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Merge pull request #582 from tomaz82/fix_transform4x4f

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Fix Transform4x4f
This commit is contained in:
John Rassa 2019-08-12 09:27:22 -04:00 committed by GitHub
parent 723b17ae4c 28168667ea
commit e6660475e3
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 65 additions and 65 deletions
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130
es-core/src/math/Transform4x4f.cpp
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@ -8,21 +8,21 @@ const Transform4x4f Transform4x4f::operator*(const Transform4x4f& _other) const
return
{
{
tm[ 0] * om[ 0] + tm[ 1] * om[ 4] + tm[ 2] * om[ 8],
tm[ 0] * om[ 1] + tm[ 1] * om[ 5] + tm[ 2] * om[ 9],
tm[ 0] * om[ 2] + tm[ 1] * om[ 6] + tm[ 2] * om[10],
tm[ 0] * om[ 0] + tm[ 4] * om[ 1] + tm[ 8] * om[ 2],
tm[ 1] * om[ 0] + tm[ 5] * om[ 1] + tm[ 9] * om[ 2],
tm[ 2] * om[ 0] + tm[ 6] * om[ 1] + tm[10] * om[ 2],
0
},
{
tm[ 4] * om[ 0] + tm[ 5] * om[ 4] + tm[ 6] * om[ 8],
tm[ 4] * om[ 1] + tm[ 5] * om[ 5] + tm[ 6] * om[ 9],
tm[ 4] * om[ 2] + tm[ 5] * om[ 6] + tm[ 6] * om[10],
tm[ 0] * om[ 4] + tm[ 4] * om[ 5] + tm[ 8] * om[ 6],
tm[ 1] * om[ 4] + tm[ 5] * om[ 5] + tm[ 9] * om[ 6],
tm[ 2] * om[ 4] + tm[ 6] * om[ 5] + tm[10] * om[ 6],
0
},
{
tm[ 8] * om[ 0] + tm[ 9] * om[ 4] + tm[10] * om[ 8],
tm[ 8] * om[ 1] + tm[ 9] * om[ 5] + tm[10] * om[ 9],
tm[ 8] * om[ 2] + tm[ 9] * om[ 6] + tm[10] * om[10],
tm[ 0] * om[ 8] + tm[ 4] * om[ 9] + tm[ 8] * om[10],
tm[ 1] * om[ 8] + tm[ 5] * om[ 9] + tm[ 9] * om[10],
tm[ 2] * om[ 8] + tm[ 6] * om[ 9] + tm[10] * om[10],
0
},
{
@ -91,9 +91,9 @@ Transform4x4f& Transform4x4f::invert(const Transform4x4f& _other)
tm[15] = 1;
float Determinant = om[ 0] * tm[ 0] +
om[ 4] * tm[ 1] +
om[ 8] * tm[ 2] +
om[12] * tm[ 3];
om[ 4] * tm[ 1] +
om[ 8] * tm[ 2] +
om[12] * tm[ 3];
if(Determinant != 0)
Determinant = 1 / Determinant;
@ -121,13 +121,13 @@ Transform4x4f& Transform4x4f::scale(const Vector3f& _scale)
const float* sv = (float*)&_scale;
tm[ 0] *= sv[0];
tm[ 1] *= sv[1];
tm[ 2] *= sv[2];
tm[ 4] *= sv[0];
tm[ 1] *= sv[0];
tm[ 2] *= sv[0];
tm[ 4] *= sv[1];
tm[ 5] *= sv[1];
tm[ 6] *= sv[2];
tm[ 8] *= sv[0];
tm[ 9] *= sv[1];
tm[ 6] *= sv[1];
tm[ 8] *= sv[2];
tm[ 9] *= sv[2];
tm[10] *= sv[2];
return *this;
@ -151,23 +151,23 @@ Transform4x4f& Transform4x4f::rotate(const float _angle, const Vector3f& _axis)
const float sy = s * y;
const float sz = s * z;
const float r[9] = { tx * x + c,
tx * y - sz,
tx * z + sy,
ty * x + sz,
ty * y + c,
ty * z - sx,
tz * x - sy,
tz * y + sx,
tz * z + c };
const float temp[9] = { tm[ 0] * r[0] + tm[ 1] * r[3] + tm[ 2] * r[6],
tm[ 0] * r[1] + tm[ 1] * r[4] + tm[ 2] * r[7],
tm[ 0] * r[2] + tm[ 1] * r[5] + tm[ 2] * r[8],
tm[ 4] * r[0] + tm[ 5] * r[3] + tm[ 6] * r[6],
tm[ 4] * r[1] + tm[ 5] * r[4] + tm[ 6] * r[7],
tm[ 4] * r[2] + tm[ 5] * r[5] + tm[ 6] * r[8],
