628 lines
15 KiB
C
628 lines
15 KiB
C
#include "global.h"
|
|
#include "vt.h"
|
|
|
|
#include "soh/frame_interpolation.h"
|
|
|
|
// clang-format off
|
|
MtxF sMtxFClear = {
|
|
1.0f, 0.0f, 0.0f, 0.0f,
|
|
0.0f, 1.0f, 0.0f, 0.0f,
|
|
0.0f, 0.0f, 1.0f, 0.0f,
|
|
0.0f, 0.0f, 0.0f, 1.0f,
|
|
};
|
|
// clang-format on
|
|
|
|
/**
|
|
* Multiplies the matrix mf by a 4 components column vector [ src , 1 ] and writes the resulting 4 components to xyzDest
|
|
* and wDest.
|
|
*
|
|
* \f[ \begin{bmatrix} \texttt{xyzDest} \\ \texttt{wDest} \\ \end{bmatrix}
|
|
* = [\texttt{mf}] \cdot
|
|
* \begin{bmatrix} \texttt{src} \\ 1 \\ \end{bmatrix}
|
|
* \f]
|
|
*/
|
|
void SkinMatrix_Vec3fMtxFMultXYZW(MtxF* mf, Vec3f* src, Vec3f* xyzDest, f32* wDest) {
|
|
xyzDest->x = mf->xw + ((src->x * mf->xx) + (src->y * mf->xy) + (src->z * mf->xz));
|
|
xyzDest->y = mf->yw + ((src->x * mf->yx) + (src->y * mf->yy) + (src->z * mf->yz));
|
|
xyzDest->z = mf->zw + ((src->x * mf->zx) + (src->y * mf->zy) + (src->z * mf->zz));
|
|
*wDest = mf->ww + ((src->x * mf->wx) + (src->y * mf->wy) + (src->z * mf->wz));
|
|
}
|
|
|
|
/**
|
|
* Multiplies the matrix mf by a 4 components column vector [ src , 1 ] and writes the resulting xyz components to dest.
|
|
*
|
|
* \f[ \begin{bmatrix} \texttt{dest} \\ - \\ \end{bmatrix}
|
|
* = [\texttt{mf}] \cdot
|
|
* \begin{bmatrix} \texttt{src} \\ 1 \\ \end{bmatrix}
|
|
* \f]
|
|
*/
|
|
void SkinMatrix_Vec3fMtxFMultXYZ(MtxF* mf, Vec3f* src, Vec3f* dest) {
|
|
f32 mx = mf->xx;
|
|
f32 my = mf->xy;
|
|
f32 mz = mf->xz;
|
|
f32 mw = mf->xw;
|
|
|
|
dest->x = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
mx = mf->yx;
|
|
my = mf->yy;
|
|
mz = mf->yz;
|
|
mw = mf->yw;
|
|
dest->y = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
mx = mf->zx;
|
|
my = mf->zy;
|
|
mz = mf->zz;
|
|
mw = mf->zw;
|
|
dest->z = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
}
|
|
|
|
/**
|
|
* Matrix multiplication, dest = mfA * mfB.
|
|
* mfB and dest should not be the same matrix.
