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Diffstat (limited to 'indra/llmath/m3math.h')
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diff --git a/indra/llmath/m3math.h b/indra/llmath/m3math.h new file mode 100644 index 0000000000..ac93ed86fb --- /dev/null +++ b/indra/llmath/m3math.h @@ -0,0 +1,198 @@ +/** + * @file m3math.h + * @brief LLMatrix3 class header file. + * + * Copyright (c) 2000-$CurrentYear$, Linden Research, Inc. + * $License$ + */ + +#ifndef LL_M3MATH_H +#define LL_M3MATH_H + +#include "llerror.h" + +class LLVector4; +class LLVector3; +class LLVector3d; +class LLQuaternion; + +// NOTA BENE: Currently assuming a right-handed, z-up universe + +// ji +// LLMatrix3 = | 00 01 02 | +// | 10 11 12 | +// | 20 21 22 | + +// LLMatrix3 = | fx fy fz | forward-axis +// | lx ly lz | left-axis +// | ux uy uz | up-axis + +// NOTE: The world of computer graphics uses column-vectors and matricies that +// "operate to the left". + + +static const U32 NUM_VALUES_IN_MAT3 = 3; +#if LL_WINDOWS +__declspec( align(16) ) +#endif +class LLMatrix3 +{ + public: + F32 mMatrix[NUM_VALUES_IN_MAT3][NUM_VALUES_IN_MAT3]; + + LLMatrix3(void); // Initializes Matrix to identity matrix + explicit LLMatrix3(const F32 *mat); // Initializes Matrix to values in mat + explicit LLMatrix3(const LLQuaternion &q); // Initializes Matrix with rotation q + + LLMatrix3(const F32 angle, const F32 x, const F32 y, const F32 z); // Initializes Matrix with axis angle + LLMatrix3(const F32 angle, const LLVector3 &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 angle, const LLVector3d &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 angle, const LLVector4 &vec); // Initializes Matrix with axis angle + LLMatrix3(const F32 roll, const F32 pitch, const F32 yaw); // Initializes Matrix with Euler angles + + ////////////////////////////// + // + // Matrix initializers - these replace any existing values in the matrix + // + + // various useful matrix functions + const LLMatrix3& identity(); // Load identity matrix + const LLMatrix3& zero(); // Clears Matrix to zero + + /////////////////////////// + // + // Matrix setters - set some properties without modifying others + // + + // These functions take Rotation arguments + const LLMatrix3& setRot(const F32 angle, const F32 x, const F32 y, const F32 z); // Calculate rotation matrix for rotating angle radians about (x, y, z) + const LLMatrix3& setRot(const F32 angle, const LLVector3 &vec); // Calculate rotation matrix for rotating angle radians about vec + const LLMatrix3& setRot(const F32 roll, const F32 pitch, const F32 yaw); // Calculate rotation matrix from Euler angles + const LLMatrix3& setRot(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos + + const LLMatrix3& setRows(const LLVector3 &x_axis, const LLVector3 &y_axis, const LLVector3 &z_axis); + + /////////////////////////// + // + // Get properties of a matrix + // + LLQuaternion quaternion() const; // Returns quaternion from mat + void getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const; // Returns Euler angles, in radians + + // Axis extraction routines + LLVector3 getFwdRow() const; + LLVector3 getLeftRow() const; + LLVector3 getUpRow() const; + F32 determinant() const; // Return determinant + + + /////////////////////////// + // + // Operations on an existing matrix + // + const LLMatrix3& transpose(); // Transpose MAT4 + const LLMatrix3& invert(); // Invert MAT4 + const LLMatrix3& orthogonalize(); // Orthogonalizes X, then Y, then Z + const LLMatrix3& adjointTranspose(); // returns transpose of matrix adjoint, for multiplying normals + + + // Rotate existing matrix + // Note: the two lines below are equivalent: + // foo.rotate(bar) + // foo = foo * bar + // That is, foo.rotMat3(bar) multiplies foo by bar FROM THE RIGHT + const LLMatrix3& rotate(const F32 angle, const F32 x, const F32 y, const F32 z); // Rotate matrix by rotating angle radians about (x, y, z) + const LLMatrix3& rotate(const F32 angle, const LLVector3 &vec); // Rotate matrix by rotating angle radians about vec + const LLMatrix3& rotate(const F32 roll, const F32 pitch, const F32 yaw); // Rotate matrix by roll (about x), pitch (about y), and yaw (about z) + const LLMatrix3& rotate(const LLQuaternion &q); // Transform matrix by Euler angles and translating by pos + +// This operator is misleading as to operation direction +// friend LLVector3 operator*(const LLMatrix3 &a, const LLVector3 &b); // Apply rotation a to vector b + + friend LLVector3 operator*(const LLVector3 &a, const LLMatrix3 &b); // Apply rotation b to vector a + friend LLVector3d operator*(const LLVector3d &a, const LLMatrix3 &b); // Apply rotation b to vector a + friend LLMatrix3 operator*(const LLMatrix3 &a, const LLMatrix3 &b); // Return a * b + + friend bool operator==(const LLMatrix3 &a, const LLMatrix3 &b); // Return a == b + friend bool operator!=(const LLMatrix3 &a, const LLMatrix3 &b); // Return a != b + + friend const LLMatrix3& operator*=(LLMatrix3 &a, const LLMatrix3 &b); // Return a * b + + friend std::ostream& operator<<(std::ostream& s, const LLMatrix3 &a); // Stream a +} +#if LL_DARWIN +__attribute__ ((aligned (16))) +#endif +; + +inline LLMatrix3::LLMatrix3(void) +{ + mMatrix[0][0] = 1.f; + mMatrix[0][1] = 0.f; + mMatrix[0][2] = 0.f; + + mMatrix[1][0] = 0.f; + mMatrix[1][1] = 1.f; + mMatrix[1][2] = 0.f; + + mMatrix[2][0] = 0.f; + mMatrix[2][1] = 0.f; + mMatrix[2][2] = 1.f; +} + +inline LLMatrix3::LLMatrix3(const F32 *mat) +{ + mMatrix[0][0] = mat[0]; + mMatrix[0][1] = mat[1]; + mMatrix[0][2] = mat[2]; + + mMatrix[1][0] = mat[3]; + mMatrix[1][1] = mat[4]; + mMatrix[1][2] = mat[5]; + + mMatrix[2][0] = mat[6]; + mMatrix[2][1] = mat[7]; + mMatrix[2][2] = mat[8]; +} + + +#endif + + +// Rotation matrix hints... + +// Inverse of Rotation Matrices +// ---------------------------- +// If R is a rotation matrix that rotate vectors from Frame-A to Frame-B, +// then the transpose of R will rotate vectors from Frame-B to Frame-A. + + +// Creating Rotation Matricies From Object Axes +// -------------------------------------------- +// Suppose you know the three axes of some object in some "absolute-frame". +// If you take those three vectors and throw them into the rows of +// a rotation matrix what do you get? +// +// R = | X0 X1 X2 | +// | Y0 Y1 Y2 | +// | Z0 Z1 Z2 | +// +// Yeah, but what does it mean? +// +// Transpose the matrix and have it operate on a vector... +// +// V * R_transpose = [ V0 V1 V2 ] * | X0 Y0 Z0 | +// | X1 Y1 Z1 | +// | X2 Y2 Z2 | +// +// = [ V*X V*Y V*Z ] +// +// = components of V that are parallel to the three object axes +// +// = transformation of V into object frame +// +// Since the transformation of a rotation matrix is its inverse, then +// R must rotate vectors from the object-frame into the absolute-frame. + + + |