mirror of
https://github.com/zeldaret/ss
synced 2026-05-23 15:01:38 -04:00
robojumper
116 lines
3.0 KiB
C++
116 lines
3.0 KiB
C++
#ifndef EGG_MATRIX_H
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#define EGG_MATRIX_H
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#include "common.h"
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#include "egg/math/eggQuat.h"
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#include "egg/math/eggVector.h"
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#include "nw4r/math/math_types.h"
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namespace EGG {
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struct Matrix34f {
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Matrix34f() {}
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Matrix34f(f32 xx, f32 xy, f32 xz, f32 xw, f32 yx, f32 yy, f32 yz, f32 yw, f32 zx, f32 zy, f32 zz, f32 zw);
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f32 operator()(int i, int j) const {
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return m[i][j];
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}
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f32 &operator()(int i, int j) {
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return m[i][j];
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}
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f32 operator()(int i) const {
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return arr[i];
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}
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f32 &operator()(int i) {
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return arr[i];
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}
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Matrix34f &operator=(const Matrix34f &other) {
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copyFrom(other);
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return *this;
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}
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void rotateBaseX(Vector3f &, Matrix34f &);
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void rotateVectorChange(Vector3f &, Vector3f &, Matrix34f &);
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void inverseTo(Matrix34f &to) const;
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void inverseTransposeTo(Matrix34f &to) const;
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void makeIdentity();
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void makeSRT(const Vector3f &s, const Vector3f &r, const Vector3f &t);
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void makeRT(const Vector3f &r, const Vector3f &t);
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void makeR(const Vector3f &r);
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void makeST(const Vector3f &s, const Vector3f &t);
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void makeSQT(const Vector3f &s, const Quatf &q, const Vector3f &t);
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void makeSQ(const Vector3f &, const Quatf &);
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void makeQT(const Quatf &, const Vector3f &);
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void makeQ(const Quatf &);
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void makeS(const Vector3f &s);
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void makeT(const Vector3f &t);
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void fromQuat(const Quatf &q);
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void toQuat(Quatf &q) const;
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void slerpTo(const Matrix34f &, Matrix34f &, f32) const;
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void copyTo16(f32 *pf) const;
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void setAxisRotation(const Vector3f &, f32);
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Vector3f multVector(const Vector3f &vec) const;
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void loadPosMtx(u32);
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void loadNrmMtx(u32 nrmMtxId);
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void multiplyTo(const Matrix34f &m2, Matrix34f &to) const;
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void dump();
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operator nw4r::math::MTX34 *() {
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return (nw4r::math::MTX34 *)this;
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}
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operator const nw4r::math::MTX34 *() const {
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return (nw4r::math::MTX34 *)this;
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}
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public:
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void concat(const Matrix34f &, Matrix34f &) const;
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void rotate(const Vector3f &rpy) const;
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void multVectorTo(const Vector3f &from, Vector3f &to) const;
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void transposeTo(Matrix34f &to) const;
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void copyFrom(const Matrix34f &other) {
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for (int i = 0; i < 12; i++) {
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(*this)(i) = other(i);
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}
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}
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void setBase(int idx, const Vector3f &b) {
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(*this)(0, idx) = b.x;
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(*this)(1, idx) = b.y;
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(*this)(2, idx) = b.z;
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}
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void getBase(int idx, Vector3f &b) const {
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b(0) = (*this)(0, idx);
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b(1) = (*this)(1, idx);
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b(2) = (*this)(2, idx);
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}
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void setTranslation(const Vector3f &t) {
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setBase(3, t);
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}
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void getTranslation(Vector3f &t) const {
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getBase(3, t);
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}
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void makeZero() {
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for (int i = 0; i < 12; i++) {
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arr[i] = 0.0f;
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}
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}
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public:
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union {
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f32 m[3][4];
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f32 arr[12];
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};
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public:
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static Matrix34f ident;
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};
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} // namespace EGG
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#endif
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