|
|
*/
|
|
void SkinMatrix_MtxFMtxFMult(MtxF* mfA, MtxF* mfB, MtxF* dest) {
|
|
f32 cx;
|
|
f32 cy;
|
|
f32 cz;
|
|
f32 cw;
|
|
//---ROW1---
|
|
f32 rx = mfA->xx;
|
|
f32 ry = mfA->xy;
|
|
f32 rz = mfA->xz;
|
|
f32 rw = mfA->xw;
|
|
//--------
|
|
|
|
cx = mfB->xx;
|
|
cy = mfB->yx;
|
|
cz = mfB->zx;
|
|
cw = mfB->wx;
|
|
dest->xx = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xy;
|
|
cy = mfB->yy;
|
|
cz = mfB->zy;
|
|
cw = mfB->wy;
|
|
dest->xy = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xz;
|
|
cy = mfB->yz;
|
|
cz = mfB->zz;
|
|
cw = mfB->wz;
|
|
dest->xz = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xw;
|
|
cy = mfB->yw;
|
|
cz = mfB->zw;
|
|
cw = mfB->ww;
|
|
dest->xw = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
//---ROW2---
|
|
rx = mfA->yx;
|
|
ry = mfA->yy;
|
|
rz = mfA->yz;
|
|
rw = mfA->yw;
|
|
//--------
|
|
cx = mfB->xx;
|
|
cy = mfB->yx;
|
|
cz = mfB->zx;
|
|
cw = mfB->wx;
|
|
dest->yx = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xy;
|
|
cy = mfB->yy;
|
|
cz = mfB->zy;
|
|
cw = mfB->wy;
|
|
dest->yy = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xz;
|
|
cy = mfB->yz;
|
|
cz = mfB->zz;
|
|
cw = mfB->wz;
|
|
dest->yz = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xw;
|
|
cy = mfB->yw;
|
|
cz = mfB->zw;
|
|
cw = mfB->ww;
|
|
dest->yw = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
//---ROW3---
|
|
rx = mfA->zx;
|
|
ry = mfA->zy;
|
|
rz = mfA->zz;
|
|
rw = mfA->zw;
|
|
//--------
|
|
cx = mfB->xx;
|
|
cy = mfB->yx;
|
|
cz = mfB->zx;
|
|
cw = mfB->wx;
|
|
dest->zx = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xy;
|
|
cy = mfB->yy;
|
|
cz = mfB->zy;
|
|
cw = mfB->wy;
|
|
dest->zy = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xz;
|
|
cy = mfB->yz;
|
|
cz = mfB->zz;
|
|
cw = mfB->wz;
|
|
dest->zz = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xw;
|
|
cy = mfB->yw;
|
|
cz = mfB->zw;
|
|
cw = mfB->ww;
|
|
dest->zw = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
//---ROW4---
|
|
rx = mfA->wx;
|
|
ry = mfA->wy;
|
|
rz = mfA->wz;
|
|
rw = mfA->ww;
|
|
//--------
|
|
cx = mfB->xx;
|
|
cy = mfB->yx;
|
|
cz = mfB->zx;
|
|
cw = mfB->wx;
|
|
dest->wx = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xy;
|
|
cy = mfB->yy;
|
|
cz = mfB->zy;
|
|
cw = mfB->wy;
|
|
dest->wy = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xz;
|
|
cy = mfB->yz;
|
|
cz = mfB->zz;
|
|
cw = mfB->wz;
|
|
dest->wz = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
|
|
cx = mfB->xw;
|
|
cy = mfB->yw;
|
|
cz = mfB->zw;
|
|
cw = mfB->ww;
|
|
dest->ww = (rx * cx) + (ry * cy) + (rz * cz) + (rw * cw);
|
|
}
|
|
|
|
/**
|
|
* "Clear" in this file means the identity matrix.
|
|
*/
|
|
void SkinMatrix_GetClear(MtxF** mfp) {
|
|
*mfp = &sMtxFClear;
|
|
}
|
|
|
|
void SkinMatrix_Clear(MtxF* mf) {
|
|
mf->xx = 1.0f;
|
|
mf->yy = 1.0f;
|
|
mf->zz = 1.0f;
|
|
mf->ww = 1.0f;
|
|
mf->yx = 0.0f;
|
|
mf->zx = 0.0f;
|
|
mf->wx = 0.0f;
|
|
mf->xy = 0.0f;
|
|
mf->zy = 0.0f;
|
|
mf->wy = 0.0f;
|
|
mf->xz = 0.0f;
|
|
mf->yz = 0.0f;
|
|
mf->wz = 0.0f;
|
|
mf->xw = 0.0f;
|
|
mf->yw = 0.0f;
|
|
mf->zw = 0.0f;
|
|
}
|
|
|
|
void SkinMatrix_MtxFCopy(MtxF* src, MtxF* dest) {
|
|
dest->xx = src->xx;
|
|
dest->yx = src->yx;
|
|
dest->zx = src->zx;
|
|
dest->wx = src->wx;
|
|
dest->xy = src->xy;
|
|
dest->yy = src->yy;
|
|
dest->zy = src->zy;
|
|
dest->wy = src->wy;
|
|
dest->xz = src->xz;
|
|
dest->yz = src->yz;
|
|
dest->zz = src->zz;
|
|
dest->wz = src->wz;
|
|
dest->xw = src->xw;
|
|
dest->yw = src->yw;
|
|
dest->zw = src->zw;
|
|
dest->ww = src->ww;
|
|
}
|
|
|
|
/**
|
|
* Inverts a matrix using the Gauss-Jordan method.
