2020-03-17 04:31:30 +00:00
|
|
|
#include <ultra64.h>
|
|
|
|
#include <global.h>
|
2020-08-08 15:23:16 +00:00
|
|
|
#include <vt.h>
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
// clang-format off
|
|
|
|
MtxF sMtxFClear = {
|
|
|
|
1.0f, 0.0f, 0.0f, 0.0f,
|
|
|
|
0.0f, 1.0f, 0.0f, 0.0f,
|
|
|
|
0.0f, 0.0f, 1.0f, 0.0f,
|
|
|
|
0.0f, 0.0f, 0.0f, 1.0f,
|
|
|
|
};
|
|
|
|
// clang-format on
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
/**
|
|
|
|
* Multiplies a 4 component row vector [ src , 1 ] by the matrix mf and writes the resulting 4 components to xyzDest
|
|
|
|
* and wDest.
|
|
|
|
*
|
|
|
|
* \f[ [\texttt{xyzDest}, \texttt{wDest}] = [\texttt{src}, 1] \cdot [mf] \f]
|
|
|
|
*/
|
|
|
|
void SkinMatrix_Vec3fMtxFMultXYZW(MtxF* mf, Vec3f* src, Vec3f* xyzDest, f32* wDest) {
|
|
|
|
xyzDest->x = mf->wx + ((src->x * mf->xx) + (src->y * mf->yx) + (src->z * mf->zx));
|
|
|
|
xyzDest->y = mf->wy + ((src->x * mf->xy) + (src->y * mf->yy) + (src->z * mf->zy));
|
|
|
|
xyzDest->z = mf->wz + ((src->x * mf->xz) + (src->y * mf->yz) + (src->z * mf->zz));
|
|
|
|
*wDest = mf->ww + ((src->x * mf->xw) + (src->y * mf->yw) + (src->z * mf->zw));
|
|
|
|
}
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
/**
|
|
|
|
* Multiplies a 4 component row vector [ src , 1 ] by the matrix mf and writes the resulting xyz components to dest.
|
|
|
|
*
|
|
|
|
* \f[ [\texttt{dest}, -] = [\texttt{src}, 1] \cdot [mf] \f]
|
|
|
|
*/
|
|
|
|
void SkinMatrix_Vec3fMtxFMultXYZ(MtxF* mf, Vec3f* src, Vec3f* dest) {
|
|
|
|
f32 mx;
|
|
|
|
f32 my;
|
|
|
|
f32 mz;
|
|
|
|
f32 mw;
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
mx = mf->xx;
|
|
|
|
my = mf->yx;
|
|
|
|
mz = mf->zx;
|
|
|
|
mw = mf->wx;
|
|
|
|
dest->x = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
|
|
mx = mf->xy;
|
|
|
|
my = mf->yy;
|
|
|
|
mz = mf->zy;
|
|
|
|
mw = mf->wy;
|
|
|
|
dest->y = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
|
|
mx = mf->xz;
|
|
|
|
my = mf->yz;
|
|
|
|
mz = mf->zz;
|
|
|
|
mw = mf->wz;
|
|
|
|
dest->z = mw + ((src->x * mx) + (src->y * my) + (src->z * mz));
|
|
|
|
}
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
/**
|
|
|
|
* Matrix multiplication, dest = mfA * mfB.
|
|
|
|
* mfA and dest should not be the same matrix.
