[simspark-cvs] simspark/spark/salt matrix.cpp, 1.1, 1.2 matrix.h, 1.1, 1.2

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Update of /cvsroot/simspark/simspark/spark/salt
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv14965/spark/salt

Modified Files:
	matrix.cpp matrix.h 
Log Message:
- merged ROSIMPORTER_XLAB bracnh

Index: matrix.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/salt/matrix.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** matrix.cpp	5 Dec 2005 20:56:00 -0000	1.1
--- matrix.cpp	15 Jun 2007 08:48:18 -0000	1.2
***************
*** 1,4 ****
  /* -*- mode: c++ -*-
!    
     this file is part of rcssserver3D
     Fri May 9 2003
--- 1,4 ----
  /* -*- mode: c++ -*-
! 
     this file is part of rcssserver3D
     Fri May 9 2003
***************
*** 9,18 ****
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; version 2 of the License.
!   
     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
!  
     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
--- 9,18 ----
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; version 2 of the License.
! 
     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
! 
     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
***************
*** 27,42 ****
  float Matrix::mIdentity[16]=
  {
! 	1.0, 0.0, 0.0, 0.0,
! 	0.0, 1.0, 0.0, 0.0,
! 	0.0, 0.0, 1.0, 0.0,
! 	0.0, 0.0, 0.0, 1.0
  };

  void Matrix::Dump() const
  {
! 	printf("%f %f %f %f\n", m[0], m[4], m[8], m[12]);
! 	printf("%f %f %f %f\n", m[1], m[5], m[9], m[13]);
! 	printf("%f %f %f %f\n", m[2], m[6], m[10], m[14]);
! 	printf("%f %f %f %f\n", m[3], m[7], m[11], m[15]);
  }

--- 27,42 ----
  float Matrix::mIdentity[16]=
  {
!         1.0, 0.0, 0.0, 0.0,
!         0.0, 1.0, 0.0, 0.0,
!         0.0, 0.0, 1.0, 0.0,
!         0.0, 0.0, 0.0, 1.0
  };

  void Matrix::Dump() const
  {
!         printf("%f %f %f %f\n", m[0], m[4], m[8], m[12]);
!         printf("%f %f %f %f\n", m[1], m[5], m[9], m[13]);
!         printf("%f %f %f %f\n", m[2], m[6], m[10], m[14]);
!         printf("%f %f %f %f\n", m[3], m[7], m[11], m[15]);
  }

***************
*** 44,165 ****
  void Matrix::LookAt(const Vector3f & inEye, const Vector3f & inDirection, const Vector3f & inUp)
  {
! 	Vector3f forward	= inDirection.Normalized();
! 	Vector3f up			= inUp.Normalized();
! 	Vector3f right		= forward.Cross(up);
! 	right.Normalize();

! 	up = right.Cross(forward);

! 	// Make inverse rotation matrix using right, forward, up vectors
! 	Set(	   right.x(),  right.y(),	  right.z(),	0.0f,
! 				  up.x(),	 up.y(),		 up.z(),	0.0f,
! 			 forward.x(), forward.y(),  forward.z(),	0.0f,
! 				  0.0f,		  0.0f,		  0.0f, 1.0f);
! 	
! 	Pos() = Rotate(-inEye);
  }

! /*!	Calculate an attenuation matrix.
! 	pos = world space position of light
! 	radius = radius of light (used for distance attenuation)
  */
  void Matrix::CalcAttenuationNoRotation(const Vector3f &pos, float radius)
  {
! 	Matrix tmp1, tmp2;
! 	
! 	// translate to 'light space' ... no rotation needed
! 	tmp1.Translation(-pos);
! 	
! 	// create proper scaling matrix
! 	float invrad = 0.5f / radius;

! 	tmp2.Identity();
! 	tmp2(0,0) = invrad;
! 	tmp2(1,1) = invrad;
! 	tmp2(2,2) = invrad;
! 	
! 	Identity ();
! 	Translation (Vector3f(0.5f, 0.5f, 0.5f));

! 	*this *= tmp2 * tmp1;
  }

  void Matrix::CalcAttenuationWithRotation(const Matrix &lightWorldMatrix, float radius)
  {
! 	Matrix tmp1, tmp2;
! 	
! 	// translate to 'light space' ... this time with rotation
! 	tmp1 = lightWorldMatrix;
! 	tmp1.InvertRotationMatrix();
! 	
! 	// create proper scaling matrix
! 	float invrad = 0.5f / radius;