|
|
* returns 0 if successfully inverted
|
|
* returns 2 if matrix non-invertible (0 determinant)
|
|
*/
|
|
s32 SkinMatrix_Invert(MtxF* src, MtxF* dest) {
|
|
MtxF mfCopy;
|
|
s32 i;
|
|
s32 pad;
|
|
f32 temp2;
|
|
f32 temp1;
|
|
s32 thisCol;
|
|
s32 thisRow;
|
|
|
|
SkinMatrix_MtxFCopy(src, &mfCopy);
|
|
SkinMatrix_Clear(dest);
|
|
for (thisCol = 0; thisCol < 4; thisCol++) {
|
|
thisRow = thisCol;
|
|
while ((thisRow < 4) && (fabsf(mfCopy.mf[thisCol][thisRow]) < 0.0005f)) {
|
|
thisRow++;
|
|
}
|
|
if (thisRow == 4) {
|
|
// Reaching row = 4 means the column is either all 0 or a duplicate column.
|
|
// Therefore src is a singular matrix (0 determinant).
|
|
|
|
osSyncPrintf(VT_COL(YELLOW, BLACK));
|
|
osSyncPrintf("Skin_Matrix_InverseMatrix():逆行列つくれません\n");
|
|
osSyncPrintf(VT_RST);
|
|
return 2;
|
|
}
|
|
|
|
if (thisRow != thisCol) {
|
|
// Diagonal element mf[thisCol][thisCol] is zero.
|
|
// Swap the rows thisCol and thisRow.
|
|
for (i = 0; i < 4; i++) {
|
|
temp1 = mfCopy.mf[i][thisRow];
|
|
mfCopy.mf[i][thisRow] = mfCopy.mf[i][thisCol];
|
|
mfCopy.mf[i][thisCol] = temp1;
|
|
|
|
temp2 = dest->mf[i][thisRow];
|
|
dest->mf[i][thisRow] = dest->mf[i][thisCol];
|
|
dest->mf[i][thisCol] = temp2;
|
|
}
|
|
}
|
|
|
|
// Scale this whole row such that the diagonal element is 1.
|
|
temp1 = mfCopy.mf[thisCol][thisCol];
|
|
for (i = 0; i < 4; i++) {
|
|
mfCopy.mf[i][thisCol] /= temp1;
|
|
dest->mf[i][thisCol] /= temp1;
|
|
}
|
|
|
|
for (thisRow = 0; thisRow < 4; thisRow++) {
|
|
if (thisRow != thisCol) {
|
|
temp1 = mfCopy.mf[thisCol][thisRow];
|
|
for (i = 0; i < 4; i++) {
|
|
mfCopy.mf[i][thisRow] -= mfCopy.mf[i][thisCol] * temp1;
|
|
dest->mf[i][thisRow] -= dest->mf[i][thisCol] * temp1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which scales x,y,z components of vectors or x,y,z rows of matrices (when applied on LHS)
|
|
*/
|
|
void SkinMatrix_SetScale(MtxF* mf, f32 x, f32 y, f32 z) {
|
|
mf->yx = 0.0f;
|
|
mf->zx = 0.0f;
|
|
mf->wx = 0.0f;
|
|
mf->xy = 0.0f;
|
|
mf->zy = 0.0f;
|
|
mf->wy = 0.0f;
|
|
mf->xz = 0.0f;
|
|
mf->yz = 0.0f;
|
|
mf->wz = 0.0f;
|
|
mf->xw = 0.0f;
|
|
mf->yw = 0.0f;
|
|
mf->zw = 0.0f;
|
|
mf->ww = 1.0f;
|
|
mf->xx = x;
|
|
mf->yy = y;
|
|
mf->zz = z;
|
|
}
|
|
|
|
/**
|
|
* Produces a rotation matrix using ZYX Tait-Bryan angles.
