Optimise some matrix operations, based on patch from ortalo.
Fixes #750. This was SVN commit r9141.
This commit is contained in:
parent
6d3d93c355
commit
012c47057a
@ -189,9 +189,7 @@ void CCamera::BuildCameraRay(int px, int py, CVector3D& origin, CVector3D& dir)
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void CCamera::GetScreenCoordinates(const CVector3D& world, float& x, float& y) const
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{
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CMatrix3D transform;
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m_Orientation.GetInverse(transform);
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transform.Concatenate(m_ProjMat);
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CMatrix3D transform = m_ProjMat * m_Orientation.GetInverse();
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CVector4D screenspace = transform.Transform(CVector4D(world.X, world.Y, world.Z, 1.0f));
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@ -30,31 +30,18 @@ CMatrix3D::CMatrix3D ()
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{
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}
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CMatrix3D::CMatrix3D(float a11,float a12,float a13,float a14,float a21,float a22,float a23,float a24,
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float a31,float a32,float a33,float a34,float a41,float a42,float a43,float a44)
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CMatrix3D::CMatrix3D(
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float a11, float a12, float a13, float a14,
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float a21, float a22, float a23, float a24,
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float a31, float a32, float a33, float a34,
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float a41, float a42, float a43, float a44) :
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_11(a11), _12(a12), _13(a13), _14(a14),
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_21(a21), _22(a22), _23(a23), _24(a24),
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_31(a31), _32(a32), _33(a33), _34(a34),
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_41(a41), _42(a42), _43(a43), _44(a44)
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{
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_11=a11;
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_12=a12;
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_13=a13;
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_14=a14;
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_21=a21;
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_22=a22;
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_23=a23;
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_24=a24;
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_31=a31;
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_32=a32;
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_33=a33;
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_34=a34;
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_41=a41;
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_42=a42;
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_43=a43;
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_44=a44;
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}
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CMatrix3D::CMatrix3D(float data[])
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{
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for(int i=0; i<16; i++)
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@ -165,8 +152,8 @@ void CMatrix3D::SetZero ()
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void CMatrix3D::SetXRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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_11=1.0f; _12=0.0f; _13=0.0f; _14=0.0f;
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_21=0.0f; _22=Cos; _23=-Sin; _24=0.0f;
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@ -176,8 +163,8 @@ void CMatrix3D::SetXRotation (float angle)
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void CMatrix3D::SetYRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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_11=Cos; _12=0.0f; _13=Sin; _14=0.0f;
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_21=0.0f; _22=1.0f; _23=0.0f; _24=0.0f;
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@ -187,8 +174,8 @@ void CMatrix3D::SetYRotation (float angle)
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void CMatrix3D::SetZRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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_11=Cos; _12=-Sin; _13=0.0f; _14=0.0f;
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_21=Sin; _22=Cos; _23=0.0f; _24=0.0f;
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@ -201,23 +188,62 @@ void CMatrix3D::SetZRotation (float angle)
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void CMatrix3D::RotateX (float angle)
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{
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CMatrix3D Temp;
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Temp.SetXRotation (angle);
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Concatenate(Temp);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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const float tmp_21 = _21;
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const float tmp_22 = _22;
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const float tmp_23 = _23;
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const float tmp_24 = _24;
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_21 = Cos * _21 - Sin * _31;
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_22 = Cos * _22 - Sin * _32;
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_23 = Cos * _23 - Sin * _33;
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_24 = Cos * _24 - Sin * _34;
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_31 = Sin * tmp_21 + Cos * _31;
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_32 = Sin * tmp_22 + Cos * _32;
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_33 = Sin * tmp_23 + Cos * _33;
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_34 = Sin * tmp_24 + Cos * _34;
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}
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void CMatrix3D::RotateY (float angle)
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{
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CMatrix3D Temp;
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Temp.SetYRotation (angle);
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Concatenate(Temp);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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const float tmp_11 = _11;
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const float tmp_12 = _12;
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const float tmp_13 = _13;
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const float tmp_14 = _14;
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_11 = Cos * _11 + Sin * _31;
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_12 = Cos * _12 + Sin * _32;
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_13 = Cos * _13 + Sin * _33;
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_14 = Cos * _14 + Sin * _34;
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_31 = -Sin * tmp_11 + Cos * _31;
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_32 = -Sin * tmp_12 + Cos * _32;
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_33 = -Sin * tmp_13 + Cos * _33;
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_34 = -Sin * tmp_14 + Cos * _34;
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}
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void CMatrix3D::RotateZ (float angle)
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{
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CMatrix3D Temp;
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Temp.SetZRotation(angle);
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Concatenate(Temp);
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const float Cos = cosf (angle);
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const float Sin = sinf (angle);
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const float tmp_11 = _11;
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const float tmp_12 = _12;
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const float tmp_13 = _13;
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const float tmp_14 = _14;
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_11 = Cos * _11 - Sin * _21;
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_12 = Cos * _12 - Sin * _22;
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_13 = Cos * _13 - Sin * _23;
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_14 = Cos * _14 - Sin * _24;
