615 lines
16 KiB
C++
615 lines
16 KiB
C++
/*************************************************************************/
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/* camera_matrix.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "camera_matrix.h"
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#include "math_funcs.h"
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#include "print_string.h"
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void CameraMatrix::set_identity() {
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for (int i=0;i<4;i++) {
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for (int j=0;j<4;j++) {
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matrix[i][j]=(i==j)?1:0;
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}
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}
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}
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void CameraMatrix::set_zero() {
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for (int i=0;i<4;i++) {
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for (int j=0;j<4;j++) {
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matrix[i][j]=0;
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}
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}
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}
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Plane CameraMatrix::xform4(const Plane& p_vec4) {
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Plane ret;
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ret.normal.x = matrix[0][0] * p_vec4.normal.x + matrix[1][0] * p_vec4.normal.y + matrix[2][0] * p_vec4.normal.z + matrix[3][0] * p_vec4.d;
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ret.normal.y = matrix[0][1] * p_vec4.normal.x + matrix[1][1] * p_vec4.normal.y + matrix[2][1] * p_vec4.normal.z + matrix[3][1] * p_vec4.d;
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ret.normal.z = matrix[0][2] * p_vec4.normal.x + matrix[1][2] * p_vec4.normal.y + matrix[2][2] * p_vec4.normal.z + matrix[3][2] * p_vec4.d;
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ret.d = matrix[0][3] * p_vec4.normal.x + matrix[1][3] * p_vec4.normal.y + matrix[2][3] * p_vec4.normal.z + matrix[3][3] * p_vec4.d;
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return ret;
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}
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void CameraMatrix::set_perspective(float p_fovy_degrees, float p_aspect, float p_z_near, float p_z_far,bool p_flip_fov) {
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if (p_flip_fov) {
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p_fovy_degrees=get_fovy(p_fovy_degrees,1.0/p_aspect);
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}
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float sine, cotangent, deltaZ;
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float radians = p_fovy_degrees / 2.0 * Math_PI / 180.0;
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deltaZ = p_z_far - p_z_near;
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sine = Math::sin(radians);
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if ((deltaZ == 0) || (sine == 0) || (p_aspect == 0)) {
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return ;
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}
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cotangent = Math::cos(radians) / sine;
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set_identity();
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matrix[0][0] = cotangent / p_aspect;
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matrix[1][1] = cotangent;
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matrix[2][2] = -(p_z_far + p_z_near) / deltaZ;
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matrix[2][3] = -1;
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matrix[3][2] = -2 * p_z_near * p_z_far / deltaZ;
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matrix[3][3] = 0;
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}
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void CameraMatrix::set_orthogonal(float p_left, float p_right, float p_bottom, float p_top, float p_znear, float p_zfar) {
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set_identity();
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matrix[0][0] = 2.0/(p_right-p_left);
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matrix[3][0] = -((p_right+p_left)/(p_right-p_left));
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matrix[1][1] = 2.0/(p_top-p_bottom);
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matrix[3][1] = -((p_top+p_bottom)/(p_top-p_bottom));
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matrix[2][2] = -2.0/(p_zfar-p_znear);
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matrix[3][2] = -((p_zfar+p_znear)/(p_zfar-p_znear));
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matrix[3][3] = 1.0;
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}
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void CameraMatrix::set_orthogonal(float p_size, float p_aspect, float p_znear, float p_zfar,bool p_flip_fov) {
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if (!p_flip_fov) {
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p_size*=p_aspect;
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}
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set_orthogonal(-p_size/2,+p_size/2,-p_size/p_aspect/2,+p_size/p_aspect/2,p_znear,p_zfar);
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}
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void CameraMatrix::set_frustum(float p_left, float p_right, float p_bottom, float p_top, float p_near, float p_far) {
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#if 0
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///@TODO, give a check to this. I'm not sure if it's working.
