m3math.cpp

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#include "linden_common.h"

//#include "vmath.h"
#include "v3math.h"
#include "v3dmath.h"
#include "v4math.h"
#include "m4math.h"
#include "m3math.h"
#include "llquaternion.h"

// LLMatrix3

//              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


// Constructors


LLMatrix3::LLMatrix3(const LLQuaternion &q)
{
        setRot(q);
}


LLMatrix3::LLMatrix3(const F32 angle, const LLVector3 &vec)
{
        LLQuaternion    quat(angle, vec);
        setRot(quat);
}

LLMatrix3::LLMatrix3(const F32 angle, const LLVector3d &vec)
{
        LLVector3 vec_f;
        vec_f.setVec(vec);
        LLQuaternion    quat(angle, vec_f);
        setRot(quat);
}

LLMatrix3::LLMatrix3(const F32 angle, const LLVector4 &vec)
{
        LLQuaternion    quat(angle, vec);
        setRot(quat);
}

LLMatrix3::LLMatrix3(const F32 angle, const F32 x, const F32 y, const F32 z)
{
        LLVector3 vec(x, y, z);
        LLQuaternion    quat(angle, vec);
        setRot(quat);
}

LLMatrix3::LLMatrix3(const F32 roll, const F32 pitch, const F32 yaw)
{
        setRot(roll,pitch,yaw);
}

// From Matrix and Quaternion FAQ
void LLMatrix3::getEulerAngles(F32 *roll, F32 *pitch, F32 *yaw) const
{
        F64 angle_x, angle_y, angle_z;
        F64 cx, cy, cz;                                 // cosine of angle_x, angle_y, angle_z
        F64 sx,     sz;                                 // sine of angle_x, angle_y, angle_z

        angle_y = asin(llclamp(mMatrix[2][0], -1.f, 1.f));
        cy = cos(angle_y);

        if (fabs(cy) > 0.005)           // non-zero
        {
                // no gimbal lock
                cx = mMatrix[2][2] / cy;
                sx = - mMatrix[2][1] / cy;

                angle_x = (F32) atan2(sx, cx);

                cz = mMatrix[0][0] / cy;
                sz = - mMatrix[1][0] / cy;

                angle_z = (F32) atan2(sz, cz);
        }
        else
        {
                // yup, gimbal lock
                angle_x = 0;

                // some tricky math thereby avoided, see article

                cz = mMatrix[1][1];
                sz = mMatrix[0][1];

                angle_z = atan2(sz, cz);
        }

        *roll = (F32)angle_x;
        *pitch = (F32)angle_y;
        *yaw = (F32)angle_z;
}
        

// Clear and Assignment Functions

const LLMatrix3&        LLMatrix3::identity()
{
        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;
        return (*this);
}

const LLMatrix3&        LLMatrix3::zero()
{
        mMatrix[0][0] = 0.f;
        mMatrix[0][1] = 0.f;
        mMatrix[0][2] = 0.f;

        mMatrix[1][0] = 0.f;
        mMatrix[1][1] = 0.f;
        mMatrix[1][2] = 0.f;

        mMatrix[2][0] = 0.f;
        mMatrix[2][1] = 0.f;
        mMatrix[2][2] = 0.f;
        return (*this);
}

// various useful mMatrix functions

const LLMatrix3&        LLMatrix3::transpose() 
{
        // transpose the matrix
        F32 temp;
        temp = mMatrix[VX][VY]; mMatrix[VX][VY] = mMatrix[VY][VX]; mMatrix[VY][VX] = temp;
        temp = mMatrix[VX][VZ]; mMatrix[VX][VZ] = mMatrix[VZ][VX]; mMatrix[VZ][VX] = temp;
        temp = mMatrix[VY][VZ]; mMatrix[VY][VZ] = mMatrix[VZ][VY]; mMatrix[VZ][VY] = temp;
        return *this;
}


F32             LLMatrix3::determinant() const
{
        // Is this a useful method when we assume the matrices are valid rotation
        // matrices throughout this implementation?
        return  mMatrix[0][0] * (mMatrix[1][1] * mMatrix[2][2] - mMatrix[1][2] * mMatrix[2][1]) +
                        mMatrix[0][1] * (mMatrix[1][2] * mMatrix[2][0] - mMatrix[1][0] * mMatrix[2][2]) +
                        mMatrix[0][2] * (mMatrix[1][0] * mMatrix[2][1] - mMatrix[1][1] * mMatrix[2][0]); 
}

