diff --git a/etk/math/Matrix4.cpp b/etk/math/Matrix4.cpp index e9519c7..11428c2 100644 --- a/etk/math/Matrix4.cpp +++ b/etk/math/Matrix4.cpp @@ -184,86 +184,76 @@ void etk::Matrix4::scale(float _sx, float _sy, float _sz) { m_mat[8] *= _sx; m_mat[9] *= _sy; m_mat[10] *= _sz; } -void etk::Matrix4::rotate(const vec3& vect, float angleRad) -{ - etk::Matrix4 tmpMat = etk::matRotate(vect, angleRad); +void etk::Matrix4::rotate(const vec3& _vect, float _angleRad) { + etk::Matrix4 tmpMat = etk::matRotate(_vect, _angleRad); *this *= tmpMat; } -void etk::Matrix4::translate(const vec3& vect) -{ - etk::Matrix4 tmpMat = etk::matTranslate(vect); +void etk::Matrix4::translate(const vec3& _vect) { + etk::Matrix4 tmpMat = etk::matTranslate(_vect); *this *= tmpMat; } -etk::Matrix4 etk::matFrustum(float xmin, float xmax, float ymin, float ymax, float zNear, float zFar) -{ +etk::Matrix4 etk::matFrustum(float _xmin, float _xmax, float _ymin, float _ymax, float _zNear, float _zFar) { etk::Matrix4 tmp; for(int32_t iii=0; iii<4*4 ; iii++) { tmp.m_mat[iii] = 0; } - // 0 1 2 3 // 4 5 6 7 // 8 9 10 11 // 12 13 14 15 - - tmp.m_mat[0] = (2.0 * zNear) / (xmax - xmin); - tmp.m_mat[5] = (2.0 * zNear) / (ymax - ymin); - tmp.m_mat[10] = -(zFar + zNear) / (zFar - zNear); - tmp.m_mat[2] = (xmax + xmin) / (xmax - xmin); - tmp.m_mat[6] = (ymax + ymin) / (ymax - ymin); + tmp.m_mat[0] = (2.0 * _zNear) / (_xmax - _xmin); + tmp.m_mat[5] = (2.0 * _zNear) / (_ymax - _ymin); + tmp.m_mat[10] = -(_zFar + _zNear) / (_zFar - _zNear); + tmp.m_mat[2] = (_xmax + _xmin) / (_xmax - _xmin); + tmp.m_mat[6] = (_ymax + _ymin) / (_ymax - _ymin); tmp.m_mat[14] = -1.0; - tmp.m_mat[11] = -(2.0 * zFar * zNear) / (zFar - zNear); - + tmp.m_mat[11] = -(2.0 * _zFar * _zNear) / (_zFar - _zNear); return tmp; } -etk::Matrix4 etk::matPerspective(float fovx, float aspect, float zNear, float zFar) -{ +etk::Matrix4 etk::matPerspective(float _fovx, float _aspect, float _zNear, float _zFar) { //TK_DEBUG("drax perspective: fovx=" << fovx << "->" << aspect << " " << zNear << "->" << zFar); - float xmax = zNear * tanf(fovx/2.0); + float xmax = _zNear * tanf(_fovx/2.0); float xmin = -xmax; - float ymin = xmin / aspect; - float ymax = xmax / aspect; + float ymin = xmin / _aspect; + float ymax = xmax / _aspect; //TK_DEBUG("drax perspective: " << xmin << "->" << xmax << " & " << ymin << "->" << ymax << " " << zNear << "->" << zFar); - return etk::matFrustum(xmin, xmax, ymin, ymax, zNear, zFar); + return etk::matFrustum(xmin, xmax, ymin, ymax, _zNear, _zFar); } -etk::Matrix4 etk::matOrtho(float left, float right, float bottom, float top, float nearVal, float farVal) -{ +etk::Matrix4 etk::matOrtho(float _left, float _right, float _bottom, float _top, float _nearVal, float _farVal) { etk::Matrix4 tmp; for(int32_t iii=0; iii<4*4 ; iii++) { tmp.m_mat[iii] = 0; } - tmp.m_mat[0] = 2.0 / (right - left); - tmp.m_mat[5] = 2.0 / (top - bottom); - tmp.m_mat[10] = -2.0 / (farVal - nearVal); - tmp.m_mat[3] = -1*(right + left) / (right - left); - tmp.m_mat[7] = -1*(top + bottom) / (top - bottom); - tmp.m_mat[11] = -1*(farVal + nearVal) / (farVal - nearVal); + tmp.m_mat[0] = 2.0 / (_right - _left); + tmp.m_mat[5] = 2.0 / (_top - _bottom); + tmp.m_mat[10] = -2.0 / (_farVal - _nearVal); + tmp.m_mat[3] = -1*(_right + _left) / (_right - _left); + tmp.m_mat[7] = -1*(_top + _bottom) / (_top - _bottom); + tmp.m_mat[11] = -1*(_farVal + _nearVal) / (_farVal - _nearVal); tmp.m_mat[15] = 1; return tmp; } -etk::Matrix4 etk::matTranslate(vec3 vect) -{ +etk::Matrix4 etk::matTranslate(vec3 _vect) { etk::Matrix4 tmp; // set translation : - tmp.m_mat[3] = vect.x(); - tmp.m_mat[7] = vect.y(); - tmp.m_mat[11] = vect.z(); + tmp.m_mat[3] = _vect.x(); + tmp.m_mat[7] = _vect.y(); + tmp.m_mat[11] = _vect.z(); //TK_INFO("Translate :"); //etk::matrix::Display(tmp); return tmp; } -etk::Matrix4 etk::matScale(vec3 vect) -{ +etk::Matrix4 etk::matScale(vec3 _vect) { etk::Matrix4 tmp; - tmp.scale(vect); + tmp.scale(_vect); /* // set scale : tmp.m_mat[0] = vect.x; @@ -275,36 +265,33 @@ etk::Matrix4 etk::matScale(vec3 vect) return tmp; } -etk::Matrix4 etk::matRotate(vec3 vect, float angleRad) -{ +etk::Matrix4 etk::matRotate(vec3 _vect, float _angleRad) { etk::Matrix4 tmp; - float cosVal = cos(angleRad); - float sinVal = sin(angleRad); + float cosVal = cos(_angleRad); + float sinVal = sin(_angleRad); float invVal = 1.0-cosVal; // set rotation : - tmp.m_mat[0] = vect.x() * vect.x() * invVal + 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[0] = _vect.x() * _vect.x() * invVal + 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[4] = vect.y() * vect.x() * invVal + vect.z() * sinVal; - tmp.m_mat[5] = vect.y() * vect.y() * invVal + cosVal; - tmp.m_mat[6] = vect.y() * vect.z() * invVal - vect.x() * sinVal; + tmp.m_mat[4] = _vect.y() * _vect.x() * invVal + _vect.z() * sinVal; + tmp.m_mat[5] = _vect.y() * _vect.y() * invVal + cosVal; + tmp.m_mat[6] = _vect.y() * _vect.z() * invVal - _vect.x() * sinVal; - tmp.m_mat[8] = vect.z() * vect.x() * invVal - vect.y() * sinVal; - tmp.m_mat[9] = vect.z() * vect.y() * invVal + vect.x() * sinVal; - tmp.m_mat[10] = vect.z() * vect.z() * invVal + cosVal; + tmp.m_mat[8] = _vect.z() * _vect.x() * invVal - _vect.y() * sinVal; + tmp.m_mat[9] = _vect.z() * _vect.y() * invVal + _vect.x() * sinVal; + tmp.m_mat[10] = _vect.z() * _vect.z() * invVal + cosVal; return tmp; } -etk::Matrix4 etk::matRotate2(vec3 vect) -{ - return matLookAt(vect, vec3(0,0,0), vec3(0,1,0)); +etk::Matrix4 etk::matRotate2(vec3 _vect) { + return matLookAt(_vect, vec3(0,0,0), vec3(0,1,0)); } etk::Matrix4 etk::matLookAt(const vec3& _eye, const vec3& _target, - const vec3& _up) -{ + const vec3& _up) { etk::Matrix4 tmp; vec3 forward = _eye; @@ -338,20 +325,18 @@ etk::Matrix4 etk::matLookAt(const vec3& _eye, } -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)] - + m_mat[((row+1)&3)*4 + ((col+2)&3)] * m_mat[((row+2)&3)*4 + ((col+3)&3)] * m_mat[((row+3)&3)*4 + ((col+1)&3)] - + m_mat[((row+1)&3)*4 + ((col+3)&3)] * m_mat[((row+2)&3)*4 + ((col+1)&3)] * m_mat[((row+3)&3)*4 + ((col+2)&3)] ) - - ( m_mat[((row+3)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+1)&3)*4 + ((col+3)&3)] - + m_mat[((row+3)&3)*4 + ((col+2)&3)] * m_mat[((row+2)&3)*4 + ((col+3)&3)] * m_mat[((row+1)&3)*4 + ((col+1)&3)] - + m_mat[((row+3)&3)*4 + ((col+3)&3)] * m_mat[((row+2)&3)*4 + ((col+1)&3)] * m_mat[((row+1)&3)*4 + ((col+2)&3)] ) - ) * ((row + col) & 1 ? -1.0f : +1.0f); +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)] + + m_mat[((_row+1)&3)*4 + ((_col+2)&3)] * m_mat[((_row+2)&3)*4 + ((_col+3)&3)] * m_mat[((_row+3)&3)*4 + ((_col+1)&3)] + + m_mat[((_row+1)&3)*4 + ((_col+3)&3)] * m_mat[((_row+2)&3)*4 + ((_col+1)&3)] * m_mat[((_row+3)&3)*4 + ((_col+2)&3)] ) + - ( m_mat[((_row+3)&3)*4 + ((_col+1)&3)] * m_mat[((_row+2)&3)*4 + ((_col+2)&3)] * m_mat[((_row+1)&3)*4 + ((_col+3)&3)] + + m_mat[((_row+3)&3)*4 + ((_col+2)&3)] * m_mat[((_row+2)&3)*4 + ((_col+3)&3)] * m_mat[((_row+1)&3)*4 + ((_col+1)&3)] + + m_mat[((_row+3)&3)*4 + ((_col+3)&3)] * m_mat[((_row+2)&3)*4 + ((_col+1)&3)] * m_mat[((_row+1)&3)*4 + ((_col+2)&3)] ) + ) * ((_row + _col) & 1 ? -1.0f : +1.0f); } -float etk::Matrix4::determinant() const -{ +float etk::Matrix4::determinant() const { return m_mat[0] * coFactor(0, 0) + m_mat[1] * coFactor(0, 1) + m_mat[2] * coFactor(0, 2) + @@ -359,8 +344,7 @@ float etk::Matrix4::determinant() const } -etk::Matrix4 etk::Matrix4::invert() -{ +etk::Matrix4 etk::Matrix4::invert() { float det = determinant(); if(fabsf(det) < (1.0e-7f)) { // The matrix is not invertible! Singular case! diff --git a/etk/math/Vector3D.hpp b/etk/math/Vector3D.hpp index b96c698..c232361 100644 --- a/etk/math/Vector3D.hpp +++ b/etk/math/Vector3D.hpp @@ -563,6 +563,27 @@ inline vec3 vec3ClipInt32(const vec3& _val) { inline vec3 vec3ClipInt64(const vec3& _val) { return vec3(int64_t(_val.x()), int64_t(_val.y()), int64_t(_val.z())); } +#ifdef ETK_BUILD_LINEARMATH +namespace etk { + inline btVector3 min(const btVector3& _val1, const btVector3& _val2) { + return btVector3(std::min(_val1.x(), _val2.x()), std::min(_val1.y(), _val2.y()), std::min(_val1.z(), _val2.z())); + } + inline btVector3 max(const btVector3& _val1, const btVector3& _val2) { + return btVector3(std::max(_val1.x(), _val2.x()), std::max(_val1.y(), _val2.y()), std::max(_val1.z(), _val2.z())); + } +} +#endif +namespace etk { + template + inline etk::Vector3D min(const etk::Vector3D& _val1, const etk::Vector3D& _val2) { + return etk::Vector3D(std::min(_val1.x(), _val2.x()), std::min(_val1.y(), _val2.y()), std::min(_val1.z(), _val2.z())); + } + template + inline etk::Vector3D max(const etk::Vector3D& _val1, const etk::Vector3D& _val2) { + return etk::Vector3D(std::max(_val1.x(), _val2.x()), std::max(_val1.y(), _val2.y()), std::max(_val1.z(), _val2.z())); + } +} + namespace etk { //! @not_in_doc