diff options
Diffstat (limited to 'indra/llmath/llcoordframe.cpp')
| -rw-r--r-- | indra/llmath/llcoordframe.cpp | 626 |
1 files changed, 313 insertions, 313 deletions
diff --git a/indra/llmath/llcoordframe.cpp b/indra/llmath/llcoordframe.cpp index b25fd948f5..4d6276b2cd 100644 --- a/indra/llmath/llcoordframe.cpp +++ b/indra/llmath/llcoordframe.cpp @@ -1,25 +1,25 @@ -/** +/** * @file llcoordframe.cpp * @brief LLCoordFrame class implementation. * * $LicenseInfo:firstyear=2000&license=viewerlgpl$ * Second Life Viewer Source Code * Copyright (C) 2010, Linden Research, Inc. - * + * * This library is free software; you can redistribute it and/or * modify it under the terms of the GNU Lesser General Public * License as published by the Free Software Foundation; * version 2.1 of the License only. - * + * * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. - * + * * You should have received a copy of the GNU Lesser General Public * License along with this library; if not, write to the Free Software * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA - * + * * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ @@ -49,168 +49,168 @@ } #ifndef X_AXIS - #define X_AXIS 1.0f,0.0f,0.0f - #define Y_AXIS 0.0f,1.0f,0.0f - #define Z_AXIS 0.0f,0.0f,1.0f + #define X_AXIS 1.0f,0.0f,0.0f + #define Y_AXIS 0.0f,1.0f,0.0f + #define Z_AXIS 0.0f,0.0f,1.0f #endif // Constructors LLCoordFrame::LLCoordFrame() : - mOrigin(0.f, 0.f, 0.f), - mXAxis(X_AXIS), - mYAxis(Y_AXIS), - mZAxis(Z_AXIS) + mOrigin(0.f, 0.f, 0.f), + mXAxis(X_AXIS), + mYAxis(Y_AXIS), + mZAxis(Z_AXIS) { } LLCoordFrame::LLCoordFrame(const LLVector3 &origin) : - mOrigin(origin), - mXAxis(X_AXIS), - mYAxis(Y_AXIS), - mZAxis(Z_AXIS) + mOrigin(origin), + mXAxis(X_AXIS), + mYAxis(Y_AXIS), + mZAxis(Z_AXIS) { CHECK_FINITE(mOrigin); } LLCoordFrame::LLCoordFrame(const LLVector3 &origin, const LLVector3 &direction) : - mOrigin(origin) + mOrigin(origin) { - lookDir(direction); - + lookDir(direction); + CHECK_FINITE_OBJ(); } LLCoordFrame::LLCoordFrame(const LLVector3 &x_axis, - const LLVector3 &y_axis, - const LLVector3 &z_axis) : - mOrigin(0.f, 0.f, 0.f), - mXAxis(x_axis), - mYAxis(y_axis), - mZAxis(z_axis) + const LLVector3 &y_axis, + const LLVector3 &z_axis) : + mOrigin(0.f, 0.f, 0.f), + mXAxis(x_axis), + mYAxis(y_axis), + mZAxis(z_axis) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } LLCoordFrame::LLCoordFrame(const LLVector3 &origin, - const LLVector3 &x_axis, - const LLVector3 &y_axis, - const LLVector3 &z_axis) : - mOrigin(origin), - mXAxis(x_axis), - mYAxis(y_axis), - mZAxis(z_axis) + const LLVector3 &x_axis, + const LLVector3 &y_axis, + const LLVector3 &z_axis) : + mOrigin(origin), + mXAxis(x_axis), + mYAxis(y_axis), + mZAxis(z_axis) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } -LLCoordFrame::LLCoordFrame(const LLVector3 &origin, - const LLMatrix3 &rotation) : - mOrigin(origin), - mXAxis(rotation.mMatrix[VX]), - mYAxis(rotation.mMatrix[VY]), - mZAxis(rotation.mMatrix[VZ]) +LLCoordFrame::LLCoordFrame(const LLVector3 &origin, + const LLMatrix3 &rotation) : + mOrigin(origin), + mXAxis(rotation.mMatrix[VX]), + mYAxis(rotation.mMatrix[VY]), + mZAxis(rotation.mMatrix[VZ]) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } LLCoordFrame::LLCoordFrame(const LLQuaternion &q) : - mOrigin(0.f, 0.f, 0.f) + mOrigin(0.f, 