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Add LMatrix*::xform_vec_general(), fix clip plane issues

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This commit is contained in:
David Rose 2007-08-23 16:24:49 +00:00
parent 7faa24c73d
commit fb973c9cfd
16 changed files with 184 additions and 182 deletions
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7
panda/src/char/config_char.cxx
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@ -26,7 +26,6 @@
#include "characterVertexSlider.h"
#include "jointVertexTransform.h"
#include "dconfig.h"
#include "lmatrix4.h"
Configure(config_char);
NotifyCategoryDef(char, "");
@ -68,12 +67,6 @@ init_libchar() {
CharacterVertexSlider::init_type();
JointVertexTransform::init_type();
// This isn't defined in this package, but it *is* essential that it
// be initialized. We have to do it explicitly here since template
// statics don't necessarily resolve very well across dynamic
// libraries.
LMatrix4f::init_type();
//Registration of writeable object's creation
//functions with BamReader's factory
Character::register_with_read_factory();

12
panda/src/linmath/Sources.pp
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@ -14,8 +14,8 @@
compose_matrix_src.cxx compose_matrix_src.h config_linmath.h \
coordinateSystem.h dbl2fltnames.h dblnames.h deg_2_rad.h \
flt2dblnames.h fltnames.h lcast_to.h lcast_to_src.h \
lcast_to_src.I lmatrix.h lmatrix3.h lmatrix3_src.I \
lmatrix3_src.cxx lmatrix3_src.h lmatrix4.h lmatrix4_src.I \
lcast_to_src.I lmatrix.h lmatrix3_src.I \
lmatrix3_src.cxx lmatrix3_src.h lmatrix4_src.I \
lmatrix4_src.cxx lmatrix4_src.h lorientation.h \
lorientation_src.I lorientation_src.cxx lorientation_src.h \
lpoint2.h lpoint2_src.I lpoint2_src.cxx lpoint2_src.h \
@ -39,8 +39,8 @@
#define INCLUDED_SOURCES \
compose_matrix.cxx config_linmath.cxx coordinateSystem.cxx \
lmatrix.cxx lmatrix3.cxx \
lmatrix4.cxx lorientation.cxx lpoint2.cxx \
lmatrix.cxx \
lorientation.cxx lpoint2.cxx \
lpoint3.cxx lpoint4.cxx lquaternion.cxx lrotation.cxx \
luse.cxx lvecBase2.cxx lvecBase3.cxx lvecBase4.cxx \
lvector2.cxx lvector3.cxx lvector4.cxx mathNumbers.cxx \
@ -53,8 +53,8 @@
compose_matrix_src.h config_linmath.h coordinateSystem.h \
dbl2fltnames.h dblnames.h deg_2_rad.h \
flt2dblnames.h fltnames.h lcast_to.h lcast_to_src.I lcast_to_src.h \
lmat_ops.h lmat_ops_src.I lmat_ops_src.h lmatrix.h lmatrix3.h \
lmatrix3_src.I lmatrix3_src.h lmatrix4.h lmatrix4_src.I \
lmat_ops.h lmat_ops_src.I lmat_ops_src.h lmatrix.h \
lmatrix3_src.I lmatrix3_src.h lmatrix4_src.I \
lmatrix4_src.h lorientation.h lorientation_src.I \
lorientation_src.h lpoint2.h lpoint2_src.I lpoint2_src.h lpoint3.h \
lpoint3_src.I lpoint3_src.h lpoint4.h lpoint4_src.I lpoint4_src.h \

2
panda/src/linmath/linmath_composite2.cxx
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@ -2,8 +2,6 @@
#include "compose_matrix.cxx"
#include "config_linmath.cxx"
#include "coordinateSystem.cxx"
#include "lmatrix3.cxx"
#include "lmatrix4.cxx"
#include "lmatrix.cxx"
#include "lorientation.cxx"
#include "lpoint2.cxx"

