1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
|
#include "matrix4x4.h"
#include "qmath.h"
Matrix4x4::Matrix4x4()
{
float identity[] =
{
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
};
setData(identity);
}
Matrix4x4::Matrix4x4(float *data)
{
setData(data);
}
Matrix4x4 Matrix4x4::orderSwapped() const
{
float data[16];
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
data[4*i + j] = m[4*j + i];
return Matrix4x4(data);
}
void Matrix4x4::setData(float *data)
{
for (int i = 0; i < 16; ++i)
m[i] = data[i];
}
Matrix4x4 &Matrix4x4::operator*=(const Matrix4x4 &rhs)
{
const Matrix4x4 lhs = *this;
for (int i = 0; i < 4; ++i) {
for (int j = 0; j < 4; ++j) {
m[4*i + j] = 0;
for (int k = 0; k < 4; ++k)
m[4*i + j] += lhs.m[4*i + k] * rhs.m[4*k + j];
}
}
return *this;
}
Matrix4x4 Matrix4x4::operator*(const Matrix4x4 &other) const
{
return Matrix4x4(*this) *= other;
}
Point3d Matrix4x4::operator*(const Point3d &p) const
{
qreal x = m[0] * p.x + m[4] * p.y + m[8] * p.z + m[12];
qreal y = m[1] * p.x + m[5] * p.y + m[9] * p.z + m[13];
qreal z = m[2] * p.x + m[6] * p.y + m[10] * p.z + m[14];
qreal w = m[3] * p.x + m[7] * p.y + m[11] * p.z + m[15];
return Point3d(x / w, y / w, z / w);
}
Matrix4x4 Matrix4x4::fromRotation(float angle, Qt::Axis axis)
{
QTransform rot;
rot.rotate(angle);
switch (axis) {
case Qt::XAxis:
{
float data[] =
{
1, 0, 0, 0,
0, rot.m11(), rot.m12(), 0,
0, rot.m21(), rot.m22(), 0,
0, 0, 0, 1
};
return Matrix4x4(data);
}
case Qt::YAxis:
{
float data[] =
{
rot.m11(), 0, rot.m12(), 0,
0, 1, 0, 0,
rot.m21(), 0, rot.m22(), 0,
0, 0, 0, 1
};
return Matrix4x4(data);
}
case Qt::ZAxis:
{
float data[] =
{
rot.m11(), rot.m12(), 0, 0,
rot.m21(), rot.m22(), 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
};
return Matrix4x4(data);
}
default:
return Matrix4x4();
}
}
Matrix4x4 Matrix4x4::fromTranslation(float dx, float dy, float dz)
{
float data[] =
{
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
dx, dy, dz, 1
};
return Matrix4x4(data);
}
Matrix4x4 Matrix4x4::fromScale(float sx, float sy, float sz)
{
float data[] =
{
sx, 0, 0, 0,
0, sy, 0, 0,
0, 0, sz, 0,
0, 0, 0, 1
};
return Matrix4x4(data);
}
Matrix4x4 Matrix4x4::fromProjection(float fovAngle)
{
float fov = qCos(fovAngle / 2) / qSin(fovAngle / 2);
float zNear = 0.001;
float zFar = 1000;
float m33 = (zNear + zFar) / (zNear - zFar);
float m34 = (2 * zNear * zFar) / (zNear - zFar);
float data[] =
{
fov, 0, 0, 0,
0, fov, 0, 0,
0, 0, m33, -1,
0, 0, m34, 0
};
return Matrix4x4(data);
}
QTransform Matrix4x4::toQTransform() const
{
return QTransform(m[0], m[1], m[3],
m[4], m[5], m[7],
m[12], m[13], m[15]);
}
Matrix4x4 Matrix4x4::fromQTransform(const QTransform &transform)
{
float data[] =
{
transform.m11(), transform.m12(), 0, transform.m13(),
transform.m21(), transform.m22(), 0, transform.m23(),
0, 0, 1, 0,
transform.m31(), transform.m32(), 0, transform.m33()
};
return Matrix4x4(data);
}
|