|
|
|
|
*/
|
|
|
|
void SkinMatrix_MtxFMtxFMult(MtxF* mfB, MtxF* mfA, MtxF* dest) {
|
|
|
|
f32 rx;
|
|
|
|
f32 ry;
|
|
|
|
f32 rz;
|
|
|
|
f32 rw;
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
f32 cx;
|
|
|
|
f32 cy;
|
|
|
|
f32 cz;
|
|
|
|
f32 cw;
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
//---COL1---
|
|
|
|
cx = mfB->xx;
|
|
|
|
cy = mfB->yx;
|
|
|
|
cz = mfB->zx;
|
|
|
|
cw = mfB->wx;
|
|
|
|
//--------
|
|
|
|
rx = mfA->xx;
|
|
|
|
ry = mfA->xy;
|
|
|
|
rz = mfA->xz;
|
|
|
|
rw = mfA->xw;
|
|
|
|
dest->xx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->yx;
|
|
|
|
ry = mfA->yy;
|
|
|
|
rz = mfA->yz;
|
|
|
|
rw = mfA->yw;
|
|
|
|
dest->yx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->zx;
|
|
|
|
ry = mfA->zy;
|
|
|
|
rz = mfA->zz;
|
|
|
|
rw = mfA->zw;
|
|
|
|
dest->zx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->wx;
|
|
|
|
ry = mfA->wy;
|
|
|
|
rz = mfA->wz;
|
|
|
|
rw = mfA->ww;
|
|
|
|
dest->wx = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
//---COL2---
|
|
|
|
cx = mfB->xy;
|
|
|
|
cy = mfB->yy;
|
|
|
|
cz = mfB->zy;
|
|
|
|
cw = mfB->wy;
|
|
|
|
//--------
|
|
|
|
rx = mfA->xx;
|
|
|
|
ry = mfA->xy;
|
|
|
|
rz = mfA->xz;
|
|
|
|
rw = mfA->xw;
|
|
|
|
dest->xy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->yx;
|
|
|
|
ry = mfA->yy;
|
|
|
|
rz = mfA->yz;
|
|
|
|
rw = mfA->yw;
|
|
|
|
dest->yy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->zx;
|
|
|
|
ry = mfA->zy;
|
|
|
|
rz = mfA->zz;
|
|
|
|
rw = mfA->zw;
|
|
|
|
dest->zy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->wx;
|
|
|
|
ry = mfA->wy;
|
|
|
|
rz = mfA->wz;
|
|
|
|
rw = mfA->ww;
|
|
|
|
dest->wy = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
//---COL3---
|
|
|
|
cx = mfB->xz;
|
|
|
|
cy = mfB->yz;
|
|
|
|
cz = mfB->zz;
|
|
|
|
cw = mfB->wz;
|
|
|
|
//--------
|
|
|
|
rx = mfA->xx;
|
|
|
|
ry = mfA->xy;
|
|
|
|
rz = mfA->xz;
|
|
|
|
rw = mfA->xw;
|
|
|
|
dest->xz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->yx;
|
|
|
|
ry = mfA->yy;
|
|
|
|
rz = mfA->yz;
|
|
|
|
rw = mfA->yw;
|
|
|
|
dest->yz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->zx;
|
|
|
|
ry = mfA->zy;
|
|
|
|
rz = mfA->zz;
|
|
|
|
rw = mfA->zw;
|
|
|
|
dest->zz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
rx = mfA->wx;
|
|
|
|
ry = mfA->wy;
|
|
|
|
rz = mfA->wz;
|
|
|
|
rw = mfA->ww;
|
|
|
|
dest->wz = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
//---COL4---
|
|
|
|
cx = mfB->xw;
|
|
|
|
cy = mfB->yw;
|
|
|
|
cz = mfB->zw;
|
|
|
|
cw = mfB->ww;
|
|
|
|
//--------
|
|
|
|
rx = mfA->xx;
|
|
|
|
ry = mfA->xy;
|
|
|
|
rz = mfA->xz;
|
|
|
|
rw = mfA->xw;
|
|
|
|
dest->xw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
|
|
|
|
|
|
|
rx = mfA->yx;
|
|
|
|
ry = mfA->yy;
|
|
|
|
rz = mfA->yz;
|
|
|
|
rw = mfA->yw;
|
|
|
|
dest->yw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
|
|
|
|
|
|
|
rx = mfA->zx;
|
|
|
|
ry = mfA->zy;
|
|
|
|
rz = mfA->zz;
|
|
|
|
rw = mfA->zw;
|
|
|
|
dest->zw = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
|
|
|
|
|
|
|
rx = mfA->wx;
|
|
|
|
ry = mfA->wy;
|
|
|
|
rz = mfA->wz;
|
|
|
|
rw = mfA->ww;
|
|
|
|
dest->ww = (cx * rx) + (cy * ry) + (cz * rz) + (cw * rw);
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* "Clear" in this file means the identity matrix.
