RuiFPB/tyra-linux
1
0
Fork 0
Code Issues 1 Pull Requests Actions Packages Projects Releases Wiki Activity

Merge pull request #59 from h4570/feature/math-matrix

Browse Source 
Added some matrix/math funcs
This commit is contained in:
Sandro Sobczyński
2020-12-12 14:11:54 +01:00
committed by GitHub
parent 968718a549 ac36012545
commit b7618c014a
4 changed files with 207 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/include/models/math/matrix.hpp
+53 -3
View File
@@ -26,14 +26,64 @@ public:
float m31, float m32, float m33, float m34,
float m41, float m42, float m43, float m44);
Matrix(const Matrix &v);
Matrix operator*(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);
void identity();
void makeZRotation(float t_radians);
void translate(float t_x, float t_y, float t_z);
inline void unit() { identity(); };
// Translation
void translate(const Vector3 &t_val);
inline void translation(const Vector3 &t_val)
{
identity();
translate(t_val);
}
// Rotation
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)
{
identity();
rotateX(t_radians);
}
inline void rotationY(const float &t_radians)
{
identity();
rotateY(t_radians);
}
inline void rotationZ(const float &t_radians)
{
identity();
rotateZ(t_radians);
}
inline void rotate(const Vector3 &t_val)
{
rotateX(t_val.x);
rotateY(t_val.y);
rotateX(t_val.z);
}
inline void rotation(const Vector3 &t_val)
{
identity();
rotate(t_val);
}
//
void setPerspective(ScreenSettings &screen);
const void print() const;
};
src/engine/include/utils/math.hpp
+2
View File
@@ -28,6 +28,8 @@ public:
const static float PI = 3.1415926535897932384626433832795F;
const static float HALF_PI = 1.5707963267948966192313216916398F;
static float cos(float x);
static float asin(float x);
static float mod(float x, float y);
static inline float sin(float x) { return cos(x - HALF_PI); };
static float sqrt(float x);
static float invSqrt(float x);
src/engine/models/math/matrix.cpp
+68 -8
View File
@@ -84,17 +84,41 @@ void Matrix::identity()
: "r"(this->data));
}
void Matrix::translate(float x, float y, float z)
void Matrix::translate(const Vector3 &t_val)
{
this->identity();
this->data[(3 << 2) + 0] = x; // 3,0
this->data[(3 << 2) + 1] = y; // 3,1
this->data[(3 << 2) + 2] = z; // 3,2
this->data[12] += t_val.x; // 3,0
this->data[13] += t_val.y; // 3,1
this->data[14] += t_val.z; // 3,2
}
void Matrix::makeZRotation(float t_radians)
void Matrix::rotateX(const float &t_radians)
{
this->identity();
Matrix temp = Matrix();
temp.identity();
float c = Math::cos(t_radians);
float s = Math::sin(t_radians);
this->data[5] = c; // 1,1
this->data[6] = s; // 1,2
this->data[9] = -s; // 2,1
this->data[10] = c; // 2,2
}
void Matrix::rotateY(const float &t_radians)
{
Matrix temp = Matrix();
temp.identity();
float c = Math::cos(t_radians);
float s = Math::sin(t_radians);
this->data[0] = c; // 0,0
this->data[2] = -s; // 0,3
this->data[8] = s; // 2,0
this->data[10] = c; // 2,2
}
void Matrix::rotateZ(const float &t_radians)
{
Matrix temp = Matrix();
temp.identity();
float c = Math::cos(t_radians);
float s = Math::sin(t_radians);
this->data[0] = c; // 0,0
@@ -103,7 +127,7 @@ void Matrix::makeZRotation(float t_radians)
this->data[5] = c; // 1,1
}
Matrix Matrix::operator*(Matrix &t)
Matrix Matrix::operator*(const Matrix &t)
{
Matrix result;
asm volatile(
@@ -141,6 +165,42 @@ Matrix Matrix::operator*(Matrix &t)
return result;
}
void Matrix::operator*=(const Matrix &t)
{
asm volatile(
"lqc2 vf1, 0x00(%1) \n\t"
"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"(this->data), "r"(this->data), "r"(t.data)
: "memory");
}
/** Create empty matrix */
Matrix::Matrix()
{
src/engine/utils/math.cpp
+84
View File
@@ -99,3 +99,87 @@ void manyVec3ToNative(VECTOR *o_result, Vector3 *t_vec, int t_amount, float t_fo
for (int i = 0; i < t_amount; i++)
vec3ToNative(o_result[i], t_vec[i], t_fourthVal);
}
static float asin(float x)
{
float r;
asm volatile(
"lui $9, 0x3f00 \n\t"
".set noreorder \n\t"
".align 3 \n\t"
"abs.s %0, %1 \n\t"
"lui $8, 0xbe22 \n\t"
"mtc1 $9, $f1 \n\t"
"ori $8, $8, 0xf983 \n\t"
"mtc1 $8, $f8 \n\t"
"lui $9, 0x4b00 \n\t"
"mtc1 $9, $f3 \n\t"
"lui $8, 0x3f80 \n\t"
"mtc1 $8, $f2 \n\t"
"mula.s %0, $f8 \n\t"
"msuba.s $f3, $f2 \n\t"
"madda.s $f3, $f2 \n\t"
"lui $8, 0x40c9 \n\t"
"msuba.s %0, $f8 \n\t"
"ori $8, 0x0fdb \n\t"
"msub.s %0, $f1, $f2 \n\t"
"lui $9, 0xc225 \n\t"
"abs.s %0, %0 \n\t"
"lui $10, 0x3e80 \n\t"
"mtc1 $10, $f7 \n\t"
"ori $9, 0x5de1 \n\t"
"sub.s %0, %0, $f7 \n\t"
"lui $10, 0x42a3 \n\t"
"mtc1 $8, $f3 \n\t"
"ori $10, 0x3458 \n\t"
"mtc1 $9, $f4 \n\t"
"lui $8, 0xc299 \n\t"
"mtc1 $10, $f5 \n\t"
"ori $8, 0x2663 \n\t"
"mul.s $f8, %0, %0 \n\t"
"lui $9, 0x421e \n\t"
"mtc1 $8, $f6 \n\t"
"ori $9, 0xd7bb \n\t"
"mtc1 $9, $f7 \n\t"
"nop \n\t"
"mul.s $f1, %0, $f8 \n\t"
"mul.s $f9, $f8, $f8 \n\t"
"mula.s $f3, %0 \n\t"
"mul.s $f2, $f1, $f8 \n\t"
"madda.s $f4, $f1 \n\t"
"mul.s $f1, $f1, $f9 \n\t"
"mul.s %0, $f2, $f9 \n\t"
"madda.s $f5, $f2 \n\t"
"madda.s $f6, $f1 \n\t"
"madd.s %0, $f7, %0 \n\t"
".set reorder \n\t"
: "=&f"(r)
: "f"(x)
: "$f1", "$f2", "$f3", "$f4", "$f5", "$f6", "$f7", "$f8", "$f9", "$8", "$9", "$10");
return r;
}
static float mod(float x, float y)
{
/*
* Portable fmod(x,y) implementation for systems
* that don't have it. Adapted from code found here:
* http://www.opensource.apple.com/source/python/python-3/python/Python/fmod.c
*/
float i, f;
if (y == 0.0f)
{
return 0.0f;
}
i = floorf(x / y);
f = x - i * y;
if ((x < 0.0f) != (y < 0.0f))
{
f = f - y;
}
return f;
}