3
panda/src/linmath/lmat_ops.h
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@ -25,8 +25,7 @@
#include "lvecBase4.h"
#include "lpoint4.h"
#include "lvector4.h"
#include "lmatrix3.h"
#include "lmatrix4.h"
#include "lmatrix.h"
#include "fltnames.h"
#include "lmat_ops_src.h"

13
panda/src/linmath/lmatrix.cxx
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@ -16,11 +16,12 @@
//
////////////////////////////////////////////////////////////////////
#include "pandabase.h"
#include "lmatrix.h"
// This tells GCC to explicitly instantiate the templates defined in
// lmatrix.h and leave them here.
#ifdef __GNUC__
#pragma implementation
#endif
#include "fltnames.h"
#include "lmatrix3_src.cxx"
#include "lmatrix4_src.cxx"
#include "dblnames.h"
#include "lmatrix3_src.cxx"
#include "lmatrix4_src.cxx"

29
panda/src/linmath/lmatrix.h
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@ -21,21 +21,26 @@
#include "pandabase.h"
#include "config_linmath.h"
#include <math.h>
#include "typedObject.h"
#include "datagram.h"
#include "datagramIterator.h"
#include "pnotify.h"
#include "indent.h"
#include "lmatrix3.h"
#include "lmatrix4.h"
#include "deg_2_rad.h"
#include "nearly_zero.h"
/*
typedef LMatrix3<float> LMatrix3f;
typedef LMatrix4<float> LMatrix4f;
#include "coordinateSystem.h"
#include "lvecBase4.h"
#include "lvecBase3.h"
#include "lvecBase2.h"
typedef LMatrix3<double> LMatrix3d;
typedef LMatrix4<double> LMatrix4d;
*/
#include "fltnames.h"
// lmatrix3_src.h includes lmatrix4_src.h.
#include "lmatrix3_src.h"
// Tell GCC that we'll take care of the instantiation explicitly here.
#ifdef __GNUC__
#pragma interface
#endif
#include "dblnames.h"
#include "lmatrix3_src.h"
#endif

28
panda/src/linmath/lmatrix3.cxx
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@ -1,28 +0,0 @@
// Filename: lmatrix3.cxx
// Created by: drose (29Jan99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license. You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
//
// To contact the maintainers of this program write to
// panda3d-general@lists.sourceforge.net .
//
////////////////////////////////////////////////////////////////////
#include "config_linmath.h"
#include "lmatrix3.h"
#include "fltnames.h"
#include "lmatrix3_src.cxx"
#include "dblnames.h"
#include "lmatrix3_src.cxx"

41
panda/src/linmath/lmatrix3.h
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@ -1,41 +0,0 @@
// Filename: lmatrix3.h
// Created by: drose (29Jan99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license. You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
//
// To contact the maintainers of this program write to
// panda3d-general@lists.sourceforge.net .
//
////////////////////////////////////////////////////////////////////
#ifndef LMATRIX3_H
#define LMATRIX3_H
#include "pandabase.h"
#include <math.h>
#include "typedObject.h"
#include "datagram.h"
#include "datagramIterator.h"
#include "pnotify.h"
#include "indent.h"
#include "deg_2_rad.h"
#include "nearly_zero.h"
#include "coordinateSystem.h"
#include "lvecBase3.h"
#include "lvecBase2.h"
#include "fltnames.h"
#include "lmatrix3_src.h"
#include "dblnames.h"
#include "lmatrix3_src.h"
#endif