! 	tmp2.Identity();
! 	tmp2(0,0) = invrad;
! 	tmp2(1,1) = invrad;
! 	tmp2(2,2) = invrad;
! 	
! 	Identity ();
! 	Translation (Vector3f(0.5f, 0.5f, 0.5f));

! 	*this *= tmp2 * tmp1;
  }

  void Matrix::CalcInfiniteProjection(float width, float height, float fov, float zNear)
  {
! 	const float halfWidth	= zNear * (float)tan(gDegToRad(fov*0.5f));
! 	const float halfHeight	= halfWidth * (height/width);

! 	CalcInfiniteFrustum(-halfWidth, halfWidth, -halfHeight, halfHeight, zNear);
  }

  void Matrix::CalcInfiniteFrustum(float left, float right, float bottom, float top, float zNear)
  {
! 	Identity();
! 	
! 	El(0,0) = (2*zNear) / (right - left);
! 	El(0,2) = (right + left) / (right - left);
! 	
! 	El(1,1) = (2*zNear) / (top - bottom);
! 	El(1,2) = (top + bottom) / (top - bottom);
! 	
      // nudge infinity in just slightly for lsb slop
      const float nudge = 1 - 1.0 / (1<<23);

! 	El(2,2) = -1  * nudge;
! 	El(2,3) = -2*zNear * nudge;
! 	
! 	El(3,2) = -1;
! 	El(3,3) = 0;
  }

  void Matrix::CalcSpotLight(const Matrix &lightWorldTransform, float fov, float width, float height, float zNear)
  {
! 	Matrix scale, proj, space;
! 	Vector3f halfVector(0.5f, 0.5f, 0.5f);

! 	Identity ();
! 	Translation (halfVector);

! 	scale.Identity ();
! 	scale.Scale (halfVector);

! 	// create projection matrix
! 	proj.CalcInfiniteProjection(width, height, fov, zNear);

! 	space = lightWorldTransform;
! 	space.InvertRotationMatrix();

! 	// so, we transform first into light space, then project, then scale and
! 	// translate (this)
! 	*this *= scale * proj * space;
  }

  bool Matrix::IsEqual(const Matrix& matrix) const
  {
! 	for (int i=0; i<16; ++i)
! 		if (matrix.m[i] != m[i]) return false;

! 	return true;
  }
--- 44,303 ----
  void Matrix::LookAt(const Vector3f & inEye, const Vector3f & inDirection, const Vector3f & inUp)
  {
!         Vector3f forward        = inDirection.Normalized();
!         Vector3f up                     = inUp.Normalized();
!         Vector3f right          = forward.Cross(up);
!         right.Normalize();

!         up = right.Cross(forward);

!         // Make inverse rotation matrix using right, forward, up vectors
!         Set(       right.x(),  right.y(),         right.z(),    0.0f,
!                                   up.x(),        up.y(),                 up.z(),        0.0f,
!                          forward.x(), forward.y(),  forward.z(),        0.0f,
!                                   0.0f,           0.0f,           0.0f, 1.0f);
! 
!         Pos() = Rotate(-inEye);
  }

! /*!     Calculate an attenuation matrix.
!         pos = world space position of light
!         radius = radius of light (used for distance attenuation)
  */
  void Matrix::CalcAttenuationNoRotation(const Vector3f &pos, float radius)
  {
!         Matrix tmp1, tmp2;

!         // translate to 'light space' ... no rotation needed
!         tmp1.Translation(-pos);

!         // create proper scaling matrix
!         float invrad = 0.5f / radius;
! 
!         tmp2.Identity();
!         tmp2(0,0) = invrad;
!         tmp2(1,1) = invrad;
!         tmp2(2,2) = invrad;
! 
!         Identity ();
!         Translation (Vector3f(0.5f, 0.5f, 0.5f));
! 
!         *this *= tmp2 * tmp1;
  }

  void Matrix::CalcAttenuationWithRotation(const Matrix &lightWorldMatrix, float radius)
  {
!         Matrix tmp1, tmp2;

!         // translate to 'light space' ... this time with rotation
!         tmp1 = lightWorldMatrix;
!         tmp1.InvertRotationMatrix();

