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Diffstat (limited to 'external/include/glm/gtc/matrix_transform.inl')
| -rw-r--r-- | external/include/glm/gtc/matrix_transform.inl | 575 |
1 files changed, 575 insertions, 0 deletions
diff --git a/external/include/glm/gtc/matrix_transform.inl b/external/include/glm/gtc/matrix_transform.inl new file mode 100644 index 0000000..b9ff418 --- /dev/null +++ b/external/include/glm/gtc/matrix_transform.inl @@ -0,0 +1,575 @@ +/// @ref gtc_matrix_transform +/// @file glm/gtc/matrix_transform.inl + +#include "../geometric.hpp" +#include "../trigonometric.hpp" +#include "../matrix.hpp" + +namespace glm +{ + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> translate(tmat4x4<T, P> const & m, tvec3<T, P> const & v) + { + tmat4x4<T, P> Result(m); + Result[3] = m[0] * v[0] + m[1] * v[1] + m[2] * v[2] + m[3]; + return Result; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> rotate(tmat4x4<T, P> const & m, T angle, tvec3<T, P> const & v) + { + T const a = angle; + T const c = cos(a); + T const s = sin(a); + + tvec3<T, P> axis(normalize(v)); + tvec3<T, P> temp((T(1) - c) * axis); + + tmat4x4<T, P> Rotate(uninitialize); + Rotate[0][0] = c + temp[0] * axis[0]; + Rotate[0][1] = temp[0] * axis[1] + s * axis[2]; + Rotate[0][2] = temp[0] * axis[2] - s * axis[1]; + + Rotate[1][0] = temp[1] * axis[0] - s * axis[2]; + Rotate[1][1] = c + temp[1] * axis[1]; + Rotate[1][2] = temp[1] * axis[2] + s * axis[0]; + + Rotate[2][0] = temp[2] * axis[0] + s * axis[1]; + Rotate[2][1] = temp[2] * axis[1] - s * axis[0]; + Rotate[2][2] = c + temp[2] * axis[2]; + + tmat4x4<T, P> Result(uninitialize); + Result[0] = m[0] * Rotate[0][0] + m[1] * Rotate[0][1] + m[2] * Rotate[0][2]; + Result[1] = m[0] * Rotate[1][0] + m[1] * Rotate[1][1] + m[2] * Rotate[1][2]; + Result[2] = m[0] * Rotate[2][0] + m[1] * Rotate[2][1] + m[2] * Rotate[2][2]; + Result[3] = m[3]; + return Result; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> rotate_slow(tmat4x4<T, P> const & m, T angle, tvec3<T, P> const & v) + { + T const a = angle; + T const c = cos(a); + T const s = sin(a); + tmat4x4<T, P> Result; + + tvec3<T, P> axis = normalize(v); + + Result[0][0] = c + (static_cast<T>(1) - c) * axis.x * axis.x; + Result[0][1] = (static_cast<T>(1) - c) * axis.x * axis.y + s * axis.z; + Result[0][2] = (static_cast<T>(1) - c) * axis.x * axis.z - s * axis.y; + Result[0][3] = static_cast<T>(0); + + Result[1][0] = (static_cast<T>(1) - c) * axis.y * axis.x - s * axis.z; + Result[1][1] = c + (static_cast<T>(1) - c) * axis.y * axis.y; + Result[1][2] = (static_cast<T>(1) - c) * axis.y * axis.z + s * axis.x; + Result[1][3] = static_cast<T>(0); + + Result[2][0] = (static_cast<T>(1) - c) * axis.z * axis.x + s * axis.y; + Result[2][1] = (static_cast<T>(1) - c) * axis.z * axis.y - s * axis.x; + Result[2][2] = c + (static_cast<T>(1) - c) * axis.z * axis.z; + Result[2][3] = static_cast<T>(0); + + Result[3] = tvec4<T, P>(0, 0, 0, 1); + return m * Result; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> scale(tmat4x4<T, P> const & m, tvec3<T, P> const & v) + { + tmat4x4<T, P> Result(uninitialize); + Result[0] = m[0] * v[0]; + Result[1] = m[1] * v[1]; + Result[2] = m[2] * v[2]; + Result[3] = m[3]; + return Result; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> scale_slow(tmat4x4<T, P> const & m, tvec3<T, P> const & v) + { + tmat4x4<T, P> Result(T(1)); + Result[0][0] = v.x; + Result[1][1] = v.y; + Result[2][2] = v.z; + return m * Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> ortho + ( + T left, T right, + T bottom, T top, + T zNear, T zFar + ) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return orthoLH(left, right, bottom, top, zNear, zFar); +# else + return orthoRH(left, right, bottom, top, zNear, zFar); +# endif + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> orthoLH + ( + T left, T right, + T bottom, T top, + T zNear, T zFar + ) + { + tmat4x4<T, defaultp> Result(1); + Result[0][0] = static_cast<T>(2) / (right - left); + Result[1][1] = static_cast<T>(2) / (top - bottom); + Result[3][0] = - (right + left) / (right - left); + Result[3][1] = - (top + bottom) / (top - bottom); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = static_cast<T>(1) / (zFar - zNear); + Result[3][2] = - zNear / (zFar - zNear); +# else + Result[2][2] = static_cast<T>(2) / (zFar - zNear); + Result[3][2] = - (zFar + zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> orthoRH + ( + T left, T right, + T bottom, T top, + T zNear, T zFar + ) + { + tmat4x4<T, defaultp> Result(1); + Result[0][0] = static_cast<T>(2) / (right - left); + Result[1][1] = static_cast<T>(2) / (top - bottom); + Result[3][0] = - (right + left) / (right - left); + Result[3][1] = - (top + bottom) / (top - bottom); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = - static_cast<T>(1) / (zFar - zNear); + Result[3][2] = - zNear / (zFar - zNear); +# else + Result[2][2] = - static_cast<T>(2) / (zFar - zNear); + Result[3][2] = - (zFar + zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> ortho + ( + T left, T right, + T bottom, T top + ) + { + tmat4x4<T, defaultp> Result(static_cast<T>(1)); + Result[0][0] = static_cast<T>(2) / (right - left); + Result[1][1] = static_cast<T>(2) / (top - bottom); + Result[2][2] = - static_cast<T>(1); + Result[3][0] = - (right + left) / (right - left); + Result[3][1] = - (top + bottom) / (top - bottom); + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> frustum + ( + T left, T right, + T bottom, T top, + T nearVal, T farVal + ) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return frustumLH(left, right, bottom, top, nearVal, farVal); +# else + return frustumRH(left, right, bottom, top, nearVal, farVal); +# endif + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> frustumLH + ( + T left, T right, + T bottom, T top, + T nearVal, T farVal + ) + { + tmat4x4<T, defaultp> Result(0); + Result[0][0] = (static_cast<T>(2) * nearVal) / (right - left); + Result[1][1] = (static_cast<T>(2) * nearVal) / (top - bottom); + Result[2][0] = (right + left) / (right - left); + Result[2][1] = (top + bottom) / (top - bottom); + Result[2][3] = static_cast<T>(1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = farVal / (farVal - nearVal); + Result[3][2] = -(farVal * nearVal) / (farVal - nearVal); +# else + Result[2][2] = (farVal + nearVal) / (farVal - nearVal); + Result[3][2] = - (static_cast<T>(2) * farVal * nearVal) / (farVal - nearVal); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> frustumRH + ( + T left, T right, + T bottom, T top, + T nearVal, T farVal + ) + { + tmat4x4<T, defaultp> Result(0); + Result[0][0] = (static_cast<T>(2) * nearVal) / (right - left); + Result[1][1] = (static_cast<T>(2) * nearVal) / (top - bottom); + Result[2][0] = (right + left) / (right - left); + Result[2][1] = (top + bottom) / (top - bottom); + Result[2][3] = static_cast<T>(-1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = farVal / (nearVal - farVal); + Result[3][2] = -(farVal * nearVal) / (farVal - nearVal); +# else + Result[2][2] = - (farVal + nearVal) / (farVal - nearVal); + Result[3][2] = - (static_cast<T>(2) * farVal * nearVal) / (farVal - nearVal); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspective(T fovy, T aspect, T zNear, T zFar) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return perspectiveLH(fovy, aspect, zNear, zFar); +# else + return perspectiveRH(fovy, aspect, zNear, zFar); +# endif + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspectiveRH(T fovy, T aspect, T zNear, T zFar) + { + assert(abs(aspect - std::numeric_limits<T>::epsilon()) > static_cast<T>(0)); + + T const tanHalfFovy = tan(fovy / static_cast<T>(2)); + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = static_cast<T>(1) / (aspect * tanHalfFovy); + Result[1][1] = static_cast<T>(1) / (tanHalfFovy); + Result[2][3] = - static_cast<T>(1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = zFar / (zNear - zFar); + Result[3][2] = -(zFar * zNear) / (zFar - zNear); +# else + Result[2][2] = - (zFar + zNear) / (zFar - zNear); + Result[3][2] = - (static_cast<T>(2) * zFar * zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspectiveLH(T fovy, T aspect, T zNear, T zFar) + { + assert(abs(aspect - std::numeric_limits<T>::epsilon()) > static_cast<T>(0)); + + T const tanHalfFovy = tan(fovy / static_cast<T>(2)); + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = static_cast<T>(1) / (aspect * tanHalfFovy); + Result[1][1] = static_cast<T>(1) / (tanHalfFovy); + Result[2][3] = static_cast<T>(1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = zFar / (zFar - zNear); + Result[3][2] = -(zFar * zNear) / (zFar - zNear); +# else + Result[2][2] = (zFar + zNear) / (zFar - zNear); + Result[3][2] = - (static_cast<T>(2) * zFar * zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspectiveFov(T fov, T width, T height, T zNear, T zFar) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return perspectiveFovLH(fov, width, height, zNear, zFar); +# else + return perspectiveFovRH(fov, width, height, zNear, zFar); +# endif + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspectiveFovRH(T fov, T width, T height, T zNear, T zFar) + { + assert(width > static_cast<T>(0)); + assert(height > static_cast<T>(0)); + assert(fov > static_cast<T>(0)); + + T const rad = fov; + T const h = glm::cos(static_cast<T>(0.5) * rad) / glm::sin(static_cast<T>(0.5) * rad); + T const w = h * height / width; ///todo max(width , Height) / min(width , Height)? + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = w; + Result[1][1] = h; + Result[2][3] = - static_cast<T>(1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = zFar / (zNear - zFar); + Result[3][2] = -(zFar * zNear) / (zFar - zNear); +# else + Result[2][2] = - (zFar + zNear) / (zFar - zNear); + Result[3][2] = - (static_cast<T>(2) * zFar * zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> perspectiveFovLH(T fov, T width, T height, T zNear, T zFar) + { + assert(width > static_cast<T>(0)); + assert(height > static_cast<T>(0)); + assert(fov > static_cast<T>(0)); + + T const rad = fov; + T const h = glm::cos(static_cast<T>(0.5) * rad) / glm::sin(static_cast<T>(0.5) * rad); + T