317 lines
9.7 KiB
Haxe
317 lines
9.7 KiB
Haxe
package kha.math;
|
|
|
|
class Matrix4 {
|
|
static inline var width: Int = 4;
|
|
static inline var height: Int = 4;
|
|
|
|
public var _00: Float;
|
|
public var _10: Float;
|
|
public var _20: Float;
|
|
public var _30: Float;
|
|
public var _01: Float;
|
|
public var _11: Float;
|
|
public var _21: Float;
|
|
public var _31: Float;
|
|
public var _02: Float;
|
|
public var _12: Float;
|
|
public var _22: Float;
|
|
public var _32: Float;
|
|
public var _03: Float;
|
|
public var _13: Float;
|
|
public var _23: Float;
|
|
public var _33: Float;
|
|
|
|
public inline function new(_00: Float, _10: Float, _20: Float, _30: Float, _01: Float, _11: Float, _21: Float, _31: Float, _02: Float, _12: Float,
|
|
_22: Float, _32: Float, _03: Float, _13: Float, _23: Float, _33: Float) {
|
|
this._00 = _00;
|
|
this._10 = _10;
|
|
this._20 = _20;
|
|
this._30 = _30;
|
|
this._01 = _01;
|
|
this._11 = _11;
|
|
this._21 = _21;
|
|
this._31 = _31;
|
|
this._02 = _02;
|
|
this._12 = _12;
|
|
this._22 = _22;
|
|
this._32 = _32;
|
|
this._03 = _03;
|
|
this._13 = _13;
|
|
this._23 = _23;
|
|
this._33 = _33;
|
|
}
|
|
|
|
public static inline function fromFastMatrix4(m: FastMatrix4): Matrix4 {
|
|
return new Matrix4(m._00, m._10, m._20, m._30, m._01, m._11, m._21, m._31, m._02, m._12, m._22, m._32, m._03, m._13, m._23, m._33);
|
|
}
|
|
|
|
extern public inline function setFrom(m: Matrix4): Void {
|
|
this._00 = m._00;
|
|
this._10 = m._10;
|
|
this._20 = m._20;
|
|
this._30 = m._30;
|
|
this._01 = m._01;
|
|
this._11 = m._11;
|
|
this._21 = m._21;
|
|
this._31 = m._31;
|
|
this._02 = m._02;
|
|
this._12 = m._12;
|
|
this._22 = m._22;
|
|
this._32 = m._32;
|
|
this._03 = m._03;
|
|
this._13 = m._13;
|
|
this._23 = m._23;
|
|
this._33 = m._33;
|
|
}
|
|
|
|
extern public static inline function translation(x: Float, y: Float, z: Float): Matrix4 {
|
|
return new Matrix4(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function empty(): Matrix4 {
|
|
return new Matrix4(0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0);
|
|
}
|
|
|
|
extern public static inline function identity(): Matrix4 {
|
|
return new Matrix4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function scale(x: Float, y: Float, z: Float): Matrix4 {
|
|
return new Matrix4(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function rotationX(alpha: Float): Matrix4 {
|
|
var ca = Math.cos(alpha);
|
|
var sa = Math.sin(alpha);
|
|
return new Matrix4(1, 0, 0, 0, 0, ca, -sa, 0, 0, sa, ca, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function rotationY(alpha: Float): Matrix4 {
|
|
var ca = Math.cos(alpha);
|
|
var sa = Math.sin(alpha);
|
|
return new Matrix4(ca, 0, sa, 0, 0, 1, 0, 0, -sa, 0, ca, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function rotationZ(alpha: Float): Matrix4 {
|
|
var ca = Math.cos(alpha);
|
|
var sa = Math.sin(alpha);
|
|
return new Matrix4(ca, -sa, 0, 0, sa, ca, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public static inline function rotation(yaw: Float, pitch: Float, roll: Float): Matrix4 {
|
|
var sy = Math.sin(yaw);
|
|
var cy = Math.cos(yaw);
|
|
var sx = Math.sin(pitch);
|
|
var cx = Math.cos(pitch);
|
|
var sz = Math.sin(roll);
|
|
var cz = Math.cos(roll);
|
|
return new Matrix4(cx * cy, cx * sy * sz
|
|
- sx * cz, cx * sy * cz
|
|
+ sx * sz, 0, sx * cy, sx * sy * sz
