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bearsoft |
1.1 |
#include "Rotations.h"
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#include "math.h"
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Rotations::Rotations()
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{
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xangle=0;
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yangle=0;
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zangle=0;
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}
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Rotations::~Rotations(){}
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void Rotations::copy_matrix( float rotate[4][4], float dest[4][4] )
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{
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dest[0][0]=rotate[0][0];
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dest[0][1]=rotate[0][1];
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dest[0][2]=rotate[0][2];
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dest[0][3]=rotate[0][3];
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dest[1][0]=rotate[1][0];
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dest[1][1]=rotate[1][1];
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dest[1][2]=rotate[1][2];
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dest[1][3]=rotate[1][3];
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dest[2][0]=rotate[2][0];
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dest[2][1]=rotate[2][1];
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dest[2][2]=rotate[2][2];
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dest[2][3]=rotate[2][3];
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dest[3][0]=rotate[3][0];
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dest[3][1]=rotate[3][1];
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dest[3][2]=rotate[3][2];
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dest[3][3]=rotate[3][3];
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}
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void Rotations::inverse_matrix( float rotate[4][4] )
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{
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float d00,d01,d02,d03;
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float d10,d11,d12,d13;
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float d20,d21,d22,d23;
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float d30,d31,d32,d33;
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float m00,m01,m02,m03;
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float m10,m11,m12,m13;
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float m20,m21,m22,m23;
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float m30,m31,m32,m33;
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float d;
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/////////////////////////////////////////////////////////////////////////
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m00=rotate[0][0];
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m01=rotate[0][1];
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m02=rotate[0][2];
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m03=rotate[0][3];
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m10=rotate[1][0];
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m11=rotate[1][1];
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m12=rotate[1][2];
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m13=rotate[1][3];
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m20=rotate[2][0];
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m21=rotate[2][1];
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m22=rotate[2][2];
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m23=rotate[2][3];
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m30=rotate[3][0];
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m31=rotate[3][1];
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m32=rotate[3][2];
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m33=rotate[3][3];
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/////////////////////////////////////////////////////////////////////////
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d00 = m11*m22*m33 + m12*m23*m31 + m13*m21*m32 - m31*m22*m13 - m32*m23*m11 - m33*m21*m12;
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d01 = m10*m22*m33 + m12*m23*m30 + m13*m20*m32 - m30*m22*m13 - m32*m23*m10 - m33*m20*m12;
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d02 = m10*m21*m33 + m11*m23*m30 + m13*m20*m31 - m30*m21*m13 - m31*m23*m10 - m33*m20*m11;
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d03 = m10*m21*m32 + m11*m22*m30 + m12*m20*m31 - m30*m21*m12 - m31*m22*m10 - m32*m20*m11;
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d10 = m01*m22*m33 + m02*m23*m31 + m03*m21*m32 - m31*m22*m03 - m32*m23*m01 - m33*m21*m02;
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d11 = m00*m22*m33 + m02*m23*m30 + m03*m20*m32 - m30*m22*m03 - m32*m23*m00 - m33*m20*m02;
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d12 = m00*m21*m33 + m01*m23*m30 + m03*m20*m31 - m30*m21*m03 - m31*m23*m00 - m33*m20*m01;
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d13 = m00*m21*m32 + m01*m22*m30 + m02*m20*m31 - m30*m21*m02 - m31*m22*m00 - m32*m20*m01;
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d20 = m01*m12*m33 + m02*m13*m31 + m03*m11*m32 - m31*m12*m03 - m32*m13*m01 - m33*m11*m02;
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d21 = m00*m12*m33 + m02*m13*m30 + m03*m10*m32 - m30*m12*m03 - m32*m13*m00 - m33*m10*m02;
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d22 = m00*m11*m33 + m01*m13*m30 + m03*m10*m31 - m30*m11*m03 - m31*m13*m00 - m33*m10*m01;
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d23 = m00*m11*m32 + m01*m12*m30 + m02*m10*m31 - m30*m11*m02 - m31*m12*m00 - m32*m10*m01;
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d30 = m01*m12*m23 + m02*m13*m21 + m03*m11*m22 - m21*m12*m03 - m22*m13*m01 - m23*m11*m02;
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d31 = m00*m12*m23 + m02*m13*m20 + m03*m10*m22 - m20*m12*m03 - m22*m13*m00 - m23*m10*m02;
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d32 = m00*m11*m23 + m01*m13*m20 + m03*m10*m21 - m20*m11*m03 - m21*m13*m00 - m23*m10*m01;
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d33 = m00*m11*m22 + m01*m12*m20 + m02*m10*m21 - m20*m11*m02 - m21*m12*m00 - m22*m10*m01;
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/////////////////////////////////////////////////////////////////////////
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d = m00*d00 - m01*d01 + m02*d02 - m03*d03;
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if(0.0 != d)
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{
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d = 1.0f/d;
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rotate[0][0] = d00*d;
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rotate[0][1] = -d10*d;
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rotate[0][2] = d20*d;
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rotate[0][3] = -d30*d;
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rotate[1][0] = -d01*d;
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rotate[1][1] = d11*d;
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rotate[1][2] = -d21*d;
