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matrix refactor

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This commit is contained in:
h4570
2020-12-23 22:10:12 +01:00
parent e0ad58f72f
commit 4b2deb8b39
2 changed files with 318 additions and 223 deletions
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src/engine/include/models/math/matrix.hpp
+94 -34
View File
@@ -13,79 +13,139 @@
#include "vector3.hpp" #include "vector3.hpp"
#include "../screen_settings.hpp" #include "../screen_settings.hpp"
#include <string.h>
/** https://en.wikipedia.org/wiki/Matrix_(mathematics) */ /** 4x4 Matrix class. */
class Matrix class Matrix
{ {
public: public:
float data[16] __attribute__((aligned(64))); float data[16] __attribute__((aligned(64)));
Matrix(float m11, float m12, float m13, float m14, // ----
float m21, float m22, float m23, float m24, // Constructors/Destructors
float m31, float m32, float m33, float m34, // ----
float m41, float m42, float m43, float m44);
Matrix(const Matrix &v);
Matrix operator*(const Matrix &v);
void operator*=(const Matrix &v);
Matrix();
~Matrix();
void lookAt(Vector3 &t_up, Vector3 &t_position, Vector3 &t_target); /** Create empty matrix. */
Matrix();
/**
* Create identity/empty matrix.
* @param t_do_identity Identity matrix if true, random matrix values otherwise
*/
Matrix(const u8 &t_do_identity)
{
if (t_do_identity)
identity();
}
/** Init matrix with given values. */
Matrix(const float &m11, const float &m12, const float &m13, const float &m14,
const float &m21, const float &m22, const float &m23, const float &m24,
const float &m31, const float &m32, const float &m33, const float &m34,
const float &m41, const float &m42, const float &m43, const float &m44);
/** Init matrix with other matrix values. */
Matrix(const Matrix &v) { memcpy(data, v.data, 16 * sizeof(float)); }
// ----
// Operators
// ----
Matrix operator*(const Matrix &v)
{
Matrix result;
cross(result.data, this->data, v.data);
return result;
}
inline void operator*=(const Matrix &v) { cross(this->data, this->data, v.data); }
float &operator[](const u8 &t_index) { return data[t_index]; }
// ----
// Functions
// ----
/**
* 1 0 0 0
* 0 1 0 0
* 0 0 1 0
* 0 0 0 1
*/
void identity(); void identity();
/**
* 1 0 0 0
* 0 1 0 0
* 0 0 1 0
* 0 0 0 1
*/
inline void unit() { identity(); }; inline void unit() { identity(); };
// Translation /** Create translation matrix. */
void translate(const Vector3 &t_val);
inline void translation(const Vector3 &t_val) inline void translation(const Vector3 &t_val)
{ {
identity(); identity();
translate(t_val); translate(t_val);
} }
// Rotation /** Create X rotation matrix. */
void rotateX(const float &t_radians);
void rotateY(const float &t_radians);
void rotateZ(const float &t_radians);
inline void rotationX(const float &t_radians) inline void rotationX(const float &t_radians)
{ {
identity(); identity();
rotateX(t_radians); rotateX(t_radians);
} }
/** Create Y rotation matrix. */
inline void rotationY(const float &t_radians) inline void rotationY(const float &t_radians)
{ {
identity(); identity();
rotateY(t_radians); rotateY(t_radians);
} }
/** Create Z rotation matrix. */
inline void rotationZ(const float &t_radians) inline void rotationZ(const float &t_radians)
{ {
identity(); identity();
rotateZ(t_radians); rotateZ(t_radians);
} }
inline void rotate(const Vector3 &t_val) /** Create angle rotation matrix. */
{ void rotationByAngle(const float &t_angle, const Vector3 &t_axis);
rotateX(t_val.x);
rotateY(t_val.y);
rotateX(t_val.z);
}
inline void rotation(const Vector3 &t_val) /** Create scale matrix. */
{ void setScale(const Vector3 &t_val);
identity();
rotate(t_val);
}
// /**
* Create perspective projection matrix.
*
* Complies with OpenGL standard (gluPerspective).
* @see https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml
* @param screen Screen settings
*/
void setPerspective(const ScreenSettings &screen);
void setPerspective(ScreenSettings &screen); /**
* Create a view matrix that transforms coordinates in
* such a way that the user looks at a target vector
* direction from a position vector.
*
* Complies with OpenGL standard (glLookAt).
