📄 our_3d.c
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/**************************************************************************
Copyright (C) jianbo miao Corporation. All Rights Released.
this is a 3d engin named our_3d_engin.
our_3d_engin feature:
1:there is no float.
2:it do the 3d things all by softwear.
3:base on 1 and 2 , it can execution on arm which have no 3d hardwear accelerate.
if you have any suggestion or question,pls contact with me
mail:miaojb@126.com
msn:miaojianbo@hotmail.com
qq:30209027
2008/01/01
***************************************************************************/
#ifndef OUR_3D_C
#define OUR_3D_C
#include "our_math.h"
#include "our_3d.h"
#include "our_draw32.h"
#include "our_draw16.h"
#include "math.h"
UINT OUR_D_FrameTH;
UINT OUR_D_point_changed_num;
UINT OUR_D_triangle_drawed_num;
int OUR_D_screem_w;
int OUR_D_screem_h;
//-----------------------------
//FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
//FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
void OUR_Build_XYZ_Rotation_MATRIX3X3( FIXP16 theta_x, //60t 450t 850t
FIXP16 theta_y,
FIXP16 theta_z,
FIX_MATRIX_3X3_PTR mrot) // output
{
FIX_MATRIX_3X3 mx, my, mz, mtmp; // working matrices
FIXP16 sin_theta=0, cos_theta=0; // used to initialize matrices
int rot_seq = 0; // 1 for x, 2 for y, 4 for z
// step 1: based on zero and non-zero rotation angles, determine
// rotation sequence
if (theta_x != 0) // x
rot_seq = rot_seq | 1;
if (theta_y != 0) // y
rot_seq = rot_seq | 2;
if (theta_z != 0) // z
rot_seq = rot_seq | 4;
switch(rot_seq) // now case on sequence
{
case 0: // no rotation
{
mrot->MM.M00=1<<FIXP15_SHIFT; mrot->MM.M01=0; mrot->MM.M02=0;
mrot->MM.M10=0; mrot->MM.M11=1<<FIXP15_SHIFT; mrot->MM.M12=0;
mrot->MM.M20=0; mrot->MM.M21=0; mrot->MM.M22=1<<FIXP15_SHIFT;
return;
}
case 1: // x rotation
{
// compute the sine and cosine of the angle
cos_theta = OUR_Fast_Cos(theta_x);
sin_theta = OUR_Fast_Sin(theta_x);
mrot->MM.M00=1<<FIXP15_SHIFT; mrot->MM.M01=0; mrot->MM.M02=0;
mrot->MM.M10=0; mrot->MM.M11=cos_theta; mrot->MM.M12=sin_theta;
mrot->MM.M20=0; mrot->MM.M21=-sin_theta; mrot->MM.M22=cos_theta;
return;
}
case 2: // y rotation
{
cos_theta = OUR_Fast_Cos(theta_y);
sin_theta = OUR_Fast_Sin(theta_y);
mrot->MM.M00=cos_theta; mrot->MM.M01=0; mrot->MM.M02=-sin_theta;
mrot->MM.M10=0; mrot->MM.M11=1<<FIXP15_SHIFT; mrot->MM.M12=0;
mrot->MM.M20=sin_theta; mrot->MM.M21=0; mrot->MM.M22=cos_theta;
return;
}
case 3: // xy rotation
{
cos_theta = OUR_Fast_Cos(theta_x);
sin_theta = OUR_Fast_Sin(theta_x);
mx.MM.M00=1<<FIXP15_SHIFT; mx.MM.M01=0; mx.MM.M02=0;
mx.MM.M10=0; mx.MM.M11=cos_theta; mx.MM.M12=sin_theta;
mx.MM.M20=0; mx.MM.M21=-sin_theta; mx.MM.M22=cos_theta;
cos_theta = OUR_Fast_Cos(theta_y);
sin_theta = OUR_Fast_Sin(theta_y);
my.MM.M00=cos_theta; my.MM.M01=0; my.MM.M02=-sin_theta;
my.MM.M10=0; my.MM.M11=1<<FIXP15_SHIFT; my.MM.M12=0;
my.MM.M20=sin_theta; my.MM.M21=0; my.MM.M22=cos_theta;
OUR_FIX_Mat_Mul_3X3(&mx, &my, mrot);
return;
}
case 4: // z rotation
{
