math3d.c

ARM9-2410教学实验系统下Linux下minigui程序

   MATRIX_f rotation;
   int i, j;

   get_vector_rotation_matrix_f(&rotation, fixtof(x), fixtof(y), fixtof(z), fixtof(a));

   for (i=0; i<3; i++)
      for (j=0; j<3; j++)
	 m->v[i][j] = ftofix(rotation.v[i][j]);

   m->t[0] = m->t[1] = m->t[2] = 0;
}



/* get_vector_rotation_matrix_f:
 *  Floating point version of get_vector_rotation_matrix().
 */
void get_vector_rotation_matrix_f(MATRIX_f *m, float x, float y, float z, float a)
{
   float c = floatcos(a);
   float s = floatsin(a);
   float cc = 1 - c;

   normalize_vector_f(&x, &y, &z);

   m->v[0][0] = (cc * x * x) + c;
   m->v[0][1] = (cc * x * y) + (z * s);
   m->v[0][2] = (cc * x * z) - (y * s);

   m->v[1][0] = (cc * x * y) - (z * s);
   m->v[1][1] = (cc * y * y) + c;
   m->v[1][2] = (cc * z * y) + (x * s);

   m->v[2][0] = (cc * x * z) + (y * s);
   m->v[2][1] = (cc * y * z) - (x * s);
   m->v[2][2] = (cc * z * z) + c;

   m->t[0] = m->t[1] = m->t[2] = 0;
}



/* get_transformation_matrix:
 *  Constructs a 3d transformation matrix, which will rotate points around
 *  all three axis by the specified amounts (given in the Allegro fixed 
 *  point, 256 degrees to a circle format), scale the result by the
 *  specified amount (itofix(1) for no change of scale), and then translate
 *  to the requested x, y, z position.
 */
void get_transformation_matrix(MATRIX *m, fixed scale, fixed xrot, fixed yrot, fixed zrot, fixed x, fixed y, fixed z)
{
   MAKE_ROTATION(xrot, yrot, zrot);

   m->v[0][0] = fmul(R00, scale);
   m->v[0][1] = fmul(R01, scale);
   m->v[0][2] = fmul(R02, scale);

   m->v[1][0] = fmul(R10, scale);
   m->v[1][1] = fmul(R11, scale);
   m->v[1][2] = fmul(R12, scale);

   m->v[2][0] = fmul(R20, scale);
   m->v[2][1] = fmul(R21, scale);
   m->v[2][2] = fmul(R22, scale);

   m->t[0] = x;
   m->t[1] = y;
   m->t[2] = z;
}



/* get_transformation_matrix_f:
 *  Floating point version of get_transformation_matrix().
 */
void get_transformation_matrix_f(MATRIX_f *m, float scale, float xrot, float yrot, float zrot, float x, float y, float z)
{
   MAKE_ROTATION_f(xrot, yrot, zrot);

   m->v[0][0] = R00_f * scale;
   m->v[0][1] = R01_f * scale;
   m->v[0][2] = R02_f * scale;

   m->v[1][0] = R10_f * scale;
   m->v[1][1] = R11_f * scale;
   m->v[1][2] = R12_f * scale;

   m->v[2][0] = R20_f * scale;
   m->v[2][1] = R21_f * scale;
   m->v[2][2] = R22_f * scale;

   m->t[0] = x;
   m->t[1] = y;
   m->t[2] = z;
}



/* get_camera_matrix: 
 *  Constructs a camera matrix for translating world-space objects into
 *  a normalised view space, ready for the perspective projection. The
 *  x, y, and z parameters specify the camera position, xfront, yfront,
 *  and zfront is an 'in front' vector specifying which way the camera
 *  is facing (this can be any length: normalisation is not required),
 *  and xup, yup, and zup is the 'up' direction vector. Up is really only
 *  a 1.5d vector, since the front vector only leaves one degree of freedom
 *  for which way up to put the image, but it is simplest to specify it
 *  as a full 3d direction even though a lot of the information in it is
 *  discarded. The fov parameter specifies the field of view (ie. width
 *  of the camera focus) in fixed point, 256 degrees to the circle format.
 *  For typical projections, a field of view in the region 32-48 will work
 *  well. Finally, the aspect ratio is used to scale the Y dimensions of
 *  the image relative to the X axis, so you can use it to correct for
 *  the proportions of the output image (set it to 1 for no scaling).
 */
void get_camera_matrix(MATRIX *m, fixed x, fixed y, fixed z, fixed xfront, fixed yfront, fixed zfront, fixed xup, fixed yup, fixed zup, fixed fov, fixed aspect)
{
   MATRIX_f camera;
   int i, j;

