mirror of
https://github.com/MaSzyna-EU07/maszyna.git
synced 2026-07-21 15:59:18 +02:00
Set dp branch as trunk
This commit is contained in:
ShaXbee
269
Float3d.h
Normal file
269
Float3d.h
Normal file
@@ -0,0 +1,269 @@
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
#ifndef float3dH
|
||||
#define float3dH
|
||||
#include <math.h>
|
||||
//---------------------------------------------------------------------------
|
||||
|
||||
class float3
|
||||
{//wapó³rzêdne wiercho³ka 3D o pojedynczej precyzji
|
||||
public:
|
||||
float x,y,z;
|
||||
float3(void) {};
|
||||
__fastcall float3(float a,float b,float c) {x=a;y=b;z=c;};
|
||||
double inline __fastcall Length() const;
|
||||
};
|
||||
|
||||
inline bool operator==(const float3& v1,const float3& v2)
|
||||
{return (v1.x==v2.x&&v1.y==v2.y&&v1.z==v2.z);
|
||||
};
|
||||
inline float3& operator+=(float3& v1,const float3& v2)
|
||||
{v1.x+=v2.x; v1.y+=v2.y; v1.z+=v2.z;
|
||||
return v1;
|
||||
};
|
||||
inline float3 operator-(const float3& v)
|
||||
{return float3(-v.x,-v.y,-v.z);
|
||||
};
|
||||
inline float3 operator-(const float3 &v1,const float3 &v2)
|
||||
{return float3(v1.x-v2.x,v1.y-v2.y,v1.z-v2.z);
|
||||
};
|
||||
inline float3 operator+(const float3 &v1,const float3 &v2)
|
||||
{return float3(v1.x+v2.x,v1.y+v2.y,v1.z+v2.z);
|
||||
};
|
||||
double inline __fastcall float3::Length() const
|
||||
{return sqrt(x*x+y*y+z*z);
|
||||
};
|
||||
inline float3 operator/(const float3& v, double k)
|
||||
{return float3(v.x/k,v.y/k,v.z/k);
|
||||
};
|
||||
inline float3 SafeNormalize(const float3 &v)
|
||||
{//bezpieczna normalizacja (wektor d³ugoœci 1.0)
|
||||
double l=v.Length();
|
||||
float3 retVal;
|
||||
if (l==0)
|
||||
retVal.x=retVal.y=retVal.z=0;
|
||||
else
|
||||
retVal=v/l;
|
||||
return retVal;
|
||||
};
|
||||
inline float3 CrossProduct(const float3& v1,const float3& v2)
|
||||
{return float3(v1.y*v2.z-v1.z*v2.y,v2.x*v1.z-v2.z*v1.x,v1.x*v2.y-v1.y*v2.x);
|
||||
}
|
||||
|
||||
class float4
|
||||
{//kwaternion obrotu
|
||||
public:
|
||||
float x,y,z,w;
|
||||
__fastcall float4() {x=y=z=0.f;w=1.f;};
|
||||
__fastcall float4(float a,float b,float c,float d) {x=a;y=b;z=c;w=d;};
|
||||
double inline float4::LengthSquared() const
|
||||
{return x*x+y*y+z*z+w*w;};
|
||||
double inline float4::Length() const
|
||||
{return sqrt(x*x+y*y+z*z+w*w);};
|
||||
};
|
||||
inline float4 operator*(const float4 &q1,const float4 &q2)
|
||||
{//mno¿enie to prawie jak mno¿enie macierzy
|
||||
return float4
|
||||
(q1.w*q2.x+q1.x*q2.w+q1.y*q2.z-q1.z*q2.y,
|
||||
q1.w*q2.y+q1.y*q2.w+q1.z*q2.x-q1.x*q2.z,
|
||||
q1.w*q2.z+q1.z*q2.w+q1.x*q2.y-q1.y*q2.x,
|
||||
q1.w*q2.w-q1.x*q2.x-q1.y*q2.y-q1.z*q2.z
|
||||
);
|
||||
}
|
||||
inline float4 operator-(const float4& q)
|
||||
{//sprzê¿ony; odwrotny tylko dla znormalizowanych!
|
||||
return float4(-q.x,-q.y,-q.z,q.w);
|
||||
};
|
||||
inline float4 operator-(const float4 &q1,const float4 &q2)
|
||||
{//z odejmowaniem nie ma lekko
|
||||
return (-q1)*q2; //inwersja tylko dla znormalizowanych!