0.f, 0.f) { - LLMatrix3 rotation_matrix(q); - mXAxis.setVec(rotation_matrix.mMatrix[VX]); - mYAxis.setVec(rotation_matrix.mMatrix[VY]); - mZAxis.setVec(rotation_matrix.mMatrix[VZ]); + LLMatrix3 rotation_matrix(q); + mXAxis.setVec(rotation_matrix.mMatrix[VX]); + mYAxis.setVec(rotation_matrix.mMatrix[VY]); + mZAxis.setVec(rotation_matrix.mMatrix[VZ]); - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } LLCoordFrame::LLCoordFrame(const LLVector3 &origin, const LLQuaternion &q) : - mOrigin(origin) + mOrigin(origin) { - LLMatrix3 rotation_matrix(q); - mXAxis.setVec(rotation_matrix.mMatrix[VX]); - mYAxis.setVec(rotation_matrix.mMatrix[VY]); - mZAxis.setVec(rotation_matrix.mMatrix[VZ]); + LLMatrix3 rotation_matrix(q); + mXAxis.setVec(rotation_matrix.mMatrix[VX]); + mYAxis.setVec(rotation_matrix.mMatrix[VY]); + mZAxis.setVec(rotation_matrix.mMatrix[VZ]); - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } LLCoordFrame::LLCoordFrame(const LLMatrix4 &mat) : - mOrigin(mat.mMatrix[VW]), - mXAxis(mat.mMatrix[VX]), - mYAxis(mat.mMatrix[VY]), - mZAxis(mat.mMatrix[VZ]) + mOrigin(mat.mMatrix[VW]), + mXAxis(mat.mMatrix[VX]), + mYAxis(mat.mMatrix[VY]), + mZAxis(mat.mMatrix[VZ]) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } // The folowing two constructors are dangerous due to implicit casting and have been disabled - SJB /* LLCoordFrame::LLCoordFrame(const F32 *origin, const F32 *rotation) : - mOrigin(origin), - mXAxis(rotation+3*VX), - mYAxis(rotation+3*VY), - mZAxis(rotation+3*VZ) + mOrigin(origin), + mXAxis(rotation+3*VX), + mYAxis(rotation+3*VY), + mZAxis(rotation+3*VZ) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } */ /* LLCoordFrame::LLCoordFrame(const F32 *origin_and_rotation) : - mOrigin(origin_and_rotation), - mXAxis(origin_and_rotation + 3*(VX+1)), - mYAxis(origin_and_rotation + 3*(VY+1)), - mZAxis(origin_and_rotation + 3*(VZ+1)) + mOrigin(origin_and_rotation), + mXAxis(origin_and_rotation + 3*(VX+1)), + mYAxis(origin_and_rotation + 3*(VY+1)), + mZAxis(origin_and_rotation + 3*(VZ+1)) { - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } */ -void LLCoordFrame::reset() +void LLCoordFrame::reset() { - mOrigin.setVec(0.0f, 0.0f, 0.0f); - resetAxes(); + mOrigin.setVec(0.0f, 0.0f, 0.0f); + resetAxes(); } void LLCoordFrame::resetAxes() { - mXAxis.setVec(1.0f, 0.0f, 0.0f); - mYAxis.setVec(0.0f, 1.0f, 0.0f); - mZAxis.setVec(0.0f, 0.0f, 1.0f); + mXAxis.setVec(1.0f, 0.0f, 0.0f); + mYAxis.setVec(0.0f, 1.0f, 0.0f); + mZAxis.setVec(0.0f, 0.0f, 1.0f); } // setOrigin() member functions set mOrigin -void LLCoordFrame::setOrigin(F32 x, F32 y, F32 z) +void LLCoordFrame::setOrigin(F32 x, F32 y, F32 z) { - mOrigin.setVec(x, y, z); + mOrigin.setVec(x, y, z); CHECK_FINITE(mOrigin); } void LLCoordFrame::setOrigin(const LLVector3 &new_origin) { - mOrigin = new_origin; - CHECK_FINITE(mOrigin); + mOrigin = new_origin; + CHECK_FINITE(mOrigin); } void LLCoordFrame::setOrigin(const F32 *origin) { - mOrigin.mV[VX] = *(origin + VX); - mOrigin.mV[VY] = *(origin + VY); - mOrigin.mV[VZ] = *(origin + VZ); + mOrigin.mV[VX] = *(origin + VX); + mOrigin.mV[VY] = *(origin + VY); + mOrigin.mV[VZ] = *(origin + VZ); CHECK_FINITE(mOrigin); } void LLCoordFrame::setOrigin(const LLCoordFrame &frame) { - mOrigin = frame.getOrigin(); + mOrigin = frame.getOrigin(); CHECK_FINITE(mOrigin); } @@ -218,79 +218,79 @@ void LLCoordFrame::setOrigin(const LLCoordFrame &frame) // the arguments are orthogonal and normalized. void LLCoordFrame::setAxes(const LLVector3 &x_axis, - const LLVector3 &y_axis, - const LLVector3 &z_axis) + const LLVector3 &y_axis, + const LLVector3 &z_axis) { - mXAxis = x_axis; - mYAxis = y_axis; - mZAxis = z_axis; - CHECK_FINITE_OBJ(); + mXAxis = x_axis; + mYAxis = y_axis; + mZAxis = z_axis; + CHECK_FINITE_OBJ(); } void LLCoordFrame::setAxes(const LLMatrix3 &rotation_matrix) { - mXAxis.setVec(rotation_matrix.mMatrix[VX]); - mYAxis.setVec(rotation_matrix.mMatrix[VY]); - mZAxis.setVec(rotation_matrix.mMatrix[VZ]); - CHECK_FINITE_OBJ(); + mXAxis.setVec(rotation_matrix.mMatrix[VX]); + mYAxis.setVec(rotation_matrix.mMatrix[VY]); + mZAxis.setVec(rotation_matrix.mMatrix[VZ]); + CHECK_FINITE_OBJ(); } void LLCoordFrame::setAxes(const LLQuaternion &q ) { - LLMatrix3 rotation_matrix(q); - setAxes(rotation_matrix); - CHECK_FINITE_OBJ(); + LLMatrix3 rotation_matrix(q); + setAxes(rotation_matrix); + CHECK_FINITE_OBJ(); } -void LLCoordFrame::setAxes( const F32 *rotation_matrix ) +void LLCoordFrame::setAxes( const F32 *rotation_matrix ) { - mXAxis.mV[VX] = *(rotation_matrix + 3*VX + VX); - mXAxis.mV[VY] = *(rotation_matrix + 3*VX + VY); - mXAxis.mV[VZ] = *(rotation_matrix + 3*VX + VZ); - mYAxis.mV[VX] = *(rotation_matrix + 3*VY + VX); - mYAxis.mV[VY] = *(rotation_matrix + 3*VY + VY); - mYAxis.mV[VZ] = *(rotation_matrix + 3*VY + VZ); - mZAxis.mV[VX] = *(rotation_matrix + 3*VZ + VX); - mZAxis.mV[VY] = *(rotation_matrix + 3*VZ + VY); - mZAxis.mV[VZ] = *(rotation_matrix + 3*VZ + VZ); + mXAxis.mV[VX] = *(rotation_matrix + 3*VX + VX); + mXAxis.mV[VY] = *(rotation_matrix + 3*VX + VY); + mXAxis.mV[VZ] = *(rotation_matrix + 3*VX + VZ); + mYAxis.mV[VX] = *(rotation_matrix + 3*VY + VX); + mYAxis.mV[VY] = *(rotation_matrix + 3*VY + VY); + mYAxis.mV[VZ] = *(rotation_matrix + 3*VY + VZ); + mZAxis.mV[VX] = *(rotation_matrix + 3*VZ + VX); + mZAxis.mV[VY] = *(rotation_matrix + 3*VZ + VY); + mZAxis.mV[VZ] = *(rotation_matrix + 3*VZ + VZ); - CHECK_FINITE_OBJ(); + CHECK_FINITE_OBJ(); } void LLCoordFrame::setAxes(const LLCoordFrame &frame) { - mXAxis = frame.getXAxis(); - mYAxis = frame.getYAxis(); - mZAxis = frame.getZAxis(); - CHECK_FINITE_OBJ(); + mXAxis = frame.getXAxis(); + mYAxis = frame.getYAxis(); + mZAxis = frame.getZAxis(); + CHECK_FINITE_OBJ(); } // translate() member functions move mOrigin to a relative position void LLCoordFrame::translate(F32 x, F32 y, F32 z) { - mOrigin.mV[VX] += x; - mOrigin.mV[VY] += y; - mOrigin.mV[VZ] += z; + mOrigin.mV[VX] += x; + mOrigin.mV[VY] += y; + mOrigin.mV[VZ] += z; CHECK_FINITE(mOrigin); } void LLCoordFrame::translate(const LLVector3 &v) { - mOrigin += v; + mOrigin += v; CHECK_FINITE(mOrigin); } void LLCoordFrame::translate(const F32 *origin) { - mOrigin.mV[VX] += *(origin + VX); - mOrigin.mV[VY] += *(origin + VY); - mOrigin.mV[VZ] += *(origin + VZ); - CHECK_FINITE(mOrigin); + mOrigin.mV[VX] += *(origin + VX); + mOrigin.mV[VY] += *(origin + VY); + mOrigin.mV[VZ] += *(origin + VZ); + CHECK_FINITE(mOrigin); } @@ -298,58 +298,58 @@ void LLCoordFrame::translate(const F32 *origin) void LLCoordFrame::rotate(F32 angle, F32 x, F32 y, F32 z) { - LLQuaternion q(angle, LLVector3(x,y,z)); - rotate(q); + LLQuaternion