|
|
+ cx * cz, sx * sy * cz
|
|
- cx * sz, 0,
|
|
-sy,
|
|
cy * sz, cy * cz, 0, 0, 0, 0, 1);
|
|
}
|
|
|
|
// Inlining this leads to weird error in C#, please investigate
|
|
public static function orthogonalProjection(left: Float, right: Float, bottom: Float, top: Float, zn: Float, zf: Float): Matrix4 {
|
|
var tx: Float = -(right + left) / (right - left);
|
|
var ty: Float = -(top + bottom) / (top - bottom);
|
|
var tz: Float = -(zf + zn) / (zf - zn);
|
|
return new Matrix4(2 / (right - left), 0, 0, tx, 0, 2 / (top - bottom), 0, ty, 0, 0, -2 / (zf - zn), tz, 0, 0, 0, 1);
|
|
}
|
|
|
|
public static function perspectiveProjection(fovY: Float, aspect: Float, zn: Float, zf: Float): Matrix4 {
|
|
var uh = 1.0 / Math.tan(fovY / 2);
|
|
var uw = uh / aspect;
|
|
return new Matrix4(uw, 0, 0, 0, 0, uh, 0, 0, 0, 0, (zf + zn) / (zn - zf), 2 * zf * zn / (zn - zf), 0, 0, -1, 0);
|
|
}
|
|
|
|
public static function lookAt(eye: Vector3, at: Vector3, up: Vector3): Matrix4 {
|
|
var zaxis = at.sub(eye).normalized();
|
|
var xaxis = zaxis.cross(up).normalized();
|
|
var yaxis = xaxis.cross(zaxis);
|
|
|
|
return new Matrix4(xaxis.x, xaxis.y, xaxis.z, -xaxis.dot(eye), yaxis.x, yaxis.y, yaxis.z, -yaxis.dot(eye), -zaxis.x, -zaxis.y, -zaxis.z,
|
|
zaxis.dot(eye), 0, 0, 0, 1);
|
|
}
|
|
|
|
extern public inline function add(m: Matrix4): Matrix4 {
|
|
return new Matrix4(_00
|
|
+ m._00, _10
|
|
+ m._10, _20
|
|
+ m._20, _30
|
|
+ m._30, _01
|
|
+ m._01, _11
|
|
+ m._11, _21
|
|
+ m._21, _31
|
|
+ m._31, _02
|
|
+ m._02, _12
|
|
+ m._12,
|
|
_22
|
|
+ m._22, _32
|
|
+ m._32, _03
|
|
+ m._03, _13
|
|
+ m._13, _23
|
|
+ m._23, _33
|
|
+ m._33);
|
|
}
|
|
|
|
extern public inline function sub(m: Matrix4): Matrix4 {
|
|
return new Matrix4(_00
|
|
- m._00, _10
|
|
- m._10, _20
|
|
- m._20, _30
|
|
- m._30, _01
|
|
- m._01, _11
|
|
- m._11, _21
|
|
- m._21, _31
|
|
- m._31, _02
|
|
- m._02, _12
|
|
- m._12,
|
|
_22
|
|
- m._22, _32
|
|
- m._32, _03
|
|
- m._03, _13
|
|
- m._13, _23
|
|
- m._23, _33
|
|
- m._33);
|
|
}
|
|
|
|
extern public inline function mult(value: Float): Matrix4 {
|
|
return new Matrix4(_00 * value, _10 * value, _20 * value, _30 * value, _01 * value, _11 * value, _21 * value, _31 * value, _02 * value, _12 * value,
|
|
_22 * value, _32 * value, _03 * value, _13 * value, _23 * value, _33 * value);
|
|
}
|
|
|
|
extern public inline function transpose(): Matrix4 {
|
|
return new Matrix4(_00, _01, _02, _03, _10, _11, _12, _13, _20, _21, _22, _23, _30, _31, _32, _33);
|
|
}
|
|
|
|
extern public inline function transpose3x3(): Matrix4 {
|
|
return new Matrix4(_00, _01, _02, _30, _10, _11, _12, _31, _20, _21, _22, _32, _03, _13, _23, _33);
|
|
}
|
|
|
|
extern public inline function trace(): Float {
|
|
return _00 + _11 + _22 + _33;
|
|
}
|
|
|
|
extern public inline function multmat(m: Matrix4): Matrix4 {
|
|
return new Matrix4(_00 * m._00
|
|
+ _10 * m._01
|
|
+ _20 * m._02
|
|
+ _30 * m._03, _00 * m._10
|
|
+ _10 * m._11
|
|
+ _20 * m._12
|
|
+ _30 * m._13,
|
|
_00 * m._20
|
|
+ _10 * m._21
|
|
+ _20 * m._22
|
|
+ _30 * m._23, _00 * m._30
|
|
+ _10 * m._31
|
|
+ _20 * m._32
|
|
+ _30 * m._33,
|
|
_01 * m._00
|
|
+ _11 * m._01
|
|
+ _21 * m._02
|
|
+ _31 * m._03, _01 * m._10
|
|
+ _11 * m._11
|
|
+ _21 * m._12
|
|
+ _31 * m._13,
|
|
_01 * m._20
|
|
+ _11 * m._21
|
|
+ _21 * m._22
|
|
+ _31 * m._23, _01 * m._30
|
|
