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[DEBUG] corection of the roation matrix

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This commit is contained in:
Edouard DUPIN 2012-12-17 21:07:21 +01:00
parent e6af555b15
commit 0b2050cf68
2 changed files with 27 additions and 6 deletions
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22
etk/math/Matrix4.cpp
View File

@ -11,6 +11,22 @@
#include <etk/DebugInternal.h> #include <etk/DebugInternal.h>
#include <math.h> #include <math.h>
void etk::Matrix4::Rotate(etk::Vector3D<float>& vect, float angleRad)
{
etk::Matrix4 tmpMat = etk::matRotate(vect, angleRad);
*this *= tmpMat;
}
void etk::Matrix4::Translate(etk::Vector3D<float>& vect)
{
etk::Matrix4 tmpMat = etk::matScale(vect);
*this *= tmpMat;
}
etk::Matrix4 etk::matPerspective(float left, float right, float bottom, float top, float nearVal, float farVal) etk::Matrix4 etk::matPerspective(float left, float right, float bottom, float top, float nearVal, float farVal)
{ {
etk::Matrix4 tmp; etk::Matrix4 tmp;
@ -44,10 +60,13 @@ etk::Matrix4 etk::matTranslate(etk::Vector3D<float> vect)
etk::Matrix4 etk::matScale(etk::Vector3D<float> vect) etk::Matrix4 etk::matScale(etk::Vector3D<float> vect)
{ {
etk::Matrix4 tmp; etk::Matrix4 tmp;
tmp.Scale(vect);
/*
// set scale : // set scale :
tmp.m_mat[0] = vect.x; tmp.m_mat[0] = vect.x;
tmp.m_mat[5] = vect.y; tmp.m_mat[5] = vect.y;
tmp.m_mat[10] = vect.z; tmp.m_mat[10] = vect.z;
*/
//TK_INFO("Scale :"); //TK_INFO("Scale :");
//etk::matrix::Display(tmp); //etk::matrix::Display(tmp);
return tmp; return tmp;
@ -61,7 +80,7 @@ etk::Matrix4 etk::matRotate(etk::Vector3D<float> vect, float angleRad)
float invVal = 1.0-cosVal; float invVal = 1.0-cosVal;
// set rotation : // set rotation :
tmp.m_mat[0] = vect.x * vect.x * invVal + cosVal; tmp.m_mat[0] = vect.x * vect.x * invVal + cosVal;
tmp.m_mat[1] = vect.x * vect.y * invVal - vect.z * cosVal; tmp.m_mat[1] = vect.x * vect.y * invVal - vect.z * sinVal;
tmp.m_mat[2] = vect.x * vect.z * invVal + vect.y * sinVal; tmp.m_mat[2] = vect.x * vect.z * invVal + vect.y * sinVal;
tmp.m_mat[4] = vect.y * vect.x * invVal + vect.z * sinVal; tmp.m_mat[4] = vect.y * vect.x * invVal + vect.z * sinVal;
@ -75,7 +94,6 @@ etk::Matrix4 etk::matRotate(etk::Vector3D<float> vect, float angleRad)
} }
float etk::Matrix4::CoFactor(int32_t row, int32_t col) const float etk::Matrix4::CoFactor(int32_t row, int32_t col) const
{ {
return ( ( m_mat[((row+1)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+3)&3)*4 + ((col+3)&3)] return ( ( m_mat[((row+1)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+3)&3)*4 + ((col+3)&3)]

11
etk/math/Matrix4.h
View File

@ -259,15 +259,18 @@ namespace etk
m_mat[4] = -Sin; m_mat[4] = -Sin;
m_mat[1] = Sin; m_mat[1] = Sin;
} }
#endif
/** /**
* @brief Makes a rotation matrix about an arbitrary axis. * @brief Makes a rotation matrix about an arbitrary axis.
* @param[in] vect vector to apply the angle. * @param[in] vect vector to apply the angle.
* @param[in] angleRad angle to apply. * @param[in] angleRad angle to apply.
*/ */
void Rotate(etk::Vector3D<float> vect, float angleRad=0.0); void Rotate(etk::Vector3D<float>& vect, float angleRad=0.0);
#endif /**
* @brief Makes a translation of the matrix
* @param[in] vect Translation to apply.
*/
void Translate(etk::Vector3D<float>& vect);
/** /**
* @brief Computes a cofactor. Used for matrix inversion. * @brief Computes a cofactor. Used for matrix inversion.
* @param[in] row Id of raw. * @param[in] row Id of raw.