* @see https://learnopengl.com/Getting-started/Camera
*/
void lookAt(const Vector3 &t_position, const Vector3 &t_target);
/** Print matrix (printf). */
const void print() const; const void print() const;
private:
void rotateX(const float &t_radians);
void rotateY(const float &t_radians);
void rotateZ(const float &t_radians);
void translate(const Vector3 &t_val);
void cross(float res[16], const float a[16], const float b[16]);
void setCamera(const float t_pos[4], const float t_vz[4], const float t_vy[4]);
}; };
#endif #endif
src/engine/models/math/matrix.cpp
+224 -189
View File
@@ -17,11 +17,16 @@
// Constructors/Destructors // Constructors/Destructors
// ---- // ----
/** Create by specifying all points */ Matrix::Matrix()
Matrix::Matrix(float m11, float m12, float m13, float m14, {
float m21, float m22, float m23, float m24, for (u8 i = 0; i < 16; i++)
float m31, float m32, float m33, float m34, data[i] = 0.0F;
float m41, float m42, float m43, float m44) }
Matrix::Matrix(const float &m11, const float &m12, const float &m13, const float &m14,
const float &m21, const float &m22, const float &m23, const float &m24,
const float &m31, const float &m32, const float &m33, const float &m34,
const float &m41, const float &m42, const float &m43, const float &m44)
{ {
data[0] = m11; data[0] = m11;
data[1] = m12; data[1] = m12;
@@ -44,29 +49,13 @@ Matrix::Matrix(float m11, float m12, float m13, float m14,
data[15] = m44; data[15] = m44;
} }
/** Create with another matrix values */ // ----
Matrix::Matrix(const Matrix &v) // Operators
{ // ----
data[0] = v.data[0];
data[1] = v.data[1];
data[2] = v.data[2];
data[3] = v.data[3];
data[4] = v.data[4]; // ----
data[5] = v.data[5]; // Functions
data[6] = v.data[6]; // ----
data[7] = v.data[7];
data[8] = v.data[8];
data[9] = v.data[9];
data[10] = v.data[10];
data[11] = v.data[11];
data[12] = v.data[12];
data[13] = v.data[13];
data[14] = v.data[14];
data[15] = v.data[15];
}
void Matrix::identity() void Matrix::identity()
{ {
@@ -84,13 +73,145 @@ void Matrix::identity()
: "r"(this->data)); : "r"(this->data));
} }
void Matrix::translate(const Vector3 &t_val) void Matrix::rotationByAngle(const float &t_angle, const Vector3 &t_axis)
{ {
this->data[12] += t_val.x; // 3,0 Vector3 localAxis = Vector3(t_axis);
this->data[13] += t_val.y; // 3,1 localAxis.normalize();
this->data[14] += t_val.z; // 3,2 float x = localAxis.x;
float y = localAxis.y;
float z = localAxis.z;
float c = Math::cos(t_angle);
float s = Math::sin(t_angle);
this->data[0] = x * x * (1 - c) + c;
this->data[1] = y * x * (1 - c) + z * s;
this->data[2] = x * z * (1 - c) - y * s;
this->data[3] = 0.0F;
this->data[4] = x * y * (1 - c) - z * s;
this->data[5] = y * y * (1 - c) + c;
this->data[6] = y * z * (1 - c) + x * s;
this->data[7] = 0.0F;
this->data[8] = x * z * (1 - c) + y * s;
this->data[9] = y * z * (1 - c) - x * s;
this->data[10] = z * z * (1 - c) + c;
this->data[11] = 0.0F;
this->data[12] = 0.0F;
this->data[13] = 0.0F;
this->data[14] = 0.0F;
this->data[15] = 1.0F;
} }
void Matrix::setScale(const Vector3 &t_val)