|
|
*/
|
|
void SkinMatrix_SetRotateZYX(MtxF* mf, s16 x, s16 y, s16 z) {
|
|
f32 cos;
|
|
f32 sinZ = Math_SinS(z);
|
|
f32 cosZ = Math_CosS(z);
|
|
f32 xy;
|
|
f32 sin;
|
|
f32 xz;
|
|
f32 yy;
|
|
f32 yz;
|
|
|
|
mf->yy = cosZ;
|
|
mf->xy = -sinZ;
|
|
mf->wx = mf->wy = mf->wz = 0;
|
|
mf->xw = mf->yw = mf->zw = 0;
|
|
mf->ww = 1;
|
|
|
|
if (y != 0) {
|
|
sin = Math_SinS(y);
|
|
cos = Math_CosS(y);
|
|
|
|
mf->xx = cosZ * cos;
|
|
mf->xz = cosZ * sin;
|
|
|
|
mf->yx = sinZ * cos;
|
|
mf->yz = sinZ * sin;
|
|
mf->zx = -sin;
|
|
mf->zz = cos;
|
|
|
|
} else {
|
|
mf->xx = cosZ;
|
|
xz = sinZ; // required to match
|
|
mf->yx = sinZ;
|
|
mf->zx = mf->xz = mf->yz = 0;
|
|
mf->zz = 1;
|
|
}
|
|
|
|
if (x != 0) {
|
|
sin = Math_SinS(x);
|
|
cos = Math_CosS(x);
|
|
|
|
xy = mf->xy;
|
|
xz = mf->xz;
|
|
mf->xy = (xy * cos) + (xz * sin);
|
|
mf->xz = (xz * cos) - (xy * sin);
|
|
|
|
yz = mf->yz;
|
|
yy = mf->yy;
|
|
mf->yy = (yy * cos) + (yz * sin);
|
|
mf->yz = (yz * cos) - (yy * sin);
|
|
|
|
if (cos) {}
|
|
mf->zy = mf->zz * sin;
|
|
mf->zz = mf->zz * cos;
|
|
} else {
|
|
mf->zy = 0;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Produces a rotation matrix using YXZ Tait-Bryan angles.
|
|
*/
|
|
void SkinMatrix_SetRotateYXZ(MtxF* mf, s16 x, s16 y, s16 z) {
|
|
f32 cos;
|
|
f32 sinY = Math_SinS(y);
|
|
f32 cosY = Math_CosS(y);
|
|
f32 zx;
|
|
f32 sin;
|
|
f32 zy;
|
|
f32 xx;
|
|
f32 xy;
|
|
|
|
mf->xx = cosY;
|
|
mf->zx = -sinY;
|
|
mf->wz = 0;
|
|
mf->wy = 0;
|
|
mf->wx = 0;
|
|
mf->zw = 0;
|
|
mf->yw = 0;
|
|
mf->xw = 0;
|
|
mf->ww = 1;
|
|
|
|
if (x != 0) {
|
|
sin = Math_SinS(x);
|
|
cos = Math_CosS(x);
|
|
|
|
mf->zz = cosY * cos;
|
|
mf->zy = cosY * sin;
|
|
|
|
mf->xz = sinY * cos;
|
|
mf->xy = sinY * sin;
|
|
mf->yz = -sin;
|
|
mf->yy = cos;
|
|
|
|
} else {
|
|
mf->zz = cosY;
|
|
xy = sinY; // required to match
|
|
mf->xz = sinY;
|
|
mf->xy = mf->zy = mf->yz = 0;
|
|
mf->yy = 1;
|
|
}
|
|
|
|
if (z != 0) {
|
|
sin = Math_SinS(z);
|
|
cos = Math_CosS(z);
|
|
xx = mf->xx;
|
|
xy = mf->xy;
|
|
mf->xx = (xx * cos) + (xy * sin);
|
|
mf->xy = xy * cos - (xx * sin);
|
|
zy = mf->zy;
|
|
zx = mf->zx;
|
|
mf->zx = (zx * cos) + (zy * sin);
|
|
mf->zy = (zy * cos) - (zx * sin);
|
|
if (cos) {}
|
|
mf->yx = mf->yy * sin;
|
|
mf->yy = mf->yy * cos;
|
|
} else {
|
|
mf->yx = 0;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which translates a vector by amounts in the x, y and z directions
|
|
*/
|
|
void SkinMatrix_SetTranslate(MtxF* mf, f32 x, f32 y, f32 z) {
|
|
mf->yx = 0.0f;
|
|
mf->zx = 0.0f;
|
|
mf->wx = 0.0f;
|
|
mf->xy = 0.0f;
|
|
mf->zy = 0.0f;
|
|
mf->wy = 0.0f;
|
|
mf->xz = 0.0f;
|
|
mf->yz = 0.0f;
|
|
mf->wz = 0.0f;
|
|
mf->xx = 1.0f;
|
|
mf->yy = 1.0f;
|
|
mf->zz = 1.0f;
|
|
mf->ww = 1.0f;
|
|
mf->xw = x;
|
|
mf->yw = y;
|
|
mf->zw = z;
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which scales, then rotates (using ZYX Tait-Bryan angles), then translates.
