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David Rose 2001-05-25 01:55:39 +00:00
parent 408ec1754c
commit c84cf520b1
3 changed files with 72 additions and 62 deletions
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16
panda/src/mathutil/look_at_src.I
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@ -4,18 +4,20 @@
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL void INLINE_MATHUTIL void
heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs) { heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs) {
heads_up(mat, fwd, FLOATNAME(LVector3)::up(cs), cs); heads_up(mat, fwd, FLOATNAME(LVector3)::up(cs), cs);
} }
INLINE_MATHUTIL void INLINE_MATHUTIL void
look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs) { look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs) {
look_at(mat, fwd, FLOATNAME(LVector3)::up(cs), cs); look_at(mat, fwd, FLOATNAME(LVector3)::up(cs), cs);
} }
INLINE_MATHUTIL void INLINE_MATHUTIL void
heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up, CoordinateSystem cs) { const FLOATNAME(LVector3) &up, CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat3; FLOATNAME(LMatrix3) mat3;
heads_up(mat3, fwd, up, cs); heads_up(mat3, fwd, up, cs);
mat = FLOATNAME(LMatrix4)(mat3); mat = FLOATNAME(LMatrix4)(mat3);
@ -23,19 +25,21 @@ heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
INLINE_MATHUTIL void INLINE_MATHUTIL void
look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up, CoordinateSystem cs) { const FLOATNAME(LVector3) &up, CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat3; FLOATNAME(LMatrix3) mat3;
look_at(mat3, fwd, up, cs); look_at(mat3, fwd, up, cs);
mat = FLOATNAME(LMatrix4)(mat3); mat = FLOATNAME(LMatrix4)(mat3);
} }
INLINE_MATHUTIL void INLINE_MATHUTIL void
heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs) { heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs) {
heads_up(mat, fwd, FLOATNAME(LVector3)::up(cs), cs); heads_up(mat, fwd, FLOATNAME(LVector3)::up(cs), cs);
} }
INLINE_MATHUTIL void INLINE_MATHUTIL void
look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs) { look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs) {
look_at(mat, fwd, FLOATNAME(LVector3)::up(cs), cs); look_at(mat, fwd, FLOATNAME(LVector3)::up(cs), cs);
} }

76
panda/src/mathutil/look_at_src.cxx
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@ -6,32 +6,32 @@
INLINE_MATHUTIL FLOATNAME(LMatrix3) INLINE_MATHUTIL FLOATNAME(LMatrix3)
make_xi_mat(const FLOATNAME(LVector2) &x) { make_xi_mat(const FLOATNAME(LVector2) &x) {
return FLOATNAME(LMatrix3)(1.0f, 0, 0, return FLOATNAME(LMatrix3)(1.0f, 0, 0,
0, x[0], x[1], 0, x[0], x[1],
0, -x[1], x[0]); 0, -x[1], x[0]);
} }
INLINE_MATHUTIL FLOATNAME(LMatrix3) INLINE_MATHUTIL FLOATNAME(LMatrix3)
make_x_mat(const FLOATNAME(LVector2) &x) { make_x_mat(const FLOATNAME(LVector2) &x) {
return FLOATNAME(LMatrix3)(1.0f, 0, 0, return FLOATNAME(LMatrix3)(1.0f, 0, 0,
0, x[1], x[0], 0, x[1], x[0],
0, -x[0], x[1]); 0, -x[0], x[1]);
} }
INLINE_MATHUTIL FLOATNAME(LMatrix3) INLINE_MATHUTIL FLOATNAME(LMatrix3)
make_y_mat(const FLOATNAME(LVector2) &y) { make_y_mat(const FLOATNAME(LVector2) &y) {
return FLOATNAME(LMatrix3)(y[1], 0, -y[0], return FLOATNAME(LMatrix3)(y[1], 0, -y[0],
0, 1.0f, 0, 0, 1.0f, 0,
y[0], 0, y[1]); y[0], 0, y[1]);
} }
INLINE_MATHUTIL FLOATNAME(LMatrix3) INLINE_MATHUTIL FLOATNAME(LMatrix3)
make_z_mat(const FLOATNAME(LVector2) &z) { make_z_mat(const FLOATNAME(LVector2) &z) {
return FLOATNAME(LMatrix3)(z[1], -z[0], 0, return FLOATNAME(LMatrix3)(z[1], -z[0], 0,
z[0], z[1], 0, z[0], z[1], 0,
0, 0, 1.0f); 0, 0, 1.0f);
} }
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
@ -47,7 +47,7 @@ make_z_mat(const FLOATNAME(LVector2) &z) {
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
void void
heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up, CoordinateSystem cs) { const FLOATNAME(LVector3) &up, CoordinateSystem cs) {
if (cs == CS_default) { if (cs == CS_default) {
cs = default_coordinate_system; cs = default_coordinate_system;
} }
@ -89,7 +89,7 @@ heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// plane. Its angle to the Y axis is the amount to rotate about the // plane. Its angle to the Y axis is the amount to rotate about the
// Z axis in order to bring the fwd vector to the Y axis. // Z axis in order to bring the fwd vector to the Y axis.