|
|
|
|
*/
|
|
|
|
void SkinMatrix_GetClear(MtxF** mfp) {
|
|
|
|
*mfp = &sMtxFClear;
|
|
|
|
}
|
|
|
|
|
|
|
|
void SkinMatrix_Clear(MtxF* mf) {
|
|
|
|
mf->xx = 1.0f;
|
|
|
|
mf->yy = 1.0f;
|
|
|
|
mf->zz = 1.0f;
|
|
|
|
mf->ww = 1.0f;
|
|
|
|
mf->xy = 0.0f;
|
|
|
|
mf->xz = 0.0f;
|
|
|
|
mf->xw = 0.0f;
|
|
|
|
mf->yx = 0.0f;
|
|
|
|
mf->yz = 0.0f;
|
|
|
|
mf->yw = 0.0f;
|
|
|
|
mf->zx = 0.0f;
|
|
|
|
mf->zy = 0.0f;
|
|
|
|
mf->zw = 0.0f;
|
|
|
|
mf->wx = 0.0f;
|
|
|
|
mf->wy = 0.0f;
|
|
|
|
mf->wz = 0.0f;
|
|
|
|
}
|
|
|
|
|
|
|
|
void SkinMatrix_MtxFCopy(MtxF* src, MtxF* dest) {
|
|
|
|
dest->xx = src->xx;
|
|
|
|
dest->xy = src->xy;
|
|
|
|
dest->xz = src->xz;
|
|
|
|
dest->xw = src->xw;
|
|
|
|
dest->yx = src->yx;
|
|
|
|
dest->yy = src->yy;
|
|
|
|
dest->yz = src->yz;
|
|
|
|
dest->yw = src->yw;
|
|
|
|
dest->zx = src->zx;
|
|
|
|
dest->zy = src->zy;
|
|
|
|
dest->zz = src->zz;
|
|
|
|
dest->zw = src->zw;
|
|
|
|
dest->wx = src->wx;
|
|
|
|
dest->wy = src->wy;
|
|
|
|
dest->wz = src->wz;
|
|
|
|
dest->ww = src->ww;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Inverts a matrix using a slight modification of the Gauss-Jordan method
|
|
|
|
* (column operations instead of row operations).
|
|
|
|
* returns 0 if successfully inverted
|
|
|
|
* returns 2 if matrix non-invertible (0 determinant)
|
|
|
|
*/
|
|
|
|
#ifdef NON_MATCHING
|
|
|
|
// Saved register usage differences and probably regalloc
|
|
|
|
s32 SkinMatrix_Invert(MtxF* src, MtxF* dest) {
|
|
|
|
MtxF mfCopy;
|
|
|
|
s32 i;
|
|
|
|
s32 k;
|
|
|
|
f32 temp1;
|
|
|
|
f32 temp2;
|
|
|
|
f32 diagElement;
|
|
|
|
s32 thisRow;
|
|
|
|
s32 thisCol;
|
|
|
|
u32 pad;
|
|
|
|
|
|
|
|
SkinMatrix_MtxFCopy(src, &mfCopy);
|
|
|
|
SkinMatrix_Clear(dest);
|
|
|
|
for (thisRow = 0; thisRow != 4; thisRow++) {
|
|
|
|
for (thisCol = thisRow; (thisCol < 4) && (fabsf(mfCopy.mf[thisRow][thisCol]) < 0.0005f); thisCol++) {}
|
|
|
|
if (thisCol == 4) {
|
|
|
|
// reaching col = 4 means the row is either all 0 or a duplicate row.
|
|
|
|
// therefore singular matrix (0 determinant).