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rotate[1][3] = d31*d;
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rotate[2][0] = d02*d;
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rotate[2][1] = -d12*d;
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rotate[2][2] = d22*d;
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rotate[2][3] = -d32*d;
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rotate[3][0] = -d03*d;
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rotate[3][1] = d13*d;
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rotate[3][2] = -d23*d;
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rotate[3][3] = d33*d;
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}
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}
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void Rotations::makenormtab()
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{
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for ( int step=0 ; step<numberofpolys ; step++ )
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{
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// calc normal for the polygon
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int pos1=step*3+0;
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int pos2=step*3+1;
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int pos3=step*3+2;
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float uxt=vx[points[pos2]]-vx[points[pos1]];
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float uyt=vy[points[pos2]]-vy[points[pos1]];
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float uzt=vz[points[pos2]]-vz[points[pos1]];
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float vxt=vx[points[pos3]]-vx[points[pos2]];
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float vyt=vy[points[pos3]]-vy[points[pos2]];
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float vzt=vz[points[pos3]]-vz[points[pos2]];
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float x = uyt*vzt - uzt*vyt; // x normal
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float y = uzt*vxt - uxt*vzt; // y normal
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float z = uxt*vyt - uyt*vxt; // z normal
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float dist=(float)sqrt(x*x+y*y+z*z); // distans till normal
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vnx[step]=x;
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vny[step]=y;
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vnz[step]=z;
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}
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}
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void Rotations::matmulmatrix44(float a[4][4] ,float b[4][4], float result[4][4])
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{
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int i,j,k;
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float sum;
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for ( i=0; i<4; i++ )
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{
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for ( j=0; j<4 ; j++ )
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{
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sum=0;
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for ( k=0; k<4; k++ )
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{
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sum+=a[i][k]*b[k][j];
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}
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result[i][j]=sum;
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}
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}
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}
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void Rotations::clearmatric(float a[4][4])
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{
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a[0][0]=0;
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a[1][0]=0;
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a[2][0]=0;
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a[3][0]=0;
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a[0][1]=0;
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a[1][1]=0;
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a[2][1]=0;
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a[3][1]=0;
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a[0][2]=0;
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a[1][2]=0;
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a[2][2]=0;
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a[3][2]=0;
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a[0][3]=0;
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a[1][3]=0;
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a[2][3]=0;
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a[3][3]=0;
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a[0][0]=1;
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a[1][1]=1;
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a[2][2]=1;
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a[3][3]=1;
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}
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void Rotations::objectspline(float x, float y, float z)
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{
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clearmatric( rotate );
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clearmatric( rotate_x2 );
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clearmatric( rotate_y2 );
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clearmatric( rotate_z2 );
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clearmatric( translate2 );
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translate2[3][0]=(x/30);
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translate2[3][1]=-(y/30);
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translate2[3][2]=-10.0f;
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xangle++;
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yangle++;
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zangle++;
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// yangle=180.0f;
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float tempxangle=xangle;
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float tempyangle=yangle;
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float tempzangle=zangle;
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tempxangle=(float)3.14*tempxangle/180;
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tempyangle=(float)3.14*tempyangle/180;
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tempzangle=(float)3.14*tempzangle/180;
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rotate_x2[1][1]=(float)cos(tempxangle);
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rotate_x2[0][1]=(float)(sin(tempxangle));
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rotate_x2[1][0]=(float)(-sin(tempxangle));
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rotate_x2[0][0]=(float)cos(tempxangle);
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rotate_y2[0][0]=(float)cos(tempyangle);
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rotate_y2[0][2]=(float)(-sin(tempyangle));
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rotate_y2[2][0]=(float)(sin(tempyangle));
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rotate_y2[2][2]=(float)cos(tempyangle);
