temporarily revert mat4.lua due to bugs
This commit is contained in:
Colby Klein
parent
9776dbbf39
commit
3a18ed0f8c
330
modules/mat4.lua
330
modules/mat4.lua
@ -1,20 +1,18 @@
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--- double 4x4, 1-based, column major matrices
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-- @module mat4
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local modules = (...): gsub('%.[^%.]+$', '') .. "."
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local constants = require(modules .. "constants")
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local vec2 = require(modules .. "vec2")
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local vec3 = require(modules .. "vec3")
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local quat = require(modules .. "quat")
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local utils = require(modules .. "utils")
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local DBL_EPSILON = constants.DBL_EPSILON
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local sqrt = math.sqrt
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local cos = math.cos
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local sin = math.sin
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local tan = math.tan
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local rad = math.rad
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local mat4 = {}
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local mat4_mt = {}
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local modules = (...):gsub('%.[^%.]+$', '') .. "."
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local constants = require(modules .. "constants")
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local vec2 = require(modules .. "vec2")
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local vec3 = require(modules .. "vec3")
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local quat = require(modules .. "quat")
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local utils = require(modules .. "utils")
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local sqrt = math.sqrt
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local cos = math.cos
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local sin = math.sin
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local tan = math.tan
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local rad = math.rad
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local mat4 = {}
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local mat4_mt = {}
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-- Private constructor.
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local function new(m)
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@ -37,17 +35,20 @@ local function identity(m)
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end
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-- Do the check to see if JIT is enabled. If so use the optimized FFI structs.
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local status, ffi
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local status, ffi, the_type
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if type(jit) == "table" and jit.status() then
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status, ffi = pcall(require, "ffi")
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if status then
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ffi.cdef "typedef struct { double _m[16]; } cpml_mat4;"
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new = ffi.typeof("cpml_mat4")
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end
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-- status, ffi = pcall(require, "ffi")
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if status then
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ffi.cdef "typedef struct { double _m[16]; } cpml_mat4;"
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new = ffi.typeof("cpml_mat4")
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end
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end
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-- Statically allocate a temporary variable used in some of our functions.
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local tmp = new()
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local tm4 = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }
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local tv4 = { 0, 0, 0, 0 }
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local forward, side, new_up = vec3(), vec3(), vec3()
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--- The public constructor.
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-- @param a Can be of four types: </br>
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@ -134,9 +135,9 @@ end
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-- @tparam vec3 up Up direction
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-- @treturn mat4 out
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function mat4.from_direction(direction, up)
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local forward = direction:normalize()
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local side = forward:cross(up):normalize()
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local new_up = side:cross(forward):normalize()
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local forward = vec3.normalize(direction)
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local side = vec3.cross(forward, up):normalize()
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local new_up = vec3.cross(side, forward):normalize()
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local out = new()
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out[1] = side.x
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@ -153,6 +154,31 @@ function mat4.from_direction(direction, up)
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return out
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end
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--- Create a matrix from a transform.
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-- @tparam vec3 trans Translation vector
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-- @tparam quat rot Rotation quaternion
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-- @tparam vec3 scale Scale vector
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-- @treturn mat4 out
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function mat4.from_transform(trans, rot, scale)
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local angle, axis = rot:to_angle_axis()
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local l = axis:len()
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if l == 0 then
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return new()
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end
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local x, y, z = axis.x / l, axis.y / l, axis.z / l
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local c = cos(angle)
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local s = sin(angle)
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return new {
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x*x*(1-c)+c, y*x*(1-c)+z*s, x*z*(1-c)-y*s, 0,
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x*y*(1-c)-z*s, y*y*(1-c)+c, y*z*(1-c)+x*s, 0,
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x*z*(1-c)+y*s, y*z*(1-c)-x*s, z*z*(1-c)+c, 0,
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trans.x, trans.y, trans.z, 1
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}
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end
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--- Create matrix from orthogonal.
