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https://github.com/encounter/mkdd.git
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SwareJonge
281 lines
8.2 KiB
C++
281 lines
8.2 KiB
C++
#ifndef JGEOMETRY_MATRIX_H
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#define JGEOMETRY_MATRIX_H
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#include <JSystem/JGeometry/Vec.h>
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#include <JSystem/JGeometry/Quat.h>
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#include "types.h"
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namespace JGeometry {
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template <typename T>
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struct SMatrix34C
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{
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public:
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SMatrix34C() {}
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void set(const SMatrix34C<T> &rSrc);
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void set(T rxx, T ryx, T rzx, T tx, T rxy, T ryy, T rzy, T ty, T rxz, T ryz, T rzz, T tz);
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void scale(T);
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inline void set(const Mtx pSrc)
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{
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JMath::gekko_ps_copy12(this, pSrc);
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}
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// I guess these could be removed
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/*inline void setInline(const SMatrix34C<T> &rSrc)
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{
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register const SMatrix34C<T> *pSrc = &rSrc;
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register SMatrix34C<T> *pDest = this;
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register f32 rzztz;
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register f32 rxzyz;
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register f32 rzyty;
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register f32 rxyyy;
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register f32 rzxtx;
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register f32 rxxyx;
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__asm {
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// clang-format off
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psq_l rxxyx, 0(pSrc), 0, 0
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psq_l rzxtx, 8(pSrc), 0, 0
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psq_l rxyyy, 0x10(pSrc), 0, 0
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psq_l rzyty, 0x18(pSrc), 0, 0
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psq_l rxzyz, 0x20(pSrc), 0, 0
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psq_l rzztz, 0x28(pSrc), 0, 0
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psq_st rxxyx, 0(pDest), 0, 0
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psq_st rzxtx, 8(pDest), 0, 0
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psq_st rxyyy, 0x10(pDest), 0, 0
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psq_st rzyty, 0x18(pDest), 0, 0
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psq_st rxzyz, 0x20(pDest), 0, 0
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psq_st rzztz, 0x28(pDest), 0, 0
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// clang-format on
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}
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;
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}
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inline void setInline(const MtxPtr rSrc)
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{
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register const MtxPtr pSrc = rSrc;
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register SMatrix34C<T> *pDest = this;
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register f32 rzztz;
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register f32 rxzyz;
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register f32 rzyty;
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register f32 rxyyy;
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register f32 rzxtx;
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register f32 rxxyx;
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__asm {
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// clang-format off
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psq_l rxxyx, 0(pSrc), 0, 0
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psq_l rzxtx, 8(pSrc), 0, 0
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psq_l rxyyy, 0x10(pSrc), 0, 0
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psq_l rzyty, 0x18(pSrc), 0, 0
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psq_l rxzyz, 0x20(pSrc), 0, 0
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psq_l rzztz, 0x28(pSrc), 0, 0
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psq_st rxxyx, 0(pDest), 0, 0
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psq_st rzxtx, 8(pDest), 0, 0
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psq_st rxyyy, 0x10(pDest), 0, 0
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psq_st rzyty, 0x18(pDest), 0, 0
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psq_st rxzyz, 0x20(pDest), 0, 0
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psq_st rzztz, 0x28(pDest), 0, 0
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// clang-format on
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}
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;
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}
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inline void setInline_2(MtxPtr rSrc)
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{
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register MtxPtr pSrc = rSrc;
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register SMatrix34C<T> *pDest = this;
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register f32 rzztz;
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register f32 rxzyz;
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register f32 rzyty;
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register f32 rxyyy;
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register f32 rzxtx;
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register f32 rxxyx;
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__asm {
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// clang-format off
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psq_l rxxyx, 0(pSrc), 0, 0
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psq_l rzxtx, 8(pSrc), 0, 0
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psq_l rxyyy, 0x10(pSrc), 0, 0
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psq_st rxxyx, 0(pDest), 0, 0
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psq_l rzyty, 0x18(pSrc), 0, 0
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psq_st rzxtx, 8(pDest), 0, 0
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psq_l rxzyz, 0x20(pSrc), 0, 0
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psq_st rxyyy, 0x10(pDest), 0, 0
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psq_l rzztz, 0x28(pSrc), 0, 0
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psq_st rzyty, 0x18(pDest), 0, 0
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psq_st rxzyz, 0x20(pDest), 0, 0
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psq_st rzztz, 0x28(pDest), 0, 0
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// clang-format on
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}
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;
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}*/
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T &ref(u32 i, u32 j) { return mMtx[i][j]; }
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inline Mtx *toMtx()
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{
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return (Mtx *)mMtx;
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}
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inline const Mtx *toCMtx() const
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{
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return (const Mtx *)mMtx;
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}
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operator MtxPtr() const { return (MtxPtr)mMtx; }
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T mMtx[3][4];
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};
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typedef SMatrix34C<f32> TSMtxf;
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template <typename T>
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struct TMatrix34 : public T
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{
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public:
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void identity() // TODO: OK?