+ _11 * m._31
|
|
+ _21 * m._32
|
|
+ _31 * m._33,
|
|
_02 * m._00
|
|
+ _12 * m._01
|
|
+ _22 * m._02
|
|
+ _32 * m._03, _02 * m._10
|
|
+ _12 * m._11
|
|
+ _22 * m._12
|
|
+ _32 * m._13,
|
|
_02 * m._20
|
|
+ _12 * m._21
|
|
+ _22 * m._22
|
|
+ _32 * m._23, _02 * m._30
|
|
+ _12 * m._31
|
|
+ _22 * m._32
|
|
+ _32 * m._33,
|
|
_03 * m._00
|
|
+ _13 * m._01
|
|
+ _23 * m._02
|
|
+ _33 * m._03, _03 * m._10
|
|
+ _13 * m._11
|
|
+ _23 * m._12
|
|
+ _33 * m._13,
|
|
_03 * m._20
|
|
+ _13 * m._21
|
|
+ _23 * m._22
|
|
+ _33 * m._23, _03 * m._30
|
|
+ _13 * m._31
|
|
+ _23 * m._32
|
|
+ _33 * m._33);
|
|
}
|
|
|
|
extern public inline function multvec(value: Vector4): Vector4 {
|
|
var product = new Vector4();
|
|
product.x = _00 * value.x + _10 * value.y + _20 * value.z + _30 * value.w;
|
|
product.y = _01 * value.x + _11 * value.y + _21 * value.z + _31 * value.w;
|
|
product.z = _02 * value.x + _12 * value.y + _22 * value.z + _32 * value.w;
|
|
product.w = _03 * value.x + _13 * value.y + _23 * value.z + _33 * value.w;
|
|
return product;
|
|
}
|
|
|
|
extern public inline function cofactor(m0: Float, m1: Float, m2: Float, m3: Float, m4: Float, m5: Float, m6: Float, m7: Float, m8: Float): Float {
|
|
return m0 * (m4 * m8 - m5 * m7) - m1 * (m3 * m8 - m5 * m6) + m2 * (m3 * m7 - m4 * m6);
|
|
}
|
|
|
|
extern public inline function determinant(): Float {
|
|
var c00 = cofactor(_11, _21, _31, _12, _22, _32, _13, _23, _33);
|
|
var c01 = cofactor(_10, _20, _30, _12, _22, _32, _13, _23, _33);
|
|
var c02 = cofactor(_10, _20, _30, _11, _21, _31, _13, _23, _33);
|
|
var c03 = cofactor(_10, _20, _30, _11, _21, _31, _12, _22, _32);
|
|
return _00 * c00 - _01 * c01 + _02 * c02 - _03 * c03;
|
|
}
|
|
|
|
extern public inline function inverse(): Matrix4 {
|
|
var c00 = cofactor(_11, _21, _31, _12, _22, _32, _13, _23, _33);
|
|
var c01 = cofactor(_10, _20, _30, _12, _22, _32, _13, _23, _33);
|
|
var c02 = cofactor(_10, _20, _30, _11, _21, _31, _13, _23, _33);
|
|
var c03 = cofactor(_10, _20, _30, _11, _21, _31, _12, _22, _32);
|
|
|
|
var det: Float = _00 * c00 - _01 * c01 + _02 * c02 - _03 * c03;
|
|
if (Math.abs(det) < 0.000001) {
|
|
throw "determinant is too small";
|
|
}
|
|
|
|
var c10 = cofactor(_01, _21, _31, _02, _22, _32, _03, _23, _33);
|
|
var c11 = cofactor(_00, _20, _30, _02, _22, _32, _03, _23, _33);
|
|
var c12 = cofactor(_00, _20, _30, _01, _21, _31, _03, _23, _33);
|
|
var c13 = cofactor(_00, _20, _30, _01, _21, _31, _02, _22, _32);
|
|
|
|
var c20 = cofactor(_01, _11, _31, _02, _12, _32, _03, _13, _33);
|
|
var c21 = cofactor(_00, _10, _30, _02, _12, _32, _03, _13, _33);
|
|
var c22 = cofactor(_00, _10, _30, _01, _11, _31, _03, _13, _33);
|
|
var c23 = cofactor(_00, _10, _30, _01, _11, _31, _02, _12, _32);
|
|
|
|
var c30 = cofactor(_01, _11, _21, _02, _12, _22, _03, _13, _23);
|
|
var c31 = cofactor(_00, _10, _20, _02, _12, _22, _03, _13, _23);
|
|
var c32 = cofactor(_00, _10, _20, _01, _11, _21, _03, _13, _23);
|
|
var c33 = cofactor(_00, _10, _20, _01, _11, _21, _02, _12, _22);
|
|
|
|
var invdet: Float = 1.0 / det;
|
|
return new Matrix4(c00 * invdet,
|
|
-c01 * invdet, c02 * invdet,
|
|
-c03 * invdet,
|
|
-c10 * invdet, c11 * invdet,
|
|
-c12 * invdet, c13 * invdet, c20 * invdet,
|
|
-c21 * invdet, c22 * invdet,
|
|
-c23 * invdet,
|
|
-c30 * invdet, c31 * invdet,
|
|
-c32 * invdet, c33 * invdet);
|
|
}
|
|
}
|