a->y * b->w) + (a->z * b->x) - (a->x * b->z);
c->z = (a->w * b->z) + (a->z * b->w) + (a->x * b->y) - (a->y * b->x);
}
void mDoMtx_MtxToRot(CMtxP m, csXyz* o_rot) {
f32 f31 = m[0][2];
f31 *= f31;
f32 f30 = m[2][2];
f31 += f30 * f30;
f31 = JMAFastSqrt(f31);
o_rot->x = cM_atan2s(-m[1][2], f31);
if (o_rot->x == 0x4000 || o_rot->x == -0x4000) {
o_rot->z = 0;
o_rot->y = cM_atan2s(-m[2][0], m[0][0]);
} else {
o_rot->y = cM_atan2s(m[0][2], m[2][2]);
o_rot->z = cM_atan2s(m[1][0], m[1][1]);
}
}
bool mDoMtx_stack_c::push() {
if (next >= end) {
JUT_ASSERT(729, next < end)
return false;
}
mDoMtx_copy(now, *next++);
return true;
}
bool mDoMtx_stack_c::pop() {
if (next <= buffer) {
JUT_ASSERT(751, next > buffer);
return false;
}
mDoMtx_copy(*--next, now);
return true;
}
void mDoMtx_stack_c::transS(cXyz const& param_0) {
transS(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::transM(f32 x, f32 y, f32 z) {
Mtx tmp;
mDoMtx_trans(tmp, x, y, z);
mDoMtx_concat(now, tmp, now);
}
void mDoMtx_stack_c::transM(cXyz const& param_0) {
transM(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::scaleS(cXyz const& param_0) {
scaleS(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::scaleM(f32 x, f32 y, f32 z) {
Mtx tmp;
mDoMtx_scale(tmp, x, y, z);
mDoMtx_concat(now, tmp, now);
}
void mDoMtx_stack_c::scaleM(cXyz const& param_0) {
scaleM(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::XYZrotS(csXyz const& param_0) {
XYZrotS(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::XYZrotM(csXyz const& param_0) {
XYZrotM(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::ZXYrotS(csXyz const& param_0) {
ZXYrotS(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::ZXYrotM(csXyz const& param_0) {
ZXYrotM(param_0.x, param_0.y, param_0.z);
}
void mDoMtx_stack_c::quatM(Quaternion const* param_0) {
Mtx tmp;
mDoMtx_quat(tmp, param_0);
mDoMtx_concat(now, tmp, now);
}
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