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rotate_z2[1][1]=(float)cos(tempzangle);
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rotate_z2[1][2]=(float)(sin(tempzangle));
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rotate_z2[2][1]=(float)(-sin(tempzangle));
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rotate_z2[2][2]=(float)cos(tempzangle);
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}
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void Rotations::objectsmulmatrix()
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{
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float temp[4][4]={ {1,0,0,0}, {0,1,0,0}, {0,0,1,0}, {0,0,0,1} };
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float temp2[4][4]={ {1,0,0,0}, {0,1,0,0}, {0,0,1,0}, {0,0,0,1} };
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matmulmatrix44( rotate_x2, rotate_z2, temp);
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matmulmatrix44( temp, rotate_y2, temp2);
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matmulmatrix44( temp2, translate2, rotate);
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}
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void Rotations::calculaterotation()
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{
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for ( int v=0 ; v<numberofvertices ; v++ )
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{
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if ( visiblyvertices[v] != 0 )
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{
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x[v]=vx[v]*rotate[0][0]+vy[v]*rotate[1][0]+vz[v]*rotate[2][0]+rotate[3][0];
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y[v]=vx[v]*rotate[0][1]+vy[v]*rotate[1][1]+vz[v]*rotate[2][1]+rotate[3][1];
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z[v]=vx[v]*rotate[0][2]+vy[v]*rotate[1][2]+vz[v]*rotate[2][2]+rotate[3][2];
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z[v]=-z[v];
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}
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}
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| 277 |
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}
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| 279 |
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void Rotations::calculate_inverse_rotation()
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| 281 |
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{
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| 282 |
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for ( int v=0 ; v<numberofvertices ; v++ )
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{
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| 284 |
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ix[v]=-translate2[3][0]*inverse_rotate[0][0]+-translate2[3][1]*inverse_rotate[1][0]+-translate2[3][2]*inverse_rotate[2][0];
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iy[v]=-translate2[3][0]*inverse_rotate[0][1]+-translate2[3][1]*inverse_rotate[1][1]+-translate2[3][2]*inverse_rotate[2][1];
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iz[v]=-translate2[3][0]*inverse_rotate[0][2]+-translate2[3][1]*inverse_rotate[1][2]+-translate2[3][2]*inverse_rotate[2][2];
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| 287 |
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}
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| 288 |
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}
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| 289 |
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| 290 |
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void Rotations::backfacecull()
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| 291 |
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{
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| 292 |
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for ( int v=0 ; v<numberofvertices ; v++ )
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| 293 |
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{
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| 294 |
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visiblyvertices[v]=0;
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| 295 |
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}
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| 296 |
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| 297 |
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for ( int oo=0 ; oo<numberofpolys ; oo++ )
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| 298 |
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{
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| 299 |
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int p=0;
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| 300 |
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| 301 |
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for ( int r=0; r<3 ; r++ )
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| 302 |
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{
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| 303 |
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if (check_vertices_is_visibly(oo, r))
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{
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| 305 |
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p++;
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| 306 |
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}
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| 307 |
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}
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| 308 |
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| 309 |
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if ( p == 3 )
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| 310 |
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{
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| 311 |
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visiblypolys[oo]=1;
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| 312 |
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| 313 |
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for ( int step=0; step<3 ; step++ )
|
| 314 |
|
|
{
|
| 315 |
|
|
visiblyvertices[points[oo*3+step]]++;
|
| 316 |
|
|
}
|
| 317 |
|
|
|
| 318 |
|
|
}
|
| 319 |
|
|
else
|
| 320 |
|
|
{
|
| 321 |
|
|
visiblypolys[oo]=0;
|
| 322 |
|
|
}
|
| 323 |
|
|
}
|
| 324 |
|
|
}
|
| 325 |
|
|
|
| 326 |
|
|
|
| 327 |
|
|
bool Rotations::check_vertices_is_visibly( int oo, int step)
|
| 328 |
|
|
{
|
| 329 |
|
|
bool sant=false;
|
| 330 |
|
|
|
| 331 |
|
|
float gx=vnx[oo]*(ix[points[oo*3+step]]-vx[points[oo*3+step]]);
|
| 332 |
|
|
float gy=vny[oo]*(iy[points[oo*3+step]]-vy[points[oo*3+step]]);
|
| 333 |
|
|
float gz=vnz[oo]*(iz[points[oo*3+step]]-vz[points[oo*3+step]]);
|
| 334 |
|
|
|
| 335 |
|
|
float g=gx+gy+gz;
|
| 336 |
|
|
|
| 337 |
|
|
if ( g > 0 )
|
| 338 |
|
|
{
|
| 339 |
|
|
sant=true;
|
| 340 |
|
|
}
|
| 341 |
|
|
|
| 342 |
|
|
return sant;
|
| 343 |
|
|
}
|
| 344 |
|
|
|
| 345 |
|
|
void Rotations::initbackfacecull()
|
| 346 |
|
|
{
|
| 347 |
|
|
copy_matrix(rotate,inverse_rotate);
|
| 348 |
|
|
inverse_matrix(inverse_rotate);
|
| 349 |
|
|
calculate_inverse_rotation();
|
| 350 |
|
|
}
|
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