|
|
|
|
osSyncPrintf(VT_COL(YELLOW, BLACK));
|
|
|
|
osSyncPrintf("Skin_Matrix_InverseMatrix():逆行列つくれません\n");
|
|
|
|
osSyncPrintf(VT_RST);
|
|
|
|
return 2;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (thisCol != thisRow) { // responsible for swapping columns if zero on diagonal
|
|
|
|
for (i = 0; i != 4; i++) {
|
|
|
|
temp1 = mfCopy.mf[i][thisCol];
|
|
|
|
mfCopy.mf[i][thisCol] = mfCopy.mf[i][thisRow];
|
|
|
|
mfCopy.mf[i][thisRow] = temp1;
|
|
|
|
|
|
|
|
temp1 = dest->mf[i][thisCol];
|
|
|
|
dest->mf[i][thisCol] = dest->mf[i][thisRow];
|
|
|
|
dest->mf[i][thisRow] = temp1;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
diagElement = mfCopy.mf[thisRow][thisRow];
|
|
|
|
// Scale this whole column s.t. the diag element = 1
|
|
|
|
mfCopy.mf[0][thisRow] = mfCopy.mf[0][thisRow] / diagElement;
|
|
|
|
dest->mf[0][thisRow] = dest->mf[0][thisRow] / diagElement;
|
|
|
|
mfCopy.mf[1][thisRow] = mfCopy.mf[1][thisRow] / diagElement;
|
|
|
|
dest->mf[1][thisRow] = dest->mf[1][thisRow] / diagElement;
|
|
|
|
mfCopy.mf[2][thisRow] = mfCopy.mf[2][thisRow] / diagElement;
|
|
|
|
dest->mf[2][thisRow] = dest->mf[2][thisRow] / diagElement;
|
|
|
|
mfCopy.mf[3][thisRow] = mfCopy.mf[3][thisRow] / diagElement;
|
|
|
|
dest->mf[3][thisRow] = dest->mf[3][thisRow] / diagElement;
|
|
|
|
|
|
|
|
// col i = col i - a * col j
|
|
|
|
for (k = 0; k != 4; k++) {
|
|
|
|
if (k != thisRow) {
|
|
|
|
temp2 = mfCopy.mf[thisRow][k];
|
|
|
|
mfCopy.mf[0][k] = mfCopy.mf[0][k] - (mfCopy.mf[0][thisRow] * temp2);
|
|
|
|
dest->mf[0][k] = dest->mf[0][k] - (dest->mf[0][thisRow] * temp2);
|
|
|
|
mfCopy.mf[1][k] = mfCopy.mf[1][k] - (mfCopy.mf[1][thisRow] * temp2);
|
|
|
|
dest->mf[1][k] = dest->mf[1][k] - (dest->mf[1][thisRow] * temp2);
|
|
|
|
mfCopy.mf[2][k] = mfCopy.mf[2][k] - (mfCopy.mf[2][thisRow] * temp2);
|
|
|
|
dest->mf[2][k] = dest->mf[2][k] - (dest->mf[2][thisRow] * temp2);
|
|
|
|
mfCopy.mf[3][k] = mfCopy.mf[3][k] - (mfCopy.mf[3][thisRow] * temp2);
|
|
|
|
dest->mf[3][k] = dest->mf[3][k] - (dest->mf[3][thisRow] * temp2);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|
|
|
|
return 0;
|
|
|
|
}
|
|
|
|
#else
|
|
|
|
#pragma GLOBAL_ASM("asm/non_matchings/code/z_skin_matrix/SkinMatrix_Invert.s")
|
|
|
|
#endif
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which scales x,y,z components of vectors or x,y,z rows of matrices (when applied on LHS)
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetScale(MtxF* mf, f32 x, f32 y, f32 z) {
|
|
|
|
mf->xy = 0.0f;
|
|
|
|
mf->xz = 0.0f;
|
|
|
|
mf->xw = 0.0f;
|
|
|
|
mf->yx = 0.0f;
|
|
|
|
mf->yz = 0.0f;
|
|
|
|
mf->yw = 0.0f;
|
|
|
|
mf->zx = 0.0f;
|
|
|
|
mf->zy = 0.0f;
|
|
|
|
mf->zw = 0.0f;
|
|
|
|
mf->wx = 0.0f;
|
|
|
|
mf->wy = 0.0f;
|
|
|
|
mf->wz = 0.0f;
|
|
|
|
mf->ww = 1.0f;
|
|
|
|
mf->xx = x;