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{
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const T zero = (T)0;
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ref(2, 3) = zero;
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ref(1, 3) = zero;
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ref(0, 3) = zero;
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ref(1, 2) = zero;
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ref(0, 2) = zero;
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ref(2, 1) = zero;
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ref(0, 1) = zero;
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ref(2, 0) = zero;
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ref(1, 0) = zero;
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const T one = TUtil<T>::one();
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ref(2, 2) = one;
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ref(1, 1) = one;
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ref(0, 0) = one;
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}
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void concat(const T &rSrcA, const T &rSrcB);
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void concat(const T &rSrc);
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void invert(const TMatrix34<T> &rDest);
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void mult(const TVec3f &rSrc, TVec3f &rDest) const;
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void multTranspose(const TVec3f &a1, const TVec3f &a2) const;
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};
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template <class T>
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struct TRotation3 : public T
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{
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public:
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TRotation3() {}
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void identity33();
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void getXDir(TVec3f &rDest) const
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{
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rDest.set<f32>(mMtx[0][0], mMtx[1][0], mMtx[2][0]);
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};
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void getYDir(TVec3f &rDest) const
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{
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rDest.set<f32>(mMtx[0][1], mMtx[1][1], mMtx[2][1]);
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};
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void getZDir(TVec3f &rDest) const
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{
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rDest.set<f32>(mMtx[0][2], mMtx[1][2], mMtx[2][2]);
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};
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void getXYZDir(TVec3f &rDestX, TVec3f &rDestY, TVec3f &rDestZ) const;
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void setXDir(const TVec3f &rSrc);
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void setXDir(f32 x, f32 y, f32 z);
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void setYDir(const TVec3f &rSrc);
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void setYDir(f32 x, f32 y, f32 z);
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void setZDir(const TVec3f &rSrc);
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void setZDir(f32 x, f32 y, f32 z);
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void setXYZDir(const TVec3f &rSrcX, const TVec3f &rSrcY, const TVec3f &rSrcZ)
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{
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ref(0, 0) = rSrcX.x;
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ref(1, 0) = rSrcX.y;
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ref(2, 0) = rSrcX.z;
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ref(0, 1) = rSrcY.x;
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ref(1, 1) = rSrcY.y;
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ref(2, 1) = rSrcY.z;
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ref(0, 2) = rSrcZ.x;
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ref(1, 2) = rSrcZ.y;
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ref(2, 2) = rSrcZ.z;
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}
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void getEuler(TVec3f &rDest) const;
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void getEulerXYZ(TVec3f &rDest) const;
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void setEulerY(f32 val);
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void setEulerZ(f32 val);
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void getQuat(TQuat4f &rDest) const;
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void setQuat(const TQuat4f &rSrc);
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void getScale(TVec3f &rDest) const;
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void setScale(const TVec3f &rSrc);
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void setRotate(const TVec3f &, const TVec3f &);
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void setRotate(const TVec3f &, f32);
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void mult33(TVec3f &) const;
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void mult33(const TVec3f &, TVec3f &) const;
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inline void getXDirInline(TVec3f &rDest) const
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{
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f32 z = mMtx[2][0];
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f32 y = mMtx[1][0];
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f32 x = mMtx[0][0];
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rDest.set(x, y, z);
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}
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#ifdef NON_MATCHING
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inline void mult33Inline(const TVec3f &rSrc, TVec3f &rDest) const
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{
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rDest.set<f32>(
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rSrc.z * mMtx[0][2] + (rSrc.y * mMtx[0][0] + (rSrc.x * mMtx[0][1])),
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rSrc.z * mMtx[1][2] + (rSrc.y * mMtx[1][0] + (rSrc.x * mMtx[1][1])),
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rSrc.z * mMtx[2][2] + (rSrc.y * mMtx[2][0] + (rSrc.x * mMtx[2][1])));
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}
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#endif
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};
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template <class T>
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struct TPosition3 : public TRotation3<T>
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{
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public:
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TPosition3() {}
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void getTrans(TVec3f &rDest) const;
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void setTrans(const TVec3f &rSrc);
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void setTrans(f32 x, f32 y, f32 z);
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void zeroTrans()
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{
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ref(0, 3) = 0.0f;
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ref(1, 3) = 0.0f;
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ref(2, 3) = 0.0f;
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}
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void makeRotate(const TVec3f &, f32);
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void makeQuat(const TQuat4f &rSrc);
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void setPositionFromLookAt(const TPosition3<T> &rLookAt);
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void setQT(const TQuat4f &rSrcQuat, const TVec3f &rSrcTrans);
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inline void getTransInline(TVec3f &rDest) const
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{
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f32 z = mMtx[2][3];
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f32 y = mMtx[1][3];
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f32 x = mMtx[0][3];
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rDest.set(x, y, z);
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}
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};
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typedef TMatrix34<TSMtxf> TMtx34f;
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typedef TRotation3<TMtx34f> TRot3f;
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typedef TPosition3<TMtx34f> TPos3f;
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}
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#endif
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