q(angle, LLVector3(x,y,z)); + rotate(q); CHECK_FINITE_OBJ(); } void LLCoordFrame::rotate(F32 angle, const LLVector3 &rotation_axis) { - LLQuaternion q(angle, rotation_axis); - rotate(q); + LLQuaternion q(angle, rotation_axis); + rotate(q); CHECK_FINITE_OBJ(); } void LLCoordFrame::rotate(const LLQuaternion &q) { - LLMatrix3 rotation_matrix(q); - rotate(rotation_matrix); + LLMatrix3 rotation_matrix(q); + rotate(rotation_matrix); CHECK_FINITE_OBJ(); } void LLCoordFrame::rotate(const LLMatrix3 &rotation_matrix) { - mXAxis.rotVec(rotation_matrix); - mYAxis.rotVec(rotation_matrix); - orthonormalize(); + mXAxis.rotVec(rotation_matrix); + mYAxis.rotVec(rotation_matrix); + orthonormalize(); CHECK_FINITE_OBJ(); } void LLCoordFrame::roll(F32 angle) { - LLQuaternion q(angle, mXAxis); - LLMatrix3 rotation_matrix(q); - rotate(rotation_matrix); + LLQuaternion q(angle, mXAxis); + LLMatrix3 rotation_matrix(q); + rotate(rotation_matrix); CHECK_FINITE_OBJ(); } void LLCoordFrame::pitch(F32 angle) { - LLQuaternion q(angle, mYAxis); - LLMatrix3 rotation_matrix(q); - rotate(rotation_matrix); - CHECK_FINITE_OBJ(); + LLQuaternion q(angle, mYAxis); + LLMatrix3 rotation_matrix(q); + rotate(rotation_matrix); + CHECK_FINITE_OBJ(); } void LLCoordFrame::yaw(F32 angle) { - LLQuaternion q(angle, mZAxis); - LLMatrix3 rotation_matrix(q); - rotate(rotation_matrix); + LLQuaternion q(angle, mZAxis); + LLMatrix3 rotation_matrix(q); + rotate(rotation_matrix); CHECK_FINITE_OBJ(); } @@ -358,61 +358,61 @@ void LLCoordFrame::yaw(F32 angle) LLQuaternion LLCoordFrame::getQuaternion() const { - LLQuaternion quat(mXAxis, mYAxis, mZAxis); - return quat; + LLQuaternion quat(mXAxis, mYAxis, mZAxis); + return quat; } void LLCoordFrame::getMatrixToLocal(LLMatrix4& mat) const { - mat.setFwdCol(mXAxis); - mat.setLeftCol(mYAxis); - mat.setUpCol(mZAxis); + mat.setFwdCol(mXAxis); + mat.setLeftCol(mYAxis); + mat.setUpCol(mZAxis); - mat.mMatrix[3][0] = -(mOrigin * LLVector3(mat.mMatrix[0][0], mat.mMatrix[1][0], mat.mMatrix[2][0])); - mat.mMatrix[3][1] = -(mOrigin * LLVector3(mat.mMatrix[0][1], mat.mMatrix[1][1], mat.mMatrix[2][1])); - mat.mMatrix[3][2] = -(mOrigin * LLVector3(mat.mMatrix[0][2], mat.mMatrix[1][2], mat.mMatrix[2][2])); + mat.mMatrix[3][0] = -(mOrigin * LLVector3(mat.mMatrix[0][0], mat.mMatrix[1][0], mat.mMatrix[2][0])); + mat.mMatrix[3][1] = -(mOrigin * LLVector3(mat.mMatrix[0][1], mat.mMatrix[1][1], mat.mMatrix[2][1])); + mat.mMatrix[3][2] = -(mOrigin * LLVector3(mat.mMatrix[0][2], mat.mMatrix[1][2], mat.mMatrix[2][2])); } void LLCoordFrame::getRotMatrixToParent(LLMatrix4& mat) const { - // Note: moves into CFR - mat.setFwdRow( -mYAxis ); - mat.setLeftRow( mZAxis ); - mat.setUpRow( -mXAxis ); + // Note: moves into CFR + mat.setFwdRow( -mYAxis ); + mat.setLeftRow( mZAxis ); + mat.setUpRow( -mXAxis ); } size_t LLCoordFrame::writeOrientation(char *buffer) const { - memcpy(buffer, mOrigin.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(buffer, mXAxis.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(buffer, mYAxis.mV, 3*sizeof(F32));/*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(buffer, mZAxis.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ - return 12*sizeof(F32); + memcpy(buffer, mOrigin.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(buffer, mXAxis.