|
|
|
|
mf->yy = y;
|
|
|
|
mf->zz = z;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a rotation matrix = (roll rotation matrix) * (pitch rotation matrix) * (yaw rotation matrix)
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetRotateRPY(MtxF* mf, s16 roll, s16 pitch, s16 yaw) {
|
|
|
|
f32 cos2;
|
|
|
|
f32 sin;
|
|
|
|
f32 cos;
|
|
|
|
f32 yx;
|
|
|
|
f32 sin2;
|
|
|
|
f32 zx;
|
|
|
|
f32 yy;
|
|
|
|
f32 zy;
|
|
|
|
|
|
|
|
sin = Math_Sins(yaw);
|
|
|
|
cos = Math_Coss(yaw);
|
|
|
|
mf->yy = cos;
|
|
|
|
mf->yx = -sin;
|
|
|
|
mf->xw = mf->yw = mf->zw = 0;
|
|
|
|
mf->wx = mf->wy = mf->wz = 0;
|
|
|
|
mf->ww = 1;
|
|
|
|
|
|
|
|
if (pitch != 0) {
|
|
|
|
sin2 = Math_Sins(pitch);
|
|
|
|
cos2 = Math_Coss(pitch);
|
|
|
|
|
|
|
|
mf->xx = cos * cos2;
|
|
|
|
mf->zx = cos * sin2;
|
|
|
|
|
|
|
|
mf->xy = sin * cos2;
|
|
|
|
mf->zy = sin * sin2;
|
|
|
|
mf->xz = -sin2;
|
|
|
|
mf->zz = cos2;
|
|
|
|
|
|
|
|
} else {
|
|
|
|
mf->xx = cos;
|
|
|
|
if (1) {}
|
|
|
|
if (1) {}
|
|
|
|
zx = sin; // required to match
|
|
|
|
mf->xy = sin;
|
|
|
|
mf->xz = mf->zx = mf->zy = 0;
|
|
|
|
mf->zz = 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (roll != 0) {
|
|
|
|
sin2 = Math_Sins(roll);
|
|
|
|
cos2 = Math_Coss(roll);
|
|
|
|
|
|
|
|
yx = mf->yx;
|
|
|
|
zx = mf->zx;
|
|
|
|
mf->yx = (yx * cos2) + (zx * sin2);
|
|
|
|
mf->zx = (zx * cos2) - (yx * sin2);
|
|
|
|
|
|
|
|
if (1) {}
|
|
|
|
zy = mf->zy;
|
|
|
|
yy = mf->yy;
|
|
|
|
mf->yy = (yy * cos2) + (zy * sin2);
|
|
|
|
mf->zy = (zy * cos2) - (yy * sin2);
|
|
|
|
|
|
|
|
if (cos2) {}
|
|
|
|
mf->yz = mf->zz * sin2;
|
|
|
|
mf->zz = mf->zz * cos2;
|
|
|
|
} else {
|
|
|
|
mf->yz = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a rotation matrix = (yaw rotation matrix) * (roll rotation matrix) * (pitch rotation matrix)
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetRotateYRP(MtxF* mf, s16 yaw, s16 roll, s16 pitch) {
|
|
|
|
f32 cos2;
|
|
|
|
f32 sin;
|
|
|
|
f32 cos;
|
|
|
|
f32 xz;
|
|
|
|
f32 sin2;
|
|
|
|
f32 yz;
|
|
|
|
f32 xx;
|
|
|
|
f32 yx;
|
|
|
|
sin = Math_Sins(roll);
|
|
|
|
cos = Math_Coss(roll);
|
|
|
|
mf->xx = cos;
|
|
|
|
mf->xz = -sin;
|
|
|
|
mf->zw = 0;
|
|
|
|
mf->yw = 0;
|
|
|
|
mf->xw = 0;
|
|
|
|
mf->wz = 0;
|
|
|
|
mf->wy = 0;
|
|
|
|
mf->wx = 0;
|
|
|
|
mf->ww = 1;
|
|
|
|
|
|
|
|
if (yaw != 0) {
|
|
|
|
sin2 = Math_Sins(yaw);
|
|
|
|
cos2 = Math_Coss(yaw);
|
|
|
|
|
|
|
|
mf->zz = cos * cos2;
|
|
|
|
mf->yz = cos * sin2;
|
|
|
|
|
|
|
|
mf->zx = sin * cos2;
|
|
|
|
mf->yx = sin * sin2;
|
|
|
|
mf->zy = -sin2;
|
|
|
|
mf->yy = cos2;
|
|
|
|
|
|
|
|
} else {
|
|
|
|
mf->zz = cos;
|
|
|
|
if (1) {}
|
|
|
|
if (1) {}
|
|
|
|
yx = sin; // required to match
|
|
|
|
mf->zx = sin;
|
|
|
|
mf->yx = mf->yz = mf->zy = 0;
|
|
|
|