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-- @tparam number left
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-- @tparam number right
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@ -209,11 +235,11 @@ function mat4.from_hmd_perspective(tanHalfFov, zNear, zFar, flipZ, farAtInfinity
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local rightHanded = true
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local isOpenGL = true
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local function CreateNDCScaleAndOffsetFromFov()
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local x_scale = 2 / (tanHalfFov.LeftTan + tanHalfFov.RightTan)
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local x_offset = (tanHalfFov.LeftTan - tanHalfFov.RightTan) * x_scale * 0.5
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local y_scale = 2 / (tanHalfFov.UpTan + tanHalfFov.DownTan )
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local y_offset = (tanHalfFov.UpTan - tanHalfFov.DownTan ) * y_scale * 0.5
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local function CreateNDCScaleAndOffsetFromFov(tanHalfFov)
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x_scale = 2 / (tanHalfFov.LeftTan + tanHalfFov.RightTan)
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x_offset = (tanHalfFov.LeftTan - tanHalfFov.RightTan) * x_scale * 0.5
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y_scale = 2 / (tanHalfFov.UpTan + tanHalfFov.DownTan )
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y_offset = (tanHalfFov.UpTan - tanHalfFov.DownTan ) * y_scale * 0.5
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local result = {
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Scale = vec2(x_scale, y_scale),
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@ -286,34 +312,6 @@ function mat4.from_hmd_perspective(tanHalfFov, zNear, zFar, flipZ, farAtInfinity
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return projection:transpose(projection)
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end
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--- Transform matrix to look at a point.
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-- @tparam vec3 eye Location of viewer's view plane
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-- @tparam vec3 center Location of object to view
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-- @tparam vec3 up Up direction
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-- @treturn mat4 out
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function mat4.look_at(eye, center, up)
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local out = new()
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local forward = (center - eye):normalize()
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local side = forward:cross(up):normalize()
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local new_up = side:cross(forward)
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out[1] = side.x
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out[5] = side.y
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out[9] = side.z
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out[2] = new_up.x
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out[6] = new_up.y
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out[10] = new_up.z
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out[3] = -forward.x
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out[7] = -forward.y
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out[11] = -forward.z
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out[13] = -side:dot(eye)
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out[14] = -new_up:dot(eye)
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out[15] = forward:dot(eye)
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out[16] = 1
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return out
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end
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--- Clone a matrix.
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-- @tparam mat4 a Matrix to clone
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-- @treturn mat4 out
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@ -322,65 +320,78 @@ function mat4.clone(a)
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end
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--- Multiply two matrices.
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-- @tparam mat4 out Matrix to store the result
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-- @tparam mat4 a Left hand operant
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-- @tparam mat4 b Right hand operant
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-- @treturn mat4 out
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function mat4.mul(a, b)
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local out = new()
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out[1] = a[1] * b[1] + a[2] * b[5] + a[3] * b[9] + a[4] * b[13]
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out[2] = a[1] * b[2] + a[2] * b[6] + a[3] * b[10] + a[4] * b[14]
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out[3] = a[1] * b[3] + a[2] * b[7] + a[3] * b[11] + a[4] * b[15]
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out[4] = a[1] * b[4] + a[2] * b[8] + a[3] * b[12] + a[4] * b[16]
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out[5] = a[5] * b[1] + a[6] * b[5] + a[7] * b[9] + a[8] * b[13]
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out[6] = a[5] * b[2] + a[6] * b[6] + a[7] * b[10] + a[8] * b[14]