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_21 = Sin * tmp_11 + Cos * _21;
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_22 = Sin * tmp_12 + Cos * _22;
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_23 = Sin * tmp_13 + Cos * _23;
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_24 = Sin * tmp_14 + Cos * _24;
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}
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//Sets the translation of the matrix
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@ -256,13 +282,7 @@ void CMatrix3D::Concatenate(const CMatrix3D& m)
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CVector3D CMatrix3D::GetTranslation() const
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{
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CVector3D Temp;
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Temp.X = _14;
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Temp.Y = _24;
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Temp.Z = _34;
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return Temp;
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return CVector3D(_14, _24, _34);
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}
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//Clears and sets the scaling of the matrix
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@ -277,75 +297,50 @@ void CMatrix3D::SetScaling (float x_scale, float y_scale, float z_scale)
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//Scales the matrix
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void CMatrix3D::Scale (float x_scale, float y_scale, float z_scale)
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{
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CMatrix3D Temp;
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Temp.SetScaling(x_scale,y_scale,z_scale);
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Concatenate(Temp);
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_11 *= x_scale;
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_12 *= x_scale;
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_13 *= x_scale;
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_14 *= x_scale;
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_21 *= y_scale;
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_22 *= y_scale;
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_23 *= y_scale;
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_24 *= y_scale;
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_31 *= z_scale;
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_32 *= z_scale;
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_33 *= z_scale;
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_34 *= z_scale;
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}
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//Returns the transpose of the matrix. For orthonormal
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//matrices, this is the same is the inverse matrix
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CMatrix3D CMatrix3D::GetTranspose() const
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{
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CMatrix3D result;
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result._11 = _11;
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result._21 = _12;
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result._31 = _13;
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result._41 = _14;
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result._12 = _21;
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result._22 = _22;
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result._32 = _23;
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result._42 = _24;
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result._13 = _31;
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result._23 = _32;
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result._33 = _33;
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result._43 = _34;
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result._14 = _41;
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result._24 = _42;
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result._34 = _43;
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result._44 = _44;
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return result;
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return CMatrix3D(
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_11, _21, _31, _41,
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_12, _22, _32, _42,
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_13, _23, _33, _43,
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_14, _24, _34, _44);
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}
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//Get a vector which points to the left of the matrix
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CVector3D CMatrix3D::GetLeft () const
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CVector3D CMatrix3D::GetLeft() const
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{
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CVector3D Temp;
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Temp.X = -_11;
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Temp.Y = -_21;
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Temp.Z = -_31;
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return Temp;
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return CVector3D(-_11, -_21, -_31);
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}
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//Get a vector which points up from the matrix
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CVector3D CMatrix3D::GetUp () const
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CVector3D CMatrix3D::GetUp() const
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{
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CVector3D Temp;
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Temp.X = _12;
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Temp.Y = _22;
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Temp.Z = _32;
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return Temp;
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return CVector3D(_12, _22, _32);
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}
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//Get a vector which points to front of the matrix
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CVector3D CMatrix3D::GetIn () const
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CVector3D CMatrix3D::GetIn() const
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{
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CVector3D Temp;
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Temp.X = _13;
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Temp.Y = _23;
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Temp.Z = _33;
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return Temp;
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return CVector3D(_13, _23, _33);
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}
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//Transform a vector by this matrix
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@ -412,22 +407,14 @@ void CMatrix3D::GetInverse(CMatrix3D& dst) const
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tmp[11] = src[9] * src[12];
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// calculate first 8 elements (cofactors)
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dst._data[0] = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
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dst._data[0] -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
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dst._data[1] = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
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dst._data[1] -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
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dst._data[2] = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
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dst._data[2] -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
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dst._data[3] = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
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dst._data[3] -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
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dst._data[4] = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
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dst._data[4] -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
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dst._data[5] = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
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dst._data[5] -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