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set_identity();
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matrix[0][0]=(2*p_near) / (p_right-p_left);
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matrix[0][2]=(p_right+p_left) / (p_right-p_left);
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matrix[1][1]=(2*p_near) / (p_top-p_bottom);
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matrix[1][2]=(p_top+p_bottom) / (p_top-p_bottom);
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matrix[2][2]=-(p_far+p_near) / ( p_far-p_near);
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matrix[2][3]=-(2*p_far*p_near) / (p_far-p_near);
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matrix[3][2]=-1;
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matrix[3][3]=0;
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#else
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float *te = &matrix[0][0];
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float x = 2 * p_near / ( p_right - p_left );
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float y = 2 * p_near / ( p_top - p_bottom );
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float a = ( p_right + p_left ) / ( p_right - p_left );
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float b = ( p_top + p_bottom ) / ( p_top - p_bottom );
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float c = - ( p_far + p_near ) / ( p_far - p_near );
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float d = - 2 * p_far * p_near / ( p_far - p_near );
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te[0] = x; te[4] = 0; te[8] = a; te[12] = 0;
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te[1] = 0; te[5] = y; te[9] = b; te[13] = 0;
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te[2] = 0; te[6] = 0; te[10] = c; te[14] = d;
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te[3] = 0; te[7] = 0; te[11] = - 1; te[15] = 0;
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#endif
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}
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float CameraMatrix::get_z_far() const {
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const float * matrix = (const float*)this->matrix;
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Plane new_plane=Plane(matrix[ 3] - matrix[ 2],
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matrix[ 7] - matrix[ 6],
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matrix[11] - matrix[10],
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matrix[15] - matrix[14]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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return new_plane.d;
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}
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float CameraMatrix::get_z_near() const {
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const float * matrix = (const float*)this->matrix;
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Plane new_plane=Plane(matrix[ 3] + matrix[ 2],
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matrix[ 7] + matrix[ 6],
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matrix[11] + matrix[10],
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-matrix[15] - matrix[14]);
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new_plane.normalize();
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return new_plane.d;
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}
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void CameraMatrix::get_viewport_size(float& r_width, float& r_height) const {
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const float * matrix = (const float*)this->matrix;
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///////--- Near Plane ---///////
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Plane near_plane=Plane(matrix[ 3] + matrix[ 2],
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matrix[ 7] + matrix[ 6],
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matrix[11] + matrix[10],
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-matrix[15] - matrix[14]).normalized();
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///////--- Right Plane ---///////
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Plane right_plane=Plane(matrix[ 3] - matrix[ 0],
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matrix[ 7] - matrix[ 4],
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matrix[11] - matrix[ 8],
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- matrix[15] + matrix[12]).normalized();
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Plane top_plane=Plane(matrix[ 3] - matrix[ 1],
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matrix[ 7] - matrix[ 5],
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matrix[11] - matrix[ 9],
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-matrix[15] + matrix[13]).normalized();
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Vector3 res;
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near_plane.intersect_3(right_plane,top_plane,&res);
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r_width=res.x;
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r_height=res.y;
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}
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bool CameraMatrix::get_endpoints(const Transform& p_transform, Vector3 *p_8points) const {
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const float * matrix = (const float*)this->matrix;
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///////--- Near Plane ---///////
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Plane near_plane=Plane(matrix[ 3] + matrix[ 2],
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matrix[ 7] + matrix[ 6],
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matrix[11] + matrix[10],
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-matrix[15] - matrix[14]).normalized();
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///////--- Far Plane ---///////