{
this->identity();
this->data[0] = t_val.x;
this->data[5] = t_val.y;
this->data[10] = t_val.z;
this->data[15] = 1.0F;
}
void Matrix::setPerspective(const ScreenSettings &t_screen)
{
float fovYdiv2 = Math::HALF_ANG2RAD * t_screen.fov;
float cotFOV = 1.0F / (Math::sin(fovYdiv2) / Math::cos(fovYdiv2));
float w = cotFOV * (t_screen.width / t_screen.projectionScale) / t_screen.aspectRatio;
float h = cotFOV * (t_screen.height / t_screen.projectionScale);
this->data[0] = w;
this->data[1] = 0.0F;
this->data[2] = 0.0F;
this->data[3] = 0.0F;
this->data[4] = 0.0F;
this->data[5] = -h;
this->data[6] = 0.0F;
this->data[7] = 0.0F;
this->data[8] = 0.0F;
this->data[9] = 0.0F;
this->data[10] =
(t_screen.farPlaneDist + t_screen.nearPlaneDist) /
(t_screen.farPlaneDist - t_screen.nearPlaneDist);
this->data[11] = -1.0F;
this->data[12] = 0.0F;
this->data[13] = 0.0F;
this->data[14] =
(2.0F * t_screen.farPlaneDist * t_screen.nearPlaneDist) /
(t_screen.farPlaneDist - t_screen.nearPlaneDist);
this->data[15] = 0.0F;
}
void Matrix::lookAt(const Vector3 &t_position, const Vector3 &t_target)
{
VECTOR up_vec, view_vec;
VECTOR eye = {t_position.x, t_position.y, t_position.z, 1.0F};
VECTOR obj = {t_target.x, t_target.y, t_target.z, 1.0F};
asm volatile(
"lqc2 vf4, 0x00(%2) # eye \n\t"
"lqc2 vf5, 0x00(%3) # obj \n\t"
"vsub.xyz vf7, vf4, vf5 # view_vec = vf7 \n\t"
"vmove.xyzw vf6, vf0 \n\t"
"vaddw.y vf6, vf0, vf0 # vf6 = { 0.0f, 1.0f, 0.0f, 1.0f } \n\t"
"vopmula.xyz ACC, vf6, vf7 \n\t"
"vopmsub.xyz vf9, vf7, vf6 # vec = vf9 \n\t"
"vopmula.xyz ACC, vf7, vf9 \n\t"
"vopmsub.xyz vf8, vf9, vf7 # up_vec = vf8 \n\t"
"sqc2 vf7, 0x00(%0) # view_vec \n\t"
"sqc2 vf6, 0x00(%1) # up_vec \n\t"
:
: "r"(view_vec), "r"(up_vec), "r"(eye), "r"(obj));
Matrix temp;
temp.setCamera(eye, view_vec, up_vec);
identity();
cross(this->data, this->data, temp.data);
// Vector3 camForward, camUp, camRight;
// Vector3 t_up = Vector3(0.0F, 1.0F, 0.0F);
// camForward = t_position - t_target;
// camForward.normalize();
// camRight = t_up * camForward;
// camRight.normalize();
// camUp = camForward * camRight;
// data[0] = camRight.x;
// data[4] = camRight.y;
// data[8] = camRight.z;
// data[12] = -camRight.innerProduct(t_position);
// data[1] = camUp.x;
// data[5] = camUp.y;
// data[9] = camUp.z;
// data[13] = -camUp.innerProduct(t_position);
// data[2] = camForward.x;
// data[6] = camForward.y;
// data[10] = camForward.z;
// data[14] = -camForward.innerProduct(t_position);
// data[3] = 0;
// data[7] = 0;
// data[11] = 0;
// data[15] = 1;
}
const void Matrix::print() const
{
printf("MATRIX(\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n)\n",
data[0], data[1], data[2], data[3],
data[4], data[5], data[6], data[7],
data[8], data[9], data[10], data[11],
data[12], data[13], data[14], data[15]);
}
// ----
// Private
// ----
void Matrix::rotateX(const float &t_radians) void Matrix::rotateX(const float &t_radians)
{ {
Matrix temp = Matrix(); Matrix temp = Matrix();
@@ -127,45 +248,80 @@ void Matrix::rotateZ(const float &t_radians)
this->data[5] = c; // 1,1 this->data[5] = c; // 1,1