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(buffer, mYAxis.mV, 3*sizeof(F32));/*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(buffer, mZAxis.mV, 3*sizeof(F32)); /*Flawfinder: ignore */ + return 12*sizeof(F32); } size_t LLCoordFrame::readOrientation(const char *buffer) { - memcpy(mOrigin.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(mXAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(mYAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ - buffer += 3*sizeof(F32); - memcpy(mZAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ - - if( !isFinite() ) - { - reset(); - LL_WARNS() << "Non Finite in LLCoordFrame::readOrientation()" << LL_ENDL; - } + memcpy(mOrigin.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(mXAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(mYAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ + buffer += 3*sizeof(F32); + memcpy(mZAxis.mV, buffer, 3*sizeof(F32)); /*Flawfinder: ignore */ + + if( !isFinite() ) + { + reset(); + LL_WARNS() << "Non Finite in LLCoordFrame::readOrientation()" << LL_ENDL; + } - return 12*sizeof(F32); + return 12*sizeof(F32); } @@ -420,107 +420,107 @@ size_t LLCoordFrame::readOrientation(const char *buffer) LLVector3 LLCoordFrame::rotateToLocal(const LLVector3 &absolute_vector) const { - LLVector3 local_vector(mXAxis * absolute_vector, - mYAxis * absolute_vector, - mZAxis * absolute_vector); - return local_vector; + LLVector3 local_vector(mXAxis * absolute_vector, + mYAxis * absolute_vector, + mZAxis * absolute_vector); + return local_vector; } LLVector4 LLCoordFrame::rotateToLocal(const LLVector4 &absolute_vector) const { - LLVector4 local_vector; - local_vector.mV[VX] = mXAxis.mV[VX] * absolute_vector.mV[VX] + - mXAxis.mV[VY] * absolute_vector.mV[VY] + - mXAxis.mV[VZ] * absolute_vector.mV[VZ]; - local_vector.mV[VY] = mYAxis.mV[VX] * absolute_vector.mV[VX] + - mYAxis.mV[VY] * absolute_vector.mV[VY] + - mYAxis.mV[VZ] * absolute_vector.mV[VZ]; - local_vector.mV[VZ] = mZAxis.mV[VX] * absolute_vector.mV[VX] + - mZAxis.mV[VY] * absolute_vector.mV[VY] + - mZAxis.mV[VZ] * absolute_vector.mV[VZ]; - local_vector.mV[VW] = absolute_vector.mV[VW]; - return local_vector; + LLVector4 local_vector; + local_vector.mV[VX] = mXAxis.mV[VX] * absolute_vector.mV[VX] + + mXAxis.mV[VY] * absolute_vector.mV[VY] + + mXAxis.mV[VZ] * absolute_vector.mV[VZ]; + local_vector.mV[VY] = mYAxis.mV[VX] * absolute_vector.mV[VX] + + mYAxis.mV[VY] * absolute_vector.mV[VY] + + mYAxis.mV[VZ] * absolute_vector.mV[VZ]; + local_vector.mV[VZ] = mZAxis.mV[VX] * absolute_vector.mV[VX] + + mZAxis.mV[VY] * absolute_vector.mV[VY] + + mZAxis.mV[VZ] * absolute_vector.mV[VZ]; + local_vector.mV[VW] = absolute_vector.mV[VW]; + return local_vector; } LLVector3 LLCoordFrame::rotateToAbsolute(const LLVector3 &local_vector) const { - LLVector3 absolute_vector; - absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] + - mYAxis.mV[VX] * local_vector.mV[VY] + - mZAxis.mV[VX] * local_vector.mV[VZ]; - absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] + - mYAxis.mV[VY] * local_vector.mV[VY] + - mZAxis.mV[VY] * local_vector.mV[VZ]; - absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] + - mYAxis.mV[VZ] * local_vector.mV[VY] + - mZAxis.mV[VZ] * local_vector.mV[VZ]; - return absolute_vector; + LLVector3 