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Plane far_plane=Plane(matrix[ 2] - matrix[ 3],
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matrix[ 6] - matrix[ 7],
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matrix[10] - matrix[11],
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matrix[15] - matrix[14]).normalized();
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///////--- Right Plane ---///////
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Plane right_plane=Plane(matrix[ 0] - matrix[ 3],
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matrix[ 4] - matrix[ 7],
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matrix[8] - matrix[ 11],
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- matrix[15] + matrix[12]).normalized();
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///////--- Top Plane ---///////
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Plane top_plane=Plane(matrix[ 1] - matrix[ 3],
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matrix[ 5] - matrix[ 7],
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matrix[9] - matrix[ 11],
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-matrix[15] + matrix[13]).normalized();
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Vector3 near_endpoint;
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Vector3 far_endpoint;
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bool res=near_plane.intersect_3(right_plane,top_plane,&near_endpoint);
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ERR_FAIL_COND_V(!res,false);
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res=far_plane.intersect_3(right_plane,top_plane,&far_endpoint);
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ERR_FAIL_COND_V(!res,false);
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p_8points[0]=p_transform.xform( Vector3( near_endpoint.x, near_endpoint.y, near_endpoint.z ) );
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p_8points[1]=p_transform.xform( Vector3( near_endpoint.x,-near_endpoint.y, near_endpoint.z ) );
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p_8points[2]=p_transform.xform( Vector3(-near_endpoint.x, near_endpoint.y, near_endpoint.z ) );
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p_8points[3]=p_transform.xform( Vector3(-near_endpoint.x,-near_endpoint.y, near_endpoint.z ) );
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p_8points[4]=p_transform.xform( Vector3( far_endpoint.x, far_endpoint.y, far_endpoint.z ) );
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p_8points[5]=p_transform.xform( Vector3( far_endpoint.x,-far_endpoint.y, far_endpoint.z ) );
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p_8points[6]=p_transform.xform( Vector3(-far_endpoint.x, far_endpoint.y, far_endpoint.z ) );
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p_8points[7]=p_transform.xform( Vector3(-far_endpoint.x,-far_endpoint.y, far_endpoint.z ) );
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return true;
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}
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Vector<Plane> CameraMatrix::get_projection_planes(const Transform& p_transform) const {
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/** Fast Plane Extraction from combined modelview/projection matrices.
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* References:
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* http://www.markmorley.com/opengl/frustumculling.html
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* http://www2.ravensoft.com/users/ggribb/plane%20extraction.pdf
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*/
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Vector<Plane> planes;
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const float * matrix = (const float*)this->matrix;
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Plane new_plane;
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///////--- Near Plane ---///////
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new_plane=Plane(matrix[ 3] + matrix[ 2],
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matrix[ 7] + matrix[ 6],
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matrix[11] + matrix[10],
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matrix[15] + matrix[14]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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///////--- Far Plane ---///////
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new_plane=Plane(matrix[ 3] - matrix[ 2],
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matrix[ 7] - matrix[ 6],
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matrix[11] - matrix[10],
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matrix[15] - matrix[14]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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///////--- Left Plane ---///////
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new_plane=Plane(matrix[ 3] + matrix[ 0],
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matrix[ 7] + matrix[ 4],
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matrix[11] + matrix[ 8],
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matrix[15] + matrix[12]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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///////--- Top Plane ---///////
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new_plane=Plane(matrix[ 3] - matrix[ 1],
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matrix[ 7] - matrix[ 5],
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matrix[11] - matrix[ 9],
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matrix[15] - matrix[13]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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///////--- Right Plane ---///////
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new_plane=Plane(matrix[ 3] - matrix[ 0],
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matrix[ 7] - matrix[ 4],