|
||||
};
|
||||
inline float4 operator+(const float4 &v1,const float4 &v2)
|
||||
{return float4(v1.x+v2.x,v1.y+v2.y,v1.z+v2.z,v1.w+v2.w);};
|
||||
inline float4 operator/(const float4& v, double k)
|
||||
{return float4(v.x/k,v.y/k,v.z/k,v.w/k);};
|
||||
inline float4 Normalize(const float4 &v)
|
||||
{//bezpieczna normalizacja (wektor d³ugoœci 1.0)
|
||||
double l=v.LengthSquared();
|
||||
if (l==1.0)
|
||||
return v;
|
||||
if (l==0.0)
|
||||
return float4(); //wektor zerowy, w=1
|
||||
else
|
||||
return v/sqrt(l); //pierwiastek liczony tylko jeœli trzeba wykonaæ dzielenia
|
||||
};
|
||||
float Dot(const float4 &q1,const float4 &q2)
|
||||
{//iloczyn skalarny
|
||||
return q1.x*q2.x+q1.y*q2.y+q1.z*q2.z+q1.w*q2.w;
|
||||
}
|
||||
inline float4& operator*=(float4& v1,double d)
|
||||
{//mno¿enie przez skalar, jaki ma sens?
|
||||
v1.x*=d; v1.y*=d; v1.z*=d; v1.w*=d;
|
||||
return v1;
|
||||
};
|
||||
inline float4 Slerp(const float4 &q0,const float4 &q1,float t)
|
||||
//void Slerp(QUATERNION *Out, const QUATERNION &q0, const QUATERNION &q1, float t)
|
||||
{//interpolacja sweryczna
|
||||
float cosOmega=Dot(q0,q1);
|
||||
float4 new_q1(q1);
|
||||
if (cosOmega<0.0f)
|
||||
{//je¿eli s¹ niezgodne kierunki, jeden z nich trzeba zanegowaæ
|
||||
new_q1.x=-new_q1.x;
|
||||
new_q1.y=-new_q1.y;
|
||||
new_q1.z=-new_q1.z;
|
||||
new_q1.w=-new_q1.w;
|
||||
cosOmega=-cosOmega;
|
||||
}
|
||||
double k0,k1;
|
||||
if (cosOmega>0.9999f)
|
||||
{//jeœli jesteœmy z (t) na maksimum kosinusa, to tam prawie liniowo jest
|
||||
k0=1.0f-t;
|
||||
k1=t;
|
||||
}
|
||||
else
|
||||
{//a w ogólnym przypadku trzeba liczyæ na trygonometriê
|
||||
double sinOmega=sqrt(1.0f-cosOmega*cosOmega); //sinus z jedynki tryg.
|
||||
double omega=atan2(sinOmega,cosOmega); //wyznaczenie k¹ta
|
||||
double oneOverSinOmega=1.0f/sinOmega; //odwrotnoϾ sinusa, bo sinus w mianowniku
|
||||
k0=sin((1.0f-t)*omega)*oneOverSinOmega;
|
||||
k1=sin(t*omega)*oneOverSinOmega;
|
||||
}
|
||||
return float4
|
||||
(q0.x*k0+new_q1.x*k1,
|
||||
q0.y*k0+new_q1.y*k1,
|
||||
q0.z*k0+new_q1.z*k1,
|
||||
q0.w*k0+new_q1.w*k1
|
||||
);
|
||||
}
|
||||
|
||||
|
||||
struct float8
|
||||
{//wiercho³ek 3D z wektorem normalnym i mapowaniem, pojedyncza precyzja
|
||||
public:
|
||||
float3 Point;
|
||||
float3 Normal;
|
||||
float tu,tv;
|
||||
};
|
||||
|
||||
class float4x4
|
||||
{//macierz transformacji pojedynczej precyzji
|
||||
float e[16];
|
||||
public:
|
||||
float4x4(void) {};
|
||||
float4x4(float f[16]) {for (int i=0;i<16;++i) e[i]=f[i];};
|
||||
float* __fastcall operator() (int i) { return &e[i<<2]; }
|
||||
const float* __fastcall readArray(void) { return e; }
|
||||
void __fastcall Identity()
|
||||
{for (int i=0;i<16;++i)
|
||||
e[i]=0;
|
||||
e[0]=e[5]=e[10]=e[15]=1.0f;
|
||||
}
|
||||
const float* operator[](int i) const {return &e[i<<2];};
|
||||
void __fastcall InitialRotate()
|
||||
{//taka specjalna rotacja, nie ma co ci¹gaæ trygonometrii
|
||||
float f;
|
||||
for (int i=0;i<16;i+=4)
|
||||
{e[i]=-e[i]; //zmiana znaku X
|
||||