} }
Matrix Matrix::operator*(const Matrix &t) void Matrix::translate(const Vector3 &t_val)
{ {
Matrix result; this->data[12] += t_val.x; // 3,0
asm volatile( this->data[13] += t_val.y; // 3,1
"lqc2 vf1, 0x00(%1) \n\t" this->data[14] += t_val.z; // 3,2
"lqc2 vf2, 0x10(%1) \n\t"
"lqc2 vf3, 0x20(%1) \n\t"
"lqc2 vf4, 0x30(%1) \n\t"
"lqc2 vf5, 0x00(%2) \n\t"
"lqc2 vf6, 0x10(%2) \n\t"
"lqc2 vf7, 0x20(%2) \n\t"
"lqc2 vf8, 0x30(%2) \n\t"
"vmulax.xyzw ACC, vf5, vf1 \n\t"
"vmadday.xyzw ACC, vf6, vf1 \n\t"
"vmaddaz.xyzw ACC, vf7, vf1 \n\t"
"vmaddw.xyzw vf1, vf8, vf1 \n\t"
"vmulax.xyzw ACC, vf5, vf2 \n\t"
"vmadday.xyzw ACC, vf6, vf2 \n\t"
"vmaddaz.xyzw ACC, vf7, vf2 \n\t"
"vmaddw.xyzw vf2, vf8, vf2 \n\t"
"vmulax.xyzw ACC, vf5, vf3 \n\t"
"vmadday.xyzw ACC, vf6, vf3 \n\t"
"vmaddaz.xyzw ACC, vf7, vf3 \n\t"
"vmaddw.xyzw vf3, vf8, vf3 \n\t"
"vmulax.xyzw ACC, vf5, vf4 \n\t"
"vmadday.xyzw ACC, vf6, vf4 \n\t"
"vmaddaz.xyzw ACC, vf7, vf4 \n\t"
"vmaddw.xyzw vf4, vf8, vf4 \n\t"
"sqc2 vf1, 0x00(%0) \n\t"
"sqc2 vf2, 0x10(%0) \n\t"
"sqc2 vf3, 0x20(%0) \n\t"
"sqc2 vf4, 0x30(%0) \n\t"
:
: "r"(result.data), "r"(t.data), "r"(this->data)
: "memory");
return result;
} }
void Matrix::operator*=(const Matrix &t) void Matrix::setCamera(const float t_pos[4], const float t_vz[4], const float t_vy[4])
{
// Matrix vf4, vf5, vf6, vf7
// t_pos vf8
// t_vz vf9
// t_vy vf10
// vtmp vf11
asm volatile(
"lqc2 vf9, 0x00(%2) \n\t"
"lqc2 vf10, 0x00(%3) \n\t"
// mtmp.unit()
"vsub.w vf5, vf0, vf0 # mtmp[1][PW] = 0.0F \n\t"
// vtmp.outerProduct(vy, vz);
"vopmula.xyz ACC, vf10, vf9 \n\t"
"vopmsub.xyz vf11, vf9, vf10 \n\t"
// mtmp[0] = vtmp.normalize();
"vmul.xyz vf12, vf11, vf11 \n\t"
"vaddy.x vf12, vf12, vf12 \n\t"
"vaddz.x vf12, vf12, vf12 \n\t"
"vrsqrt Q, vf0w, vf12x \n\t"
"vsub.xyzw vf4, vf0, vf0 \n\t"
"vwaitq \n\t"
"vmulq.xyz vf4, vf11, Q \n\t"
// mtmp[2] = vz.normalize();
"vmul.xyz vf12, vf9, vf9 \n\t"
"vaddy.x vf12, vf12, vf12 \n\t"
"vaddz.x vf12, vf12, vf12 \n\t"
"vrsqrt Q, vf0w, vf12x \n\t"
"vsub.xyzw vf6, vf0, vf0 \n\t"
"vwaitq \n\t"
"vmulq.xyz vf6, vf9, Q \n\t"
// mtmp[1].outerProduct(mtmp[2], mtmp[0]);
"vopmula.xyz ACC, vf6, vf4 \n\t"
"vopmsub.xyz vf5, vf4, vf6 \n\t"
// mtmp.transpose(pos);
"lqc2 vf7, 0x00(%1) \n\t"
// m = mtmp.inverse();
"qmfc2.ni $11, vf0 \n\t"
"qmfc2.ni $8, vf4 \n\t"
"qmfc2.ni $9, vf5 \n\t"
"qmfc2.ni $10, vf6 \n\t"
"pextlw $12, $9, $8 \n\t"
"pextuw $13, $9, $8 \n\t"
"pextlw $14, $11, $10 \n\t"
"pextuw $15, $11, $10 \n\t"
"pcpyld $8, $14, $12 \n\t"
"pcpyud $9, $12, $14 \n\t"
"pcpyld $10, $15, $13 \n\t"
"qmtc2.ni $8, vf16 \n\t"
"qmtc2.ni $9, vf17 \n\t"
"qmtc2.ni $10, vf18 \n\t"
"vmulax.xyz ACC, vf16, vf7 \n\t"
"vmadday.xyz ACC, vf17, vf7 \n\t"
"vmaddz.xyz vf5, vf18, vf7 \n\t"
"vsub.xyzw vf5, vf0, vf5 \n\t"
"sq $8, 0x00(%0) \n\t"
"sq $9, 0x10(%0) \n\t"
"sq $10, 0x20(%0) \n\t"
"sqc2 vf5, 0x30(%0) \n\t"
:
: "r"(this->data), "r"(t_pos), "r"(t_vz), "r"(t_vy));
}
void Matrix::cross(float res[16], const float a[16], const float b[16])
{ {
asm volatile( asm volatile(
"lqc2 vf1, 0x00(%1) \n\t" "lqc2 vf1, 0x00(%1) \n\t"