!         // create proper scaling matrix
!         float invrad = 0.5f / radius;
! 
!         tmp2.Identity();
!         tmp2(0,0) = invrad;
!         tmp2(1,1) = invrad;
!         tmp2(2,2) = invrad;
! 
!         Identity ();
!         Translation (Vector3f(0.5f, 0.5f, 0.5f));
! 
!         *this *= tmp2 * tmp1;
  }

  void Matrix::CalcInfiniteProjection(float width, float height, float fov, float zNear)
  {
!         const float halfWidth   = zNear * (float)tan(gDegToRad(fov*0.5f));
!         const float halfHeight  = halfWidth * (height/width);

!         CalcInfiniteFrustum(-halfWidth, halfWidth, -halfHeight, halfHeight, zNear);
  }

  void Matrix::CalcInfiniteFrustum(float left, float right, float bottom, float top, float zNear)
  {
!         Identity();
! 
!         El(0,0) = (2*zNear) / (right - left);
!         El(0,2) = (right + left) / (right - left);
! 
!         El(1,1) = (2*zNear) / (top - bottom);
!         El(1,2) = (top + bottom) / (top - bottom);
! 
      // nudge infinity in just slightly for lsb slop
      const float nudge = 1 - 1.0 / (1<<23);

!         El(2,2) = -1  * nudge;
!         El(2,3) = -2*zNear * nudge;
! 
!         El(3,2) = -1;
!         El(3,3) = 0;
  }

  void Matrix::CalcSpotLight(const Matrix &lightWorldTransform, float fov, float width, float height, float zNear)
  {
!         Matrix scale, proj, space;
!         Vector3f halfVector(0.5f, 0.5f, 0.5f);

!         Identity ();
!         Translation (halfVector);

!         scale.Identity ();
!         scale.Scale (halfVector);

!         // create projection matrix
!         proj.CalcInfiniteProjection(width, height, fov, zNear);

!         space = lightWorldTransform;
!         space.InvertRotationMatrix();

!         // so, we transform first into light space, then project, then scale and
!         // translate (this)
!         *this *= scale * proj * space;
  }

  bool Matrix::IsEqual(const Matrix& matrix) const
  {
!         for (int i=0; i<16; ++i)
!                 if (matrix.m[i] != m[i]) return false;