114
panda/src/linmath/lmatrix3_src.I
View File

@ -450,8 +450,7 @@ v_res._v.v._2 = v._v.v._0*mat._m.m._02 + v._v.v._1*mat._m.m._12 + v._v.v._2*mat.
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform
// Access: Public
// Description: 3-component vector or point times matrix. This is a
// fully general operation.
// Description: 3-component vector or point times matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform(const FLOATNAME(LVecBase3) &v) const {
@ -506,6 +505,45 @@ xform_vec(const FLOATNAME(LVecBase2) &v) const {
// v.dot(get_col2(1)));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec
// Access: Public
// Description: The matrix transforms a 3-component vector and
// returns the result. This assumes the matrix is an
// orthonormal transform.
//
// In practice, this is the same computation as xform().
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform_vec(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_vec(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LVecBase3) v_res;
// v._v.v._3 == 0.0f for this case
v_res._v.v._0 = v._v.v._0*_m.m._00 + v._v.v._1*_m.m._10 + v._v.v._2*_m.m._20;
v_res._v.v._1 = v._v.v._0*_m.m._01 + v._v.v._1*_m.m._11 + v._v.v._2*_m.m._21;
v_res._v.v._2 = v._v.v._0*_m.m._02 + v._v.v._1*_m.m._12 + v._v.v._2*_m.m._22;
return v_res;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec_general
// Access: Public
// Description: The matrix transforms a 3-component vector (without
// translation component) and returns the result, as a
// fully general operation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform_vec_general(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_vec_general(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LMatrix3) i;
i.invert_transpose_from(*this);
return i.xform(v);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::mult_cel
// Access: Private
@ -833,6 +871,78 @@ invert_in_place() {
return invert_from(temp);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_transpose_from
// Access: Public
// Description: Simultaneously computes the inverse of the indicated
// matrix, and then the transpose of that inverse.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_transpose_from(const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("bool LMatrix3::invert_transpose_from(const LMatrix3 &)", " ", TAU_USER);
FLOATTYPE other_det = MATRIX3_DETERMINANT(other._m.m);
if (IS_THRESHOLD_ZERO(other_det, (NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE)))) {
#ifdef NOTIFY_DEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
return false;
}
other_det = 1.0f / other_det;
_m.m._00 = other_det * DET2(other._m.m._11, other._m.m._12, other._m.m._21, other._m.m._22);
_m.m._01 = -other_det * DET2(other._m.m._10, other._m.m._12, other._m.m._20, other._m.m._22);
_m.m._02 = other_det * DET2(other._m.m._10, other._m.m._11, other._m.m._20, other._m.m._21);
_m.m._10 = -other_det * DET2(other._m.m._01, other._m.m._02, other._m.m._21, other._m.m._22);
_m.m._11 = other_det * DET2(other._m.m._00, other._m.m._02, other._m.m._20, other._m.m._22);
_m.m._12 = -other_det * DET2(other._m.m._00, other._m.m._01, other._m.m._20, other._m.m._21);
_m.m._20 = other_det * DET2(other._m.m._01, other._m.m._02, other._m.m._11, other._m.m._12);
_m.m._21 = -other_det * DET2(other._m.m._00, other._m.m._02, other._m.m._10, other._m.m._12);
_m.m._22 = other_det * DET2(other._m.m._00, other._m.m._01, other._m.m._10, other._m.m._11);
return true;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_transpose_from
// Access: Public
// Description: Simultaneously computes the inverse of the indicated
// matrix, and then the transpose of that inverse.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_transpose_from(const FLOATNAME(LMatrix4) &other) {
TAU_PROFILE("bool LMatrix3::invert_transpose_from(const LMatrix4 &)", " ", TAU_USER);
FLOATTYPE other_det = MATRIX3_DETERMINANT(other._m.m);
if (IS_THRESHOLD_ZERO(other_det, (NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE)))) {
#ifdef NOTIFY_DEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix4.\n";
#endif
(*this) = ident_mat();
return false;
}
other_det = 1.0f / other_det;
_m.m._00 = other_det * DET2(other._m.m._11, other._m.m._12, other._m.m._21, other._m.m._22);
_m.m._01 = -other_det * DET2(other._m.m._10, other._m.m._12, other._m.m._20, other._m.m._22);
_m.m._02 = other_det * DET2(other._m.m._10, other._m.m._11, other._m.m._20, other._m.m._21);
_m.m._10 = -other_det * DET2(other._m.m._01, other._m.m._02, other._m.m._21, other._m.m._22);
_m.m._11 = other_det * DET2(other._m.m._00, other._m.m._02, other._m.m._20, other._m.m._22);
_m.m._12 = -other_det * DET2(other._m.m._00, other._m.m._01, other._m.m._20, other._m.m._21);
_m.m._20 = other_det * DET2(other._m.m._01, other._m.m._02, other._m.m._11, other._m.m._12);
_m.m._21 = -other_det * DET2(other._m.m._00, other._m.m._02, other._m.m._10, other._m.m._12);
_m.m._22 = other_det * DET2(other._m.m._00, other._m.m._01, other._m.m._10, other._m.m._11);
return true;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_translate_mat
// Access: Public

