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Simplified MatrixMultiply() function

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This commit is contained in:
raysan5 2016-01-06 17:22:24 +01:00
parent 1ce010c7d4
commit 7f2e67e924
3 changed files with 114 additions and 82 deletions
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109
src/core.c
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@ -122,8 +122,8 @@ static int ident, events;
static bool windowReady = false; // Used to detect display initialization
static bool appEnabled = true; // Used to detec if app is active
static bool contextRebindRequired = false; // Used to know context rebind required
static int previousButtonState[512] = { 1 }; // Required to check if button pressed/released once
static int currentButtonState[512] = { 1 }; // Required to check if button pressed/released once
static int previousButtonState[128] = { 1 }; // Required to check if button pressed/released once
static int currentButtonState[128] = { 1 }; // Required to check if button pressed/released once
#elif defined(PLATFORM_RPI)
static EGL_DISPMANX_WINDOW_T nativeWindow; // Native window (graphic device)
@ -272,7 +272,7 @@ static EM_BOOL EmscriptenInputCallback(int eventType, const EmscriptenTouchEvent
// Initialize Window and Graphics Context (OpenGL)
void InitWindow(int width, int height, const char *title)
{
TraceLog(INFO, "Initializing raylib (v1.3.0)");
TraceLog(INFO, "Initializing raylib (v1.4.0)");
// Store window title (could be useful...)
windowTitle = title;
@ -324,7 +324,7 @@ void InitWindow(int width, int height, const char *title)
// Android activity initialization
void InitWindow(int width, int height, struct android_app *state)
{
TraceLog(INFO, "Initializing raylib (v1.3.0)");
TraceLog(INFO, "Initializing raylib (v1.4.0)");
app_dummy();
@ -368,7 +368,7 @@ void InitWindow(int width, int height, struct android_app *state)
TraceLog(INFO, "Android app initialized successfully");
// Init button states values (default up)
for(int i = 0; i < 512; i++)
for(int i = 0; i < 128; i++)
{
currentButtonState[i] = 1;
previousButtonState[i] = 1;
@ -587,8 +587,8 @@ void Begin3dMode(Camera camera)
rlLoadIdentity(); // Reset current matrix (MODELVIEW)
// Setup Camera view
Matrix view = MatrixLookAt(camera.position, camera.target, camera.up);
rlMultMatrixf(GetMatrixVector(view)); // Multiply MODELVIEW matrix by view matrix (camera)
Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
rlMultMatrixf(GetMatrixVector(matView)); // Multiply MODELVIEW matrix by view matrix (camera)
}
// Ends 3D mode and returns to default 2D orthographic mode
@ -778,42 +778,78 @@ int StorageLoadValue(int position)
return value;
}
// TODO: Gives the ray trace from mouse position
// Gives the ray trace from mouse position
// TODO: DOESN'T WORK! :(
//http://www.songho.ca/opengl/gl_transform.html
//http://www.songho.ca/opengl/gl_matrix.html
//http://www.sjbaker.org/steve/omniv/matrices_can_be_your_friends.html
//https://www.opengl.org/archives/resources/faq/technical/transformations.htm
Ray GetMouseRay(Vector2 mousePosition, Camera camera)
{
Ray ray;
Matrix matProj = MatrixIdentity();
Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
// Calculate projection matrix for the camera
// Calculate projection matrix
float aspect = (float)GetScreenWidth()/(float)GetScreenHeight();
double top = 0.1f*tanf(45.0f*PI/360.0f);
double right = top*aspect;
// NOTE: zNear and zFar values are important for depth
matProj = MatrixFrustum(-right, right, -top, top, 0.01f, 1000.0f);
MatrixTranspose(&matProj);
Matrix matProjection = MatrixFrustum(-right, right, -top, top, 0.01f, 1000.0f);
// Calculate view matrix (camera)
Matrix matView = MatrixLookAt(camera.position, camera.target, camera.up);
// Tutorial used: http://antongerdelan.net/opengl/raycasting.html
// Step 0: We got mouse coordinates in viewport-space [0:screenWidth, 0:screenHeight]
// NOTE: That that 0 is at the top of the screen here, so the y-axis direction is opposed to that in other coordinate systems
// Step 1: 3d Normalised Device Coordinates [-1:1, -1:1, -1:1]
// Transform mousePosition into 3d normalised device coordinates.