cos_theta = OUR_Fast_Cos(theta_z);
sin_theta = OUR_Fast_Sin(theta_z);
mrot->MM.M00=cos_theta; mrot->MM.M01=sin_theta; mrot->MM.M02=0;
mrot->MM.M10=-sin_theta; mrot->MM.M11=cos_theta; mrot->MM.M12=0;
mrot->MM.M20=0; mrot->MM.M21=-0; mrot->MM.M22=1<<FIXP15_SHIFT;
return;
}
case 5: // xz rotation
{
cos_theta = OUR_Fast_Cos(theta_x);
sin_theta = OUR_Fast_Sin(theta_x);
mx.MM.M00=1<<FIXP15_SHIFT; mx.MM.M01=0; mx.MM.M02=0;
mx.MM.M10=0; mx.MM.M11=cos_theta; mx.MM.M12=sin_theta;
mx.MM.M20=0; mx.MM.M21=-sin_theta; mx.MM.M22=cos_theta;
cos_theta = OUR_Fast_Cos(theta_z);
sin_theta = OUR_Fast_Sin(theta_z);
mz.MM.M00=cos_theta; mz.MM.M01=sin_theta; mz.MM.M02=0;
mz.MM.M10=-sin_theta; mz.MM.M11=cos_theta; mz.MM.M12=0;
mz.MM.M20=0; mz.MM.M21=-0; mz.MM.M22=1<<FIXP15_SHIFT;
OUR_FIX_Mat_Mul_3X3(&mx, &mz, mrot);
return;
}
case 6: // yz rotation
{
cos_theta = OUR_Fast_Cos(theta_y);
sin_theta = OUR_Fast_Sin(theta_y);
my.MM.M00=cos_theta; my.MM.M01=0; my.MM.M02=-sin_theta;
my.MM.M10=0; my.MM.M11=1<<FIXP15_SHIFT; my.MM.M12=0;
my.MM.M20=sin_theta; my.MM.M21=0; my.MM.M22=cos_theta;
cos_theta = OUR_Fast_Cos(theta_z);
sin_theta = OUR_Fast_Sin(theta_z);
mz.MM.M00=cos_theta; mz.MM.M01=sin_theta; mz.MM.M02=0;
mz.MM.M10=-sin_theta; mz.MM.M11=cos_theta; mz.MM.M12=0;
mz.MM.M20=0; mz.MM.M21=-0; mz.MM.M22=1<<FIXP15_SHIFT;
OUR_FIX_Mat_Mul_3X3(&my, &mz, mrot);
return;
}
case 7: // xyz rotation
{
cos_theta = OUR_Fast_Cos(theta_x);
sin_theta = OUR_Fast_Sin(theta_x);
mx.MM.M00=1<<FIXP15_SHIFT; mx.MM.M01=0; mx.MM.M02=0;
mx.MM.M10=0; mx.MM.M11=cos_theta; mx.MM.M12=sin_theta;
mx.MM.M20=0; mx.MM.M21=-sin_theta; mx.MM.M22=cos_theta;
cos_theta = OUR_Fast_Cos(theta_y);
sin_theta = OUR_Fast_Sin(theta_y);
my.MM.M00=cos_theta; my.MM.M01=0; my.MM.M02=-sin_theta;
my.MM.M10=0; my.MM.M11=1<<FIXP15_SHIFT; my.MM.M12=0;
my.MM.M20=sin_theta; my.MM.M21=0; my.MM.M22=cos_theta;
cos_theta = OUR_Fast_Cos(theta_z);
sin_theta = OUR_Fast_Sin(theta_z);
mz.MM.M00=cos_theta; mz.MM.M01=sin_theta; mz.MM.M02=0;
mz.MM.M10=-sin_theta; mz.MM.M11=cos_theta; mz.MM.M12=0;
mz.MM.M20=0; mz.MM.M21=-0; mz.MM.M22=1<<FIXP15_SHIFT;
OUR_FIX_Mat_Mul_3X3(&mx, &my, &mtmp);
OUR_FIX_Mat_Mul_3X3(&mtmp, &mz, mrot);
return;
}
default: break;
}
return;
}
//--------------------------------------------------------------------
void OUR_XYZ_Rotation_OBJ( FIXP16 x, // 1300t
FIXP16 y,
FIXP16 z,
OUR_3D_OBJ_PTR obj,
int obj_r_style)// output
{
FIX_MATRIX_3X3 mx;
obj->state_attr |= OBJ_CHANGED;
if(OBJ_R_XYZ==obj_r_style)
{
OUR_Build_XYZ_Rotation_MATRIX3X3(x, y, z,&obj->mrot);
}
else if(OBJ_R_XYZ_ADD==obj_r_style)
{
OUR_Build_XYZ_Rotation_MATRIX3X3(x, y, z,&mx);
}
OUR_Mat_Inverse_3X3(&obj->mrot,&obj->mrot_i);
}
//--------------------------------------------------------------------
//--------------------------------------------------------------------
void OUR_Build_CAM_Rotation_MATRIX3X3(OUR_3D_CAM_PTR cam)//1550
{
FIX_POINT3D v; //x
FIX_POINT3D u={0,0,1}; //y
FIX_POINT3D n; //z
OUR_FIX_VECTOR3D_SUB(&(cam->target),&(cam->pos),&n);
// OUR_VECTOR3D_Cross(&u, &n, &v);
v.MM.x=n.MM.z;//???
