mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-04-29 16:25:42 +00:00
6ade6f08ce
Added initial behavior for ImageAssets to hold a list of GFX resources of different texture profiles to avoid mem leaks with incorrect-typed usages Added function to ImageAsset to get best-fit asset, allowing for fallbacks if the requested assetID is not found Added function to ShapeAsset to get best-fit asset, allowing for fallbacks if the requested assetID is not found Disabled fields for dynamic and static shadowmap refresh rates Moved noShape model to core/rendering/shapes to place it in a more logical module position Added an include to avoid undefined type compile error and removed unneeded semicolon from zone code Added call to reload probe textures when a reloadTextures call is made Adjusted default directional light shadowmap settings to not be as extreme Added utility function to probe manager to allow any class to request a 'best fit' list of probes that would affect a given location, allowing other classes such as fog or particles to utilize IBL. Also updated probeManager's forward rendering to utilize same function to reduce code duplication. Shifted shape loader code to utilize assimp for loader consistency and testing Changed render bin used for SSAO postfx so it runs at the right time Made Core_Rendering module scan for assets Updated loose file references to a number of assets to follow proper formatting Refactored asset import code to follow a more consistent object heirarchy structure on importing assets, allowing more reliable cross-referencing between inbound items Updated asset import logic for materials/images so that they properly utilize ImageType. Images correctly save out the assigned image type, materials reference the images' type to know what map slot they should be used in. Importer logic also updated to better find-and-add associated images based on type. Cleaned up a bunch of old, outdated code in the asset importer Added initial handling for in-place importing of files without needing to process them through the UI. Added ability to edit module script from RMB context menu if torsion path is set Updated list field code for variable inspector to utilize correct ownerObject field
677 lines
24 KiB
C++
677 lines
24 KiB
C++
/*
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---------------------------------------------------------------------------
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Open Asset Import Library (assimp)
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---------------------------------------------------------------------------
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Copyright (c) 2006-2020, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* Neither the name of the assimp team, nor the names of its
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contributors may be used to endorse or promote products
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derived from this software without specific prior
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written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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---------------------------------------------------------------------------
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*/
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/** @file matrix4x4.inl
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* @brief Inline implementation of the 4x4 matrix operators
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*/
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#pragma once
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#ifndef AI_MATRIX4X4_INL_INC
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#define AI_MATRIX4X4_INL_INC
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#ifdef __cplusplus
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#include "matrix4x4.h"
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#include "matrix3x3.h"
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#include "quaternion.h"
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#include "MathFunctions.h"
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#include <algorithm>
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#include <limits>
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#include <cmath>
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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aiMatrix4x4t<TReal>::aiMatrix4x4t() AI_NO_EXCEPT :
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a1(1.0f), a2(), a3(), a4(),
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b1(), b2(1.0f), b3(), b4(),
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c1(), c2(), c3(1.0f), c4(),
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d1(), d2(), d3(), d4(1.0f) {
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// empty
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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aiMatrix4x4t<TReal>::aiMatrix4x4t (TReal _a1, TReal _a2, TReal _a3, TReal _a4,
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TReal _b1, TReal _b2, TReal _b3, TReal _b4,
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TReal _c1, TReal _c2, TReal _c3, TReal _c4,
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TReal _d1, TReal _d2, TReal _d3, TReal _d4) :
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a1(_a1), a2(_a2), a3(_a3), a4(_a4),
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b1(_b1), b2(_b2), b3(_b3), b4(_b4),
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c1(_c1), c2(_c2), c3(_c3), c4(_c4),
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d1(_d1), d2(_d2), d3(_d3), d4(_d4) {
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// empty
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}
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// ------------------------------------------------------------------------------------------------
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template <typename TReal>
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template <typename TOther>
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aiMatrix4x4t<TReal>::operator aiMatrix4x4t<TOther> () const {
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return aiMatrix4x4t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),static_cast<TOther>(a4),
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static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),static_cast<TOther>(b4),
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static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3),static_cast<TOther>(c4),
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static_cast<TOther>(d1),static_cast<TOther>(d2),static_cast<TOther>(d3),static_cast<TOther>(d4));
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiMatrix3x3t<TReal>& m) {
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a1 = m.a1; a2 = m.a2; a3 = m.a3; a4 = static_cast<TReal>(0.0);
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b1 = m.b1; b2 = m.b2; b3 = m.b3; b4 = static_cast<TReal>(0.0);
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c1 = m.c1; c2 = m.c2; c3 = m.c3; c4 = static_cast<TReal>(0.0);
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d1 = static_cast<TReal>(0.0); d2 = static_cast<TReal>(0.0); d3 = static_cast<TReal>(0.0); d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal>::aiMatrix4x4t (const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation, const aiVector3t<TReal>& position) {
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// build a 3x3 rotation matrix
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aiMatrix3x3t<TReal> m = rotation.GetMatrix();
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a1 = m.a1 * scaling.x;
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a2 = m.a2 * scaling.x;