// We have an x and y already, so we scale their range, and reverse the direction of y.
float x = (2.0f*mousePosition.x)/(float)screenWidth - 1.0f;
float y = 1.0f - (2.0f*mousePosition.x)/(float)screenHeight;
float z = 1.0f;
Vector3 rayDevice = { x, y, z };
// Step 2: 4d Homogeneous Clip Coordinates [-1:1, -1:1, -1:1, -1:1]
// We want our ray's z to point forwards - this is usually the negative z direction in OpenGL style.
// We can add a w, just so that we have a 4d vector.
//vec4 ray_clip = vec4 (ray_nds.xy, -1.0, 1.0);
Quaternion rayClip = { rayDevice.x, rayDevice.y , -1.0f, 1.0f };
// Step 3: 4d Eye (Camera) Coordinates [-x:x, -y:y, -z:z, -w:w]
// To get into clip space from eye space we multiply the vector by a projection matrix.
// We can go backwards by multiplying by the inverse of this matrix.
//vec4 ray_eye = MatrixInverse(matProjection) * ray_clip;
Quaternion rayEye = rayClip;
MatrixInvert(&matProjection);
QuaternionTransform(&rayEye, matProjection);
// We only needed to un-project the x,y part, so let's manually set the z,w part to mean "forwards, and not a point".
//ray_eye = vec4(ray_eye.xy, -1.0, 0.0);
rayEye.z = -1.0f;
rayEye.w = 0.0f;
// Step 4: 4d World Coordinates [-x:x, -y:y, -z:z, -w:w]
// Go back another step in the transformation pipeline. Remember that we manually specified a -1 for the z component,
// which means that our ray isn't normalised. We should do this before we use it
//Vector3 rayWorld = (MatrixInverse(matView) * ray_eye).xyz;
MatrixInvert(&matView);
QuaternionTransform(&rayEye, matView);
Vector3 rayWorld = { rayEye.x, rayEye.y, rayEye.z };
// NOTE: Our screen origin is top-left instead of bottom-left: transform required!
float invertedMouseY = (float)GetScreenHeight() - mousePosition.y;
// NOTE: Do I really need to get z value from depth buffer?
//float z;
//glReadPixels(mousePosition.x, mousePosition.y, 1, 1, GL_DEPTH_COMPONENT, GL_FLOAT, &z);
//http://www.bfilipek.com/2012/06/select-mouse-opengl.html
Vector3 nearPoint = { mousePosition.x, invertedMouseY, 0.0f };
Vector3 farPoint = { mousePosition.x, invertedMouseY, 1.0f };
nearPoint = rlglUnproject(nearPoint, matProj, matView);
farPoint = rlglUnproject(farPoint, matProj, matView); // TODO: it seems it doesn't work...
Vector3 direction = VectorSubtract(farPoint, nearPoint);
VectorNormalize(&direction);
ray.position = nearPoint;
ray.direction = direction;
VectorNormalize(&rayWorld);
// Assuming our camera is looking directly along the -Z world axis,
// we should get [0,0,-1] when the mouse is in the centre of the screen,
// and less significant z values when the mouse moves around the screen.
ray.position = camera.position;
ray.direction = rayWorld;
TraceLog(INFO, "ray.position -> (%f, %f, %f)", ray.position.x, ray.position.y, ray.position.z);
TraceLog(INFO, "ray.direction -> (%f, %f, %f)", ray.direction.x, ray.direction.y, ray.direction.z);
return ray;
}
@ -1688,7 +1724,7 @@ static int32_t AndroidInputCallback(struct android_app *app, AInputEvent *event)
//int32_t AKeyEvent_getMetaState(event);
// Save current button and its state
currentButtonState[keycode] = AKeyEvent_getAction (event); // Down = 0, Up = 1
currentButtonState[keycode] = AKeyEvent_getAction(event); // Down = 0, Up = 1
if (keycode == AKEYCODE_POWER)
{
@ -1826,7 +1862,6 @@ static void PollInputEvents(void)
// TODO: Remove this requirement...
