moved from h4570/tyra
This commit is contained in:
Sandro Sobczyński
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/*
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# ______ ____ ___
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# | \/ ____| |___|
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# | | | \ | |
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#-----------------------------------------------------------------------
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# Copyright 2020, tyra - https://github.com/h4570/tyra
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# Licenced under Apache License 2.0
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# Sandro Sobczyński <sandro.sobczynski@gmail.com>
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*/
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#include "../../include/models/math/matrix.hpp"
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#include "../../include/utils/math.hpp"
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#include <stdio.h>
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// ----
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// Constructors/Destructors
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// ----
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/** Create by specifying all points */
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Matrix::Matrix(float m11, float m12, float m13, float m14,
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float m21, float m22, float m23, float m24,
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float m31, float m32, float m33, float m34,
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float m41, float m42, float m43, float m44)
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{
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data[0] = m11;
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data[1] = m12;
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data[2] = m13;
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data[3] = m14;
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data[4] = m21;
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data[5] = m22;
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data[6] = m23;
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data[7] = m24;
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data[8] = m31;
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data[9] = m32;
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data[10] = m33;
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data[11] = m34;
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data[12] = m41;
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data[13] = m42;
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data[14] = m43;
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data[15] = m44;
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}
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/** Create with another matrix values */
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Matrix::Matrix(const Matrix &v)
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{
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data[0] = v.data[0];
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data[1] = v.data[1];
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data[2] = v.data[2];
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data[3] = v.data[3];
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data[4] = v.data[4];
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data[5] = v.data[5];
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data[6] = v.data[6];
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data[7] = v.data[7];
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data[8] = v.data[8];
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data[9] = v.data[9];
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data[10] = v.data[10];
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data[11] = v.data[11];
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data[12] = v.data[12];
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data[13] = v.data[13];
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data[14] = v.data[14];
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data[15] = v.data[15];
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}
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void Matrix::identity()
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{
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asm volatile(
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"vsub.xyzw vf4, vf0, vf0 \n\t"
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"vadd.w vf4, vf4, vf0 \n\t"
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"vmr32.xyzw vf5, vf4 \n\t"
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"vmr32.xyzw vf6, vf5 \n\t"
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"vmr32.xyzw vf7, vf6 \n\t"
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"sqc2 vf4, 0x30(%0) \n\t"
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"sqc2 vf5, 0x20(%0) \n\t"
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"sqc2 vf6, 0x10(%0) \n\t"
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"sqc2 vf7, 0x0(%0) \n\t"
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:
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: "r"(this->data));
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}
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void Matrix::translate(float x, float y, float z)
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{
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this->identity();
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this->data[(3 << 2) + 0] = x; // 3,0
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this->data[(3 << 2) + 1] = y; // 3,1
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this->data[(3 << 2) + 2] = z; // 3,2
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}
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void Matrix::makeZRotation(float t_radians)
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{
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this->identity();
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float c = Math::cos(t_radians);
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float s = Math::sin(t_radians);
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this->data[0] = c; // 0,0
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this->data[1] = s; // 0,1
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this->data[4] = -s; // 1,0
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this->data[5] = c; // 1,1
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}
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Matrix Matrix::operator*(Matrix &t)
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{
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Matrix result;
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asm volatile(
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"lqc2 vf1, 0x00(%1) \n\t"
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"lqc2 vf2, 0x10(%1) \n\t"
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"lqc2 vf3, 0x20(%1) \n\t"
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"lqc2 vf4, 0x30(%1) \n\t"
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"lqc2 vf5, 0x00(%2) \n\t"
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"lqc2 vf6, 0x10(%2) \n\t"
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"lqc2 vf7, 0x20(%2) \n\t"
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"lqc2 vf8, 0x30(%2) \n\t"
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"vmulax.xyzw ACC, vf5, vf1 \n\t"
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"vmadday.xyzw ACC, vf6, vf1 \n\t"
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"vmaddaz.xyzw ACC, vf7, vf1 \n\t"
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"vmaddw.xyzw vf1, vf8, vf1 \n\t"
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"vmulax.xyzw ACC, vf5, vf2 \n\t"
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"vmadday.xyzw ACC, vf6, vf2 \n\t"
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"vmaddaz.xyzw ACC, vf7, vf2 \n\t"
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"vmaddw.xyzw vf2, vf8, vf2 \n\t"
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"vmulax.xyzw ACC, vf5, vf3 \n\t"
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"vmadday.xyzw ACC, vf6, vf3 \n\t"
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"vmaddaz.xyzw ACC, vf7, vf3 \n\t"
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"vmaddw.xyzw vf3, vf8, vf3 \n\t"
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"vmulax.xyzw ACC, vf5, vf4 \n\t"
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"vmadday.xyzw ACC, vf6, vf4 \n\t"