|
|
*/
|
|
void SkinMatrix_SetTranslateRotateZYXScale(MtxF* dest, f32 scaleX, f32 scaleY, f32 scaleZ, s16 rotX, s16 rotY, s16 rotZ,
|
|
f32 translateX, f32 translateY, f32 translateZ) {
|
|
MtxF mft1;
|
|
MtxF mft2;
|
|
|
|
SkinMatrix_SetTranslate(dest, translateX, translateY, translateZ);
|
|
SkinMatrix_SetRotateZYX(&mft1, rotX, rotY, rotZ);
|
|
SkinMatrix_MtxFMtxFMult(dest, &mft1, &mft2);
|
|
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
|
|
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, dest);
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which scales, then rotates (using YXZ Tait-Bryan angles), then translates.
|
|
*/
|
|
void SkinMatrix_SetTranslateRotateYXZScale(MtxF* dest, f32 scaleX, f32 scaleY, f32 scaleZ, s16 rotX, s16 rotY, s16 rotZ,
|
|
f32 translateX, f32 translateY, f32 translateZ) {
|
|
MtxF mft1;
|
|
MtxF mft2;
|
|
|
|
SkinMatrix_SetTranslate(dest, translateX, translateY, translateZ);
|
|
SkinMatrix_SetRotateYXZ(&mft1, rotX, rotY, rotZ);
|
|
SkinMatrix_MtxFMtxFMult(dest, &mft1, &mft2);
|
|
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
|
|
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, dest);
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which rotates (using ZYX Tait-Bryan angles), then translates.
|
|
*/
|
|
void SkinMatrix_SetTranslateRotateZYX(MtxF* dest, s16 rotX, s16 rotY, s16 rotZ, f32 translateX, f32 translateY,
|
|
f32 translateZ) {
|
|
MtxF rotation;
|
|
MtxF translation;
|
|
|
|
SkinMatrix_SetTranslate(&translation, translateX, translateY, translateZ);
|
|
SkinMatrix_SetRotateZYX(&rotation, rotX, rotY, rotZ);
|
|
SkinMatrix_MtxFMtxFMult(&translation, &rotation, dest);
|
|
}
|
|
|
|
void SkinMatrix_Vec3fToVec3s(Vec3f* src, Vec3s* dest) {
|
|
dest->x = src->x;
|
|
dest->y = src->y;
|
|
dest->z = src->z;
|
|
}
|
|
|
|
void SkinMatrix_Vec3sToVec3f(Vec3s* src, Vec3f* dest) {
|
|
dest->x = src->x;
|
|
dest->y = src->y;
|
|
dest->z = src->z;
|
|
}
|
|
|
|
void SkinMatrix_MtxFToMtx(MtxF* src, Mtx* dest) {
|
|
FrameInterpolation_RecordSkinMatrixMtxFToMtx(src, dest);
|
|
guMtxF2L(src, dest);
|
|
}
|
|
|
|
Mtx* SkinMatrix_MtxFToNewMtx(GraphicsContext* gfxCtx, MtxF* src) {
|
|
Mtx* mtx = Graph_Alloc(gfxCtx, sizeof(Mtx));
|
|
|
|
if (mtx == NULL) {
|
|
osSyncPrintf("Skin_Matrix_to_Mtx_new() 確保失敗:NULLを返して終了\n", mtx);
|
|
return NULL;
|
|
}
|
|
SkinMatrix_MtxFToMtx(src, mtx);
|
|
return mtx;
|
|
}
|
|
|
|
/**
|
|
* Produces a matrix which rotates by binary angle `angle` around a unit vector (`axisX`,`axisY`,`axisZ`).