// This is identical to the transMat3() method because we assume a rotation matrix
const LLMatrix3&        LLMatrix3::invert()
{
        // transpose the matrix
        F32 temp;
        temp = mMatrix[VX][VY]; mMatrix[VX][VY] = mMatrix[VY][VX]; mMatrix[VY][VX] = temp;
        temp = mMatrix[VX][VZ]; mMatrix[VX][VZ] = mMatrix[VZ][VX]; mMatrix[VZ][VX] = temp;
        temp = mMatrix[VY][VZ]; mMatrix[VY][VZ] = mMatrix[VZ][VY]; mMatrix[VZ][VY] = temp;
        return *this;
}

// does not assume a rotation matrix, and does not divide by determinant, assuming results will be renormalized
const LLMatrix3&        LLMatrix3::adjointTranspose()
{
        LLMatrix3 adjoint_transpose;
        adjoint_transpose.mMatrix[VX][VX] = mMatrix[VY][VY] * mMatrix[VZ][VZ] - mMatrix[VY][VZ] * mMatrix[VZ][VY] ;
        adjoint_transpose.mMatrix[VY][VX] = mMatrix[VY][VZ] * mMatrix[VZ][VX] - mMatrix[VY][VX] * mMatrix[VZ][VZ] ;
        adjoint_transpose.mMatrix[VZ][VX] = mMatrix[VY][VX] * mMatrix[VZ][VY] - mMatrix[VY][VY] * mMatrix[VZ][VX] ;
        adjoint_transpose.mMatrix[VX][VY] = mMatrix[VZ][VY] * mMatrix[VX][VZ] - mMatrix[VZ][VZ] * mMatrix[VX][VY] ;
        adjoint_transpose.mMatrix[VY][VY] = mMatrix[VZ][VZ] * mMatrix[VX][VX] - mMatrix[VZ][VX] * mMatrix[VX][VZ] ;
        adjoint_transpose.mMatrix[VZ][VY] = mMatrix[VZ][VX] * mMatrix[VX][VY] - mMatrix[VZ][VY] * mMatrix[VX][VX] ;
        adjoint_transpose.mMatrix[VX][VZ] = mMatrix[VX][VY] * mMatrix[VY][VZ] - mMatrix[VX][VZ] * mMatrix[VY][VY] ;
        adjoint_transpose.mMatrix[VY][VZ] = mMatrix[VX][VZ] * mMatrix[VY][VX] - mMatrix[VX][VX] * mMatrix[VY][VZ] ;
        adjoint_transpose.mMatrix[VZ][VZ] = mMatrix[VX][VX] * mMatrix[VY][VY] - mMatrix[VX][VY] * mMatrix[VY][VX] ;

        *this = adjoint_transpose;
        return *this;
}

// SJB: This code is correct for a logicly stored (non-transposed) matrix;
//              Our matrices are stored transposed, OpenGL style, so this generates the
//              INVERSE quaternion (-x, -y, -z, w)!
//              Because we use similar logic in LLQuaternion::getMatrix3,
//              we are internally consistant so everything works OK :)
LLQuaternion    LLMatrix3::quaternion() const
{
        LLQuaternion    quat;
        F32             tr, s, q[4];
        U32             i, j, k;
        U32             nxt[3] = {1, 2, 0};

        tr = mMatrix[0][0] + mMatrix[1][1] + mMatrix[2][2];

        // check the diagonal
        if (tr > 0.f) 
        {
                s = (F32)sqrt (tr + 1.f);
                quat.mQ[VS] = s / 2.f;
                s = 0.5f / s;
                quat.mQ[VX] = (mMatrix[1][2] - mMatrix[2][1]) * s;
                quat.mQ[VY] = (mMatrix[2][0] - mMatrix[0][2]) * s;
                quat.mQ[VZ] = (mMatrix[0][1] - mMatrix[1][0]) * s;
        } 
        else
        {               
                // diagonal is negative
                i = 0;
                if (mMatrix[1][1] > mMatrix[0][0]) 
                        i = 1;
                if (mMatrix[2][2] > mMatrix[i][i]) 
                        i = 2;

                j = nxt[i];
                k = nxt[j];


                s = (F32)sqrt ((mMatrix[i][i] - (mMatrix[j][j] + mMatrix[k][k])) + 1.f);

                q[i] = s * 0.5f;

                if (s != 0.f) 
                        s = 0.5f / s;

                q[3] = (mMatrix[j][k] - mMatrix[k][j]) * s;
                q[j] = (mMatrix[i][j] + mMatrix[j][i]) * s;
                q[k] = (mMatrix[i][k] + mMatrix[k][i]) * s;

                quat.setQuat(q);
        }
        return quat;
}


// These functions take Rotation arguments
const LLMatrix3&        LLMatrix3::setRot(const F32 angle, const F32 x, const F32 y, const F32 z)
{
        setRot(LLQuaternion(angle,x,y,z));
        return *this;
}