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a3 = m.a3 * scaling.x;
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a4 = position.x;
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b1 = m.b1 * scaling.y;
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b2 = m.b2 * scaling.y;
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b3 = m.b3 * scaling.y;
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b4 = position.y;
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c1 = m.c1 * scaling.z;
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c2 = m.c2 * scaling.z;
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c3 = m.c3 * scaling.z;
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c4= position.z;
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d1 = static_cast<TReal>(0.0);
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d2 = static_cast<TReal>(0.0);
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d3 = static_cast<TReal>(0.0);
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d4 = static_cast<TReal>(1.0);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::operator *= (const aiMatrix4x4t<TReal>& m) {
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*this = aiMatrix4x4t<TReal>(
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m.a1 * a1 + m.b1 * a2 + m.c1 * a3 + m.d1 * a4,
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m.a2 * a1 + m.b2 * a2 + m.c2 * a3 + m.d2 * a4,
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m.a3 * a1 + m.b3 * a2 + m.c3 * a3 + m.d3 * a4,
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m.a4 * a1 + m.b4 * a2 + m.c4 * a3 + m.d4 * a4,
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m.a1 * b1 + m.b1 * b2 + m.c1 * b3 + m.d1 * b4,
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m.a2 * b1 + m.b2 * b2 + m.c2 * b3 + m.d2 * b4,
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m.a3 * b1 + m.b3 * b2 + m.c3 * b3 + m.d3 * b4,
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m.a4 * b1 + m.b4 * b2 + m.c4 * b3 + m.d4 * b4,
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m.a1 * c1 + m.b1 * c2 + m.c1 * c3 + m.d1 * c4,
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m.a2 * c1 + m.b2 * c2 + m.c2 * c3 + m.d2 * c4,
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m.a3 * c1 + m.b3 * c2 + m.c3 * c3 + m.d3 * c4,
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m.a4 * c1 + m.b4 * c2 + m.c4 * c3 + m.d4 * c4,
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m.a1 * d1 + m.b1 * d2 + m.c1 * d3 + m.d1 * d4,
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m.a2 * d1 + m.b2 * d2 + m.c2 * d3 + m.d2 * d4,
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m.a3 * d1 + m.b3 * d2 + m.c3 * d3 + m.d3 * d4,
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m.a4 * d1 + m.b4 * d2 + m.c4 * d3 + m.d4 * d4);
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const TReal& aFloat) const {
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aiMatrix4x4t<TReal> temp(
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a1 * aFloat,
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a2 * aFloat,
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a3 * aFloat,
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a4 * aFloat,
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b1 * aFloat,
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b2 * aFloat,
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b3 * aFloat,
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b4 * aFloat,
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c1 * aFloat,
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c2 * aFloat,
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c3 * aFloat,
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c4 * aFloat,
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d1 * aFloat,
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d2 * aFloat,
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d3 * aFloat,
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d4 * aFloat);
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return temp;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator+ (const aiMatrix4x4t<TReal>& m) const {
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aiMatrix4x4t<TReal> temp(
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m.a1 + a1,
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m.a2 + a2,
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m.a3 + a3,
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m.a4 + a4,
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m.b1 + b1,
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m.b2 + b2,
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m.b3 + b3,
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m.b4 + b4,
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m.c1 + c1,
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m.c2 + c2,
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m.c3 + c3,
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m.c4 + c4,
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m.d1 + d1,
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m.d2 + d2,
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m.d3 + d3,
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m.d4 + d4);
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return temp;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal> aiMatrix4x4t<TReal>::operator* (const aiMatrix4x4t<TReal>& m) const {
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aiMatrix4x4t<TReal> temp( *this);
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temp *= m;
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return temp;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Transpose() {
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// (TReal&) don't remove, GCC complains cause of packed fields
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std::swap( (TReal&)b1, (TReal&)a2);
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std::swap( (TReal&)c1, (TReal&)a3);
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std::swap( (TReal&)c2, (TReal&)b3);
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std::swap( (TReal&)d1, (TReal&)a4);
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std::swap( (TReal&)d2, (TReal&)b4);
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std::swap( (TReal&)d3, (TReal&)c4);
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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TReal aiMatrix4x4t<TReal>::Determinant() const {
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return a1*b2*c3*d4 - a1*b2*c4*d3 + a1*b3*c4*d2 - a1*b3*c2*d4
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+ a1*b4*c2*d3 - a1*b4*c3*d2 - a2*b3*c4*d1 + a2*b3*c1*d4
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- a2*b4*c1*d3 + a2*b4*c3*d1 - a2*b1*c3*d4 + a2*b1*c4*d3
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+ a3*b4*c1*d2 - a3*b4*c2*d1 + a3*b1*c2*d4 - a3*b1*c4*d2
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+ a3*b2*c4*d1 - a3*b2*c1*d4 - a4*b1*c2*d3 + a4*b1*c3*d2
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- a4*b2*c3*d1 + a4*b2*c1*d3 - a4*b3*c1*d2 + a4*b3*c2*d1;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Inverse() {
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// Compute the reciprocal determinant
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const TReal det = Determinant();
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if(det == static_cast<TReal>(0.0))
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{
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// Matrix not invertible. Setting all elements to nan is not really
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// correct in a mathematical sense but it is easy to debug for the
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// programmer.