absolute_vector; + absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] + + mYAxis.mV[VX] * local_vector.mV[VY] + + mZAxis.mV[VX] * local_vector.mV[VZ]; + absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] + + mYAxis.mV[VY] * local_vector.mV[VY] + + mZAxis.mV[VY] * local_vector.mV[VZ]; + absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] + + mYAxis.mV[VZ] * local_vector.mV[VY] + + mZAxis.mV[VZ] * local_vector.mV[VZ]; + return absolute_vector; } LLVector4 LLCoordFrame::rotateToAbsolute(const LLVector4 &local_vector) const { - LLVector4 absolute_vector; - absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] + - mYAxis.mV[VX] * local_vector.mV[VY] + - mZAxis.mV[VX] * local_vector.mV[VZ]; - absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] + - mYAxis.mV[VY] * local_vector.mV[VY] + - mZAxis.mV[VY] * local_vector.mV[VZ]; - absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] + - mYAxis.mV[VZ] * local_vector.mV[VY] + - mZAxis.mV[VZ] * local_vector.mV[VZ]; - absolute_vector.mV[VW] = local_vector[VW]; - return absolute_vector; + LLVector4 absolute_vector; + absolute_vector.mV[VX] = mXAxis.mV[VX] * local_vector.mV[VX] + + mYAxis.mV[VX] * local_vector.mV[VY] + + mZAxis.mV[VX] * local_vector.mV[VZ]; + absolute_vector.mV[VY] = mXAxis.mV[VY] * local_vector.mV[VX] + + mYAxis.mV[VY] * local_vector.mV[VY] + + mZAxis.mV[VY] * local_vector.mV[VZ]; + absolute_vector.mV[VZ] = mXAxis.mV[VZ] * local_vector.mV[VX] + + mYAxis.mV[VZ] * local_vector.mV[VY] + + mZAxis.mV[VZ] * local_vector.mV[VZ]; + absolute_vector.mV[VW] = local_vector[VW]; + return absolute_vector; } void LLCoordFrame::orthonormalize() // Makes sure the axes are orthogonal and normalized. { - mXAxis.normVec(); // X is renormalized - mYAxis -= mXAxis * (mXAxis * mYAxis); // Y remains in X-Y plane - mYAxis.normVec(); // Y is normalized - mZAxis = mXAxis % mYAxis; // Z = X cross Y + mXAxis.normVec(); // X is renormalized + mYAxis -= mXAxis * (mXAxis * mYAxis); // Y remains in X-Y plane + mYAxis.normVec(); // Y is normalized + mZAxis = mXAxis % mYAxis; // Z = X cross Y } LLVector3 LLCoordFrame::transformToLocal(const LLVector3 &absolute_vector) const { - return rotateToLocal(absolute_vector - mOrigin); + return rotateToLocal(absolute_vector - mOrigin); } LLVector4 LLCoordFrame::transformToLocal(const LLVector4 &absolute_vector) const { - LLVector4 local_vector(absolute_vector); - local_vector.mV[VX] -= mOrigin.mV[VX]; - local_vector.mV[VY] -= mOrigin.mV[VY]; - local_vector.mV[VZ] -= mOrigin.mV[VZ]; - return rotateToLocal(local_vector); + LLVector4 local_vector(absolute_vector); + local_vector.mV[VX] -= mOrigin.mV[VX]; + local_vector.mV[VY] -= mOrigin.mV[VY]; + local_vector.mV[VZ] -= mOrigin.mV[VZ]; + return rotateToLocal(local_vector); } LLVector3 LLCoordFrame::transformToAbsolute(const LLVector3 &local_vector) const { - return (rotateToAbsolute(local_vector) + mOrigin); + return (rotateToAbsolute(local_vector) + mOrigin); } LLVector4 LLCoordFrame::transformToAbsolute(const LLVector4 &local_vector) const { - LLVector4 absolute_vector; - absolute_vector = rotateToAbsolute(local_vector); - absolute_vector.mV[VX] += mOrigin.mV[VX]; - absolute_vector.mV[VY] += mOrigin.mV[VY]; - absolute_vector.mV[VZ] += mOrigin.mV[VZ]; - return absolute_vector; + LLVector4 absolute_vector; + absolute_vector = rotateToAbsolute(local_vector); + absolute_vector.mV[VX] += mOrigin.mV[VX]; + absolute_vector.mV[VY] += mOrigin.mV[VY]; + absolute_vector.mV[VZ] += mOrigin.mV[VZ]; + return absolute_vector; } -// This is how you combine a translation and rotation of a +// This is how you combine a translation and rotation of a // coordinate frame to get an OpenGL transformation matrix: // // translation * rotation = transformation matrix @@ -531,129 +531,129 @@ LLVector4 LLCoordFrame::transformToAbsolute(const LLVector4 &local_vector) const // V | 0 0 1 0 | | c f i 0 | | c f i 0 | // |-x -y -z 1 | | 0 0 0 1 | |-(ax+by+cz) -(dx+ey+fz) -(gx+hy+iz) 1 | // -// where {a,b,c} = x-axis -// {d,e,f} = y-axis -// {g,h,i} = z-axis +// where {a,b,c} = x-axis +// {d,e,f} = y-axis +// {g,h,i} = z-axis // {x,y,z} = origin void LLCoordFrame::getOpenGLTranslation(F32 *ogl_matrix) const { - *(ogl_matrix + 0) = 1.0f; - *(ogl_matrix + 1) = 0.0f; - *(ogl_matrix + 2) = 0.0f; - *(ogl_matrix + 3) = 0.0f; + *(ogl_matrix + 0) = 1.0f; + *(ogl_matrix + 1) = 0.0f; + *(ogl_matrix + 2) = 0.0f; + *(ogl_matrix + 3) = 0.0f; - *(ogl_matrix + 4) = 0.0f; - *(ogl_matrix + 5) = 1.0f; - *(ogl_matrix + 6) = 0.0f; - *(ogl_matrix + 7) = 0.0f; + *(ogl_matrix + 4) = 0.0f; + *(ogl_matrix + 5) = 1.0f; + *(ogl_matrix + 6) = 0.0f; + *(ogl_matrix + 7) = 0.0f; - *(ogl_matrix + 8) = 0.0f; - *(ogl_matrix + 9) = 0.0f; - *(ogl_matrix + 10) = 1.0f; - *(ogl_matrix + 11) = 0.0f; + *(ogl_matrix + 8) = 0.0f; + *(ogl_matrix + 9) = 0.0f; + *(ogl_matrix + 10) = 1.0f; + *(ogl_matrix + 11) = 0.0f; - *(ogl_matrix + 12) = -mOrigin.mV[VX]; - *(ogl_matrix + 13) = -mOrigin.mV[VY]; - *(ogl_matrix + 14) = -mOrigin.mV[VZ]; - *(ogl_matrix + 15) = 1.0f; + *(ogl_matrix + 12) = -mOrigin.mV[VX]; + *(ogl_matrix + 13) = -mOrigin.mV[VY]; + *(ogl_matrix + 14) = -mOrigin.mV[VZ]; + *(ogl_matrix + 15) = 1.0f; } void LLCoordFrame::getOpenGLRotation(F32 *ogl_matrix) const { - *(ogl_matrix + 0) = mXAxis.mV[VX]; - *(ogl_matrix + 4) = mXAxis.mV[VY]; - *(ogl_matrix + 8) = mXAxis.mV[VZ]; + *(ogl_matrix + 0) = mXAxis.mV[VX]; + *(ogl_matrix + 4) = mXAxis.mV[VY]; + *(ogl_matrix + 8) = mXAxis.mV[VZ]; - *(ogl_matrix + 1) = mYAxis.mV[VX]; - *(ogl_matrix + 5) = mYAxis.mV[VY]; - *(ogl_matrix + 9) = mYAxis.mV[VZ]; + *(ogl_matrix + 1) = mYAxis.mV[VX]; + *(ogl_matrix + 5) = mYAxis.mV[VY]; + *(ogl_matrix + 9) = mYAxis.mV[VZ]; - *(ogl_matrix + 2) = mZAxis.mV[VX]; - *(ogl_matrix + 6) = mZAxis.mV[VY]; - *(ogl_matrix + 10) = mZAxis.mV[VZ]; + *(ogl_matrix + 2) = mZAxis.mV[VX]; + *(ogl_matrix + 6) = mZAxis.mV[VY]; + *(ogl_matrix + 10) = mZAxis.mV[VZ]; - *(ogl_matrix + 3) = 0.0f; - *(ogl_matrix + 7) = 0.0f; - *(ogl_matrix + 11) = 0.0f; + *(ogl_matrix + 3) = 0.0f; + *(ogl_matrix + 7) = 0.0f; + *(ogl_matrix + 11) = 0.0f; - *(ogl_matrix + 12) = 0.0f; - *(ogl_matrix + 13) = 0.0f; - *(ogl_matrix + 14) = 0.0f; - *(ogl_matrix + 15) = 1.0f; + *(ogl_matrix + 12) = 0.0f; + *(ogl_matrix + 13) = 0.0f; + *(ogl_matrix + 14) = 0.0f; + *(ogl_matrix + 15) = 1.0f; } void LLCoordFrame::getOpenGLTransform(F32 *ogl_matrix) const { - *(ogl_matrix + 0) = mXAxis.mV[VX]; - *(ogl_matrix + 4) = mXAxis.mV[VY]; - *(ogl_matrix + 8) = mXAxis.mV[VZ]; - *(ogl_matrix + 12) = -mOrigin * mXAxis; + *(ogl_matrix + 0) = mXAxis.mV[VX]; + *(ogl_matrix + 4) = mXAxis.mV[VY]; + *(ogl_matrix + 8) = mXAxis.mV[VZ]; + *(ogl_matrix + 12) = -mOrigin * mXAxis; - *(ogl_matrix + 1) = mYAxis.mV[VX]; - *(ogl_matrix + 5) = mYAxis.mV[VY]; - *(ogl_matrix + 9) = mYAxis.mV[VZ]; - *(ogl_matrix + 13) = -mOrigin * mYAxis; + *(ogl_matrix + 1) = mYAxis.mV[VX]; + *(ogl_matrix + 5) = mYAxis.mV[VY]; + *(ogl_matrix + 9) = mYAxis.mV[VZ]; + *(ogl_matrix + 13) = -mOrigin * mYAxis; - *(ogl_matrix + 2) = mZAxis.mV[VX]; - *(ogl_matrix + 6) = mZAxis.mV[VY]; - *(ogl_matrix + 10) = mZAxis.mV[VZ]; - *(ogl_matrix + 14) = -mOrigin * mZAxis; + *(ogl_matrix + 2) = mZAxis.mV[VX]; + *(ogl_matrix + 6) = mZAxis.mV[VY]; + *(ogl_matrix + 10) = mZAxis.mV[VZ]; + *(ogl_matrix + 14) = -mOrigin * mZAxis; - *(ogl_matrix + 3) = 0.0f; - *(ogl_matrix + 7) = 0.0f; - *(ogl_matrix + 11) = 0.0f; - *(ogl_matrix + 15) = 1.0f; + *(ogl_matrix + 3) = 0.0f; + *(ogl_matrix + 7) = 0.0f; + *(ogl_matrix + 11) = 0.0f; + *(ogl_matrix + 15) = 1.0f; } // at and up_direction are presumed to be normalized void LLCoordFrame::lookDir(const LLVector3 &at, const LLVector3 &up_direction) { - // Make sure 'at' and 'up_direction' are not parallel - // and that neither are zero-length vectors - LLVector3 left(up_direction % at); - if (left.isNull()) - { - //tweak lookat pos so we don't get a degenerate matrix - LLVector3 tempat(at[VX] + 0.01f, at[VY], at[VZ]); - tempat.normVec(); - left = (up_direction % tempat); - } - left.normVec(); + // Make sure 'at' and 'up_direction' are not parallel + // and that neither are zero-length vectors + LLVector3 left(up_direction % at); + if (left.isNull()) + { + //tweak lookat pos so we don't get a degenerate matrix + LLVector3 tempat(at[VX] + 0.01f, at[VY], at[VZ]); + tempat.normVec(); + left = (up_direction % tempat); + } + left.normVec(); - LLVector3 up = at % left; + LLVector3 up = at % left; - if (at.isFinite() && left.isFinite() && up.isFinite()) - { - setAxes(at, left, up); - } + if (at.isFinite() && left.isFinite() && up.isFinite()) + { + setAxes(at, left, up); + } } void LLCoordFrame::lookDir(const LLVector3 &xuv) { - static LLVector3 up_direction(0.0f, 0.0f, 1.0f); - lookDir(xuv, up_direction); + static LLVector3 up_direction(0.0f, 0.0f, 1.0f); + lookDir(xuv, up_direction); } void LLCoordFrame::lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest, const LLVector3 &up_direction) { - setOrigin(origin); - LLVector3 at(point_of_interest - origin); - at.normVec(); - lookDir(at, up_direction); + setOrigin(origin); + LLVector3 at(point_of_interest - origin); + at.normVec(); + lookDir(at, up_direction); } void LLCoordFrame::lookAt(const LLVector3 &origin, const LLVector3 &point_of_interest) { - static LLVector3 up_direction(0.0f, 0.0f, 1.0f); + static LLVector3 up_direction(0.0f, 0.0f, 1.0f); - setOrigin(origin); - LLVector3 at(point_of_interest - origin); - at.normVec(); - lookDir(at, up_direction); + setOrigin(origin); + LLVector3 at(point_of_interest - origin); + at.normVec(); + lookDir(at, up_direction); } @@ -661,13 +661,13 @@ void LLCoordFrame::lookAt(const LLVector3 &origin, const LLVector3 &point_of_int std::ostream& operator<<(std::ostream &s, const LLCoordFrame &C) { - s << "{ " - << " origin = " << C.mOrigin - << " x_axis = " << C.mXAxis - << " y_axis = " << C.mYAxis - << " z_axis = " << C.mZAxis - << " }"; - return s; + s << "{ " + << " origin = " << C.mOrigin + << " x_axis = " << C.mXAxis + << " y_axis = " << C.mYAxis + << " z_axis = " << C.mZAxis + << " }"; + return s; } |