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This commit is contained in:
David Rose 2001-04-17 03:52:38 +00:00
parent b2a26b267d
commit 8c0daebfb9
2 changed files with 162 additions and 73 deletions
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6
panda/src/linmath/compose_matrix.cxx
View File

@ -7,6 +7,12 @@
#include "config_linmath.h"
#include "compose_matrix.h"
Configure(config_linmath_2);
ConfigureFn(config_linmath_2) {
}
static const bool temp_hpr_fix = config_linmath_2.GetBool("temp-hpr-fix", false);
#include "fltnames.h"
#include "compose_matrix_src.cxx"

229
panda/src/linmath/compose_matrix_src.cxx
View File

@ -13,11 +13,19 @@ compose_matrix(FLOATNAME(LMatrix3) &mat,
const FLOATNAME(LVecBase3) &scale,
const FLOATNAME(LVecBase3) &hpr,
CoordinateSystem cs) {
mat =
FLOATNAME(LMatrix3)::scale_mat(scale) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[0], FLOATNAME(LVector3)::up(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[2], FLOATNAME(LVector3)::back(cs), cs);
if (temp_hpr_fix) {
mat =
FLOATNAME(LMatrix3)::scale_mat(scale) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[2], FLOATNAME(LVector3)::back(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[0], FLOATNAME(LVector3)::up(cs), cs);
} else {
mat =
FLOATNAME(LMatrix3)::scale_mat(scale) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[1], FLOATNAME(LVector3)::right(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[0], FLOATNAME(LVector3)::up(cs), cs) *
FLOATNAME(LMatrix3)::rotate_mat(hpr[2], FLOATNAME(LVector3)::back(cs), cs);
}
}
////////////////////////////////////////////////////////////////////
@ -184,81 +192,151 @@ unwind_yup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
////////////////////////////////////////////////////////////////////
static void
unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
typedef FLOATNAME(LMatrix3) Matrix;
if (temp_hpr_fix) {
typedef FLOATNAME(LMatrix3) Matrix;
// Extract the axes from the matrix.
FLOATNAME(LVector3) x, y, z;
x = mat.get_row(0);
y = mat.get_row(1);
z = mat.get_row(2);
// Extract the axes from the matrix.
FLOATNAME(LVector3) x, y, z;
x = mat.get_row(0);
y = mat.get_row(1);
z = mat.get_row(2);
// Project Y into the XY plane.
FLOATNAME(LVector2) xy(y[0], y[1]);
xy = normalize(xy);
// Compute the rotation about the +Z (up) axis. This is yaw, or
// "heading".
FLOATTYPE heading = -rad_2_deg(atan2(xy[0], xy[1]));
// Project X into the XZ plane.
FLOATNAME(LVector2) xz(x[0], x[2]);
xz = normalize(xz);
// Unwind the heading, and continue.
Matrix rot_z;
rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
CS_zup_right);
x = x * rot_z;
y = y * rot_z;
z = z * rot_z;
// Project the rotated Y into the YZ plane.
FLOATNAME(LVector2) yz(y[1], y[2]);
yz = normalize(yz);
// Compute the rotation about the +X (right) axis. This is pitch.
FLOATTYPE pitch = rad_2_deg(atan2(yz[1], yz[0]));
// Unwind the pitch.
Matrix rot_x;
rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0),
CS_zup_right);
x = x * rot_x;
y = y * rot_x;
z = z * rot_x;
// Project X into the XZ plane.
FLOATNAME(LVector2) xz(x[0], x[2]);
xz = normalize(xz);
// Compute the rotation about the -Y (back) axis. This is roll.
FLOATTYPE roll = rad_2_deg(atan2(xz[1], xz[0]));
// Compute the rotation about the -Y (back) axis. This is roll.
FLOATTYPE roll = rad_2_deg(atan2(xz[1], xz[0]));
if (y[1] < 0.0) {
if (roll < 0.0) {
roll += 180.0;
} else {
roll -= 180.0;
// Unwind the roll from the axes, and continue.
Matrix rot_y;