FLOATNAME(LVector2) z(fwd[0]*y[1] - fwd[2]*y[0], FLOATNAME(LVector2) z(fwd[0]*y[1] - fwd[2]*y[0],
-fwd[0]*y[0]*x[0] + fwd[1]*x[1] - fwd[2]*y[1]*x[0]); -fwd[0]*y[0]*x[0] + fwd[1]*x[1] - fwd[2]*y[1]*x[0]);
d = dot(z, z); d = dot(z, z);
if (d==0.0f) { if (d==0.0f) {
z = FLOATNAME(LVector2)(0.0f, 1.0f); z = FLOATNAME(LVector2)(0.0f, 1.0f);
@ -100,14 +100,14 @@ heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// Now build the net rotation matrix. // Now build the net rotation matrix.
if (cs == CS_zup_right) { if (cs == CS_zup_right) {
mat = mat =
make_z_mat(z) * make_z_mat(z) *
make_x_mat(x) * make_x_mat(x) *
make_y_mat(y); make_y_mat(y);
} else { // cs == CS_zup_left } else { // cs == CS_zup_left
mat = mat =
make_z_mat(z) * make_z_mat(z) *
make_x_mat(-x) * make_x_mat(-x) *
make_y_mat(-y); make_y_mat(-y);
} }
} else { } else {
// Y-up. // Y-up.
@ -146,7 +146,7 @@ heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// plane. Its angle to the Z axis is the amount to rotate about the // plane. Its angle to the Z axis is the amount to rotate about the
// Y axis in order to bring the up vector to the Z axis. // Y axis in order to bring the up vector to the Z axis.
FLOATNAME(LVector2) y(fwd[0]*z[1] - fwd[1]*z[0], FLOATNAME(LVector2) y(fwd[0]*z[1] - fwd[1]*z[0],
-fwd[0]*x[1]*z[0] - fwd[1]*x[1]*z[1] + fwd[2]*x[0]); -fwd[0]*x[1]*z[0] - fwd[1]*x[1]*z[1] + fwd[2]*x[0]);
d = dot(y, y); d = dot(y, y);
if (d==0.0f) { if (d==0.0f) {
y = FLOATNAME(LVector2)(0.0f, 1.0f); y = FLOATNAME(LVector2)(0.0f, 1.0f);
@ -157,14 +157,14 @@ heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// Now build the net rotation matrix. // Now build the net rotation matrix.
if (cs == CS_yup_right) { if (cs == CS_yup_right) {
mat = mat =
make_y_mat(y) * make_y_mat(y) *
make_xi_mat(-x) * make_xi_mat(-x) *
make_z_mat(-z); make_z_mat(-z);
} else { // cs == CS_yup_left } else { // cs == CS_yup_left
mat = mat =
make_y_mat(y) * make_y_mat(y) *
make_xi_mat(x) * make_xi_mat(x) *
make_z_mat(z); make_z_mat(z);
} }
} }
} }
@ -183,7 +183,7 @@ heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
void void
look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up, CoordinateSystem cs) { const FLOATNAME(LVector3) &up, CoordinateSystem cs) {
if (cs == CS_default) { if (cs == CS_default) {
cs = default_coordinate_system; cs = default_coordinate_system;
} }
@ -225,7 +225,7 @@ look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// plane. Its angle to the Z axis is the amount to rotate about the // plane. Its angle to the Z axis is the amount to rotate about the
// Y axis in order to bring the up vector to the Z axis. // Y axis in order to bring the up vector to the Z axis.
