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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 20 | pmbaty | 1 | #include "transfrm.h" |
| 2 | #include "CORE/MATH/angles.h" |
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| 3 | #include "CORE/MATH/matrix34.h" |
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| 4 | #include "CORE/MATH/quat.h" |
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| 5 | #include "CORE/MATH/vector.h" |
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| 6 | #include "harness/trace.h" |
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| 7 | |||
| 8 | #include <string.h> |
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| 9 | |||
| 10 | #define M34 BR_TRANSFORM_MATRIX34 |
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| 11 | #define MLP BR_TRANSFORM_MATRIX34_LP |
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| 12 | #define QUT BR_TRANSFORM_QUAT |
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| 13 | #define EUL BR_TRANSFORM_EULER |
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| 14 | #define LUP BR_TRANSFORM_LOOK_UP |
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| 15 | #define TRA BR_TRANSFORM_TRANSLATION |
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| 16 | #define IDT BR_TRANSFORM_IDENTITY |
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| 17 | |||
| 18 | br_uint_8 _CombineTransforms[7][7] = { |
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| 19 | |||
| 20 | /* M34 */ { |
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| 21 | M34, |
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| 22 | M34, |
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| 23 | M34, |
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| 24 | M34, |
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| 25 | M34, |
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| 26 | M34, |
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| 27 | M34, |
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| 28 | }, |
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| 29 | /* MLP */ { |
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| 30 | M34, |
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| 31 | MLP, |
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| 32 | MLP, |
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| 33 | MLP, |
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| 34 | MLP, |
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| 35 | MLP, |
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| 36 | MLP, |
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| 37 | }, |
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| 38 | /* QUT */ { |
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| 39 | M34, |
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| 40 | MLP, |
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| 41 | MLP, |
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| 42 | MLP, |
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| 43 | MLP, |
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| 44 | QUT, |
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| 45 | QUT, |
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| 46 | }, |
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| 47 | /* EUL */ { |
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| 48 | M34, |
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| 49 | MLP, |
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| 50 | MLP, |
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| 51 | MLP, |
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| 52 | MLP, |
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| 53 | EUL, |
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| 54 | EUL, |
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| 55 | }, |
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| 56 | /* LUP */ { |
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| 57 | M34, |
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| 58 | MLP, |
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| 59 | MLP, |
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| 60 | MLP, |
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| 61 | MLP, |
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| 62 | LUP, |
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| 63 | LUP, |
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| 64 | }, |
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| 65 | /* TRA */ { |
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| 66 | M34, |
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| 67 | MLP, |
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| 68 | QUT, |
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| 69 | EUL, |
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| 70 | LUP, |
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| 71 | TRA, |
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| 72 | TRA, |
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| 73 | }, |
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| 74 | /* IDT */ { |
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| 75 | M34, |
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| 76 | MLP, |
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| 77 | QUT, |
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| 78 | EUL, |
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| 79 | LUP, |
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| 80 | TRA, |
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| 81 | IDT, |
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| 82 | }, |
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| 83 | }; |
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| 84 | |||
| 85 | // IDA: void __cdecl BrTransformToMatrix34(br_matrix34 *mat, br_transform *xform) |
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| 86 | void BrTransformToMatrix34(br_matrix34* mat, br_transform* xform) { |
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| 87 | LOG_TRACE("(%p, %p)", mat, xform); |