mf->yy = 1;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (pitch != 0) {
|
|
|
|
sin2 = Math_Sins(pitch);
|
|
|
|
cos2 = Math_Coss(pitch);
|
|
|
|
xx = mf->xx;
|
|
|
|
yx = mf->yx;
|
|
|
|
mf->xx = (xx * cos2) + (yx * sin2);
|
|
|
|
mf->yx = yx * cos2 - (xx * sin2);
|
|
|
|
if (1) {}
|
|
|
|
yz = mf->yz;
|
|
|
|
xz = mf->xz;
|
|
|
|
mf->xz = (xz * cos2) + (yz * sin2);
|
|
|
|
mf->yz = (yz * cos2) - (xz * sin2);
|
|
|
|
if (cos2) {}
|
|
|
|
mf->xy = mf->yy * sin2;
|
|
|
|
mf->yy = mf->yy * cos2;
|
|
|
|
} else {
|
|
|
|
mf->xy = 0;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which translates a vector by amounts in the x, y and z directions
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetTranslate(MtxF* mf, f32 x, f32 y, f32 z) {
|
|
|
|
mf->xy = 0.0f;
|
|
|
|
mf->xz = 0.0f;
|
|
|
|
mf->xw = 0.0f;
|
|
|
|
mf->yx = 0.0f;
|
|
|
|
mf->yz = 0.0f;
|
|
|
|
mf->yw = 0.0f;
|
|
|
|
mf->zx = 0.0f;
|
|
|
|
mf->zy = 0.0f;
|
|
|
|
mf->zw = 0.0f;
|
|
|
|
mf->xx = 1.0f;
|
|
|
|
mf->yy = 1.0f;
|
|
|
|
mf->zz = 1.0f;
|
|
|
|
mf->ww = 1.0f;
|
|
|
|
mf->wx = x;
|
|
|
|
mf->wy = y;
|
|
|
|
mf->wz = z;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which scales, then rotates (RPY), then translates a vector
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetScaleRotateRPYTranslate(MtxF* mf, f32 scaleX, f32 scaleY, f32 scaleZ, s16 roll, s16 pitch, s16 yaw,
|
|
|
|
f32 dx, f32 dy, f32 dz) {
|
|
|
|
MtxF mft1;
|
|
|
|
MtxF mft2;
|
|
|
|
|
|
|
|
SkinMatrix_SetTranslate(mf, dx, dy, dz);
|
|
|
|
SkinMatrix_SetRotateRPY(&mft1, roll, pitch, yaw);
|
|
|
|
SkinMatrix_MtxFMtxFMult(mf, &mft1, &mft2);
|
|
|
|
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
|
|
|
|
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which scales, then rotates (YRP), then translates a vector
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetScaleRotateYRPTranslate(MtxF* mf, f32 scaleX, f32 scaleY, f32 scaleZ, s16 yaw, s16 roll, s16 pitch,
|
|
|
|
f32 dx, f32 dy, f32 dz) {
|
|
|
|
MtxF mft1;
|
|
|
|
MtxF mft2;
|
|
|
|
|
|
|
|
SkinMatrix_SetTranslate(mf, dx, dy, dz);
|
|
|
|
SkinMatrix_SetRotateYRP(&mft1, yaw, roll, pitch);
|
|
|
|
SkinMatrix_MtxFMtxFMult(mf, &mft1, &mft2);
|
|
|
|
SkinMatrix_SetScale(&mft1, scaleX, scaleY, scaleZ);
|
|
|
|
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which rotates (RPY), then translates a vector
|
|
|
|
*/
|
|
|
|
void SkinMatrix_SetRotateRPYTranslate(MtxF* mf, s16 roll, s16 pitch, s16 yaw, f32 dx, f32 dy, f32 dz) {
|
|
|
|
MtxF mft1;
|
|
|
|
MtxF mft2;
|
|
|
|
|
|
|
|
SkinMatrix_SetTranslate(&mft2, dx, dy, dz);
|
|
|
|
SkinMatrix_SetRotateRPY(&mft1, roll, pitch, yaw);
|
|
|
|
SkinMatrix_MtxFMtxFMult(&mft2, &mft1, mf);
|
|
|
|
}
|
|
|
|
|
|
|
|
void SkinMatrix_Vec3fToVec3s(Vec3f* src, Vec3s* dest) {
|
|
|
|
dest->x = src->x;
|
|
|
|
dest->y = src->y;