!         return true;
! }
! 
! void Matrix::InvertMatrix()
! {
!   float x00, x01, x02;
!   float x10, x11, x12;
!   float x20, x21, x22;
!   float x30, x31, x32;
!   float rcp;
!   float y01, y02, y03, y12, y13, y23;
!   float z02, z03, z12, z13, z22, z23, z32, z33;
! 
! #define x03 x01
! #define x13 x11
! #define x23 x21
! #define x33 x31
! #define z00 x02
! #define z10 x12
! #define z20 x22
! #define z30 x32
! #define z01 x03
! #define z11 x13
! #define z21 x23
! #define z31 x33
! 
!   /* read 1st two columns of matrix into registers */
!   // col, row
!   x00 = El(0,0); // src.xx
!   x01 = El(0,1); // src.xy; 2nd column
!   x10 = El(1,0); // src.yx; 1st column
!   x11 = El(1,1); // src.yy; 2nd column
!   x20 = El(2,0); // src.zx; 1st column
!   x21 = El(2,1); // src.zy; 2nd column
!   x30 = El(3,0); // src.wx; 1st column
!   x31 = El(3,1); // src.wy; 2nd column
! 
!   /* compute all six 2x2 determinants of 1st two columns */
!   y01 = x00*x11 - x10*x01;
!   y02 = x00*x21 - x20*x01;
!   y03 = x00*x31 - x30*x01;
!   y12 = x10*x21 - x20*x11;
!   y13 = x10*x31 - x30*x11;
!   y23 = x20*x31 - x30*x21;
! 
!   /* read 2nd two columns of matrix into registers */
!   x02 = El(0,2);// src.xz;
!   x03 = El(0,3);// src.xw;
!   x12 = El(1,2);// src.yz;
!   x13 = El(1,3);// src.yw;
!   x22 = El(2,2);// src.zz;
!   x23 = El(2,3);// src.zw;
!   x32 = El(3,2);// src.wz;
!   x33 = El(3,3);// src.ww;
! 
!   /* compute all 3x3 cofactOMLs for 2nd two columns */
!   z33 = x02*y12 - x12*y02 + x22*y01;
!   z23 = x12*y03 - x32*y01 - x02*y13;
!   z13 = x02*y23 - x22*y03 + x32*y02;
!   z03 = x22*y13 - x32*y12 - x12*y23;
!   z32 = x13*y02 - x23*y01 - x03*y12;
!   z22 = x03*y13 - x13*y03 + x33*y01;
!   z12 = x23*y03 - x33*y02 - x03*y23;
!   z02 = x13*y23 - x23*y13 + x33*y12;
! 
!   /* compute all six 2x2 determinants of 2nd two columns */
!   y01 = x02*x13 - x12*x03;
!   y02 = x02*x23 - x22*x03;
!   y03 = x02*x33 - x32*x03;
!   y12 = x12*x23 - x22*x13;
!   y13 = x12*x33 - x32*x13;
!   y23 = x22*x33 - x32*x23;
! 
!   /* read 1st two columns of matrix into registers */
!   x00 = El(0,0);// src.xx
!   x01 = El(0,1);// src.xy
!   x10 = El(1,0);// src.yx
!   x11 = El(1,1);// src.yy
!   x20 = El(2,0);// src.zx
!   x21 = El(2,1);// src.zy
!   x30 = El(3,0);// src.wx
!   x31 = El(3,1);// src.wy
! 
!   /* compute all 3x3 cofactOMLs for 1st column */
!   z30 = x11*y02 - x21*y01 - x01*y12;
!   z20 = x01*y13 - x11*y03 + x31*y01;
!   z10 = x21*y03 - x31*y02 - x01*y23;
!   z00 = x11*y23 - x21*y13 + x31*y12;
! 
!   /* compute 4x4 determinant & its reciprocal */
!   rcp = x30*z30 + x20*z20 + x10*z10 + x00*z00;
!   if (rcp == 0.0f)
!     {
!       /* the matrix can't be inverted */
!       return;
!     }
! 
!   rcp = 1.0f/rcp;
! 
!   /* compute all 3x3 cofactOMLs for 2nd column */
!   z31 = x00*y12 - x10*y02 + x20*y01;
!   z21 = x10*y03 - x30*y01 - x00*y13;
!   z11 = x00*y23 - x20*y03 + x30*y02;
!   z01 = x20*y13 - x30*y12 - x10*y23;
! 
!   Matrix invert;
! 
!   /* multiply all 3x3 cofactOMLs by reciprocal */
!   /* inverse.xx */ invert(0,0) = (z00*rcp);
!   /* inverse.yx */ invert(1,0) = (z01*rcp);
!   /* inverse.xy */ invert(0,1) = (z10*rcp);
!   /* inverse.zx */ invert(2,0) = (z02*rcp);
!   /* inverse.xz */ invert(0,2) = (z20*rcp);
!   /* inverse.wx */ invert(3,0) = (z03*rcp);
!   /* inverse.xw */ invert(0,3) = (z30*rcp);
!   /* inverse.yy */ invert(1,1) = (z11*rcp);
!   /* inverse.zy */ invert(2,1) = (z12*rcp);
!   /* inverse.yz */ invert(1,2) = (z21*rcp);
!   /* inverse.wy */ invert(3,1) = (z13*rcp);
!   /* inverse.yw */ invert(1,3) = (z31*rcp);
!   /* inverse.zz */ invert(2,2) = (z22*rcp);
!   /* inverse.wz */ invert(3,2) = (z23*rcp);
!   /* inverse.zw */ invert(2,3) = (z32*rcp);
!   /* inverse.ww */ invert(3,3) = (z33*rcp);
! 
!   (*this) = invert;
! 
! #undef x03
! #undef x13
! #undef x23
! #undef x33
! #undef z00
! #undef z10
! #undef z20
! #undef z30
! #undef z01
! #undef z11
! #undef z21
! #undef z31
  }

Index: matrix.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/salt/matrix.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** matrix.h	5 Dec 2005 20:56:00 -0000	1.1
--- matrix.h	15 Jun 2007 08:48:18 -0000	1.2
***************
*** 141,144 ****
--- 141,147 ----
      f_inline void               InvertRotationMatrix();

+     /** inverts a matrix */
+     void InvertMatrix();
+ 
      /** multiplies the matrix with inVector */
      f_inline Vector3f   Transform(const Vector3f & inVector) const;