   get_camera_matrix_f(&camera,
		       fixtof(x), fixtof(y), fixtof(z), 
		       fixtof(xfront), fixtof(yfront), fixtof(zfront), 
		       fixtof(xup), fixtof(yup), fixtof(zup), 
		       fixtof(fov), fixtof(aspect));

   for (i=0; i<3; i++) {
      for (j=0; j<3; j++)
	 m->v[i][j] = ftofix(camera.v[i][j]);

      m->t[i] = ftofix(camera.t[i]);
   }
}



/* get_camera_matrix_f: 
 *  Floating point version of get_camera_matrix().
 */
void get_camera_matrix_f(MATRIX_f *m, float x, float y, float z, float xfront, float yfront, float zfront, float xup, float yup, float zup, float fov, float aspect)
{
   MATRIX_f camera, scale;
   float xside, yside, zside, width, d;

   /* make 'in-front' into a unit vector, and negate it */
   normalize_vector_f(&xfront, &yfront, &zfront);
   xfront = -xfront;
   yfront = -yfront;
   zfront = -zfront;

   /* make sure 'up' is at right angles to 'in-front', and normalize */
   d = dot_product_f(xup, yup, zup, xfront, yfront, zfront);
   xup -= d * xfront; 
   yup -= d * yfront; 
   zup -= d * zfront;
   normalize_vector_f(&xup, &yup, &zup);

   /* calculate the 'sideways' vector */
   cross_product_f(xup, yup, zup, xfront, yfront, zfront, &xside, &yside, &zside);

   /* set matrix rotation parameters */
   camera.v[0][0] = xside; 
   camera.v[0][1] = yside;
   camera.v[0][2] = zside;

   camera.v[1][0] = xup; 
   camera.v[1][1] = yup;
   camera.v[1][2] = zup;

   camera.v[2][0] = xfront; 
   camera.v[2][1] = yfront;
   camera.v[2][2] = zfront;

   /* set matrix translation parameters */
   camera.t[0] = -(x*xside  + y*yside  + z*zside);
   camera.t[1] = -(x*xup    + y*yup    + z*zup);
   camera.t[2] = -(x*xfront + y*yfront + z*zfront);

   /* construct a scaling matrix to deal with aspect ratio and FOV */
   width = floattan(64.0 - fov/2);
   get_scaling_matrix_f(&scale, width, -aspect*width*4/3, -1.0);

   /* combine the camera and scaling matrices */
   matrix_mul_f(&camera, &scale, m);
}



/* qtranslate_matrix:
 *  Adds a position offset to an existing matrix.
 */
void qtranslate_matrix(MATRIX *m, fixed x, fixed y, fixed z)
{
   m->t[0] += x;
   m->t[1] += y;
   m->t[2] += z;
}



/* qtranslate_matrix_f:
 *  Floating point version of qtranslate_matrix().
 */
void qtranslate_matrix_f(MATRIX_f *m, float x, float y, float z)
{
   m->t[0] += x;
   m->t[1] += y;
   m->t[2] += z;
}



/* qscale_matrix:
 *  Adds a scaling factor to an existing matrix.
 */
void qscale_matrix(MATRIX *m, fixed scale)
{
   int i, j;

   for (i=0; i<3; i++)
      for (j=0; j<3; j++)
	 m->v[i][j] = fmul(m->v[i][j], scale);
}



/* qscale_matrix_f:
 *  Floating point version of qscale_matrix().
 */
void qscale_matrix_f(MATRIX_f *m, float scale)
{
   int i, j;

   for (i=0; i<3; i++)
      for (j=0; j<3; j++)
	 m->v[i][j] *= scale;
}



/* matrix_mul:
 *  Multiplies two matrices, storing the result in out (this must be
 *  different from the two input matrices). The resulting matrix will
 *  have the same effect as the combination of m1 and m2, ie. when
 *  applied to a vector v, (v * out) = ((v * m1) * m2). Any number of
 *  transformations can be concatenated in this way.
 */
void matrix_mul(AL_CONST MATRIX *m1, AL_CONST MATRIX *m2, MATRIX *out)
{
   MATRIX temp;
   int i, j;

   if (m1 == out) {
      temp = *m1;
      m1 = &temp;
   }
   else if (m2 == out) {
      temp = *m2;
      m2 = &temp;
   }

   for (i=0; i<3; i++) {
      for (j=0; j<3; j++) {
	 out->v[i][j] = fmul(m1->v[0][j], m2->v[i][0]) +
			fmul(m1->v[1][j], m2->v[i][1]) +
			fmul(m1->v[2][j], m2->v[i][2]);
      }

      out->t[i] = fmul(m1->t[0], m2->v[i][0]) +
		  fmul(m1->t[1], m2->v[i][1]) +
		  fmul(m1->t[2], m2->v[i][2]) +
		  m2->t[i];
   } 
}