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out[7] = a[5] * b[3] + a[6] * b[7] + a[7] * b[11] + a[8] * b[15]
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out[8] = a[5] * b[4] + a[6] * b[8] + a[7] * b[12] + a[8] * b[16]
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out[9] = a[9] * b[1] + a[10] * b[5] + a[11] * b[9] + a[12] * b[13]
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out[10] = a[9] * b[2] + a[10] * b[6] + a[11] * b[10] + a[12] * b[14]
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out[11] = a[9] * b[3] + a[10] * b[7] + a[11] * b[11] + a[12] * b[15]
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out[12] = a[9] * b[4] + a[10] * b[8] + a[11] * b[12] + a[12] * b[16]
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out[13] = a[13] * b[1] + a[14] * b[5] + a[15] * b[9] + a[16] * b[13]
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out[14] = a[13] * b[2] + a[14] * b[6] + a[15] * b[10] + a[16] * b[14]
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out[15] = a[13] * b[3] + a[14] * b[7] + a[15] * b[11] + a[16] * b[15]
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out[16] = a[13] * b[4] + a[14] * b[8] + a[15] * b[12] + a[16] * b[16]
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function mat4.mul(out, a, b)
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tm4[1] = a[1] * b[1] + a[2] * b[5] + a[3] * b[9] + a[4] * b[13]
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tm4[2] = a[1] * b[2] + a[2] * b[6] + a[3] * b[10] + a[4] * b[14]
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tm4[3] = a[1] * b[3] + a[2] * b[7] + a[3] * b[11] + a[4] * b[15]
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tm4[4] = a[1] * b[4] + a[2] * b[8] + a[3] * b[12] + a[4] * b[16]
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tm4[5] = a[5] * b[1] + a[6] * b[5] + a[7] * b[9] + a[8] * b[13]
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tm4[6] = a[5] * b[2] + a[6] * b[6] + a[7] * b[10] + a[8] * b[14]
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tm4[7] = a[5] * b[3] + a[6] * b[7] + a[7] * b[11] + a[8] * b[15]
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tm4[8] = a[5] * b[4] + a[6] * b[8] + a[7] * b[12] + a[8] * b[16]
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tm4[9] = a[9] * b[1] + a[10] * b[5] + a[11] * b[9] + a[12] * b[13]
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tm4[10] = a[9] * b[2] + a[10] * b[6] + a[11] * b[10] + a[12] * b[14]
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tm4[11] = a[9] * b[3] + a[10] * b[7] + a[11] * b[11] + a[12] * b[15]
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tm4[12] = a[9] * b[4] + a[10] * b[8] + a[11] * b[12] + a[12] * b[16]
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tm4[13] = a[13] * b[1] + a[14] * b[5] + a[15] * b[9] + a[16] * b[13]
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tm4[14] = a[13] * b[2] + a[14] * b[6] + a[15] * b[10] + a[16] * b[14]
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tm4[15] = a[13] * b[3] + a[14] * b[7] + a[15] * b[11] + a[16] * b[15]
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tm4[16] = a[13] * b[4] + a[14] * b[8] + a[15] * b[12] + a[16] * b[16]
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for i=1, 16 do
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out[i] = tm4[i]
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end
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return out
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end
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--- Multiply a matrix and a vec4.
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-- @tparam mat4 out Matrix to store the result
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-- @tparam mat4 a Left hand operant
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-- @tparam table b Right hand operant
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-- @treturn table out
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function mat4.mul_vec4(a, b)
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return {
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b[1] * a[1] + b[2] * a[5] + b [3] * a[9] + b[4] * a[13],
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b[1] * a[2] + b[2] * a[6] + b [3] * a[10] + b[4] * a[14],
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b[1] * a[3] + b[2] * a[7] + b [3] * a[11] + b[4] * a[15],
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b[1] * a[4] + b[2] * a[8] + b [3] * a[12] + b[4] * a[16]
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}
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-- @treturn mat4 out
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function mat4.mul_vec4(out, a, b)
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tv4[1] = b[1] * a[1] + b[2] * a[5] + b [3] * a[9] + b[4] * a[13]
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tv4[2] = b[1] * a[2] + b[2] * a[6] + b [3] * a[10] + b[4] * a[14]
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tv4[3] = b[1] * a[3] + b[2] * a[7] + b [3] * a[11] + b[4] * a[15]
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tv4[4] = b[1] * a[4] + b[2] * a[8] + b [3] * a[12] + b[4] * a[16]
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for i=1, 4 do
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out[i] = tv4[i]
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end
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return out
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end
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--- Invert a matrix.
