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Diffstat (limited to 'src/Runtime/ogl-runtime/src/foundation/Qt3DSMat44.h')
| m--------- | src/Runtime/ogl-runtime | 0 | ||||
| -rw-r--r-- | src/Runtime/ogl-runtime/src/foundation/Qt3DSMat44.h | 497 |
2 files changed, 0 insertions, 497 deletions
diff --git a/src/Runtime/ogl-runtime b/src/Runtime/ogl-runtime new file mode 160000 +Subproject 2025912174c4cf99270b7439ec3b021e1d089ae diff --git a/src/Runtime/ogl-runtime/src/foundation/Qt3DSMat44.h b/src/Runtime/ogl-runtime/src/foundation/Qt3DSMat44.h deleted file mode 100644 index 53a66e2b..00000000 --- a/src/Runtime/ogl-runtime/src/foundation/Qt3DSMat44.h +++ /dev/null @@ -1,497 +0,0 @@ -/**************************************************************************** -** -** Copyright (C) 2008-2012 NVIDIA Corporation. -** Copyright (C) 2017 The Qt Company Ltd. -** Contact: https://www.qt.io/licensing/ -** -** This file is part of Qt 3D Studio. -** -** $QT_BEGIN_LICENSE:GPL$ -** Commercial License Usage -** Licensees holding valid commercial Qt licenses may use this file in -** accordance with the commercial license agreement provided with the -** Software or, alternatively, in accordance with the terms contained in -** a written agreement between you and The Qt Company. For licensing terms -** and conditions see https://www.qt.io/terms-conditions. For further -** information use the contact form at https://www.qt.io/contact-us. -** -** GNU General Public License Usage -** Alternatively, this file may be used under the terms of the GNU -** General Public License version 3 or (at your option) any later version -** approved by the KDE Free Qt Foundation. The licenses are as published by -** the Free Software Foundation and appearing in the file LICENSE.GPL3 -** included in the packaging of this file. Please review the following -** information to ensure the GNU General Public License requirements will -** be met: https://www.gnu.org/licenses/gpl-3.0.html. -** -** $QT_END_LICENSE$ -** -****************************************************************************/ - -#ifndef QT3DS_FOUNDATION_QT3DS_MAT44_H -#define QT3DS_FOUNDATION_QT3DS_MAT44_H -/** \addtogroup foundation -@{ -*/ - -#include "foundation/Qt3DSQuat.h" -#include "foundation/Qt3DSVec4.h" -#include "foundation/Qt3DSMat33.h" -#include "foundation/Qt3DSTransform.h" - -#ifndef QT3DS_DOXYGEN -namespace qt3ds { -#endif - -/*! -\brief 4x4 matrix class - -This class is layout-compatible with D3D and OpenGL matrices. More notes on layout are given in the QT3DSMat33 -Graphics matrices always (by which I mean DX and OpenGL) have the rotation basis vectors stored contiguously -in 0-2, 3-5, 6-8 and the the translation stored contiguously in 12-14. However, DX calls this row major and GL calls it column-major. -http://www.mindcontrol.org/~hplus/graphics/matrix-layout.html - -you can blat these directly into GL (or DX) - ---Dilip Sequeira - -@see QT3DSMat33 NVTransform -*/ - -class QT3DSMat44 -{ -public: - //! Default constructor - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44() {} - - //! Construct from four 4-vectors - QT3DS_CUDA_CALLABLE QT3DSMat44(const QT3DSVec4 &col0, const QT3DSVec4 &col1, const QT3DSVec4 &col2, - const QT3DSVec4 &col3) - : column0(col0) - , column1(col1) - , column2(col2) - , column3(col3) - { - } - - //! Construct from three base vectors and a translation - QT3DS_CUDA_CALLABLE QT3DSMat44(const QT3DSVec3 &column0, const QT3DSVec3 &column1, const QT3DSVec3 &column2, - const QT3DSVec3 &column3) - : column0(column0, 0) - , column1(column1, 0) - , column2(column2, 0) - , column3(column3, 1) - { - } - - //! Construct from float[16] - explicit QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44(NVReal values[]) - : column0(values[0], values[1], values[2], values[3]) - , column1(values[4], values[5], values[6], values[7]) - , column2(values[8], values[9], values[10], values[11]) - , column3(values[12], values[13], values[14], values[15]) - { - } - - //! Construct from a quaternion - explicit QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44(const QT3DSQuat &q) - { - const NVReal x = q.x; - const NVReal y = q.y; - const