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dst._data[6] = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
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dst._data[6] -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
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dst._data[7] = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
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dst._data[7] -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
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dst._data[0] = (tmp[0]-tmp[1])*src[5] + (tmp[3]-tmp[2])*src[6] + (tmp[4]-tmp[5])*src[7];
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dst._data[1] = (tmp[1]-tmp[0])*src[4] + (tmp[6]-tmp[7])*src[6] + (tmp[9]-tmp[8])*src[7];
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dst._data[2] = (tmp[2]-tmp[3])*src[4] + (tmp[7]-tmp[6])*src[5] + (tmp[10]-tmp[11])*src[7];
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dst._data[3] = (tmp[5]-tmp[4])*src[4] + (tmp[8]-tmp[9])*src[5] + (tmp[11]-tmp[10])*src[6];
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dst._data[4] = (tmp[1]-tmp[0])*src[1] + (tmp[2]-tmp[3])*src[2] + (tmp[5]-tmp[4])*src[3];
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dst._data[5] = (tmp[0]-tmp[1])*src[0] + (tmp[7]-tmp[6])*src[2] + (tmp[8]-tmp[9])*src[3];
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dst._data[6] = (tmp[3]-tmp[2])*src[0] + (tmp[6]-tmp[7])*src[1] + (tmp[11]-tmp[10])*src[3];
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dst._data[7] = (tmp[4]-tmp[5])*src[0] + (tmp[9]-tmp[8])*src[1] + (tmp[10]-tmp[11])*src[2];
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// calculate pairs for second 8 elements (cofactors)
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tmp[0] = src[2]*src[7];
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@ -444,22 +431,14 @@ void CMatrix3D::GetInverse(CMatrix3D& dst) const
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tmp[11] = src[1]*src[4];
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// calculate second 8 elements (cofactors)
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dst._data[8] = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
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dst._data[8] -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
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dst._data[9] = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
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dst._data[9] -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
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dst._data[10] = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
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dst._data[10]-= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
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dst._data[11] = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
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dst._data[11]-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
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dst._data[12] = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
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dst._data[12]-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
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dst._data[13] = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
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dst._data[13]-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
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dst._data[14] = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
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dst._data[14]-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
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dst._data[15] = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
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dst._data[15]-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
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dst._data[8] = (tmp[0]-tmp[1])*src[13] + (tmp[3]-tmp[2])*src[14] + (tmp[4]-tmp[5])*src[15];
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dst._data[9] = (tmp[1]-tmp[0])*src[12] + (tmp[6]-tmp[7])*src[14] + (tmp[9]-tmp[8])*src[15];
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dst._data[10] = (tmp[2]-tmp[3])*src[12] + (tmp[7]-tmp[6])*src[13] + (tmp[10]-tmp[11])*src[15];
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dst._data[11] = (tmp[5]-tmp[4])*src[12] + (tmp[8]-tmp[9])*src[13] + (tmp[11]-tmp[10])*src[14];
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dst._data[12] = (tmp[2]-tmp[3])*src[10] + (tmp[5]-tmp[4])*src[11] + (tmp[1]-tmp[0])*src[9];
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dst._data[13] = (tmp[7]-tmp[6])*src[10] + (tmp[8]-tmp[9])*src[11] + (tmp[0]-tmp[1])*src[8];
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dst._data[14] = (tmp[6]-tmp[7])*src[9] + (tmp[11]-tmp[10])*src[11] + (tmp[3]-tmp[2])*src[8];
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dst._data[15] = (tmp[10]-tmp[11])*src[10] + (tmp[4]-tmp[5])*src[8] + (tmp[9]-tmp[8])*src[9];
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// calculate matrix inverse
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det=src[0]*dst._data[0]+src[1]*dst._data[1]+src[2]*dst._data[2]+src[3]*dst._data[3];
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@ -1,4 +1,4 @@
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/* Copyright (C) 2009 Wildfire Games.
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/* Copyright (C) 2011 Wildfire Games.
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* This file is part of 0 A.D.
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*
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* 0 A.D. is free software: you can redistribute it and/or modify
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@ -80,6 +80,66 @@ public:
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TS_ASSERT(ok_oneway ^ ok_otherway);
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}
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}
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void test_rotate()
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{
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CMatrix3D m;
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srand(0);
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for (int j = 0; j < 16; ++j)
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m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
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CMatrix3D r, a, b;
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a = m;
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b = m;
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a.RotateX(1.0f);
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r.SetXRotation(1.0f);
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b.Concatenate(r);
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for (int x = 0; x < 4; ++x)
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for (int y = 0; y < 4; ++y)
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TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
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a = m;
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b = m;
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a.RotateY(1.0f);
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r.SetYRotation(1.0f);
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b.Concatenate(r);
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for (int x = 0; x < 4; ++x)
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for (int y = 0; y < 4; ++y)
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TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
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a = m;
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b = m;
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a.RotateZ(1.0f);
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r.SetZRotation(1.0f);
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b.Concatenate(r);
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for (int x = 0; x < 4; ++x)
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for (int y = 0; y < 4; ++y)
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TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
|
||||
}
|
||||
|
||||
void test_scale()
|
||||
{
|
||||
CMatrix3D m;
|
||||
srand(0);
|
||||
|
||||
for (int j = 0; j < 16; ++j)
|
||||
m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
|
||||
|
||||
CMatrix3D s, a, b;
|
||||
|
||||
a = m;
|
||||
b = m;
|
||||
a.Scale(0.5f, 2.0f, 3.0f);
|
||||
s.SetScaling(0.5f, 2.0f, 3.0f);
|
||||
b.Concatenate(s);
|
||||
|
||||
for (int x = 0; x < 4; ++x)
|
||||
for (int y = 0; y < 4; ++y)
|
||||
TS_ASSERT_DELTA(a(x,y), b(x,y), 0.0002f);
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user