UpdateGestures();
#endif
#if defined(PLATFORM_DESKTOP) || defined(PLATFORM_WEB)
@ -1856,7 +1891,7 @@ static void PollInputEvents(void)
#elif defined(PLATFORM_ANDROID)
// Register previous keys states
for (int i = 0; i < 512; i++) previousButtonState[i] = currentButtonState[i];
for (int i = 0; i < 128; i++) previousButtonState[i] = currentButtonState[i];
// Poll Events (registered events)
// NOTE: Activity is paused if not enabled (appEnabled)

45
src/raymath.c
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@ -226,6 +226,8 @@ Vector3 VectorZero(void)
//----------------------------------------------------------------------------------
// Returns an OpenGL-ready vector (glMultMatrixf)
// NOTE: Returned vector is row-major instead column-major as expected,
// it means, returned vector is a transposed version of the matrix!
float *GetMatrixVector(Matrix mat)
{
static float vector[16];
@ -598,33 +600,22 @@ Matrix MatrixMultiply(Matrix left, Matrix right)
{
Matrix result;
// Cache the matrix values (speed optimization)
float a00 = left.m0, a01 = left.m1, a02 = left.m2, a03 = left.m3;
float a10 = left.m4, a11 = left.m5, a12 = left.m6, a13 = left.m7;
float a20 = left.m8, a21 = left.m9, a22 = left.m10, a23 = left.m11;
float a30 = left.m12, a31 = left.m13, a32 = left.m14, a33 = left.m15;
float b00 = right.m0, b01 = right.m1, b02 = right.m2, b03 = right.m3;
float b10 = right.m4, b11 = right.m5, b12 = right.m6, b13 = right.m7;
float b20 = right.m8, b21 = right.m9, b22 = right.m10, b23 = right.m11;
float b30 = right.m12, b31 = right.m13, b32 = right.m14, b33 = right.m15;
result.m0 = b00*a00 + b01*a10 + b02*a20 + b03*a30;
result.m1 = b00*a01 + b01*a11 + b02*a21 + b03*a31;
result.m2 = b00*a02 + b01*a12 + b02*a22 + b03*a32;
result.m3 = b00*a03 + b01*a13 + b02*a23 + b03*a33;
result.m4 = b10*a00 + b11*a10 + b12*a20 + b13*a30;
result.m5 = b10*a01 + b11*a11 + b12*a21 + b13*a31;
result.m6 = b10*a02 + b11*a12 + b12*a22 + b13*a32;
result.m7 = b10*a03 + b11*a13 + b12*a23 + b13*a33;
result.m8 = b20*a00 + b21*a10 + b22*a20 + b23*a30;
result.m9 = b20*a01 + b21*a11 + b22*a21 + b23*a31;
result.m10 = b20*a02 + b21*a12 + b22*a22 + b23*a32;
result.m11 = b20*a03 + b21*a13 + b22*a23 + b23*a33;
result.m12 = b30*a00 + b31*a10 + b32*a20 + b33*a30;
result.m13 = b30*a01 + b31*a11 + b32*a21 + b33*a31;
result.m14 = b30*a02 + b31*a12 + b32*a22 + b33*a32;
result.m15 = b30*a03 + b31*a13 + b32*a23 + b33*a33;
result.m0 = right.m0*left.m0 + right.m1*left.m4 + right.m2*left.m8 + right.m3*left.m12;
result.m1 = right.m0*left.m1 + right.m1*left.m5 + right.m2*left.m9 + right.m3*left.m13;
result.m2 = right.m0*left.m2 + right.m1*left.m6 + right.m2*left.m10 + right.m3*left.m14;
result.m3 = right.m0*left.m3 + right.m1*left.m7 + right.m2*left.m11 + right.m3*left.m15;
result.m4 = right.m4*left.m0 + right.m5*left.m4 + right.m6*left.m8 + right.m7*left.m12;
result.m5 = right.m4*left.m1 + right.m5*left.m5 + right.m6*left.m9 + right.m7*left.m13;
result.m6 = right.m4*left.m2 + right.m5*left.m6 + right.m6*left.m10 + right.m7*left.m14;
result.m7 = right.m4*left.m3 + right.m5*left.m7 + right.m6*left.m11 + right.m7*left.m15;
result.m8 = right.m8*left.m0 + right.m9*left.m4 + right.m10*left.m8 + right.m11*left.m12;
result.m9 = right.m8*left.m1 + right.m9*left.m5 + right.m10*left.m9 + right.m11*left.m13;
result.m10 = right.m8*left.m2 + right.m9*left.m6 + right.m10*left.m10 + right.m11*left.m14;
result.m11 = right.m8*left.m3 + right.m9*left.m7 + right.m10*left.m11 + right.m11*left.m15;
result.m12 = right.m12*left.m0 + right.m13*left.m4 + right.m14*left.m8 + right.m15*left.m12;