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| 88 | |||
| 89 | switch (xform->type) { |
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| 90 | case BR_TRANSFORM_MATRIX34: |
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| 91 | case BR_TRANSFORM_MATRIX34_LP: |
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| 92 | *mat = xform->t.mat; |
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| 93 | break; |
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| 94 | |||
| 95 | case BR_TRANSFORM_QUAT: |
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| 96 | |||
| 97 | BrQuatToMatrix34(mat, &xform->t.quat.q); |
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| 98 | |||
| 99 | mat->m[V_W][V_X] = xform->t.quat.t.v[V_X]; |
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| 100 | mat->m[V_W][V_Y] = xform->t.quat.t.v[V_Y]; |
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| 101 | mat->m[V_W][V_Z] = xform->t.quat.t.v[V_Z]; |
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| 102 | break; |
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| 103 | |||
| 104 | case BR_TRANSFORM_EULER: |
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| 105 | |||
| 106 | BrEulerToMatrix34(mat, &xform->t.euler.e); |
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| 107 | |||
| 108 | mat->m[V_W][V_X] = xform->t.euler.t.v[V_X]; |
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| 109 | mat->m[V_W][V_Y] = xform->t.euler.t.v[V_Y]; |
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| 110 | mat->m[V_W][V_Z] = xform->t.euler.t.v[V_Z]; |
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| 111 | |||
| 112 | break; |
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| 113 | |||
| 114 | case BR_TRANSFORM_TRANSLATION: |
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| 115 | BrMatrix34Translate(mat, |
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| 116 | xform->t.look_up.t.v[V_X], |
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| 117 | xform->t.look_up.t.v[V_Y], |
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| 118 | xform->t.look_up.t.v[V_Z]); |
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| 119 | |||
| 120 | break; |
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| 121 | |||
| 122 | case BR_TRANSFORM_LOOK_UP: { |
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| 123 | /* |
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| 124 | * 1) Normalise Lookat vector to get Z component of matrix |
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| 125 | * 2) Cross with up vector and normalise to get X component |
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| 126 | * 3) Cross X & Z to get Y |
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| 127 | */ |
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| 128 | br_vector3 vx, vy, vz; |
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| 129 | |||
| 130 | BrVector3Normalise(&vz, &xform->t.look_up.look); |
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| 131 | BrVector3Negate(&vz, &vz); |
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| 132 | BrVector3Cross(&vx, &xform->t.look_up.up, &vz); |
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| 133 | BrVector3Normalise(&vx, &vx); |
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| 134 | BrVector3Cross(&vy, &vz, &vx); |
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| 135 | |||
| 136 | mat->m[V_X][V_X] = vx.v[V_X]; |
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| 137 | mat->m[V_X][V_Y] = vx.v[V_Y]; |
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| 138 | mat->m[V_X][V_Z] = vx.v[V_Z]; |
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| 139 | mat->m[V_Y][V_X] = vy.v[V_X]; |
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| 140 | mat->m[V_Y][V_Y] = vy.v[V_Y]; |
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| 141 | mat->m[V_Y][V_Z] = vy.v[V_Z]; |
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| 142 | mat->m[V_Z][V_X] = vz.v[V_X]; |
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| 143 | mat->m[V_Z][V_Y] = vz.v[V_Y]; |
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| 144 | mat->m[V_Z][V_Z] = vz.v[V_Z]; |
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| 145 | |||
| 146 | mat->m[V_W][V_X] = xform->t.look_up.t.v[V_X]; |
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| 147 | mat->m[V_W][V_Y] = xform->t.look_up.t.v[V_Y]; |
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| 148 | mat->m[V_W][V_Z] = xform->t.look_up.t.v[V_Z]; |
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| 149 | } break; |
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| 150 | |||
| 151 | case BR_TRANSFORM_IDENTITY: |
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| 152 | BrMatrix34Identity(mat); |
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| 153 | break; |
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| 154 | } |
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| 155 | } |
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| 156 | |||
| 157 | // IDA: void __cdecl BrMatrix34PreTransform(br_matrix34 *mat, br_transform *xform) |
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| 158 | void BrMatrix34PreTransform(br_matrix34* mat, br_transform* xform) { |
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| 159 | br_matrix34 tmp; |
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| 160 | LOG_TRACE("(%p, %p)", mat, xform); |
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| 161 | |||
| 162 | if (xform->type == BR_TRANSFORM_IDENTITY) { |
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| 163 | return; |
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| 164 | } |
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| 165 | |||
| 166 | BrTransformToMatrix34(&tmp, xform); |
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| 167 | BrMatrix34Pre(mat, &tmp); |
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| 168 | } |
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| 169 | |||
| 170 | // IDA: void __cdecl BrMatrix34PostTransform(br_matrix34 *mat, br_transform *xform) |