rot_y = Matrix::rotate_mat(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
CS_zup_right);
x = x * rot_y;
y = y * rot_y;
z = z * rot_y;
// Reset the matrix to reflect the unwinding.
mat.set_row(0, x);
mat.set_row(1, y);
mat.set_row(2, z);
// Return the three rotation components.
hpr[0] = heading;
hpr[1] = pitch;
hpr[2] = roll;
} else {
typedef FLOATNAME(LMatrix3) Matrix;
// Extract the axes from the matrix.
FLOATNAME(LVector3) x, y, z;
x = mat.get_row(0);
y = mat.get_row(1);
z = mat.get_row(2);
// Project X into the XZ plane.
FLOATNAME(LVector2) xz(x[0], x[2]);
xz = normalize(xz);
// Compute the rotation about the -Y (back) axis. This is roll.
FLOATTYPE roll = rad_2_deg(atan2(xz[1], xz[0]));
if (y[1] < 0.0) {
if (roll < 0.0) {
roll += 180.0;
} else {
roll -= 180.0;
}
}
// Unwind the roll from the axes, and continue.
Matrix rot_y;
rot_y = Matrix::rotate_mat(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
CS_zup_right);
x = x * rot_y;
y = y * rot_y;
z = z * rot_y;
// Project the rotated X into the XY plane.
FLOATNAME(LVector2) xy(x[0], x[1]);
xy = normalize(xy);
// Compute the rotation about the +Z (up) axis. This is yaw, or
// "heading".
FLOATTYPE heading = rad_2_deg(atan2(xy[1], xy[0]));
// Unwind the heading, and continue.
Matrix rot_z;
rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
CS_zup_right);
x = x * rot_z;
y = y * rot_z;
z = z * rot_z;
// Project the rotated Y into the YZ plane.
FLOATNAME(LVector2) yz(y[1], y[2]);
yz = normalize(yz);
// Compute the rotation about the +X (right) axis. This is pitch.
FLOATTYPE pitch = rad_2_deg(atan2(yz[1], yz[0]));
// Unwind the pitch.
Matrix rot_x;
rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0),
CS_zup_right);
x = x * rot_x;
y = y * rot_x;
z = z * rot_x;
// Reset the matrix to reflect the unwinding.
mat.set_row(0, x);
mat.set_row(1, y);
mat.set_row(2, z);
// Return the three rotation components.
hpr[0] = heading;
hpr[1] = pitch;
hpr[2] = roll;
}
// Unwind the roll from the axes, and continue.
Matrix rot_y;
rot_y = Matrix::rotate_mat(roll, FLOATNAME(LVector3)(0.0, 1.0, 0.0),
CS_zup_right);
x = x * rot_y;
y = y * rot_y;
z = z * rot_y;
// Project the rotated X into the XY plane.
FLOATNAME(LVector2) xy(x[0], x[1]);
xy = normalize(xy);
// Compute the rotation about the +Z (up) axis. This is yaw, or
// "heading".
FLOATTYPE heading = rad_2_deg(atan2(xy[1], xy[0]));
// Unwind the heading, and continue.
Matrix rot_z;
rot_z = Matrix::rotate_mat(-heading, FLOATNAME(LVector3)(0.0, 0.0, 1.0),
CS_zup_right);
x = x * rot_z;
y = y * rot_z;
z = z * rot_z;
// Project the rotated Y into the YZ plane.
FLOATNAME(LVector2) yz(y[1], y[2]);
yz = normalize(yz);
// Compute the rotation about the +X (right) axis. This is pitch.
FLOATTYPE pitch = rad_2_deg(atan2(yz[1], yz[0]));
// Unwind the pitch.
Matrix rot_x;
rot_x = Matrix::rotate_mat(-pitch, FLOATNAME(LVector3)(1.0, 0.0, 0.0),
CS_zup_right);
x = x * rot_x;
y = y * rot_x;
z = z * rot_x;
// Reset the matrix to reflect the unwinding.
mat.set_row(0, x);
mat.set_row(1, y);
mat.set_row(2, z);
// Return the three rotation components.
hpr[0] = heading;
hpr[1] = pitch;
hpr[2] = roll;
}
////////////////////////////////////////////////////////////////////
@ -274,6 +352,11 @@ unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr) {
static void
unwind_zup_rotation(FLOATNAME(LMatrix3) &mat, FLOATNAME(LVecBase3) &hpr,
FLOATTYPE roll) {
if (temp_hpr_fix) {
unwind_zup_rotation(mat, hpr);
return;
}
typedef FLOATNAME(LMatrix3) Matrix;
// Extract the axes from the matrix.