@@ -197,127 +353,6 @@ void Matrix::operator*=(const Matrix &t)
"sqc2 vf3, 0x20(%0) \n\t" "sqc2 vf3, 0x20(%0) \n\t"
"sqc2 vf4, 0x30(%0) \n\t" "sqc2 vf4, 0x30(%0) \n\t"
: :
: "r"(this->data), "r"(t.data), "r"(this->data) : "r"(res), "r"(b), "r"(a)
: "memory"); : "memory");
} }
/** Create empty matrix */
Matrix::Matrix()
{
data[0] = 0.0F;
data[1] = 0.0F;
data[2] = 0.0F;
data[3] = 0.0F;
data[4] = 0.0F;
data[5] = 0.0F;
data[6] = 0.0F;
data[7] = 0.0F;
data[8] = 0.0F;
data[9] = 0.0F;
data[10] = 0.0F;
data[11] = 0.0F;
data[12] = 0.0F;
data[13] = 0.0F;
data[14] = 0.0F;
data[15] = 0.0F;
}
Matrix::~Matrix() {}
// ----
// Methods
// ----
/** Set up a perspective projection matrix
*
* Clone of gluPerspective()
* https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml
* @param fov (FOV in radians)/2
* @param aspect Aspect ratio
* @param scrW Half of screen width
* @param scrH Half of screen height
* @param zNear Distance to near plane
* @param zFar Distance to far plane
* @param projScale Projection scale
*/
void Matrix::setPerspective(ScreenSettings &t_screen)
{
float fovYdiv2 = Math::HALF_ANG2RAD * t_screen.fov;
float cotFOV = 1.0F / (Math::sin(fovYdiv2) / Math::cos(fovYdiv2));
float w = cotFOV * (t_screen.width / t_screen.projectionScale) / t_screen.aspectRatio;
float h = cotFOV * (t_screen.height / t_screen.projectionScale);
this->data[0] = w;
this->data[1] = 0.0F;
this->data[2] = 0.0F;
this->data[3] = 0.0F;
this->data[4] = 0.0F;
this->data[5] = -h;
this->data[6] = 0.0F;
this->data[7] = 0.0F;
this->data[8] = 0.0F;
this->data[9] = 0.0F;
this->data[10] =
(t_screen.farPlaneDist + t_screen.nearPlaneDist) /
(t_screen.farPlaneDist - t_screen.nearPlaneDist);
this->data[11] = -1.0F;
this->data[12] = 0.0F;
this->data[13] = 0.0F;
this->data[14] =
(2.0F * t_screen.farPlaneDist * t_screen.nearPlaneDist) /
(t_screen.farPlaneDist - t_screen.nearPlaneDist);
this->data[15] = 0.0F;
}
/** Create a view matrix that transforms coordinates in
* such a way that the user looks at a target vector
* direction from a position vector.
*
* Clone of OpenGL lookAt function
* https://learnopengl.com/Getting-started/Camera
*/
void Matrix::lookAt(Vector3 &t_up, Vector3 &t_position, Vector3 &t_target)
{
Vector3 camForward, camUp, camRight;
camForward = t_position - t_target;
camForward.normalize();
camRight = t_up * camForward;
camRight.normalize();
camUp = camForward * camRight;
data[0] = camRight.x;
data[4] = camRight.y;
data[8] = camRight.z;
data[12] = -camRight.innerProduct(t_position);
data[1] = camUp.x;
data[5] = camUp.y;
data[9] = camUp.z;
data[13] = -camUp.innerProduct(t_position);
data[2] = camForward.x;
data[6] = camForward.y;
data[10] = camForward.z;
data[14] = -camForward.innerProduct(t_position);
data[3] = 0;
data[7] = 0;
data[11] = 0;
data[15] = 1;
}
const void Matrix::print() const
{
printf("MATRIX(\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n)\n",
data[0], data[1], data[2], data[3],
data[4], data[5], data[6], data[7],
data[8], data[9], data[10], data[11],
data[12], data[13], data[14], data[15]);
}