15
panda/src/linmath/lmatrix3_src.h
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@ -16,6 +16,8 @@
//
////////////////////////////////////////////////////////////////////
class FLOATNAME(LMatrix4);
////////////////////////////////////////////////////////////////////
// Class : LMatrix3
// Description : This is a 3-by-3 transform matrix. It typically will
@ -103,6 +105,12 @@ PUBLISHED:
INLINE_LINMATH FLOATNAME(LVecBase2)
xform_vec(const FLOATNAME(LVecBase2) &v) const;
INLINE_LINMATH FLOATNAME(LVecBase3)
xform_vec(const FLOATNAME(LVecBase3) &v) const;
INLINE_LINMATH FLOATNAME(LVecBase3)
xform_vec_general(const FLOATNAME(LVecBase3) &v) const;
// this = other1 * other2
INLINE_LINMATH void multiply(
const FLOATNAME(LMatrix3) &other1, const FLOATNAME(LMatrix3) &other2);
@ -131,6 +139,9 @@ PUBLISHED:
INLINE_LINMATH bool invert_from(const FLOATNAME(LMatrix3) &other);
INLINE_LINMATH bool invert_in_place();
INLINE_LINMATH bool invert_transpose_from(const FLOATNAME(LMatrix3) &other);
INLINE_LINMATH bool invert_transpose_from(const FLOATNAME(LMatrix4) &other);
static INLINE_LINMATH const FLOATNAME(LMatrix3) &ident_mat();
// A 3x3 matrix is likely to be used for one of two purposes. In
@ -289,4 +300,8 @@ INLINE_LINMATH FLOATNAME(LMatrix3) transpose(const FLOATNAME(LMatrix3) &a);
INLINE_LINMATH FLOATNAME(LMatrix3) invert(const FLOATNAME(LMatrix3) &a);
END_PUBLISH
// We can safely include lmatrix4_src.h down here and avoid circular
// dependencies.
#include "lmatrix4_src.h"
#include "lmatrix3_src.I"

28
panda/src/linmath/lmatrix4.cxx
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@ -1,28 +0,0 @@
// Filename: lmatrix4.cxx
// Created by: drose (29Jan99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license. You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
//
// To contact the maintainers of this program write to
// panda3d-general@lists.sourceforge.net .
//
////////////////////////////////////////////////////////////////////
#include "config_linmath.h"
#include "lmatrix4.h"
#include "fltnames.h"
#include "lmatrix4_src.cxx"
#include "dblnames.h"
#include "lmatrix4_src.cxx"

43
panda/src/linmath/lmatrix4.h
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@ -1,43 +0,0 @@
// Filename: lmatrix4.h
// Created by: drose (29Jan99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
//
// All use of this software is subject to the terms of the Panda 3d
// Software license. You should have received a copy of this license
// along with this source code; you will also find a current copy of
// the license at http://etc.cmu.edu/panda3d/docs/license/ .
//
// To contact the maintainers of this program write to
// panda3d-general@lists.sourceforge.net .
//
////////////////////////////////////////////////////////////////////
#ifndef LMATRIX4_H
#define LMATRIX4_H
#include "pandabase.h"
#include <math.h>
#include "typedObject.h"
#include "datagram.h"
#include "datagramIterator.h"
#include "indent.h"
#include "deg_2_rad.h"
#include "nearly_zero.h"
#include "coordinateSystem.h"
#include "lvecBase4.h"
#include "lvecBase3.h"
#include "lmatrix3.h"
#include "fltnames.h"
#include "lmatrix4_src.h"
#include "dblnames.h"
#include "lmatrix4_src.h"
#endif