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"vmaddaz.xyzw ACC, vf7, vf4 \n\t"
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"vmaddw.xyzw vf4, vf8, vf4 \n\t"
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"sqc2 vf1, 0x00(%0) \n\t"
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"sqc2 vf2, 0x10(%0) \n\t"
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"sqc2 vf3, 0x20(%0) \n\t"
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"sqc2 vf4, 0x30(%0) \n\t"
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:
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: "r"(result.data), "r"(this->data), "r"(t.data)
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: "memory");
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return result;
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}
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/** Create empty matrix */
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Matrix::Matrix()
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{
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data[0] = 0.0F;
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data[1] = 0.0F;
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data[2] = 0.0F;
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data[3] = 0.0F;
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data[4] = 0.0F;
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data[5] = 0.0F;
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data[6] = 0.0F;
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data[7] = 0.0F;
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data[8] = 0.0F;
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data[9] = 0.0F;
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data[10] = 0.0F;
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data[11] = 0.0F;
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data[12] = 0.0F;
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data[13] = 0.0F;
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data[14] = 0.0F;
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data[15] = 0.0F;
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}
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Matrix::~Matrix() {}
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// ----
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// Methods
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// ----
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/** Set up a perspective projection matrix
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*
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* Clone of gluPerspective()
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* https://www.khronos.org/registry/OpenGL-Refpages/gl2.1/xhtml/gluPerspective.xml
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* @param fov (FOV in radians)/2
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* @param aspect Aspect ratio
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* @param scrW Half of screen width
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* @param scrH Half of screen height
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* @param zNear Distance to near plane
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* @param zFar Distance to far plane
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* @param projScale Projection scale
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*/
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void Matrix::setPerspective(ScreenSettings &t_screen)
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{
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float fovYdiv2 = Math::HALF_ANG2RAD * t_screen.fov;
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float cotFOV = 1.0F / (Math::sin(fovYdiv2) / Math::cos(fovYdiv2));
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float w = cotFOV * (t_screen.width / 4096.0F) / t_screen.aspectRatio;
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float h = cotFOV * (t_screen.height / 4096.0F);
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this->data[0] = w;
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this->data[1] = 0.0F;
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this->data[2] = 0.0F;
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this->data[3] = 0.0F;
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this->data[4] = 0.0F;
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this->data[5] = -h;
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this->data[6] = 0.0F;
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this->data[7] = 0.0F;
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this->data[8] = 0.0F;
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this->data[9] = 0.0F;
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this->data[10] =
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(t_screen.farPlaneDist + t_screen.nearPlaneDist) /
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(t_screen.farPlaneDist - t_screen.nearPlaneDist);
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this->data[11] = -1.0F;
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this->data[12] = 0.0F;
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this->data[13] = 0.0F;
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this->data[14] =
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(2.0F * t_screen.farPlaneDist * t_screen.nearPlaneDist) /
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(t_screen.farPlaneDist - t_screen.nearPlaneDist);
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this->data[15] = 0.0F;
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}
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/** Create a view matrix that transforms coordinates in
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* such a way that the user looks at a target vector
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* direction from a position vector.
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*
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* Clone of OpenGL lookAt function
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* https://learnopengl.com/Getting-started/Camera
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*/
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void Matrix::lookAt(Vector3 &t_up, Vector3 &t_position, Vector3 &t_target)
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{
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Vector3 camForward, camUp, camRight;
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camForward = t_position - t_target;
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camForward.normalize();
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camRight = t_up * camForward;
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camRight.normalize();
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camUp = camForward * camRight;
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data[0] = camRight.x;
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data[4] = camRight.y;
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data[8] = camRight.z;
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data[12] = -camRight.innerProduct(t_position);
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data[1] = camUp.x;
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data[5] = camUp.y;
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data[9] = camUp.z;
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data[13] = -camUp.innerProduct(t_position);
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data[2] = camForward.x;
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data[6] = camForward.y;
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data[10] = camForward.z;
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data[14] = -camForward.innerProduct(t_position);
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data[3] = 0;
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data[7] = 0;
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data[11] = 0;
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data[15] = 1;
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}
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void Matrix::print()
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{
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printf("MATRIX(\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n%f, %f, %f, %f\n)\n",
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data[0], data[1], data[2], data[3],
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data[4], data[5], data[6], data[7],
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data[8], data[9], data[10], data[11],
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data[12], data[13], data[14], data[15]);
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}
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