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-- @tparam mat4 out Matrix to store the result
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-- @tparam mat4 a Matrix to invert
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-- @treturn mat4 out
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function mat4.invert(a)
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local out = new()
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out[1] = a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
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out[2] = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
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out[3] = a[2] * a[7] * a[16] - a[2] * a[8] * a[15] - a[6] * a[3] * a[16] + a[6] * a[4] * a[15] + a[14] * a[3] * a[8] - a[14] * a[4] * a[7]
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out[4] = -a[2] * a[7] * a[12] + a[2] * a[8] * a[11] + a[6] * a[3] * a[12] - a[6] * a[4] * a[11] - a[10] * a[3] * a[8] + a[10] * a[4] * a[7]
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out[5] = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9] * a[7] * a[16] - a[9] * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
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out[6] = a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9] * a[3] * a[16] + a[9] * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
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out[7] = -a[1] * a[7] * a[16] + a[1] * a[8] * a[15] + a[5] * a[3] * a[16] - a[5] * a[4] * a[15] - a[13] * a[3] * a[8] + a[13] * a[4] * a[7]
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out[8] = a[1] * a[7] * a[12] - a[1] * a[8] * a[11] - a[5] * a[3] * a[12] + a[5] * a[4] * a[11] + a[9] * a[3] * a[8] - a[9] * a[4] * a[7]
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out[9] = a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9] * a[6] * a[16] + a[9] * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
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out[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9] * a[2] * a[16] - a[9] * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
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out[11] = a[1] * a[6] * a[16] - a[1] * a[8] * a[14] - a[5] * a[2] * a[16] + a[5] * a[4] * a[14] + a[13] * a[2] * a[8] - a[13] * a[4] * a[6]
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out[12] = -a[1] * a[6] * a[12] + a[1] * a[8] * a[10] + a[5] * a[2] * a[12] - a[5] * a[4] * a[10] - a[9] * a[2] * a[8] + a[9] * a[4] * a[6]
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out[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9] * a[6] * a[15] - a[9] * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
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out[14] = a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9] * a[2] * a[15] + a[9] * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
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out[15] = -a[1] * a[6] * a[15] + a[1] * a[7] * a[14] + a[5] * a[2] * a[15] - a[5] * a[3] * a[14] - a[13] * a[2] * a[7] + a[13] * a[3] * a[6]
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out[16] = a[1] * a[6] * a[11] - a[1] * a[7] * a[10] - a[5] * a[2] * a[11] + a[5] * a[3] * a[10] + a[9] * a[2] * a[7] - a[9] * a[3] * a[6]
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function mat4.invert(out, a)
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tm4[1] = a[6] * a[11] * a[16] - a[6] * a[12] * a[15] - a[10] * a[7] * a[16] + a[10] * a[8] * a[15] + a[14] * a[7] * a[12] - a[14] * a[8] * a[11]
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tm4[2] = -a[2] * a[11] * a[16] + a[2] * a[12] * a[15] + a[10] * a[3] * a[16] - a[10] * a[4] * a[15] - a[14] * a[3] * a[12] + a[14] * a[4] * a[11]
