mirror of
https://github.com/zeldaret/tp
synced 2026-05-23 06:54:28 -04:00
TakaRikka
5867eaf68b
* typedef for cPhs_Step * make sdk includes consistent * d_menu_quit / d_msg_scrn_explain debug * d_a_obj_testcube mostly done * d_debug_pad mostly done * jstudio tool library headers * some JStudioCameraEditor headers * d_jcam_editor mostly done * try fixing some shield regressions * d_bg_parts mostly done * fix merge errors * debug fix
89 lines
2.2 KiB
C++
89 lines
2.2 KiB
C++
#ifndef TPOSITION3_H
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#define TPOSITION3_H
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#include <dolphin/mtx.h>
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#include "JSystem/JMath/JMath.h"
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#include "JSystem/JGeometry.h"
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namespace JGeometry {
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template <typename T>
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struct SMatrix34C {
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T data[3][4];
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};
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template <>
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struct SMatrix34C<f32> {
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f32 data[3][4];
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typedef f32 ArrType[4];
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void set(const ArrType* src) {
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JMath::gekko_ps_copy12(data, src);
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}
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operator ArrType*() { return data; }
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operator const ArrType*() const { return data; }
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};
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template <typename T>
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struct SMatrix33C {
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T data[3][3];
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inline T& ref(int i, int j) {
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return data[i][j];
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}
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inline T at(int i, int j) const {
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return data[i][j];
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}
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inline void set(T param_1, T param_2, T param_3, T param_4, T param_5,
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T param_6, T param_7, T param_8, T param_9) {
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ref(0,0) = param_1;
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ref(0,1) = param_2;
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ref(0,2) = param_3;
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ref(1,0) = param_4;
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ref(1,1) = param_5;
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ref(1,2) = param_6;
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ref(2,0) = param_7;
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ref(2,1) = param_8;
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ref(2,2) = param_9;
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}
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};
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template <typename T>
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struct TMatrix34 : public T {
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void identity() { MTXIdentity(this->data); }
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};
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template <typename T>
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struct TRotation3 : public T {};
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template<typename T>
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struct TRotation3<SMatrix33C<T> > : public SMatrix33C<T> {
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inline void getEulerXYZ(TVec3<T>* param_1) const {
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if (this->at(2, 0) - TUtil<T>::one() >= -TUtil<T>::epsilon()) {
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param_1->set(TUtil<T>::atan2(-this->at(0, 1), this->at(1, 1)), -TUtil<T>::halfPI(), 0.0);
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} else {
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if (this->at(2, 0) + TUtil<T>::one() <= TUtil<T>::epsilon()) {
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param_1->set(TUtil<T>::atan2(this->at(0, 1), this->at(1, 1)), TUtil<T>::halfPI(), 0.0);
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} else {
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param_1->x = TUtil<T>::atan2(this->at(2, 1), this->at(2, 2));
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param_1->z = TUtil<T>::atan2(this->at(1, 0), this->at(0, 0));
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param_1->y = TUtil<T>::asin(-this->at(2, 0));
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}
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}
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}
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};
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template <typename T>
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struct TPosition3 : public T {
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TPosition3() {}
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};
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typedef TPosition3<TMatrix34<SMatrix34C<f32> > > TPosition3f32;
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} // namespace JGeometry
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#endif
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