|
|
* NB: the rotation axis is assumed to be a unit vector.
|
|
*/
|
|
void SkinMatrix_SetRotateAxis(MtxF* mf, s16 angle, f32 axisX, f32 axisY, f32 axisZ) {
|
|
f32 sinA;
|
|
f32 cosA;
|
|
f32 xx;
|
|
f32 yy;
|
|
f32 zz;
|
|
f32 xy;
|
|
f32 yz;
|
|
f32 xz;
|
|
f32 pad;
|
|
|
|
sinA = Math_SinS(angle);
|
|
cosA = Math_CosS(angle);
|
|
|
|
xx = axisX * axisX;
|
|
yy = axisY * axisY;
|
|
zz = axisZ * axisZ;
|
|
xy = axisX * axisY;
|
|
yz = axisY * axisZ;
|
|
xz = axisX * axisZ;
|
|
|
|
mf->xx = (1.0f - xx) * cosA + xx;
|
|
mf->yx = (1.0f - cosA) * xy + axisZ * sinA;
|
|
mf->zx = (1.0f - cosA) * xz - axisY * sinA;
|
|
mf->wx = 0.0f;
|
|
|
|
mf->xy = (1.0f - cosA) * xy - axisZ * sinA;
|
|
mf->yy = (1.0f - yy) * cosA + yy;
|
|
mf->zy = (1.0f - cosA) * yz + axisX * sinA;
|
|
mf->wy = 0.0f;
|
|
|
|
mf->xz = (1.0f - cosA) * xz + axisY * sinA;
|
|
mf->yz = (1.0f - cosA) * yz - axisX * sinA;
|
|
mf->zz = (1.0f - zz) * cosA + zz;
|
|
mf->wz = 0.0f;
|
|
|
|
mf->xw = mf->yw = mf->zw = 0.0f;
|
|
mf->ww = 1.0f;
|
|
}
|
|
|
|
void func_800A8030(MtxF* mf, f32* arg1) {
|
|
f32 n;
|
|
f32 xNorm;
|
|
f32 yNorm;
|
|
f32 zNorm;
|
|
f32 wxNorm;
|
|
f32 wyNorm;
|
|
f32 wzNorm;
|
|
f32 xxNorm;
|
|
f32 xyNorm;
|
|
f32 xzNorm;
|
|
f32 yyNorm;
|
|
f32 yzNorm;
|
|
f32 zzNorm;
|
|
|
|
n = 2.0f / ((arg1[3] * arg1[3]) + ((arg1[2] * arg1[2]) + ((arg1[1] * arg1[1]) + (arg1[0] * arg1[0]))));
|
|
xNorm = arg1[0] * n;
|
|
yNorm = arg1[1] * n;
|
|
zNorm = arg1[2] * n;
|
|
|
|
wxNorm = arg1[3] * xNorm;
|
|
wyNorm = arg1[3] * yNorm;
|
|
wzNorm = arg1[3] * zNorm;
|
|
xxNorm = arg1[0] * xNorm;
|
|
xyNorm = arg1[0] * yNorm;
|
|
xzNorm = arg1[0] * zNorm;
|
|
yyNorm = arg1[1] * yNorm;
|
|
yzNorm = arg1[1] * zNorm;
|
|
zzNorm = arg1[2] * zNorm;
|
|
|
|
mf->xx = (1.0f - (yyNorm + zzNorm));
|
|
mf->yx = (xyNorm + wzNorm);
|
|
mf->zx = (xzNorm - wyNorm);
|
|
mf->wx = 0.0f;
|
|
mf->xy = (xyNorm - wzNorm);
|
|
mf->yy = (1.0f - (xxNorm + zzNorm));
|
|
mf->zy = (yzNorm + wxNorm);
|
|
mf->wy = 0.0f;
|
|
mf->xz = (yzNorm + wyNorm);
|
|
mf->yz = (yzNorm - wxNorm);
|
|
mf->zz = (1.0f - (xxNorm + yyNorm));
|
|
mf->wz = 0.0f;
|
|
mf->xw = 0.0f;
|
|
mf->yw = 0.0f;
|
|
mf->ww = 1.0f;
|
|
mf->zw = 0.0f;
|
|
}
|