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Fix matrices documentation (#952)

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* Update names and doc of `Matrix_RotateRPY` and `SkinMatrix_SetRotateRPY` to ZYX Tait-Bryan angles

* Update name and doc of `Matrix_JointPosition` to `Matrix_TranslateRotateZYX`

* `Euler ***` -> `Tait-Bryan *** angles`

* Update docs of `SkinMatrix_Vec3fMtxFMultXYZW` and `SkinMatrix_Vec3fMtxFMultXYZ`

* Fix doc of `SkinMatrix_MtxFMtxFMult`

* Update docs of `SkinMatrix_Invert`

* Change name and docs of `SkinMatrix_SetRotateYRP` to `SkinMatrix_SetRotateYXZ`

* Change name and docs of `SkinMatrix_SetScaleRotateRPYTranslate` to `SkinMatrix_SetScaleRotateZYXTranslate`

* Change name and docs of `SkinMatrix_SetScaleRotateYRPTranslate` to `SkinMatrix_SetScaleRotateYXZTranslate`

* Change name and docs of `SkinMatrix_SetRotateRPYTranslate` to `SkinMatrix_SetRotateZYXTranslate`

* Add renamed functions to `namefixer.py`

* Run formatter

* Consistent function names (`ABC()` if equivalent to `A() B() C()`)
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Dragorn421 2021-11-17 11:52:26 +01:00 • committed by GitHub
parent 9ca6bfdac3
commit 03636166b3
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53 changed files with 373 additions and 357 deletions
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28
src/code/sys_matrix.c
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@ -293,12 +293,12 @@ void Matrix_RotateZ(f32 z, u8 mode) {
}
/**
* Rotates the top of the matrix stack by `z` degrees, then
* rotates that matrix by `y` degrees, then rotates that matrix
* by `x` degrees. (roll-pitch-yaw)
* Rotate using ZYX Tait-Bryan angles.
* This means a (column) vector is first rotated around X, then around Y, then around Z, then (if `mode` is
* `MTXMODE_APPLY`) gets transformed according to whatever the matrix was before adding the ZYX rotation.
* Original Name: Matrix_RotateXYZ, changed to reflect rotation order.
*/
void Matrix_RotateRPY(s16 x, s16 y, s16 z, u8 mode) {
void Matrix_RotateZYX(s16 x, s16 y, s16 z, u8 mode) {
MtxF* cmf = sCurrentMatrix;
f32 temp1;
f32 temp2;
@ -379,14 +379,16 @@ void Matrix_RotateRPY(s16 x, s16 y, s16 z, u8 mode) {
cmf->wz = temp2 * cos - temp1 * sin;
}
} else {
SkinMatrix_SetRotateRPY(cmf, x, y, z);
SkinMatrix_SetRotateZYX(cmf, x, y, z);
}
}
/**
* Roll-pitch-yaw rotation and position
* Translate and rotate using ZYX Tait-Bryan angles.
* This means a (column) vector is first rotated around X, then around Y, then around Z, then translated, then gets
* transformed according to whatever the matrix was previously.
*/
void Matrix_JointPosition(Vec3f* position, Vec3s* rotation) {
void Matrix_TranslateRotateZYX(Vec3f* translation, Vec3s* rotation) {
MtxF* cmf = sCurrentMatrix;
f32 sin = Math_SinS(rotation->z);
f32 cos = Math_CosS(rotation->z);
@ -395,25 +397,25 @@ void Matrix_JointPosition(Vec3f* position, Vec3s* rotation) {
temp1 = cmf->xx;
temp2 = cmf->xy;
cmf->xw += temp1 * position->x + temp2 * position->y + cmf->xz * position->z;
cmf->xw += temp1 * translation->x + temp2 * translation->y + cmf->xz * translation->z;
cmf->xx = temp1 * cos + temp2 * sin;
cmf->xy = temp2 * cos - temp1 * sin;
temp1 = cmf->yx;
temp2 = cmf->yy;
cmf->yw += temp1 * position->x + temp2 * position->y + cmf->yz * position->z;
cmf->yw += temp1 * translation->x + temp2 * translation->y + cmf->yz * translation->z;
cmf->yx = temp1 * cos + temp2 * sin;
cmf->yy = temp2 * cos - temp1 * sin;
temp1 = cmf->zx;
temp2 = cmf->zy;
cmf->zw += temp1 * position->x + temp2 * position->y + cmf->zz * position->z;
cmf->zw += temp1 * translation->x + temp2 * translation->y + cmf->zz * translation->z;
cmf->zx = temp1 * cos + temp2 * sin;
cmf->zy = temp2 * cos - temp1 * sin;
temp1 = cmf->wx;
temp2 = cmf->wy;
cmf->ww += temp1 * position->x + temp2 * position->y + cmf->wz * position->z;
cmf->ww += temp1 * translation->x + temp2 * translation->y + cmf->wz * translation->z;
cmf->wx = temp1 * cos + temp2 * sin;
cmf->wy = temp2 * cos - temp1 * sin;
@ -740,7 +742,7 @@ void func_800D1FD4(MtxF* mf) {
}
/**
* Gets the rotation the specified matrix represents, using Euler YXZ.
* Gets the rotation the specified matrix represents, using Tait-Bryan YXZ angles.
* The flag value doesn't matter for a rotation matrix. Not 0 does extra calculation.
*/
void Matrix_MtxFToYXZRotS(MtxF* mf, Vec3s* rotDest, s32 flag) {
@ -793,7 +795,7 @@ void Matrix_MtxFToYXZRotS(MtxF* mf, Vec3s* rotDest, s32 flag) {
}
/**
* Gets the rotation the specified matrix represents, using Euler ZYX.
* Gets the rotation the specified matrix represents, using Tait-Bryan ZYX angles.
* The flag value doesn't matter for a rotation matrix. Not 0 does extra calculation.
*/
void Matrix_MtxFToZYXRotS(MtxF* mf, Vec3s* rotDest, s32 flag) {