FLOATNAME(LVector2) y(up[0]*z[1] - up[1]*z[0], FLOATNAME(LVector2) y(up[0]*z[1] - up[1]*z[0],
-up[0]*x[1]*z[0] - up[1]*x[1]*z[1] + up[2]*x[0]); -up[0]*x[1]*z[0] - up[1]*x[1]*z[1] + up[2]*x[0]);
d = dot(y, y); d = dot(y, y);
if (d==0.0f) { if (d==0.0f) {
y = FLOATNAME(LVector2)(0.0f, 1.0f); y = FLOATNAME(LVector2)(0.0f, 1.0f);
@ -236,14 +236,14 @@ look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// Now build the net rotation matrix. // Now build the net rotation matrix.
if (cs == CS_zup_right) { if (cs == CS_zup_right) {
mat = mat =
make_y_mat(y) * make_y_mat(y) *
make_xi_mat(x) * make_xi_mat(x) *
make_z_mat(z); make_z_mat(z);
} else { // cs == CS_zup_left } else { // cs == CS_zup_left
mat = mat =
make_y_mat(-y) * make_y_mat(-y) *
make_xi_mat(-x) * make_xi_mat(-x) *
make_z_mat(z); make_z_mat(z);
} }
} else { } else {
// Y-up. // Y-up.
@ -282,7 +282,7 @@ look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// plane. Its angle to the Y axis is the amount to rotate about the // plane. Its angle to the Y axis is the amount to rotate about the
// Z axis in order to bring the fwd vector to the Y axis. // Z axis in order to bring the fwd vector to the Y axis.
FLOATNAME(LVector2) z(up[0]*y[1] - up[2]*y[0], FLOATNAME(LVector2) z(up[0]*y[1] - up[2]*y[0],
-up[0]*y[0]*x[0] + up[1]*x[1] - up[2]*y[1]*x[0]); -up[0]*y[0]*x[0] + up[1]*x[1] - up[2]*y[1]*x[0]);
d = dot(z, z); d = dot(z, z);
if (d==0.0f) { if (d==0.0f) {
z = FLOATNAME(LVector2)(0.0f, 1.0f); z = FLOATNAME(LVector2)(0.0f, 1.0f);
@ -293,14 +293,14 @@ look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
// Now build the net rotation matrix. // Now build the net rotation matrix.
if (cs == CS_yup_right) { if (cs == CS_yup_right) {
mat = mat =
make_z_mat(z) * make_z_mat(z) *
make_x_mat(x) * make_x_mat(x) *
make_y_mat(-y); make_y_mat(-y);
} else { // cs == CS_yup_left } else { // cs == CS_yup_left
mat = mat =
make_z_mat(-z) * make_z_mat(-z) *
make_x_mat(-x) * make_x_mat(-x) *
make_y_mat(-y); make_y_mat(-y);
} }
} }
} }

42
panda/src/mathutil/look_at_src.h
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@ -20,30 +20,36 @@ BEGIN_PUBLISH
EXPCL_PANDA void EXPCL_PANDA void
heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(), const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(),
CoordinateSystem cs = CS_default); CoordinateSystem cs = CS_default);
EXPCL_PANDA void EXPCL_PANDA void
look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(), const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(),
CoordinateSystem cs = CS_default); CoordinateSystem cs = CS_default);
INLINE_MATHUTIL void heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, INLINE_MATHUTIL void
CoordinateSystem cs); heads_up(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
INLINE_MATHUTIL void look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs);
CoordinateSystem cs); INLINE_MATHUTIL void
look_at(FLOATNAME(LMatrix3) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs);
INLINE_MATHUTIL void heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, INLINE_MATHUTIL void
const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(), heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs = CS_default); const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(),
INLINE_MATHUTIL void look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs = CS_default);
const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(), INLINE_MATHUTIL void
CoordinateSystem cs = CS_default); look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
const FLOATNAME(LVector3) &up = FLOATNAME(LVector3)::up(),
CoordinateSystem cs = CS_default);
INLINE_MATHUTIL void heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, INLINE_MATHUTIL void
CoordinateSystem cs); heads_up(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
INLINE_MATHUTIL void look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd, CoordinateSystem cs);
CoordinateSystem cs); INLINE_MATHUTIL void
look_at(FLOATNAME(LMatrix4) &mat, const FLOATNAME(LVector3) &fwd,
CoordinateSystem cs);
END_PUBLISH END_PUBLISH