tm[ 8] * r[0] + tm[ 9] * r[3] + tm[10] * r[6],
tm[ 8] * r[1] + tm[ 9] * r[4] + tm[10] * r[7],
tm[ 8] * r[2] + tm[ 9] * r[5] + tm[10] * r[8] };
tx * y - sz,
tx * z + sy,
ty * x + sz,
ty * y + c,
ty * z - sx,
tz * x - sy,
tz * y + sx,
tz * z + c };
const float temp[9] = { tm[ 0] * r[0] + tm[ 4] * r[1] + tm[ 8] * r[2],
tm[ 1] * r[0] + tm[ 5] * r[1] + tm[ 9] * r[2],
tm[ 2] * r[0] + tm[ 6] * r[1] + tm[10] * r[2],
tm[ 0] * r[3] + tm[ 4] * r[4] + tm[ 8] * r[5],
tm[ 1] * r[3] + tm[ 5] * r[4] + tm[ 9] * r[5],
tm[ 2] * r[3] + tm[ 6] * r[4] + tm[ 0] * r[5],
tm[ 0] * r[6] + tm[ 4] * r[7] + tm[ 8] * r[8],
tm[ 1] * r[6] + tm[ 5] * r[7] + tm[ 9] * r[8],
tm[ 2] * r[6] + tm[ 6] * r[7] + tm[10] * r[8] };
tm[ 0] = temp[0];
tm[ 1] = temp[1];
@ -188,17 +188,17 @@ Transform4x4f& Transform4x4f::rotateX(const float _angle)
float* tm = (float*)this;
const float s = Math::sinf(-_angle);
const float c = Math::cosf(-_angle);
const float temp[6] = { tm[ 1] * c + tm[ 2] * s,
tm[ 1] * -s + tm[ 2] * c,
tm[ 5] * c + tm[ 6] * s,
tm[ 5] * -s + tm[ 6] * c,
tm[ 9] * c + tm[10] * s,
tm[ 9] * -s + tm[10] * c };
const float temp[6] = { tm[ 4] * c + tm[ 8] * -s,
tm[ 5] * c + tm[ 9] * -c,
tm[ 6] * c + tm[10] * -s,
tm[ 4] * s + tm[ 8] * c,
tm[ 5] * s + tm[ 9] * c,
tm[ 6] * s + tm[10] * c };
tm[ 1] = temp[0];
tm[ 2] = temp[1];
tm[ 5] = temp[2];
tm[ 6] = temp[3];
tm[ 4] = temp[0];
tm[ 5] = temp[1];
tm[ 6] = temp[2];
tm[ 8] = temp[3];
tm[ 9] = temp[4];
tm[10] = temp[5];
@ -211,18 +211,18 @@ Transform4x4f& Transform4x4f::rotateY(const float _angle)
float* tm = (float*)this;
const float s = Math::sinf(-_angle);
const float c = Math::cosf(-_angle);
const float temp[6] = { tm[ 0] * c + tm[ 2] * -s,
tm[ 0] * s + tm[ 2] * c,
tm[ 4] * c + tm[ 6] * -s,
tm[ 4] * s + tm[ 6] * c,
tm[ 8] * c + tm[10] * -s,
tm[ 8] * s + tm[10] * c };
const float temp[6] = { tm[ 0] * c + tm[ 8] * s,
tm[ 1] * c + tm[ 9] * s,
tm[ 2] * c + tm[10] * s,
tm[ 0] * -s + tm[ 8] * c,
tm[ 1] * -s + tm[ 9] * c,
tm[ 2] * -s + tm[10] * c };
tm[ 0] = temp[0];
tm[ 2] = temp[1];
tm[ 4] = temp[2];
tm[ 6] = temp[3];
tm[ 8] = temp[4];
tm[ 1] = temp[1];
tm[ 2] = temp[2];
tm[ 8] = temp[3];
tm[ 9] = temp[4];
tm[10] = temp[5];
return *this;
@ -234,19 +234,19 @@ Transform4x4f& Transform4x4f::rotateZ(const float _angle)
float* tm = (float*)this;
const float s = Math::sinf(-_angle);
const float c = Math::cosf(-_angle);
const float temp[6] = { tm[ 0] * c + tm[ 1] * s,
tm[ 0] * -s + tm[ 1] * c,
tm[ 4] * c + tm[ 5] * s,
tm[ 4] * -s + tm[ 5] * c,
tm[ 8] * c + tm[ 9] * s,
tm[ 8] * -s + tm[ 9] * c };
const float temp[6] = { tm[ 0] * c + tm[ 4] * -s,
tm[ 1] * c + tm[ 5] * -s,
tm[ 2] * c + tm[ 6] * -s,
tm[ 0] * s + tm[ 4] * c,
tm[ 1] * s + tm[ 5] * c,
tm[ 2] * s + tm[ 6] * c };
tm[ 0] = temp[0];
tm[ 1] = temp[1];
tm[ 4] = temp[2];
tm[ 5] = temp[3];
tm[ 8] = temp[4];
tm[ 9] = temp[5];
tm[ 2] = temp[2];
tm[ 4] = temp[3];
tm[ 5] = temp[4];
tm[ 6] = temp[5];
return *this;