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matrix[11] - matrix[ 8],
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matrix[15] - matrix[12]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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///////--- Bottom Plane ---///////
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new_plane=Plane(matrix[ 3] + matrix[ 1],
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matrix[ 7] + matrix[ 5],
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matrix[11] + matrix[ 9],
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matrix[15] + matrix[13]);
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new_plane.normal=-new_plane.normal;
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new_plane.normalize();
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planes.push_back( p_transform.xform(new_plane) );
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return planes;
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}
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CameraMatrix CameraMatrix::inverse() const {
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CameraMatrix cm = *this;
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cm.invert();
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return cm;
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}
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void CameraMatrix::invert() {
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int i,j,k;
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int pvt_i[4], pvt_j[4]; /* Locations of pivot matrix */
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float pvt_val; /* Value of current pivot element */
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float hold; /* Temporary storage */
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float determinat; /* Determinant */
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determinat = 1.0;
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for (k=0; k<4; k++) {
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/** Locate k'th pivot element **/
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pvt_val=matrix[k][k]; /** Initialize for search **/
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pvt_i[k]=k;
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pvt_j[k]=k;
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for (i=k; i<4; i++) {
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for (j=k; j<4; j++) {
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if (Math::absd(matrix[i][j]) > Math::absd(pvt_val)) {
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pvt_i[k]=i;
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pvt_j[k]=j;
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pvt_val=matrix[i][j];
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}
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}
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}
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/** Product of pivots, gives determinant when finished **/
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determinat*=pvt_val;
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if (Math::absd(determinat)<1e-7) {
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return; //(false); /** Matrix is singular (zero determinant). **/
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}
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/** "Interchange" rows (with sign change stuff) **/
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i=pvt_i[k];
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if (i!=k) { /** If rows are different **/
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for (j=0; j<4; j++) {
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hold=-matrix[k][j];
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matrix[k][j]=matrix[i][j];
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matrix[i][j]=hold;
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}
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}
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/** "Interchange" columns **/
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j=pvt_j[k];
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if (j!=k) { /** If columns are different **/
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for (i=0; i<4; i++) {
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hold=-matrix[i][k];
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matrix[i][k]=matrix[i][j];
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matrix[i][j]=hold;
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}
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}
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/** Divide column by minus pivot value **/
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for (i=0; i<4; i++) {
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if (i!=k) matrix[i][k]/=( -pvt_val) ;
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}
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/** Reduce the matrix **/
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for (i=0; i<4; i++) {
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hold = matrix[i][k];
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for (j=0; j<4; j++) {
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if (i!=k && j!=k) matrix[i][j]+=hold*matrix[k][j];
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}
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}
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/** Divide row by pivot **/
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for (j=0; j<4; j++) {
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if (j!=k) matrix[k][j]/=pvt_val;
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}
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/** Replace pivot by reciprocal (at last we can touch it). **/