const w = h * height / width; ///todo max(width , Height) / min(width , Height)? + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = w; + Result[1][1] = h; + Result[2][3] = static_cast<T>(1); + +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + Result[2][2] = zFar / (zFar - zNear); + Result[3][2] = -(zFar * zNear) / (zFar - zNear); +# else + Result[2][2] = (zFar + zNear) / (zFar - zNear); + Result[3][2] = - (static_cast<T>(2) * zFar * zNear) / (zFar - zNear); +# endif + + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> infinitePerspective(T fovy, T aspect, T zNear) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return infinitePerspectiveLH(fovy, aspect, zNear); +# else + return infinitePerspectiveRH(fovy, aspect, zNear); +# endif + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> infinitePerspectiveRH(T fovy, T aspect, T zNear) + { + T const range = tan(fovy / static_cast<T>(2)) * zNear; + T const left = -range * aspect; + T const right = range * aspect; + T const bottom = -range; + T const top = range; + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = (static_cast<T>(2) * zNear) / (right - left); + Result[1][1] = (static_cast<T>(2) * zNear) / (top - bottom); + Result[2][2] = - static_cast<T>(1); + Result[2][3] = - static_cast<T>(1); + Result[3][2] = - static_cast<T>(2) * zNear; + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> infinitePerspectiveLH(T fovy, T aspect, T zNear) + { + T const range = tan(fovy / static_cast<T>(2)) * zNear; + T const left = -range * aspect; + T const right = range * aspect; + T const bottom = -range; + T const top = range; + + tmat4x4<T, defaultp> Result(T(0)); + Result[0][0] = (static_cast<T>(2) * zNear) / (right - left); + Result[1][1] = (static_cast<T>(2) * zNear) / (top - bottom); + Result[2][2] = static_cast<T>(1); + Result[2][3] = static_cast<T>(1); + Result[3][2] = - static_cast<T>(2) * zNear; + return Result; + } + + // Infinite projection matrix: http://www.terathon.com/gdc07_lengyel.pdf + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> tweakedInfinitePerspective(T fovy, T aspect, T zNear, T ep) + { + T const range = tan(fovy / static_cast<T>(2)) * zNear; + T const left = -range * aspect; + T const right = range * aspect; + T const bottom = -range; + T const top = range; + + tmat4x4<T, defaultp> Result(static_cast<T>(0)); + Result[0][0] = (static_cast<T>(2) * zNear) / (right - left); + Result[1][1] = (static_cast<T>(2) * zNear) / (top - bottom); + Result[2][2] = ep - static_cast<T>(1); + Result[2][3] = static_cast<T>(-1); + Result[3][2] = (ep - static_cast<T>(2)) * zNear; + return Result; + } + + template <typename T> + GLM_FUNC_QUALIFIER tmat4x4<T, defaultp> tweakedInfinitePerspective(T fovy, T aspect, T zNear) + { + return tweakedInfinitePerspective(fovy, aspect, zNear, epsilon<T>()); + } + + template <typename T, typename U, precision P> + GLM_FUNC_QUALIFIER tvec3<T, P> project + ( + tvec3<T, P> const & obj, + tmat4x4<T, P> const & model, + tmat4x4<T, P> const & proj, + tvec4<U, P> const & viewport + ) + { + tvec4<T, P> tmp = tvec4<T, P>(obj, static_cast<T>(1)); + tmp = model * tmp; + tmp = proj * tmp; + + tmp /= tmp.w; +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + tmp.x = tmp.x * static_cast<T>(0.5) + static_cast<T>(0.5); + tmp.y = tmp.y * static_cast<T>(0.5) + static_cast<T>(0.5); +# else + tmp = tmp * static_cast<T>(0.5) + static_cast<T>(0.5); +# endif + tmp[0] = tmp[0] * T(viewport[2]) + T(viewport[0]); + tmp[1] = tmp[1] * T(viewport[3]) + T(viewport[1]); + + return tvec3<T, P>(tmp); + } + + template <typename T, typename U, precision P> + GLM_FUNC_QUALIFIER tvec3<T, P> unProject + ( + tvec3<T, P> const & win, + tmat4x4<T, P> const & model, + tmat4x4<T, P> const & proj, + tvec4<U, P> const & viewport + ) + { + tmat4x4<T, P> Inverse = inverse(proj * model); + + tvec4<T, P> tmp = tvec4<T, P>(win, T(1)); + tmp.x = (tmp.x - T(viewport[0])) / T(viewport[2]); + tmp.y = (tmp.y - T(viewport[1])) / T(viewport[3]); +# if GLM_DEPTH_CLIP_SPACE == GLM_DEPTH_ZERO_TO_ONE + tmp.x = tmp.x * static_cast<T>(2) - static_cast<T>(1); + tmp.y = tmp.y * static_cast<T>(2) - static_cast<T>(1); +# else + tmp = tmp * static_cast<T>(2) - static_cast<T>(1); +# endif + + tvec4<T, P> obj = Inverse * tmp; + obj /= obj.w; + + return tvec3<T, P>(obj); + } + + template <typename T, precision P, typename U> + GLM_FUNC_QUALIFIER tmat4x4<T, P> pickMatrix(tvec2<T, P> const & center, tvec2<T, P> const & delta, tvec4<U, P> const & viewport) + { + assert(delta.x > static_cast<T>(0) && delta.y > static_cast<T>(0)); + tmat4x4<T, P> Result(static_cast<T>(1)); + + if(!(delta.x > static_cast<T>(0) && delta.y > static_cast<T>(0))) + return Result; // Error + + tvec3<T, P> Temp( + (static_cast<T>(viewport[2]) - static_cast<T>(2) * (center.x - static_cast<T>(viewport[0]))) / delta.x, + (static_cast<T>(viewport[3]) - static_cast<T>(2) * (center.y - static_cast<T>(viewport[1]))) / delta.y, + static_cast<T>(0)); + + // Translate and scale the picked region to the entire window + Result = translate(Result, Temp); + return scale(Result, tvec3<T, P>(static_cast<T>(viewport[2]) / delta.x, static_cast<T>(viewport[3]) / delta.y, static_cast<T>(1))); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> lookAt(tvec3<T, P> const & eye, tvec3<T, P> const & center, tvec3<T, P> const & up) + { +# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED + return lookAtLH(eye, center, up); +# else + return lookAtRH(eye, center, up); +# endif + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> lookAtRH + ( + tvec3<T, P> const & eye, + tvec3<T, P> const & center, + tvec3<T, P> const & up + ) + { + tvec3<T, P> const f(normalize(center - eye)); + tvec3<T, P> const s(normalize(cross(f, up))); + tvec3<T, P> const u(cross(s, f)); + + tmat4x4<T, P> Result(1); + Result[0][0] = s.x; + Result[1][0] = s.y; + Result[2][0] = s.z; + Result[0][1] = u.x; + Result[1][1] = u.y; + Result[2][1] = u.z; + Result[0][2] =-f.x; + Result[1][2] =-f.y; + Result[2][2] =-f.z; + Result[3][0] =-dot(s, eye); + Result[3][1] =-dot(u, eye); + Result[3][2] = dot(f, eye); + return Result; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat4x4<T, P> lookAtLH + ( + tvec3<T, P> const & eye, + tvec3<T, P> const & center, + tvec3<T, P> const & up + ) + { + tvec3<T, P> const f(normalize(center - eye)); + tvec3<T, P> const s(normalize(cross(up, f))); + tvec3<T, P> const u(cross(f, s)); + + tmat4x4<T, P> Result(1); + Result[0][0] = s.x; + Result[1][0] = s.y; + Result[2][0] = s.z; + Result[0][1] = u.x; + Result[1][1] = u.y; + Result[2][1] = u.z; + Result[0][2] = f.x; + Result[1][2] = f.y; + Result[2][2] = f.z; + Result[3][0] = -dot(s, eye); + Result[3][1] = -dot(u, eye); + Result[3][2] = -dot(f, eye); + return Result; + } +}//namespace glm |