const LLMatrix3&        LLMatrix3::setRot(const F32 angle, const LLVector3 &vec)
{
        setRot(LLQuaternion(angle, vec));
        return *this;
}

const LLMatrix3&        LLMatrix3::setRot(const F32 roll, const F32 pitch, const F32 yaw)
{
        // Rotates RH about x-axis by 'roll'  then
        // rotates RH about the old y-axis by 'pitch' then
        // rotates RH about the original z-axis by 'yaw'.
        //                .
        //               /|\ yaw axis
        //                |     __.
        //   ._        ___|      /| pitch axis
        //  _||\       \\ |-.   /
        //  \|| \_______\_|__\_/_______
        //   | _ _   o o o_o_o_o o   /_\_  ________\ roll axis
        //   //  /_______/    /__________>         /   
        //  /_,-'       //   /
        //             /__,-'

        F32             cx, sx, cy, sy, cz, sz;
        F32             cxsy, sxsy;

    cx = (F32)cos(roll); //A
    sx = (F32)sin(roll); //B
    cy = (F32)cos(pitch); //C
    sy = (F32)sin(pitch); //D
    cz = (F32)cos(yaw); //E
    sz = (F32)sin(yaw); //F

    cxsy = cx * sy; //AD
    sxsy = sx * sy; //BD 

    mMatrix[0][0] =  cy * cz;
    mMatrix[1][0] = -cy * sz;
    mMatrix[2][0] = sy;
    mMatrix[0][1] = sxsy * cz + cx * sz;
    mMatrix[1][1] = -sxsy * sz + cx * cz;
    mMatrix[2][1] = -sx * cy;
    mMatrix[0][2] =  -cxsy * cz + sx * sz;
    mMatrix[1][2] =  cxsy * sz + sx * cz;
    mMatrix[2][2] =  cx * cy;
        return *this;
}


const LLMatrix3&        LLMatrix3::setRot(const LLQuaternion &q)
{
        *this = q.getMatrix3();
        return *this;
}

const LLMatrix3&        LLMatrix3::setRows(const LLVector3 &fwd, const LLVector3 &left, const LLVector3 &up)
{
        mMatrix[0][0] = fwd.mV[0];
        mMatrix[0][1] = fwd.mV[1];
        mMatrix[0][2] = fwd.mV[2];

        mMatrix[1][0] = left.mV[0];
        mMatrix[1][1] = left.mV[1];
        mMatrix[1][2] = left.mV[2];

        mMatrix[2][0] = up.mV[0];
        mMatrix[2][1] = up.mV[1];
        mMatrix[2][2] = up.mV[2];

        return *this;
}

                
// Rotate exisitng mMatrix
const LLMatrix3&        LLMatrix3::rotate(const F32 angle, const F32 x, const F32 y, const F32 z)
{
        LLMatrix3       mat(angle, x, y, z);
        *this *= mat;
        return *this;
}


const LLMatrix3&        LLMatrix3::rotate(const F32 angle, const LLVector3 &vec)
{
        LLMatrix3       mat(angle, vec);
        *this *= mat;
        return *this;
}


const LLMatrix3&        LLMatrix3::rotate(const F32 roll, const F32 pitch, const F32 yaw)
{
        LLMatrix3       mat(roll, pitch, yaw); 
        *this *= mat;
        return *this;
}


const LLMatrix3&        LLMatrix3::rotate(const LLQuaternion &q)
{
        LLMatrix3       mat(q);
        *this *= mat;
        return *this;
}


LLVector3       LLMatrix3::getFwdRow() const
{
        return LLVector3(mMatrix[VX]);
}

LLVector3       LLMatrix3::getLeftRow() const
{
        return LLVector3(mMatrix[VY]);
}

LLVector3       LLMatrix3::getUpRow() const
{
        return LLVector3(mMatrix[VZ]);
}



const LLMatrix3&        LLMatrix3::orthogonalize()
{
        LLVector3 x_axis(mMatrix[VX]);
        LLVector3 y_axis(mMatrix[VY]);
        LLVector3 z_axis(mMatrix[VZ]);

        x_axis.normVec();
        y_axis -= x_axis * (x_axis * y_axis);
        y_axis.normVec();
        z_axis = x_axis % y_axis;
        setRows(x_axis, y_axis, z_axis);
        return (*this);
}


// LLMatrix3 Operators

LLMatrix3 operator*(const LLMatrix3 &a, const LLMatrix3 &b)
{
        U32             i, j;
        LLMatrix3       mat;
        for (i = 0; i < NUM_VALUES_IN_MAT3; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT3; j++)
                {
                        mat.mMatrix[j][i] = a.mMatrix[j][0] * b.mMatrix[0][i] + 
                                                            a.mMatrix[j][1] * b.mMatrix[1][i] + 
                                                            a.mMatrix[j][2] * b.mMatrix[2][i];
                }
        }
        return mat;
}