18
panda/src/linmath/lmatrix4_src.I
View File

@ -656,7 +656,7 @@ xform_point(const FLOATNAME(LVecBase3) &v) const {
// Access: Public
// Description: The matrix transforms a 3-component vector (without
// translation component) and returns the result. This
// assumes the matrix is an affine transform.
// assumes the matrix is an orthonormal transform.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix4)::
xform_vec(const FLOATNAME(LVecBase3) &v) const {
@ -672,6 +672,22 @@ xform_vec(const FLOATNAME(LVecBase3) &v) const {
return v_res;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix4::xform_vec_general
// Access: Public
// Description: The matrix transforms a 3-component vector (without
// translation component) and returns the result, as a
// fully general operation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix4)::
xform_vec_general(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix4::xform_vec_general(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LMatrix3) i;
i.invert_transpose_from(*this);
return i.xform(v);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix4::mult_cel
// Access: Private

3
panda/src/linmath/lmatrix4_src.h
View File

@ -107,6 +107,9 @@ PUBLISHED:
INLINE_LINMATH FLOATNAME(LVecBase3)
xform_vec(const FLOATNAME(LVecBase3) &v) const;
INLINE_LINMATH FLOATNAME(LVecBase3)
xform_vec_general(const FLOATNAME(LVecBase3) &v) const;
// this = other1 * other2
INLINE_LINMATH void multiply(const FLOATNAME(LMatrix4) &other1, const FLOATNAME(LMatrix4) &other2);

7
panda/src/mathutil/plane_src.I
View File

@ -99,9 +99,8 @@ FLOATNAME(Plane)(FLOATTYPE a, FLOATTYPE b, FLOATTYPE c, FLOATTYPE d) :
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane) FLOATNAME(Plane)::
operator * (const FLOATNAME(LMatrix3) &mat) const {
FLOATNAME(LVector3) new_normal = get_normal() * mat;
FLOATNAME(LPoint3) new_point = get_point() * mat;
return FLOATNAME(Plane)(new_normal, new_point);
FLOATNAME(LVector3) new_normal = mat.xform(get_normal());
return FLOATNAME(Plane)(new_normal, get_point());
}
////////////////////////////////////////////////////////////////////
@ -111,7 +110,7 @@ operator * (const FLOATNAME(LMatrix3) &mat) const {
////////////////////////////////////////////////////////////////////
INLINE_MATHUTIL FLOATNAME(Plane) FLOATNAME(Plane)::
operator * (const FLOATNAME(LMatrix4) &mat) const {
FLOATNAME(LVector3) new_normal = get_normal() * mat;
FLOATNAME(LVector3) new_normal = mat.xform_vec_general(get_normal());
FLOATNAME(LPoint3) new_point = get_point() * mat;
return FLOATNAME(Plane)(new_normal, new_point);
}

3
panda/src/pgraph/cullPlanes.cxx
View File

@ -155,6 +155,9 @@ do_cull(int &result, CPT(RenderState) &state,
Planes::const_iterator pi;
for (pi = _planes.begin(); pi != _planes.end(); ++pi) {
int plane_result = (*pi).second->contains(node_gbv);
pgraph_cat.debug()
<< "comparing " << *(*pi).second << " to " << *node_gbv
<< ": " << hex << plane_result << dec << "\n";
if (plane_result == BoundingVolume::IF_no_intersection) {
// The node is completely behind this clip plane. Short-circuit
// the rest of the logic; none of the other planes matter.