|
|
|
|
dest->z = src->z;
|
|
|
|
}
|
|
|
|
|
|
|
|
void SkinMatrix_Vec3sToVec3f(Vec3s* src, Vec3f* dest) {
|
|
|
|
dest->x = src->x;
|
|
|
|
dest->y = src->y;
|
|
|
|
dest->z = src->z;
|
|
|
|
}
|
|
|
|
|
|
|
|
void SkinMatrix_MtxFToMtx(MtxF* src, Mtx* dest) {
|
|
|
|
s32 temp;
|
|
|
|
u16* m1 = (u16*)&dest->m[0][0];
|
|
|
|
u16* m2 = (u16*)&dest->m[2][0];
|
|
|
|
|
|
|
|
temp = src->xx * 0x10000;
|
|
|
|
m1[0] = (temp >> 0x10);
|
|
|
|
m1[16 + 0] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->xy * 0x10000;
|
|
|
|
m1[1] = (temp >> 0x10);
|
|
|
|
m1[16 + 1] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->xz * 0x10000;
|
|
|
|
m1[2] = (temp >> 0x10);
|
|
|
|
m1[16 + 2] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->xw * 0x10000;
|
|
|
|
m1[3] = (temp >> 0x10);
|
|
|
|
m1[16 + 3] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->yx * 0x10000;
|
|
|
|
m1[4] = (temp >> 0x10);
|
|
|
|
m1[16 + 4] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->yy * 0x10000;
|
|
|
|
m1[5] = (temp >> 0x10);
|
|
|
|
m1[16 + 5] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->yz * 0x10000;
|
|
|
|
m1[6] = (temp >> 0x10);
|
|
|
|
m1[16 + 6] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->yw * 0x10000;
|
|
|
|
m1[7] = (temp >> 0x10);
|
|
|
|
m1[16 + 7] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->zx * 0x10000;
|
|
|
|
m1[8] = (temp >> 0x10);
|
|
|
|
m1[16 + 8] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->zy * 0x10000;
|
|
|
|
m1[9] = (temp >> 0x10);
|
|
|
|
m2[9] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->zz * 0x10000;
|
|
|
|
m1[10] = (temp >> 0x10);
|
|
|
|
m2[10] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->zw * 0x10000;
|
|
|
|
m1[11] = (temp >> 0x10);
|
|
|
|
m2[11] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->wx * 0x10000;
|
|
|
|
m1[12] = (temp >> 0x10);
|
|
|
|
m2[12] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->wy * 0x10000;
|
|
|
|
m1[13] = (temp >> 0x10);
|
|
|
|
m2[13] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->wz * 0x10000;
|
|
|
|
m1[14] = (temp >> 0x10);
|
|
|
|
m2[14] = temp & 0xFFFF;
|
|
|
|
|
|
|
|
temp = src->ww * 0x10000;
|
|
|
|
m1[15] = (temp >> 0x10);
|
|
|
|
m2[15] = temp & 0xFFFF;
|
|
|
|
}
|
|
|
|
|
|
|
|
Mtx* SkinMatrix_MtxFToNewMtx(GraphicsContext* gfxCtx, MtxF* src) {
|
|
|
|
Mtx* mtx = Graph_Alloc(gfxCtx, sizeof(Mtx));
|
|
|
|
|
|
|
|
if (mtx == NULL) {
|
|
|
|
osSyncPrintf("Skin_Matrix_to_Mtx_new() 確保失敗:NULLを返して終了\n", mtx);
|
|
|
|
return NULL;
|
|
|
|
}
|
|
|
|
SkinMatrix_MtxFToMtx(src, mtx);
|
|
|
|
return mtx;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Produces a matrix which rotates vectors by angle a around the vector with components (x,y,z)
|
|
|
|
*/
|
|
|
|
#ifdef NON_EQUIVALENT
|
|
|
|