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tm4[3] = a[2] * a[7] * a[16] - a[2] * a[8] * a[15] - a[6] * a[3] * a[16] + a[6] * a[4] * a[15] + a[14] * a[3] * a[8] - a[14] * a[4] * a[7]
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tm4[4] = -a[2] * a[7] * a[12] + a[2] * a[8] * a[11] + a[6] * a[3] * a[12] - a[6] * a[4] * a[11] - a[10] * a[3] * a[8] + a[10] * a[4] * a[7]
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tm4[5] = -a[5] * a[11] * a[16] + a[5] * a[12] * a[15] + a[9] * a[7] * a[16] - a[9] * a[8] * a[15] - a[13] * a[7] * a[12] + a[13] * a[8] * a[11]
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tm4[6] = a[1] * a[11] * a[16] - a[1] * a[12] * a[15] - a[9] * a[3] * a[16] + a[9] * a[4] * a[15] + a[13] * a[3] * a[12] - a[13] * a[4] * a[11]
|
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tm4[7] = -a[1] * a[7] * a[16] + a[1] * a[8] * a[15] + a[5] * a[3] * a[16] - a[5] * a[4] * a[15] - a[13] * a[3] * a[8] + a[13] * a[4] * a[7]
|
||||
tm4[8] = a[1] * a[7] * a[12] - a[1] * a[8] * a[11] - a[5] * a[3] * a[12] + a[5] * a[4] * a[11] + a[9] * a[3] * a[8] - a[9] * a[4] * a[7]
|
||||
tm4[9] = a[5] * a[10] * a[16] - a[5] * a[12] * a[14] - a[9] * a[6] * a[16] + a[9] * a[8] * a[14] + a[13] * a[6] * a[12] - a[13] * a[8] * a[10]
|
||||
tm4[10] = -a[1] * a[10] * a[16] + a[1] * a[12] * a[14] + a[9] * a[2] * a[16] - a[9] * a[4] * a[14] - a[13] * a[2] * a[12] + a[13] * a[4] * a[10]
|
||||
tm4[11] = a[1] * a[6] * a[16] - a[1] * a[8] * a[14] - a[5] * a[2] * a[16] + a[5] * a[4] * a[14] + a[13] * a[2] * a[8] - a[13] * a[4] * a[6]
|
||||
tm4[12] = -a[1] * a[6] * a[12] + a[1] * a[8] * a[10] + a[5] * a[2] * a[12] - a[5] * a[4] * a[10] - a[9] * a[2] * a[8] + a[9] * a[4] * a[6]
|
||||
tm4[13] = -a[5] * a[10] * a[15] + a[5] * a[11] * a[14] + a[9] * a[6] * a[15] - a[9] * a[7] * a[14] - a[13] * a[6] * a[11] + a[13] * a[7] * a[10]
|
||||
tm4[14] = a[1] * a[10] * a[15] - a[1] * a[11] * a[14] - a[9] * a[2] * a[15] + a[9] * a[3] * a[14] + a[13] * a[2] * a[11] - a[13] * a[3] * a[10]
|
||||
tm4[15] = -a[1] * a[6] * a[15] + a[1] * a[7] * a[14] + a[5] * a[2] * a[15] - a[5] * a[3] * a[14] - a[13] * a[2] * a[7] + a[13] * a[3] * a[6]
|
||||
tm4[16] = a[1] * a[6] * a[11] - a[1] * a[7] * a[10] - a[5] * a[2] * a[11] + a[5] * a[3] * a[10] + a[9] * a[2] * a[7] - a[9] * a[3] * a[6]
|
||||
|
||||
for i=1, 16 do
|
||||
out[i] = tm4[i]
|
||||
end
|
||||
|
||||
local det = a[1] * out[1] + a[2] * out[5] + a[3] * out[9] + a[4] * out[13]
|
||||
|
||||
@ -396,24 +407,26 @@ function mat4.invert(a)
|
||||
end
|
||||
|
||||
--- Scale a matrix.
|
||||
-- @tparam mat4 out Matrix to store the result
|
||||
-- @tparam mat4 a Matrix to scale
|
||||
-- @tparam vec3 s Scalar
|
||||
-- @treturn mat4 out
|
||||
function mat4.scale(a, s)
|
||||
function mat4.scale(out, a, s)
|
||||
identity(tmp)
|
||||
tmp[1] = s.x
|
||||
tmp[6] = s.y
|
||||
tmp[11] = s.z
|
||||
|
||||
return tmp:mul(a)
|
||||
return out:mul(tmp, a)
|
||||
end
|
||||
|
||||
--- Rotate a matrix.
|
||||
-- @tparam mat4 out Matrix to store the result
|
||||
-- @tparam mat4 a Matrix to rotate
|
||||
-- @tparam number angle Angle to rotate by (in radians)
|
||||
-- @tparam vec3 axis Axis to rotate on
|
||||
-- @treturn mat4 out
|
||||
function mat4.rotate(a, angle, axis)
|
||||
function mat4.rotate(out, a, angle, axis)
|
||||
if type(angle) == "table" or type(angle) == "cdata" then
|
||||
angle, axis = angle:to_angle_axis()
|
||||
end
|
||||
@ -439,23 +452,25 @@ function mat4.rotate(a, angle, axis)
|
||||
tmp[10] = y * z * (1 - c) - x * s
|
||||
tmp[11] = z * z * (1 - c) + c
|
||||
|
||||
return tmp:mul(a)
|
||||
return out:mul(tmp, a)
|
||||
end
|
||||
|
||||
--- Translate a matrix.