NVReal z = q.z; - const NVReal w = q.w; - - const NVReal x2 = x + x; - const NVReal y2 = y + y; - const NVReal z2 = z + z; - - const NVReal xx = x2 * x; - const NVReal yy = y2 * y; - const NVReal zz = z2 * z; - - const NVReal xy = x2 * y; - const NVReal xz = x2 * z; - const NVReal xw = x2 * w; - - const NVReal yz = y2 * z; - const NVReal yw = y2 * w; - const NVReal zw = z2 * w; - - column0 = QT3DSVec4(1.0f - yy - zz, xy + zw, xz - yw, 0.0f); - column1 = QT3DSVec4(xy - zw, 1.0f - xx - zz, yz + xw, 0.0f); - column2 = QT3DSVec4(xz + yw, yz - xw, 1.0f - xx - yy, 0.0f); - column3 = QT3DSVec4(0.0f, 0.0f, 0.0f, 1.0f); - } - - //! Construct from a diagonal vector - explicit QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44(const QT3DSVec4 &diagonal) - : column0(diagonal.x, 0.0f, 0.0f, 0.0f) - , column1(0.0f, diagonal.y, 0.0f, 0.0f) - , column2(0.0f, 0.0f, diagonal.z, 0.0f) - , column3(0.0f, 0.0f, 0.0f, diagonal.w) - { - } - - QT3DS_CUDA_CALLABLE QT3DSMat44(const QT3DSMat33 &orientation, const QT3DSVec3 &position) - : column0(orientation.column0, 0.0f) - , column1(orientation.column1, 0.0f) - , column2(orientation.column2, 0.0f) - , column3(position, 1) - { - } - - QT3DS_CUDA_CALLABLE QT3DSMat44(const NVTransform &t) { *this = QT3DSMat44(QT3DSMat33(t.q), t.p); } - - //! Copy constructor - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44(const QT3DSMat44 &other) - : column0(other.column0) - , column1(other.column1) - , column2(other.column2) - , column3(other.column3) - { - } - - //! Assignment operator - QT3DS_CUDA_CALLABLE QT3DS_INLINE const QT3DSMat44 &operator=(const QT3DSMat44 &other) - { - column0 = other.column0; - column1 = other.column1; - column2 = other.column2; - column3 = other.column3; - return *this; - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE static QT3DSMat44 createIdentity() - { - return QT3DSMat44(QT3DSVec4(1.0f, 0.0f, 0.0f, 0.0f), QT3DSVec4(0.0f, 1.0f, 0.0f, 0.0f), - QT3DSVec4(0.0f, 0.0f, 1.0f, 0.0f), QT3DSVec4(0.0f, 0.0f, 0.0f, 1.0f)); - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE static QT3DSMat44 createZero() - { - return QT3DSMat44(QT3DSVec4(0.0f), QT3DSVec4(0.0f), QT3DSVec4(0.0f), QT3DSVec4(0.0f)); - } - - //! Get transposed matrix - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 getTranspose() const - { - return QT3DSMat44(QT3DSVec4(column0.x, column1.x, column2.x, column3.x), - QT3DSVec4(column0.y, column1.y, column2.y, column3.y), - QT3DSVec4(column0.z, column1.z, column2.z, column3.z), - QT3DSVec4(column0.w, column1.w, column2.w, column3.w)); - } - - //! Unary minus - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 operator-() const - { - return QT3DSMat44(-column0, -column1, -column2, -column3); - } - - //! Add - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 operator+(const QT3DSMat44 &other) const - { - return QT3DSMat44(column0 + other.column0, column1 + other.column1, column2 + other.column2, - column3 + other.column3); - } - - //! Subtract - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 operator-(const QT3DSMat44 &other) const - { - return QT3DSMat44(column0 - other.column0, column1 - other.column1, column2 - other.column2, - column3 - other.column3); - } - - //! Scalar multiplication - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 operator*(NVReal scalar) const - { - return QT3DSMat44(column0 * scalar, column1 * scalar, column2 * scalar, column3 * scalar); - } - - friend QT3DSMat44 operator*(NVReal, const QT3DSMat44 &); - - //! Matrix multiplication - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 operator*(const QT3DSMat44 &other) const - { - // Rows from this <dot> columns from other - // column0 = transform(other.column0) etc - return QT3DSMat44(transform(other.column0), transform(other.column1), transform(other.column2), - transform(other.column3)); - } - - // a <op>= b operators - - //! Equals-add - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 &operator+=(const QT3DSMat44 &other) - { - column0 += other.column0; - column1 += other.column1; - column2 += other.column2; - column3 += other.column3; - return *this; - } - - //! Equals-sub - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 &operator-=(const QT3DSMat44 &other) - { - column0 -= other.column0; - column1 -= other.column1; - column2 -= other.column2; - column3 -= other.column3; - return *this; - } - - //! Equals scalar multiplication - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 &operator*=(NVReal scalar) - { - column0 *= scalar; - column1 *= scalar; - column2 *= scalar; - column3 *= scalar; - return *this; - } - - //! Element access, mathematical way! - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVReal operator()(unsigned int row, unsigned int col) const - { - return (*this)[col][row]; - } - - //! Element access, mathematical way! - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVReal &operator()(unsigned int row, unsigned int col) - { - return (*this)[col][row]; - } - - //! Transform vector by matrix, equal to v' = M*v - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec4 transform(const QT3DSVec4 &other) const - { - return column0 * other.x + column1 * other.y + column2 * other.z + column3 * other.w; - } - - //! Transform vector by matrix, equal to v' = M*v - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec3 transform(const QT3DSVec3 &other) const - { - return transform(QT3DSVec4(other, 1)).getXYZ(); - } - - //! Rotate vector by matrix, equal to v' = M*v - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec4 rotate(const QT3DSVec4 &other) const - { - return column0 * other.x + column1 * other.y + column2 * other.z; // + column3*0; - } - - //! Rotate vector by matrix, equal to v' = M*v - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec3 rotate(const QT3DSVec3 &other) const - { - return rotate(QT3DSVec4(other, 1)).getXYZ(); - } - - /** -* Shamelessly pulled from gl-matrix.js - * Rotates a matrix by the given angle around the specified axis -* -* @param angle Angle (in radians) to rotate -* @param axis vec3 representing the axis to rotate around -*/ - QT3DS_CUDA_CALLABLE QT3DS_INLINE bool rotate(QT3DSF32 angleRadians, QT3DSVec3 axis) - { - QT3DSF32 x = axis[0], y = axis[1], z = axis[2], len = x * x + y * y + z * z, s, c, t, a00, a01, - a02, a03, a10, a11, a12, a13, a20, a21, a22, a23, b00, b01, b02, b10, b11, b12, b20, - b21, b22; - - if (!len) { - return false; - } - if (len != 1.0f) { - len = 1 / (NVSqrt(len)); - x *= len; - y *= len; - z *= len; - } - - s = NVSin(angleRadians); - c = NVCos(angleRadians); - t = 1 - c; - - QT3DSF32 *dataPtr(front()); - -// inverse algorithm was written for row-major matrixes. -#define mat(idx) dataPtr[idx] - - a00 = mat(0); - a01 = mat(1); - a02 = mat(2); - a03 = mat(3); - a10 = mat(4); - a11 = mat(5); - a12 = mat(6); - a13 = mat(7); - a20 = mat(8); - a21 = mat(9); - a22 = mat(10); - a23 = mat(11); -#undef mat - - // Construct the elements of the rotation matrix - b00 = x * x * t + c; - b01 = y * x * t + z * s; - b02 = z * x * t - y * s; - b10 = x * y * t - z * s; - b11 = y * y * t + c; - b12 = z * y * t + x * s; - b20 = x * z * t + y * s; - b21 = y * z * t - x * s; - b22 = z * z * t + c; - -// Perform rotation-specific matrix multiplication - -#define dest(idx) dataPtr[idx] - - dest(0) = a00 * b00 + a10 * b01 + a20 * b02; - dest(1) = a01 * b00 + a11 * b01 + a21 * b02; - dest(2) = a02 * b00 + a12 * b01 + a22 * b02; - dest(3) = a03 * b00 + a13 * b01 + a23 * b02; - - dest(4) = a00 * b10 + a10 * b11 + a20 * b12; - dest(5) = a01 * b10 + a11 * b11 + a21 * b12; - dest(6) = a02 * b10 + a12 * b11 + a22 * b12; - dest(7) = a03 * b10 + a13 * b11 + a23 * b12; - - dest(8) = a00 * b20 + a10 * b21 + a20 * b22; - dest(9) = a01 * b20 + a11 * b21 + a21 * b22; - dest(10) = a02 * b20 + a12 * b21 + a22 * b22; - dest(11) = a03 * b20 + a13 * b21 + a23 * b22; - -#undef dest - - return true; - }; - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec3 getBasis(int num) const - { - QT3DS_ASSERT(num >= 0 && num < 3); - return (&column0)[num].getXYZ(); - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSVec3 getPosition() const { return column3.getXYZ(); } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE void setPosition(const QT3DSVec3 &position) - { - column3.x = position.x; - column3.y = position.y; - column3.z = position.z; - } - - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVReal *front() { return &column0.x; } - - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE const NVReal *front() const { return &column0.x; } - - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE QT3DSVec4 &operator[](int num) { return (&column0)[num]; } - QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE const QT3DSVec4 &operator[](int num) const - { - return (&column0)[num]; - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE void scale(const QT3DSVec4 &p) - { - column0 *= p.x; - column1 *= p.y; - column2 *= p.z; - column3 *= p.w; - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 inverseRT(void) const - { - QT3DSVec3 r0(column0.x, column1.x, column2.x), r1(column0.y, column1.y, column2.y), - r2(column0.z, column1.z, column2.z); - - return QT3DSMat44(r0, r1, r2, -(r0 * column3.x + r1 * column3.y + r2 * column3.z)); - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat44 getInverse(void) const - { - // inverse algorithm was written for row-major matrixes. - const QT3DSF32 *myPtr(front()); -#define mat(idx) myPtr[idx] - - QT3DSF32 a00 = mat(0), a01 = mat(1), a02 = mat(2), a03 = mat(3), a10 = mat(4), a11 = mat(5), - a12 = mat(6), a13 = mat(7), a20 = mat(8), a21 = mat(9), a22 = mat(10), a23 = mat(11), - a30 = mat(12), a31 = mat(13), a32 = mat(14), a33 = mat(15), -#undef mat - - b00 = a00 * a11 - a01 * a10, b01 = a00 * a12 - a02 * a10, b02 = a00 * a13 - a03 * a10, - b03 = a01 * a12 - a02 * a11, b04 = a01 * a13 - a03 * a11, b05 = a02 * a13 - a03 * a12, - b06 = a20 * a31 - a21 * a30, b07 = a20 * a32 - a22 * a30, b08 = a20 * a33 - a23 * a30, - b09 = a21 * a32 - a22 * a31, b10 = a21 * a33 - a23 * a31, b11 = a22 * a33 - a23 * a32, - - d = (b00 * b11 - b01 * b10 + b02 * b09 + b03 * b08 - b04 * b07 + b05 * b06), invDet; - - // Calculate the determinant - if (!d) { - QT3DS_ASSERT(false); - return QT3DSMat44::createIdentity(); - } - invDet = 1 / d; - - QT3DSMat44 retval; - QT3DSF32 *destPtr = retval.front(); - -#define dest(idx) destPtr[idx] - dest(0) = (a11 * b11 - a12 * b10 + a13 * b09) * invDet; - dest(1) = (-a01 * b11 + a02 * b10 - a03 * b09) * invDet; - dest(2) = (a31 * b05 - a32 * b04 + a33 * b03) * invDet; - dest(3) = (-a21 * b05 + a22 * b04 - a23 * b03) * invDet; - dest(4) = (-a10 * b11 + a12 * b08 - a13 * b07) * invDet; - dest(5) = (a00 * b11 - a02 * b08 + a03 * b07) * invDet; - dest(6) = (-a30 * b05 + a32 * b02 - a33 * b01) * invDet; - dest(7) = (a20 * b05 - a22 * b02 + a23 * b01) * invDet; - dest(8) = (a10 * b10 - a11 * b08 + a13 * b06) * invDet; - dest(9) = (-a00 * b10 + a01 * b08 - a03 * b06) * invDet; - dest(10) = (a30 * b04 - a31 * b02 + a33 * b00) * invDet; - dest(11) = (-a20 * b04 + a21 * b02 - a23 * b00) * invDet; - dest(12) = (-a10 * b09 + a11 * b07 - a12 * b06) * invDet; - dest(13) = (a00 * b09 - a01 * b07 + a02 * b06) * invDet; - dest(14) = (-a30 * b03 + a31 * b01 - a32 * b00) * invDet; - dest(15) = (a20 * b03 - a21 * b01 + a22 * b00) * invDet; -#undef dest - - return retval; - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE bool isFinite() const - { - return column0.isFinite() && column1.isFinite() && column2.isFinite() && column3.isFinite(); - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat33 getUpper3x3() const - { - return QT3DSMat33(column0.getXYZ(), column1.getXYZ(), column2.getXYZ()); - } - - QT3DS_CUDA_CALLABLE QT3DS_INLINE QT3DSMat33 getUpper3x3InverseTranspose() const - { - return getUpper3x3().getInverse().getTranspose(); - } - - // Data, see above for format! - - QT3DSVec4 column0, column1, column2, column3; // the four base vectors -}; - -// implementation from Qt3DSTransform.h -QT3DS_CUDA_CALLABLE QT3DS_FORCE_INLINE NVTransform::NVTransform(const QT3DSMat44 &m) -{ - QT3DSVec3 column0 = QT3DSVec3(m.column0.x, m.column0.y, m.column0.z); - QT3DSVec3 column1 = QT3DSVec3(m.column1.x, m.column1.y, m.column1.z); - QT3DSVec3 column2 = QT3DSVec3(m.column2.x, m.column2.y, m.column2.z); - - q = QT3DSQuat(QT3DSMat33(column0, column1, column2)); - p = QT3DSVec3(m.column3.x, m.column3.y, m.column3.z); -} - -#ifndef QT3DS_DOXYGEN -} // namespace qt3ds -#endif - -/** @} */ -#endif // QT3DS_FOUNDATION_QT3DS_MAT44_H |