v.MM.y=0;
v.MM.z=-n.MM.x;
OUR_VECTOR3D_Cross( &n, &v,&u);
//OUR_VECTOR3D_Cross( &v, &u,&n);
OUR_VECTOR3D_Normalize(&n);
OUR_VECTOR3D_Normalize(&v);
OUR_VECTOR3D_Normalize(&u);
cam->mrot.MM.M00=v.MM.x;
cam->mrot.MM.M01=u.MM.x;
cam->mrot.MM.M02=n.MM.x;
cam->mrot.MM.M10=v.MM.y;
cam->mrot.MM.M11=u.MM.y;
cam->mrot.MM.M12=n.MM.y;
cam->mrot.MM.M20=v.MM.z;
cam->mrot.MM.M21=u.MM.z;
cam->mrot.MM.M22=n.MM.z;
}
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
//MMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMMM
void OUR_POINT_CHANGE_OBJ(OUR_3D_OBJ_PTR obj,OUR_3D_CAM_PTR cam)//300t
{
UINT i;
int dvr;
FIX_POINT3D pos;
FIX_POINT3D pos_cam={0,0,1000};
FIX_POINT3D_PTR p_p;
FIX_MATRIX_3X3 mrot;
p_p=obj->pPoints;
OUR_3Dengin_SET_LCD_B(cam->width<<1,cam->hight<<1);
OUR_FIX_Mat_Mul_3X3(&obj->mrot,&(cam->mrot),&mrot);
OUR_FIX_VECTOR3D_SUB(&obj->pos,&cam->pos,&pos); //20t
OUR_FIX_Mat_Mul_VECTOR3D_3X3(&pos, &(cam->mrot),&pos_cam); //100t
for(i=0;i<obj->point_num;i++)
{
if(OUR_D_FrameTH==obj->pPoints_changed[i]) //whitch p would be changed
{
OUR_FIX_Mat_Mul_VECTOR3D_3X3(&p_p[i], &mrot,&obj->pPoints_work[i]); //100t
obj->pPoints_work[i].MM.x=(obj->pPoints_work[i].MM.x *obj->scale_x)>>SCALE_1;
obj->pPoints_work[i].MM.y=(obj->pPoints_work[i].MM.y *obj->scale_y)>>SCALE_1;
obj->pPoints_work[i].MM.z=(obj->pPoints_work[i].MM.z *obj->scale_z)>>SCALE_1;
OUR_FIX_VECTOR3D_ADD(&obj->pPoints_work[i],&pos_cam,&obj->pPoints_work[i]); //20t
if(MATERIAL_pre_z) //& (obj->state_attr)
{
dvr=((cam->focus)<<15)/(obj->pPoints_work[i].MM.z);
obj->pPoints_work[i].MM.x=((obj->pPoints_work[i].MM.x*dvr)>>15)+cam->width;
obj->pPoints_work[i].MM.y=cam->hight-((obj->pPoints_work[i].MM.y*dvr)>>15);
}
else
{
dvr=((cam->focus)<<15)/(cam->pos.MM.z);
obj->pPoints_work[i].MM.x=((obj->pPoints_work[i].MM.x*dvr)>>15)+cam->width;
obj->pPoints_work[i].MM.y=cam->hight-((obj->pPoints_work[i].MM.y*dvr)>>15);
//obj->pPoints_work[i].MM.x=0xffffffff;
//obj->pPoints_work[i].MM.y=0xffffffff;
}
obj->pPoints_work[i].MM.z=dvr;//keep the 1/z for bmp_fill
OUR_D_point_changed_num++;
}
}
}
//--------------------------------------------------------------------
void OUR_INIT_Triangle_Normal( OUR_3D_OBJ_PTR obj ) //570*n t 需要优化
{
UINT i;
int n1,n2,n3;
FIX_POINT3D p1,p2;
UINT num;
OUR_3D_TRAG_PTR triangle_list;
num=obj->triangle_num;
triangle_list=obj->pTriangle;
for(i=0;i<num;i++)
{
n1=triangle_list[i].p1;
n2=triangle_list[i].p2;
n3=triangle_list[i].p3;
OUR_FIX_VECTOR3D_SUB(&obj->pPoints[n2],&obj->pPoints[n1],&p1);
OUR_FIX_VECTOR3D_SUB(&obj->pPoints[n3],&obj->pPoints[n1],&p2);
OUR_VECTOR3D_Cross(&p1, &p2, &(triangle_list[i].NOR_P));
if(i==793)
n1++;
//OUR_FAST_Normalize(&(triangle_list[i].NOR_P));
OUR_VECTOR3D_Normalize(&(triangle_list[i].NOR_P));
}
}
//--------------------------------------------------------------------
void OUR_INIT_Point_Normal( OUR_3D_OBJ_PTR obj )//570*n t 需要优化
{
UINT i,j;
FIX_POINT3D p_nor;
UINT num_p,num_t;
OUR_3D_TRAG_PTR triangle_list;
FIX_POINT3D_PTR point_list;
num_p=obj->point_num;
num_t=obj->triangle_num;
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