/* matrix_mul_f:
 *  Floating point version of matrix_mul().
 */
void matrix_mul_f(AL_CONST MATRIX_f *m1, AL_CONST MATRIX_f *m2, MATRIX_f *out)
{
   MATRIX_f temp;
   int i, j;

   if (m1 == out) {
      temp = *m1;
      m1 = &temp;
   }
   else if (m2 == out) {
      temp = *m2;
      m2 = &temp;
   }

   for (i=0; i<3; i++) {
      for (j=0; j<3; j++) {
	 out->v[i][j] = (m1->v[0][j] * m2->v[i][0]) +
			(m1->v[1][j] * m2->v[i][1]) +
			(m1->v[2][j] * m2->v[i][2]);
      }

      out->t[i] = (m1->t[0] * m2->v[i][0]) +
		  (m1->t[1] * m2->v[i][1]) +
		  (m1->t[2] * m2->v[i][2]) +
		  m2->t[i];
   }
}



/* vector_length: 
 *  Computes the length of a vector, using the son of the squaw...
 */
fixed vector_length(fixed x, fixed y, fixed z)
{
   x >>= 8;
   y >>= 8;
   z >>= 8;

   return (fsqrt(fmul(x,x) + fmul(y,y) + fmul(z,z)) << 8);
}



/* vector_lengthf: 
 *  Floating point version of vector_length().
 */
float vector_length_f(float x, float y, float z)
{
   return sqrt(x*x + y*y + z*z);
}



/* normalize_vector: 
 *  Converts the specified vector to a unit vector, which has the same
 *  orientation but a length of one.
 */
void normalize_vector(fixed *x, fixed *y, fixed *z)
{
   fixed length = vector_length(*x, *y, *z);

   *x = fdiv(*x, length);
   *y = fdiv(*y, length);
   *z = fdiv(*z, length);
}



/* normalize_vectorf: 
 *  Floating point version of normalize_vector().
 */
void normalize_vector_f(float *x, float *y, float *z)
{
   float length = 1.0 / vector_length_f(*x, *y, *z);

   *x *= length;
   *y *= length;
   *z *= length;
}



/* cross_product:
 *  Calculates the cross product of two vectors.
 */
void cross_product(fixed x1, fixed y1, fixed z1, fixed x2, fixed y2, fixed z2, fixed *xout, fixed *yout, fixed *zout)
{
    *xout = fmul(y1, z2) - fmul(z1, y2);
    *yout = fmul(z1, x2) - fmul(x1, z2);
    *zout = fmul(x1, y2) - fmul(y1, x2);
}



/* cross_productf:
 *  Floating point version of cross_product().
 */
void cross_product_f(float x1, float y1, float z1, float x2, float y2, float z2, float *xout, float *yout, float *zout)
{
    *xout = (y1 * z2) - (z1 * y2);
    *yout = (z1 * x2) - (x1 * z2);
    *zout = (x1 * y2) - (y1 * x2);
}



/* polygon_z_normal:
 *  Helper function for backface culling: returns the z component of the
 *  normal vector to the polygon formed from the three vertices.
 */
fixed polygon_z_normal(AL_CONST V3D *v1, AL_CONST V3D *v2, AL_CONST V3D *v3)
{
   return (fmul(v2->x-v1->x, v3->y-v2->y) - fmul(v3->x-v2->x, v2->y-v1->y));
}



/* polygon_z_normal_f:
 *  Floating point version of polygon_z_normal().
 */
float polygon_z_normal_f(AL_CONST V3D_f *v1, AL_CONST V3D_f *v2, AL_CONST V3D_f *v3)
{
   return ((v2->x-v1->x) * (v3->y-v2->y)) - ((v3->x-v2->x) * (v2->y-v1->y));
}

/* scaling factors for the perspective projection */
fixed _persp_xscale = 160 << 16;
fixed _persp_yscale = 100 << 16;
fixed _persp_xoffset = 160 << 16;
fixed _persp_yoffset = 100 << 16;

float _persp_xscale_f = 160.0;
float _persp_yscale_f = 100.0;
float _persp_xoffset_f = 160.0;
float _persp_yoffset_f = 100.0;

/* set_projection_viewport:
 *  Sets the viewport used to scale the output of the persp_project() 
 *  function.
 */
void set_projection_viewport(int x, int y, int w, int h)
{
   _persp_xscale = itofix(w/2);
   _persp_yscale = itofix(h/2);
   _persp_xoffset = itofix(x + w/2);
   _persp_yoffset = itofix(y + h/2);

   _persp_xscale_f = w/2;
   _persp_yscale_f = h/2;
   _persp_xoffset_f = x + w/2;
   _persp_yoffset_f = y + h/2;
}

#endif /* _MATH_3D */