/* Not implemented to help enforce code consistency with the syntax of 
   row-major notation.  This is a Good Thing.
LLVector3 operator*(const LLMatrix3 &a, const LLVector3 &b)
{
        LLVector3       vec;
        // matrix operates "from the left" on column vector
        vec.mV[VX] = a.mMatrix[VX][VX] * b.mV[VX] + 
                                 a.mMatrix[VX][VY] * b.mV[VY] + 
                                 a.mMatrix[VX][VZ] * b.mV[VZ];
        
        vec.mV[VY] = a.mMatrix[VY][VX] * b.mV[VX] + 
                                 a.mMatrix[VY][VY] * b.mV[VY] + 
                                 a.mMatrix[VY][VZ] * b.mV[VZ];
        
        vec.mV[VZ] = a.mMatrix[VZ][VX] * b.mV[VX] + 
                                 a.mMatrix[VZ][VY] * b.mV[VY] + 
                                 a.mMatrix[VZ][VZ] * b.mV[VZ];
        return vec;
}
*/


LLVector3 operator*(const LLVector3 &a, const LLMatrix3 &b)
{
        // matrix operates "from the right" on row vector
        return LLVector3(
                                a.mV[VX] * b.mMatrix[VX][VX] + 
                                a.mV[VY] * b.mMatrix[VY][VX] + 
                                a.mV[VZ] * b.mMatrix[VZ][VX],
        
                                a.mV[VX] * b.mMatrix[VX][VY] + 
                                a.mV[VY] * b.mMatrix[VY][VY] + 
                                a.mV[VZ] * b.mMatrix[VZ][VY],
        
                                a.mV[VX] * b.mMatrix[VX][VZ] + 
                                a.mV[VY] * b.mMatrix[VY][VZ] + 
                                a.mV[VZ] * b.mMatrix[VZ][VZ] );
}

LLVector3d operator*(const LLVector3d &a, const LLMatrix3 &b)
{
        // matrix operates "from the right" on row vector
        return LLVector3d(
                                a.mdV[VX] * b.mMatrix[VX][VX] + 
                                a.mdV[VY] * b.mMatrix[VY][VX] + 
                                a.mdV[VZ] * b.mMatrix[VZ][VX],
        
                                a.mdV[VX] * b.mMatrix[VX][VY] + 
                                a.mdV[VY] * b.mMatrix[VY][VY] + 
                                a.mdV[VZ] * b.mMatrix[VZ][VY],
        
                                a.mdV[VX] * b.mMatrix[VX][VZ] + 
                                a.mdV[VY] * b.mMatrix[VY][VZ] + 
                                a.mdV[VZ] * b.mMatrix[VZ][VZ] );
}

bool operator==(const LLMatrix3 &a, const LLMatrix3 &b)
{
        U32             i, j;
        for (i = 0; i < NUM_VALUES_IN_MAT3; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT3; j++)
                {
                        if (a.mMatrix[j][i] != b.mMatrix[j][i])
                                return FALSE;
                }
        }
        return TRUE;
}

bool operator!=(const LLMatrix3 &a, const LLMatrix3 &b)
{
        U32             i, j;
        for (i = 0; i < NUM_VALUES_IN_MAT3; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT3; j++)
                {
                        if (a.mMatrix[j][i] != b.mMatrix[j][i])
                                return TRUE;
                }
        }
        return FALSE;
}

const LLMatrix3& operator*=(LLMatrix3 &a, const LLMatrix3 &b)
{
        U32             i, j;
        LLMatrix3       mat;
        for (i = 0; i < NUM_VALUES_IN_MAT3; i++)
        {
                for (j = 0; j < NUM_VALUES_IN_MAT3; j++)
                {
                        mat.mMatrix[j][i] = a.mMatrix[j][0] * b.mMatrix[0][i] + 
                                                            a.mMatrix[j][1] * b.mMatrix[1][i] + 
                                                            a.mMatrix[j][2] * b.mMatrix[2][i];
                }
        }
        a = mat;
        return a;
}

std::ostream& operator<<(std::ostream& s, const LLMatrix3 &a) 
{
        s << "{ " 
                << a.mMatrix[VX][VX] << ", " << a.mMatrix[VX][VY] << ", " << a.mMatrix[VX][VZ] << "; "
                << a.mMatrix[VY][VX] << ", " << a.mMatrix[VY][VY] << ", " << a.mMatrix[VY][VZ] << "; "
                << a.mMatrix[VZ][VX] << ", " << a.mMatrix[VZ][VY] << ", " << a.mMatrix[VZ][VZ] 
          << " }";
        return s;
}

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