177 lines
3.8 KiB
C
177 lines
3.8 KiB
C
#include <ultra64.h>
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extern f32 gu_sqrtf(f32);
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static void __guMtxF2L(float mf[4][4], Mtx *m)
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{
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int i, j;
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int e1,e2;
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int *ai,*af;
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ai=(int *) &m->m[0][0];
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af=(int *) &m->m[2][0];
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for (i=0; i<4; i++)
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for (j=0; j<2; j++) {
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e1=FTOFIX32(mf[i][j*2]);
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e2=FTOFIX32(mf[i][j*2+1]);
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*(ai++) = ( e1 & 0xffff0000 ) | ((e2 >> 16)&0xffff);
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*(af++) = ((e1 << 16) & 0xffff0000) | (e2 & 0xffff);
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}
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}
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static void _guMtxIdentF(float mf[4][4])
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{
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int i, j;
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for (i=0; i<4; i++)
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for (j=0; j<4; j++)
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if (i == j) mf[i][j] = 1.0;
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else mf[i][j] = 0.0;
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}
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void guScaleF(float mf[4][4], float x, float y, float z)
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{
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_guMtxIdentF(mf);
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mf[0][0] = x;
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mf[1][1] = y;
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mf[2][2] = z;
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mf[3][3] = 1;
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}
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void guLookAtReflectF(float mf[4][4], LookAt *l,
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float xEye, float yEye, float zEye,
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float xAt, float yAt, float zAt,
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float xUp, float yUp, float zUp)
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{
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float len, xLook, yLook, zLook, xRight, yRight, zRight;
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guMtxIdentF(mf);
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xLook = xAt - xEye;
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yLook = yAt - yEye;
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zLook = zAt - zEye;
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/* Negate because positive Z is behind us: */
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len = -1.0 / gu_sqrtf (xLook*xLook + yLook*yLook + zLook*zLook);
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xLook *= len;
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yLook *= len;
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zLook *= len;
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/* Right = Up x Look */
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xRight = yUp * zLook - zUp * yLook;
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yRight = zUp * xLook - xUp * zLook;
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zRight = xUp * yLook - yUp * xLook;
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len = 1.0 / gu_sqrtf (xRight*xRight + yRight*yRight + zRight*zRight);
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xRight *= len;
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yRight *= len;
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zRight *= len;
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/* Up = Look x Right */
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xUp = yLook * zRight - zLook * yRight;
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yUp = zLook * xRight - xLook * zRight;
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zUp = xLook * yRight - yLook * xRight;
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len = 1.0 / gu_sqrtf (xUp*xUp + yUp*yUp + zUp*zUp);
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xUp *= len;
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yUp *= len;
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zUp *= len;
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/* reflectance vectors = Up and Right */
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l->l[0].l.dir[0] = FTOFRAC8(xRight);
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l->l[0].l.dir[1] = FTOFRAC8(yRight);
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l->l[0].l.dir[2] = FTOFRAC8(zRight);
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l->l[1].l.dir[0] = FTOFRAC8(xUp);
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l->l[1].l.dir[1] = FTOFRAC8(yUp);
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l->l[1].l.dir[2] = FTOFRAC8(zUp);
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l->l[0].l.col[0] = 0x00;
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l->l[0].l.col[1] = 0x00;
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l->l[0].l.col[2] = 0x00;
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l->l[0].l.pad1 = 0x00;
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l->l[0].l.colc[0] = 0x00;
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l->l[0].l.colc[1] = 0x00;
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l->l[0].l.colc[2] = 0x00;
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l->l[0].l.pad2 = 0x00;
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l->l[1].l.col[0] = 0x00;
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l->l[1].l.col[1] = 0x80;
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l->l[1].l.col[2] = 0x00;
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l->l[1].l.pad1 = 0x00;
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l->l[1].l.colc[0] = 0x00;
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l->l[1].l.colc[1] = 0x80;
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l->l[1].l.colc[2] = 0x00;
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l->l[1].l.pad2 = 0x00;
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mf[0][0] = xRight;
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mf[1][0] = yRight;
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mf[2][0] = zRight;
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mf[3][0] = -(xEye * xRight + yEye * yRight + zEye * zRight);
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mf[0][1] = xUp;
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mf[1][1] = yUp;
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mf[2][1] = zUp;
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mf[3][1] = -(xEye * xUp + yEye * yUp + zEye * zUp);
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mf[0][2] = xLook;
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mf[1][2] = yLook;
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mf[2][2] = zLook;
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mf[3][2] = -(xEye * xLook + yEye * yLook + zEye * zLook);
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mf[0][3] = 0;
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mf[1][3] = 0;
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mf[2][3] = 0;
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mf[3][3] = 1;
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}
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void guLookAtReflect (Mtx *m, LookAt *l, float xEye, float yEye, float zEye,
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float xAt, float yAt, float zAt,
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float xUp, float yUp, float zUp)
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{
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float mf[4][4];
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guLookAtReflectF(mf, l, xEye, yEye, zEye, xAt, yAt, zAt,
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xUp, yUp, zUp);
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guMtxF2L(mf, m);
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}
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void guScale(Mtx *m, float x, float y, float z)
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{
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float mf[4][4];
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guScaleF(mf, x, y, z);
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__guMtxF2L(mf, m);
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}
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void guRotateRPYF(f32 mf[4][4], f32 r, f32 p, f32 h) {
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static f32 dtor = 3.1415926 / 180.0;
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s32 pad;
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f32 sinp, sinh, sinr;
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f32 cosp, cosh, cosr;
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r *= dtor;
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p *= dtor;
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h *= dtor;
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sinr = sinf(r);
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cosr = cosf(r);
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sinp = sinf(p);
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cosp = cosf(p);
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sinh = sinf(h);
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cosh = cosf(h);
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guMtxIdentF(mf);
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mf[0][0] = cosp * cosh;
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mf[0][1] = cosp * sinh;
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mf[0][2] = -sinp;
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mf[1][0] = (sinr*sinp*cosh - cosr*sinh);
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mf[1][1] = (sinr*sinp*sinh + cosr*cosh);
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mf[1][2] = (sinr*cosp);
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mf[2][0] = (cosr*sinp*cosh + sinr*sinh);
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mf[2][1] = (cosr*sinp*sinh - sinr*cosh);
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mf[2][2] = (cosr*cosp);
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}
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