|
||||
-- @tparam mat4 out Matrix to store the result
|
||||
-- @tparam mat4 a Matrix to translate
|
||||
-- @tparam vec3 t Translation vector
|
||||
-- @treturn mat4 out
|
||||
function mat4.translate(a, t)
|
||||
function mat4.translate(out, a, t)
|
||||
identity(tmp)
|
||||
tmp[13] = t.x
|
||||
tmp[14] = t.y
|
||||
tmp[15] = t.z
|
||||
|
||||
return tmp:mul(a)
|
||||
return out:mul(tmp, a)
|
||||
end
|
||||
|
||||
--- Shear a matrix.
|
||||
-- @tparam mat4 out Matrix to store the result
|
||||
-- @tparam mat4 a Matrix to translate
|
||||
-- @tparam number yx
|
||||
-- @tparam number zx
|
||||
@ -464,7 +479,7 @@ end
|
||||
-- @tparam number xz
|
||||
-- @tparam number yz
|
||||
-- @treturn mat4 out
|
||||
function mat4.shear(a, yx, zx, xy, zy, xz, yz)
|
||||
function mat4.shear(out, a, yx, zx, xy, zy, xz, yz)
|
||||
identity(tmp)
|
||||
tmp[2] = yx or 0
|
||||
tmp[3] = zx or 0
|
||||
@ -473,30 +488,69 @@ function mat4.shear(a, yx, zx, xy, zy, xz, yz)
|
||||
tmp[9] = xz or 0
|
||||
tmp[10] = yz or 0
|
||||
|
||||
return tmp:mul(a)
|
||||
return out:mul(tmp, a)
|
||||
end
|
||||
|
||||
--- Transform matrix to look at a point.
|
||||
-- @tparam mat4 out Matrix to store result
|
||||
-- @tparam mat4 a Matrix to transform
|
||||
-- @tparam vec3 eye Location of viewer's view plane
|
||||
-- @tparam vec3 center Location of object to view
|
||||
-- @tparam vec3 up Up direction
|
||||
-- @treturn mat4 out
|
||||
function mat4.look_at(out, a, eye, center, up)
|
||||
forward = vec3.normalize(center - eye)
|
||||
side = vec3.cross(forward, up):normalize(side)
|
||||
new_up = vec3.cross(side, forward)
|
||||
|
||||
identity(tmp)
|
||||
tmp[1] = side.x
|
||||
tmp[5] = side.y
|
||||
tmp[9] = side.z
|
||||
tmp[2] = new_up.x
|
||||
tmp[6] = new_up.y
|
||||
tmp[10] = new_up.z
|
||||
tmp[3] = -forward.x
|
||||
tmp[7] = -forward.y
|
||||
tmp[11] = -forward.z
|
||||
tmp[13] = -side:dot(eye)
|
||||
tmp[14] = -new_up:dot(eye)
|
||||
tmp[15] = forward:dot(eye)
|
||||
tmp[16] = 1
|
||||
|
||||
for i = 1, 16 do
|
||||
out[i] = tmp[i]
|
||||
end
|
||||
|
||||
return out
|
||||
end
|
||||
|
||||
--- Transpose a matrix.