f=e[i+1]; e[i+1]=e[i+2]; e[i+2]=f; //zamiana Y i Z
|
||||
}
|
||||
};
|
||||
inline float4x4& Rotation(double angle,float3 axis);
|
||||
inline bool IdentityIs()
|
||||
{//sprawdzenie jednostkowoœci
|
||||
for (int i=0;i<16;++i)
|
||||
if (e[i]!=((i%5)?0.0:1.0)) //jedynki tylko na 0, 5, 10 i 15
|
||||
return false;
|
||||
return true;
|
||||
}
|
||||
void __fastcall Quaternion(float4 *q);
|
||||
inline float3* TranslationGet()
|
||||
{return (float3*)(e+12);}
|
||||
};
|
||||
|
||||
inline float3 operator*(const float4x4& m,const float3& v)
|
||||
{//mno¿enie wektora przez macierz
|
||||
return float3(
|
||||
v.x*m[0][0]+v.y*m[1][0]+v.z*m[2][0]+m[3][0],
|
||||
v.x*m[0][1]+v.y*m[1][1]+v.z*m[2][1]+m[3][1],
|
||||
v.x*m[0][2]+v.y*m[1][2]+v.z*m[2][2]+m[3][2]
|
||||
);
|
||||
}
|
||||
|
||||
inline float4x4& float4x4::Rotation(double angle,float3 axis)
|
||||
{
|
||||
double c=cos(angle);
|
||||
double s=sin(angle);
|
||||
// One minus c (short name for legibility of formulai)
|
||||
double omc=(1-c);
|
||||
if (axis.Length()!=1.0f) axis=SafeNormalize(axis);
|
||||
double x = axis.x;
|
||||
double y = axis.y;
|
||||
double z = axis.z;
|
||||
double xs = x * s;
|
||||
double ys = y * s;
|
||||
double zs = z * s;
|
||||
double xyomc = x * y * omc;
|
||||
double xzomc = x * z * omc;
|
||||
double yzomc = y * z * omc;
|
||||
e[0] =x*x*omc+c;
|
||||
e[1] =xyomc+zs;
|
||||
e[2] =xzomc-ys;
|
||||
e[3] =0;
|
||||
e[4] =xyomc-zs;
|
||||
e[5] =y*y*omc+c;
|
||||
e[6] =yzomc+xs;
|
||||
e[7] =0;
|
||||
e[8] =xzomc+ys;
|
||||
e[9] =yzomc-xs;
|
||||
e[10]=z*z*omc+c;
|
||||
e[11]=0;
|
||||
e[12]=0;
|
||||
e[13]=0;
|
||||
e[14]=0;
|
||||
e[15]=1;
|
||||
return *this;
|
||||
};
|
||||
|
||||
inline float4x4 operator*(const float4x4& m1, const float4x4& m2)
|
||||
{//iloczyn macierzy
|
||||
float4x4 retVal;
|
||||
for (int x=0;x<4;++x)
|
||||
for (int y=0;y<4;++y)
|
||||
{
|
||||
retVal(x)[y]=0;
|
||||
for (int i=0;i<4;++i)
|
||||
retVal(x)[y]+=m1[i][y]*m2[x][i];
|
||||
}
|
||||
return retVal;
|
||||
};
|
||||
|
||||
// From code in Graphics Gems; p. 766
|
||||
inline float Det2x2(float a,float b,float c,float d)
|
||||
{//obliczenie wyznacznika macierzy 2×2
|
||||
return a*d-b*c;
|
||||
};
|
||||
|
||||
inline float Det3x3(float a1,float a2,float a3,
|
||||
float b1,float b2,float b3,
|
||||
float c1,float c2,float c3)
|
||||
{//obliczenie wyznacznika macierzy 3×3
|
||||
return
|
||||
+a1*Det2x2(b2,b3,c2,c3)
|
||||
-b1*Det2x2(a2,a3,c2,c3)
|
||||
+c1*Det2x2(a2,a3,b2,b3);
|
||||
};
|
||||
|
||||
float Det(const float4x4 &m)
|
||||
{//obliczenie wyznacznika macierzy 4×4
|
||||
float a1=m[0][0],a2=m[1][0],a3=m[2][0],a4=m[3][0];
|
||||
float b1=m[0][1],b2=m[1][1],b3=m[2][1],b4=m[3][1];
|
||||
float c1=m[0][2],c2=m[1][2],c3=m[2][2],c4=m[3][2];
|
||||
float d1=m[0][3],d2=m[1][3],d3=m[2][3],d4=m[3][3];
|
||||
return
|
||||
+a1*Det3x3(b2,b3,b4,c2,c3,c4,d2,d3,d4)
|
||||
-b1*Det3x3(a2,a3,a4,c2,c3,c4,d2,d3,d4)
|
||||
+c1*Det3x3(a2,a3,a4,b2,b3,b4,d2,d3,d4)
|
||||
-d1*Det3x3(a2,a3,a4,b2,b3,b4,c2,c3,c4);
|
||||
};
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user