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This commit is contained in:
David Rose 2003-07-02 19:30:54 +00:00
parent 90918d5f6c
commit 1bc836605f
1 changed files with 109 additions and 98 deletions
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31
panda/src/linmath/compose_matrix_src.cxx
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@ -27,14 +27,15 @@ compose_matrix(FLOATNAME(LMatrix3) &mat,
const FLOATNAME(LVecBase3) &hpr, const FLOATNAME(LVecBase3) &hpr,
CoordinateSystem cs) { CoordinateSystem cs) {
// temp_hpr_fix blocks use the correct way. need to keep other way as default until // temp_hpr_fix blocks use the correct way. need to keep other way
// legacy tools are fixed to work with correct way // as default until legacy tools are fixed to work with correct way
if (temp_hpr_fix) { if (temp_hpr_fix) {
mat.scale_multiply(scale, mat.scale_multiply(scale,
FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[2], FLOATNAME(LVector3)::forward(cs), cs) * FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[2], FLOATNAME(LVector3)::forward(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) * FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[0], FLOATNAME(LVector3)::up(cs), cs)); FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[0], FLOATNAME(LVector3)::up(cs), cs));
} else { } else {
mat.scale_multiply(scale, mat.scale_multiply(scale,
FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) * FLOATNAME(LMatrix3)::rotate_mat_normaxis(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
@ -523,6 +524,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
cs = default_coordinate_system; cs = default_coordinate_system;
} }
if (linmath_cat.is_debug()) {
linmath_cat.debug()
<< "decomposing " << mat << " via cs " << cs << "\n";
}
// Extract the rotation and scale, according to the coordinate // Extract the rotation and scale, according to the coordinate
// system of choice. // system of choice.
bool bMatHasNoShear,bIsLeftHandedMat; bool bMatHasNoShear,bIsLeftHandedMat;
@ -550,11 +556,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
new_mat._m.m._12 = -new_mat._m.m._12; new_mat._m.m._12 = -new_mat._m.m._12;
new_mat._m.m._20 = -new_mat._m.m._20; new_mat._m.m._20 = -new_mat._m.m._20;
new_mat._m.m._21 = -new_mat._m.m._21; new_mat._m.m._21 = -new_mat._m.m._21;
/* /*
FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2), FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2),
mat(1, 0), mat(1, 1), -mat(1, 2), mat(1, 0), mat(1, 1), -mat(1, 2),
-mat(2, 0), -mat(2, 1), mat(2, 2)); -mat(2, 0), -mat(2, 1), mat(2, 2));
*/ */
unwind_zup_rotation(new_mat, hpr); unwind_zup_rotation(new_mat, hpr);
bIsLeftHandedMat = true; bIsLeftHandedMat = true;
} }
@ -566,11 +572,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
new_mat._m.m._12 = -new_mat._m.m._12; new_mat._m.m._12 = -new_mat._m.m._12;
new_mat._m.m._20 = -new_mat._m.m._20; new_mat._m.m._20 = -new_mat._m.m._20;
new_mat._m.m._21 = -new_mat._m.m._21; new_mat._m.m._21 = -new_mat._m.m._21;
/* /*
FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2), FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2),
mat(1, 0), mat(1, 1), -mat(1, 2), mat(1, 0), mat(1, 1), -mat(1, 2),
-mat(2, 0), -mat(2, 1), mat(2, 2)); -mat(2, 0), -mat(2, 1), mat(2, 2));
*/ */
unwind_yup_rotation(new_mat, hpr); unwind_yup_rotation(new_mat, hpr);
bIsLeftHandedMat = true; bIsLeftHandedMat = true;
} }
@ -582,6 +588,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
return false; return false;
} }
if (linmath_cat.is_debug()) {
linmath_cat.debug()
<< "after unwind, mat is " << new_mat << "\n";
}
scale[2] = new_mat._m.m._22; scale[2] = new_mat._m.m._22;
if(bIsLeftHandedMat) { if(bIsLeftHandedMat) {
scale[0] = -new_mat._m.m._00; scale[0] = -new_mat._m.m._00;
@ -649,11 +660,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
new_mat._m.m._12 = -new_mat._m.m._12; new_mat._m.m._12 = -new_mat._m.m._12;
new_mat._m.m._20 = -new_mat._m.m._20; new_mat._m.m._20 = -new_mat._m.m._20;
new_mat._m.m._21 = -new_mat._m.m._21; new_mat._m.m._21 = -new_mat._m.m._21;
/* /*
FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2), FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2),
mat(1, 0), mat(1, 1), -mat(1, 2), mat(1, 0), mat(1, 1), -mat(1, 2),
-mat(2, 0), -mat(2, 1), mat(2, 2)); -mat(2, 0), -mat(2, 1), mat(2, 2));
*/ */
unwind_zup_rotation(new_mat, hpr, roll); unwind_zup_rotation(new_mat, hpr, roll);
bIsLeftHandedMat = true; bIsLeftHandedMat = true;
} }
@ -665,11 +676,11 @@ decompose_matrix(const FLOATNAME(LMatrix3) &mat,
new_mat._m.m._12 = -new_mat._m.m._12; new_mat._m.m._12 = -new_mat._m.m._12;
new_mat._m.m._20 = -new_mat._m.m._20; new_mat._m.m._20 = -new_mat._m.m._20;
new_mat._m.m._21 = -new_mat._m.m._21; new_mat._m.m._21 = -new_mat._m.m._21;
/* /*
FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2), FLOATNAME(LMatrix3) lm(mat(0, 0), mat(0, 1), -mat(0, 2),
mat(1, 0), mat(1, 1), -mat(1, 2), mat(1, 0), mat(1, 1), -mat(1, 2),
-mat(2, 0), -mat(2, 1), mat(2, 2)); -mat(2, 0), -mat(2, 1), mat(2, 2));
*/ */
unwind_yup_rotation(new_mat, hpr, roll); unwind_yup_rotation(new_mat, hpr, roll);
bIsLeftHandedMat = true; bIsLeftHandedMat = true;
} }