|
||||
-- @tparam mat4 out Matrix to store the result
|
||||
-- @tparam mat4 a Matrix to transpose
|
||||
-- @treturn mat4 out
|
||||
function mat4.transpose(a)
|
||||
local out = new()
|
||||
out[1] = a[1]
|
||||
out[2] = a[5]
|
||||
out[3] = a[9]
|
||||
out[4] = a[13]
|
||||
out[5] = a[2]
|
||||
out[6] = a[6]
|
||||
out[7] = a[10]
|
||||
out[8] = a[14]
|
||||
out[9] = a[3]
|
||||
out[10] = a[7]
|
||||
out[11] = a[11]
|
||||
out[12] = a[15]
|
||||
out[13] = a[4]
|
||||
out[14] = a[8]
|
||||
out[15] = a[12]
|
||||
out[16] = a[16]
|
||||
function mat4.transpose(out, a)
|
||||
tm4[1] = a[1]
|
||||
tm4[2] = a[5]
|
||||
tm4[3] = a[9]
|
||||
tm4[4] = a[13]
|
||||
tm4[5] = a[2]
|
||||
tm4[6] = a[6]
|
||||
tm4[7] = a[10]
|
||||
tm4[8] = a[14]
|
||||
tm4[9] = a[3]
|
||||
tm4[10] = a[7]
|
||||
tm4[11] = a[11]
|
||||
tm4[12] = a[15]
|
||||
tm4[13] = a[4]
|
||||
tm4[14] = a[8]
|
||||
tm4[15] = a[12]
|
||||
tm4[16] = a[16]
|
||||
|
||||
for i=1, 16 do
|
||||
out[i] = tm4[i]
|
||||
end
|
||||
|
||||
return out
|
||||
end
|
||||
|
||||
@ -509,7 +563,9 @@ end
|
||||
-- @treturn vec3 win
|
||||
function mat4.project(obj, view, projection, viewport)
|
||||
local position = { obj.x, obj.y, obj.z, 1 }
|
||||
position = projection * (view * position)
|
||||
|
||||
mat4.mul_vec4(position, view, position)
|
||||
mat4.mul_vec4(position, projection, position)
|
||||
|
||||
position[1] = position[1] / position[4] * 0.5 + 0.5
|
||||
position[2] = position[2] / position[4] * 0.5 + 0.5
|
||||
@ -538,8 +594,8 @@ function mat4.unproject(win, view, projection, viewport)
|
||||
position[2] = position[2] * 2 - 1
|
||||
position[3] = position[3] * 2 - 1
|
||||
|
||||
-- position = (projection * view):invert() * position
|
||||
position = (view * projection):invert() * position
|
||||
tmp:mul(projection, view):invert(tmp)
|
||||
mat4.mul_vec4(position, tmp, position)
|
||||
|
||||
position[1] = position[1] / position[4]
|
||||
position[2] = position[2] / position[4]
|
||||
@ -601,7 +657,7 @@ end
|
||||
-- @tparam mat4 a Matrix to be converted
|
||||
-- @treturn quat out
|
||||
function mat4.to_quat(a)
|
||||
tmp = a:transpose()
|
||||
identity(tmp):transpose(a)
|
||||
|
||||
local w = sqrt(1 + tmp[1] + tmp[6] + tmp[11]) / 2
|
||||
local scale = w * 4
|
||||
@ -612,7 +668,7 @@ function mat4.to_quat(a)
|
||||
w
|
||||
)
|
||||
|
||||
return q:normalize()
|
||||
return q:normalize(q)
|
||||
end
|
||||
|
||||
-- http://www.crownandcutlass.com/features/technicaldetails/frustum.html
|
||||
@ -738,7 +794,7 @@ function mat4_mt.__call(_, a)
|
||||
end
|
||||
|
||||
function mat4_mt.__unm(a)
|
||||
return a:invert()
|
||||
return new():invert(a)
|
||||
end
|
||||
|
||||
function mat4_mt.__eq(a, b)
|
||||
@ -747,7 +803,7 @@ function mat4_mt.__eq(a, b)
|
||||
end
|
||||
|
||||
for i = 1, 16 do
|
||||
if not utils.tolerance(b[i]-a[i], DBL_EPSILON) then
|
||||
if not utils.tolerance(b[i]-a[i], constants.FLT_EPSILON) then
|
||||
return false
|
||||
end
|
||||
end
|
||||
@ -759,16 +815,16 @@ function mat4_mt.__mul(a, b)
|
||||
assert(mat4.is_mat4(a), "__mul: Wrong argument type for left hand operant. (<cpml.mat4> expected)")
|
||||
|
||||
if vec3.is_vec3(b) then
|
||||
return vec3(a:mul_vec4({ b.x, b.y, b.z, 1 }))
|
||||
return vec3(mat4.mul_vec4({}, a, { b.x, b.y, b.z, 1 }))
|
||||
end
|
||||
|
||||
assert(mat4.is_mat4(b) or #b == 4, "__mul: Wrong argument type for right hand operant. (<cpml.mat4> or table #4 expected)")
|
||||
|
||||
if mat4.is_mat4(b) then
|
||||
return a:mul(b)
|
||||
return new():mul(a, b)
|
||||
end
|
||||
|
||||
return a:mul_vec4(b)
|
||||
return mat4.mul_vec4({}, a, b)
|
||||
end
|
||||
|
||||
if status then
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user