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85 lines
2.4 KiB
C
85 lines
2.4 KiB
C
/*
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* Copyright (c) Contributors to the Open 3D Engine Project
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*
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* SPDX-License-Identifier: Apache-2.0 OR MIT
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*
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*/
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// Description : Scalar implementation of hardware vector based matrix
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#ifndef CRYINCLUDE_CRYCOMMON_CRY_HWMATRIX_H
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#define CRYINCLUDE_CRYCOMMON_CRY_HWMATRIX_H
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#pragma once
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struct hwmtx33
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{
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hwvec3 m0, m1, m2;
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};
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ILINE void HWMtx33LoadAligned(hwmtx33& out, const Matrix34A& inMtx)
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{
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out.m0 = HWVLoadVecAligned(reinterpret_cast<const Vec4A*>(&inMtx.m00));
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out.m1 = HWVLoadVecAligned(reinterpret_cast<const Vec4A*>(&inMtx.m10));
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out.m2 = HWVLoadVecAligned(reinterpret_cast<const Vec4A*>(&inMtx.m20));
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}
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ILINE hwvec3 HWMtx33RotateVec(const hwmtx33& m, const hwvec3& v)
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{
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return Vec3((m.m0[0] * v.x) + (m.m0[1] * v.y) + (m.m0[2] * v.z),
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(m.m1[0] * v.x) + (m.m1[1] * v.y) + (m.m1[2] * v.z),
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(m.m2[0] * v.x) + (m.m2[1] * v.y) + (m.m2[2] * v.z));
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}
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ILINE hwvec3 HWMtx33RotateVecOpt(const hwmtx33& m, const hwvec3& v)
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{
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return HWMtx33RotateVec(m, v);
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}
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ILINE hwmtx33 HWMtx33CreateRotationV0V1(const hwvec3& v0, const hwvec3& v1)
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{
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assert((fabs_tpl(1 - (v0 | v0))) < 0.01); //check if unit-vector
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assert((fabs_tpl(1 - (v1 | v1))) < 0.01); //check if unit-vector
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hwmtx33 m;
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float dot = v0 | v1;
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if (dot < -0.9999f)
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{
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Vec3 axis = v0.GetOrthogonal().GetNormalized();
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m.m0[0] = (2.0f * axis.x * axis.x - 1);
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m.m0[1] = (2.0f * axis.x * axis.y);
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m.m0[2] = (2.0f * axis.x * axis.z);
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m.m1[0] = (2.0f * axis.y * axis.x);
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m.m1[1] = (2.0f * axis.y * axis.y - 1);
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m.m1[2] = (2.0f * axis.y * axis.z);
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m.m2[0] = (2.0f * axis.z * axis.x);
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m.m2[1] = (2.0f * axis.z * axis.y);
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m.m2[2] = (2.0f * axis.z * axis.z - 1);
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}
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else
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{
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Vec3 v = v0 % v1;
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f32 h = 1.0f / (1.0f + dot);
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m.m0[0] = (dot + h * v.x * v.x);
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m.m0[1] = (h * v.x * v.y - v.z);
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m.m0[2] = (h * v.x * v.z + v.y);
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m.m1[0] = (h * v.x * v.y + v.z);
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m.m1[1] = (dot + h * v.y * v.y);
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m.m1[2] = (h * v.y * v.z - v.x);
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m.m2[0] = (h * v.x * v.z - v.y);
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m.m2[1] = (h * v.y * v.z + v.x);
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m.m2[2] = (dot + h * v.z * v.z);
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}
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return m;
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}
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//Returns a matrix optimized for this platform's matrix ops, in this case, not doing a thing;
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ILINE hwmtx33 HWMtx33GetOptimized(const hwmtx33& m)
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{
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return (hwmtx33)m;
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}
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#endif // CRYINCLUDE_CRYCOMMON_CRY_HWMATRIX_H
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