result.m13 = right.m12*left.m1 + right.m13*left.m5 + right.m14*left.m9 + right.m15*left.m13;
result.m14 = right.m12*left.m2 + right.m13*left.m6 + right.m14*left.m10 + right.m15*left.m14;
result.m15 = right.m12*left.m3 + right.m13*left.m7 + right.m14*left.m11 + right.m15*left.m15;
return result;
}

42
src/rlgl.c
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@ -1500,28 +1500,34 @@ void rlglDrawModel(Model model, Vector3 position, float rotationAngle, Vector3 r
#if defined(GRAPHICS_API_OPENGL_33) || defined(GRAPHICS_API_OPENGL_ES2)
glUseProgram(model.shader.id);
// Apply transformation provided in model.transform matrix
// TODO: review if at this point the modelview matrix just contains view matrix values
Matrix viewworld = modelview; // Store view matrix before applying model transformations
Matrix modelviewworld = MatrixMultiply(model.transform, modelview); // World-space transformation
// Apply transformations provided in function
// At this point the modelview matrix just contains the view matrix (camera)
// That's because Begin3dMode() sets it an no model-drawing function modifies it, all use rlPushMatrix() and rlPopMatrix()
Matrix matView = modelview; // View matrix (camera)
Matrix matProjection = projection; // Projection matrix (perspective)
// Calculate transformation matrix from function parameters
// Get transform matrix (rotation -> scale -> translation)
Matrix rotation = MatrixRotate(rotationAngle*DEG2RAD, rotationAxis);
Matrix matRotation = MatrixRotate(rotationAngle*DEG2RAD, rotationAxis);
Matrix matScale = MatrixScale(scale.x, scale.y, scale.z);
Matrix translation = MatrixTranslate(position.x, position.y, position.z);
Matrix matTranslation = MatrixTranslate(position.x, position.y, position.z);
Matrix matTransform = MatrixMultiply(MatrixMultiply(matRotation, matScale), matTranslation);
// Combine model internal transformation matrix (model.transform) with matrix generated by function parameters (matTransform)
Matrix matModel = MatrixMultiply(model.transform, matTransform); // Transform to world-space coordinates
// Calculate model-view matrix combining matModel and matView
Matrix matModelView = MatrixMultiply(matModel, matView); // Transform to camera-space coordinates
Matrix transform = MatrixMultiply(MatrixMultiply(rotation, matScale), translation); // Object-space transformation matrix
modelviewworld = MatrixMultiply(transform, modelview); // World-space transformation
// Calculate model-view-projection matrix (MVP)
//Matrix matMVP = MatrixMultiply(matModelView, matProjection); // Transform to screen-space coordinates
// Projection: Screen-space transformation
// NOTE: Drawing in OpenGL 3.3+, transform is passed to shader
glUniformMatrix4fv(model.shader.projectionLoc, 1, false, GetMatrixVector(projection));
glUniformMatrix4fv(model.shader.modelLoc, 1, false, GetMatrixVector(transform));
glUniformMatrix4fv(model.shader.viewLoc, 1, false, GetMatrixVector(viewworld));
glUniformMatrix4fv(model.shader.modelviewLoc, 1, false, GetMatrixVector(modelviewworld));
// NOTE: Drawing in OpenGL 3.3+, matrices are passed to shader
// TODO: Reduce number of matrices passed to shaders, use only matMVP
glUniformMatrix4fv(model.shader.modelLoc, 1, false, GetMatrixVector(matModel));
glUniformMatrix4fv(model.shader.viewLoc, 1, false, GetMatrixVector(matView));
glUniformMatrix4fv(model.shader.projectionLoc, 1, false, GetMatrixVector(matProjection));
glUniformMatrix4fv(model.shader.modelviewLoc, 1, false, GetMatrixVector(matModelView));
// Apply color tinting to model
// NOTE: Just update one uniform on fragment shader