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matrix[k][k] = 1.0/pvt_val;
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}
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/* That was most of the work, one final pass of row/column interchange */
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/* to finish */
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for (k=4-2; k>=0; k--) { /* Don't need to work with 1 by 1 corner*/
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i=pvt_j[k]; /* Rows to swap correspond to pivot COLUMN */
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if (i!=k) { /* If rows are different */
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for(j=0; j<4; j++) {
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hold = matrix[k][j];
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matrix[k][j]=-matrix[i][j];
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matrix[i][j]=hold;
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}
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}
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j=pvt_i[k]; /* Columns to swap correspond to pivot ROW */
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if (j!=k) /* If columns are different */
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for (i=0; i<4; i++) {
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hold=matrix[i][k];
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matrix[i][k]=-matrix[i][j];
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matrix[i][j]=hold;
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}
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}
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}
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CameraMatrix::CameraMatrix() {
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set_identity();
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}
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CameraMatrix CameraMatrix::operator*(const CameraMatrix& p_matrix) const {
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CameraMatrix new_matrix;
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for( int j = 0; j < 4; j++ ) {
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for( int i = 0; i < 4; i++ ) {
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real_t ab = 0;
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for( int k = 0; k < 4; k++ )
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ab += matrix[k][i] * p_matrix.matrix[j][k] ;
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new_matrix.matrix[j][i] = ab;
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}
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}
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return new_matrix;
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}
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void CameraMatrix::set_light_bias() {
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float *m=&matrix[0][0];
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m[0]=0.5,
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m[1]=0.0,
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m[2]=0.0,
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m[3]=0.0,
|
|
m[4]=0.0,
|
|
m[5]=0.5,
|
|
m[6]=0.0,
|
|
m[7]=0.0,
|
|
m[8]=0.0,
|
|
m[9]=0.0,
|
|
m[10]=0.5,
|
|
m[11]=0.0,
|
|
m[12]=0.5,
|
|
m[13]=0.5,
|
|
m[14]=0.5,
|
|
m[15]=1.0;
|
|
|
|
}
|
|
|
|
CameraMatrix::operator String() const {
|
|
|
|
String str;
|
|
for (int i=0;i<4;i++)
|
|
for (int j=0;j<4;j++)
|
|
str+=String((j>0)?", ":"\n")+rtos(matrix[i][j]);
|
|
|
|
return str;
|
|
}
|
|
|
|
float CameraMatrix::get_aspect() const {
|
|
|
|
float w,h;
|
|
get_viewport_size(w,h);
|
|
return w/h;
|
|
}
|
|
|
|
float CameraMatrix::get_fov() const {
|
|
const float * matrix = (const float*)this->matrix;
|
|
|
|
Plane right_plane=Plane(matrix[ 3] - matrix[ 0],
|
|
matrix[ 7] - matrix[ 4],
|
|
matrix[11] - matrix[ 8],
|
|
- matrix[15] + matrix[12]).normalized();
|
|
|
|
return Math::rad2deg(Math::acos(Math::abs(right_plane.normal.x)))*2.0;
|
|
}
|
|
|
|
|
|
void CameraMatrix::make_scale(const Vector3 &p_scale) {
|
|
|
|
set_identity();
|
|
matrix[0][0]=p_scale.x;
|
|
matrix[1][1]=p_scale.y;
|
|
matrix[2][2]=p_scale.z;
|
|
|
|
}
|
|
|
|
void CameraMatrix::scale_translate_to_fit(const AABB& p_aabb) {
|
|
|
|
Vector3 min = p_aabb.pos;
|
|
Vector3 max = p_aabb.pos+p_aabb.size;
|
|
|
|
|
|
matrix[0][0]=2/(max.x-min.x);
|
|
matrix[1][0]=0;
|
|
matrix[2][0]=0;
|
|
matrix[3][0]=-(max.x+min.x)/(max.x-min.x);
|
|
|
|
matrix[0][1]=0;
|
|
matrix[1][1]=2/(max.y-min.y);
|
|
matrix[2][1]=0;
|
|
matrix[3][1]=-(max.y+min.y)/(max.y-min.y);
|
|
|
|
matrix[0][2]=0;
|
|
matrix[1][2]=0;
|
|
matrix[2][2]=2/(max.z-min.z);
|
|
matrix[3][2]=-(max.z+min.z)/(max.z-min.z);
|
|
|
|
matrix[0][3]=0;
|
|
matrix[1][3]=0;
|
|
matrix[2][3]=0;
|
|
matrix[3][3]=1;
|
|
}
|
|
|
|
CameraMatrix::operator Transform() const {
|
|
|
|
Transform tr;
|
|
const float *m=&matrix[0][0];
|
|
|
|
tr.basis.elements[0][0]=m[0];
|
|
tr.basis.elements[1][0]=m[1];
|
|
tr.basis.elements[2][0]=m[2];
|
|
|
|
tr.basis.elements[0][1]=m[4];
|
|
tr.basis.elements[1][1]=m[5];
|
|
tr.basis.elements[2][1]=m[6];
|
|
|
|
tr.basis.elements[0][2]=m[8];
|
|
tr.basis.elements[1][2]=m[9];
|
|
tr.basis.elements[2][2]=m[10];
|
|
|
|
tr.origin.x=m[12];
|
|
tr.origin.y=m[13];
|
|
tr.origin.z=m[14];
|
|
|
|
return tr;
|
|
}
|
|
|
|
CameraMatrix::CameraMatrix(const Transform& p_transform) {
|
|
|
|
const Transform &tr = p_transform;
|
|
float *m=&matrix[0][0];
|
|
|
|
m[0]=tr.basis.elements[0][0];
|
|
m[1]=tr.basis.elements[1][0];
|
|
m[2]=tr.basis.elements[2][0];
|
|
m[3]=0.0;
|
|
m[4]=tr.basis.elements[0][1];
|
|
m[5]=tr.basis.elements[1][1];
|
|
m[6]=tr.basis.elements[2][1];
|
|
m[7]=0.0;
|
|
m[8]=tr.basis.elements[0][2];
|
|
m[9]=tr.basis.elements[1][2];
|
|
m[10]=tr.basis.elements[2][2];
|
|
m[11]=0.0;
|
|
m[12]=tr.origin.x;
|
|
m[13]=tr.origin.y;
|
|
m[14]=tr.origin.z;
|
|
m[15]=1.0;
|
|
}
|
|
|
|
CameraMatrix::~CameraMatrix()
|
|
{
|
|
}
|
|
|
|
|