// I think this is functionally correct but I cannot be 100% sure of equivalence because diff output is not very close
|
|
|
|
void func_800A7EC0(MtxF* mf, s16 a, f32 x, f32 y, f32 z) {
|
|
|
|
f32 sin;
|
|
|
|
f32 cos;
|
|
|
|
f32 ct;
|
|
|
|
f32 xx;
|
|
|
|
f32 yy;
|
|
|
|
f32 zz;
|
|
|
|
f32 xy;
|
|
|
|
f32 xz;
|
|
|
|
f32 yz;
|
|
|
|
f32 sx;
|
|
|
|
f32 sy;
|
|
|
|
f32 sz;
|
|
|
|
|
|
|
|
sin = Math_Sins(a);
|
|
|
|
cos = Math_Coss(a);
|
|
|
|
|
|
|
|
ct = 1.0f - cos;
|
|
|
|
sx = sin * x;
|
|
|
|
sy = sin * y;
|
|
|
|
sz = sin * z;
|
|
|
|
|
|
|
|
xx = x * x;
|
|
|
|
xy = x * y;
|
|
|
|
xz = x * z;
|
|
|
|
yy = y * y;
|
|
|
|
yz = y * z;
|
|
|
|
zz = z * z;
|
|
|
|
|
|
|
|
mf->xx = (f32)ct * xx + cos;
|
|
|
|
mf->xy = (f32)((ct * xy) + sz);
|
|
|
|
mf->xz = (f32)((ct * xz) - sy);
|
|
|
|
mf->xw = 0.0f;
|
|
|
|
|
|
|
|
mf->yx = (f32)((ct * (xy)) - sz);
|
|
|
|
mf->yy = (f32)ct * yy + cos;
|
|
|
|
mf->yz = (f32)((ct * (yz)) + sx);
|
|
|
|
mf->yw = 0.0f;
|
|
|
|
|
|
|
|
mf->zx = (f32)((ct * (xz)) + sy);
|
|
|
|
mf->zy = (f32)((ct * (yz)) - sx);
|
|
|
|
mf->zz = (f32)ct * zz + cos;
|
|
|
|
|
|
|
|
mf->zw = 0.0f;
|
|
|
|
|
|
|
|
mf->wx = 0.0f;
|
|
|
|
mf->wy = 0.0f;
|
|
|
|
mf->wz = 0.0f;
|
|
|
|
mf->ww = 1.0f;
|
|
|
|
}
|
|
|
|
#else
|
2020-03-17 04:31:30 +00:00
|
|
|
#pragma GLOBAL_ASM("asm/non_matchings/code/z_skin_matrix/func_800A7EC0.s")
|
2020-08-08 15:23:16 +00:00
|
|
|
#endif
|
|
|
|
|
|
|
|
void func_800A8030(MtxF* mf, f32* arg1) {
|
|
|
|
f32 n;
|
|
|
|
f32 xNorm;
|
|
|
|
f32 yNorm;
|
|
|
|
f32 zNorm;
|
|
|
|
f32 wxNorm;
|
|
|
|
f32 wyNorm;
|
|
|
|
f32 wzNorm;
|
|
|
|
f32 xxNorm;
|
|
|
|
f32 xyNorm;
|
|
|
|
f32 xzNorm;
|
|
|
|
f32 yyNorm;
|
|
|
|
f32 yzNorm;
|
|
|
|
f32 zzNorm;
|
|
|
|
|
|
|
|
n = 2.0f / ((arg1[3] * arg1[3]) + ((arg1[2] * arg1[2]) + ((arg1[1] * arg1[1]) + (arg1[0] * arg1[0]))));
|
|
|
|
xNorm = arg1[0] * n;
|
|
|
|
yNorm = arg1[1] * n;
|
|
|
|
zNorm = arg1[2] * n;
|
|
|
|
|
|
|
|
wxNorm = arg1[3] * xNorm;
|
|
|
|
wyNorm = arg1[3] * yNorm;
|
|
|
|
wzNorm = arg1[3] * zNorm;
|
|
|
|
xxNorm = arg1[0] * xNorm;
|
|
|
|
xyNorm = arg1[0] * yNorm;
|
|
|
|
xzNorm = arg1[0] * zNorm;
|
|
|
|
yyNorm = arg1[1] * yNorm;
|
|
|
|
yzNorm = arg1[1] * zNorm;
|
|
|
|
zzNorm = arg1[2] * zNorm;
|
2020-03-17 04:31:30 +00:00
|
|
|
|
2020-08-08 15:23:16 +00:00
|
|
|
mf->xx = (1.0f - (yyNorm + zzNorm));
|
|
|
|
mf->xy = (xyNorm + wzNorm);
|
|
|
|
mf->xz = (xzNorm - wyNorm);
|
|
|
|
mf->xw = 0.0f;
|
|
|
|
mf->yx = (xyNorm - wzNorm);
|
|
|
|
mf->yy = (1.0f - (xxNorm + zzNorm));
|
|
|
|
mf->yz = (yzNorm + wxNorm);
|
|
|
|
mf->yw = 0.0f;
|
|
|
|
mf->zx = (yzNorm + wyNorm);
|
|
|
|
mf->zy = (yzNorm - wxNorm);
|
|
|
|
mf->zz = (1.0f - (xxNorm + yyNorm));
|
|
|
|
mf->zw = 0.0f;
|
|
|
|
mf->wx = 0.0f;
|
|
|
|
mf->wy = 0.0f;
|
|
|
|
mf->ww = 1.0f;
|
|
|
|
mf->wz = 0.0f;
|
|
|
|
}
|