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| 171 | void BrMatrix34PostTransform(br_matrix34* mat, br_transform* xform) { |
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| 172 | br_matrix34 tmp; |
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| 173 | LOG_TRACE("(%p, %p)", mat, xform); |
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| 174 | |||
| 175 | if (xform->type == BR_TRANSFORM_IDENTITY) { |
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| 176 | return; |
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| 177 | } |
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| 178 | |||
| 179 | BrTransformToMatrix34(&tmp, xform); |
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| 180 | BrMatrix34Post(mat, &tmp); |
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| 181 | } |
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| 182 | |||
| 183 | // IDA: void __cdecl BrMatrix4PreTransform(br_matrix4 *mat, br_transform *xform) |
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| 184 | void BrMatrix4PreTransform(br_matrix4* mat, br_transform* xform) { |
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| 185 | //br_matrix34 tmp; // Pierre-Marie Baty -- unused variable |
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| 186 | LOG_TRACE("(%p, %p)", mat, xform); |
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| 187 | NOT_IMPLEMENTED(); |
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| 188 | } |
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| 189 | |||
| 190 | // IDA: void __cdecl BrMatrix34ToTransform(br_transform *xform, br_matrix34 *mat) |
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| 191 | void BrMatrix34ToTransform(br_transform* xform, br_matrix34* mat) { |
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| 192 | LOG_TRACE("(%p, %p)", xform, mat); |
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| 193 | |||
| 194 | switch (xform->type) { |
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| 195 | case BR_TRANSFORM_MATRIX34: |
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| 196 | memcpy(&xform->t.mat, mat, sizeof(br_matrix34)); |
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| 197 | break; |
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| 198 | case BR_TRANSFORM_MATRIX34_LP: |
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| 199 | memcpy(&xform->t.mat, mat, sizeof(br_matrix34)); |
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| 200 | BrMatrix34LPNormalise(&xform->t.mat, &xform->t.mat); |
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| 201 | break; |
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| 202 | case BR_TRANSFORM_QUAT: |
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| 203 | BrMatrix34ToQuat(&xform->t.quat.q, mat); |
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| 204 | BrVector3Copy(&xform->t.quat.t, (br_vector3*)mat->m[3]); |
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| 205 | break; |
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| 206 | case BR_TRANSFORM_EULER: |
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| 207 | BrMatrix34ToEuler(&xform->t.euler.e, mat); |
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| 208 | BrVector3Copy(&xform->t.quat.t, (br_vector3*)mat->m[3]); |
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| 209 | break; |
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| 210 | case BR_TRANSFORM_LOOK_UP: |
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| 211 | NOT_IMPLEMENTED(); |
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| 212 | break; |
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| 213 | case BR_TRANSFORM_TRANSLATION: |
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| 214 | BrVector3Copy(&xform->t.quat.t, (br_vector3*)mat->m[3]); |
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| 215 | break; |
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| 216 | default: |
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| 217 | TELL_ME_IF_WE_PASS_THIS_WAY(); |
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| 218 | } |
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| 219 | } |
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| 220 | |||
| 221 | // IDA: void __cdecl BrTransformToTransform(br_transform *dest, br_transform *src) |
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| 222 | void BrTransformToTransform(br_transform* dest, br_transform* src) { |
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| 223 | br_matrix34 temp; |
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| 224 | LOG_TRACE("(%p, %p)", dest, src); |
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| 225 | |||
| 226 | if (src->type == dest->type) { |
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| 227 | memcpy(dest, src, sizeof(br_transform)); |
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| 228 | return; |
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| 229 | } |
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| 230 | switch (dest->type) { |
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| 231 | case BR_TRANSFORM_MATRIX34: |
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| 232 | BrTransformToMatrix34(&dest->t.mat, src); |
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| 233 | break; |
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| 234 | case BR_TRANSFORM_MATRIX34_LP: |
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| 235 | BrTransformToMatrix34(&dest->t.mat, src); |
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| 236 | BrMatrix34LPNormalise(&dest->t.mat, &dest->t.mat); |
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| 237 | break; |
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| 238 | default: |
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| 239 | BrTransformToMatrix34(&temp, src); |
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| 240 | BrMatrix34ToTransform(dest, &temp); |
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| 241 | } |
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| 242 | } |