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const TReal nan = std::numeric_limits<TReal>::quiet_NaN();
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*this = aiMatrix4x4t<TReal>(
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nan,nan,nan,nan,
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nan,nan,nan,nan,
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nan,nan,nan,nan,
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nan,nan,nan,nan);
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return *this;
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}
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const TReal invdet = static_cast<TReal>(1.0) / det;
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aiMatrix4x4t<TReal> res;
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res.a1 = invdet * (b2 * (c3 * d4 - c4 * d3) + b3 * (c4 * d2 - c2 * d4) + b4 * (c2 * d3 - c3 * d2));
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res.a2 = -invdet * (a2 * (c3 * d4 - c4 * d3) + a3 * (c4 * d2 - c2 * d4) + a4 * (c2 * d3 - c3 * d2));
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res.a3 = invdet * (a2 * (b3 * d4 - b4 * d3) + a3 * (b4 * d2 - b2 * d4) + a4 * (b2 * d3 - b3 * d2));
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res.a4 = -invdet * (a2 * (b3 * c4 - b4 * c3) + a3 * (b4 * c2 - b2 * c4) + a4 * (b2 * c3 - b3 * c2));
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res.b1 = -invdet * (b1 * (c3 * d4 - c4 * d3) + b3 * (c4 * d1 - c1 * d4) + b4 * (c1 * d3 - c3 * d1));
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res.b2 = invdet * (a1 * (c3 * d4 - c4 * d3) + a3 * (c4 * d1 - c1 * d4) + a4 * (c1 * d3 - c3 * d1));
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res.b3 = -invdet * (a1 * (b3 * d4 - b4 * d3) + a3 * (b4 * d1 - b1 * d4) + a4 * (b1 * d3 - b3 * d1));
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res.b4 = invdet * (a1 * (b3 * c4 - b4 * c3) + a3 * (b4 * c1 - b1 * c4) + a4 * (b1 * c3 - b3 * c1));
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res.c1 = invdet * (b1 * (c2 * d4 - c4 * d2) + b2 * (c4 * d1 - c1 * d4) + b4 * (c1 * d2 - c2 * d1));
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res.c2 = -invdet * (a1 * (c2 * d4 - c4 * d2) + a2 * (c4 * d1 - c1 * d4) + a4 * (c1 * d2 - c2 * d1));
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res.c3 = invdet * (a1 * (b2 * d4 - b4 * d2) + a2 * (b4 * d1 - b1 * d4) + a4 * (b1 * d2 - b2 * d1));
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res.c4 = -invdet * (a1 * (b2 * c4 - b4 * c2) + a2 * (b4 * c1 - b1 * c4) + a4 * (b1 * c2 - b2 * c1));
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res.d1 = -invdet * (b1 * (c2 * d3 - c3 * d2) + b2 * (c3 * d1 - c1 * d3) + b3 * (c1 * d2 - c2 * d1));
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res.d2 = invdet * (a1 * (c2 * d3 - c3 * d2) + a2 * (c3 * d1 - c1 * d3) + a3 * (c1 * d2 - c2 * d1));
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res.d3 = -invdet * (a1 * (b2 * d3 - b3 * d2) + a2 * (b3 * d1 - b1 * d3) + a3 * (b1 * d2 - b2 * d1));
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res.d4 = invdet * (a1 * (b2 * c3 - b3 * c2) + a2 * (b3 * c1 - b1 * c3) + a3 * (b1 * c2 - b2 * c1));
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*this = res;
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return *this;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) {
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if (p_iIndex > 3) {
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return nullptr;
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}
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switch ( p_iIndex ) {
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case 0:
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return &a1;
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case 1:
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return &b1;
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case 2:
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return &c1;
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case 3:
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return &d1;
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default:
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break;
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}
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return &a1;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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const TReal* aiMatrix4x4t<TReal>::operator[](unsigned int p_iIndex) const {
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if (p_iIndex > 3) {
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return nullptr;
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}
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switch ( p_iIndex ) {
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case 0:
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return &a1;
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case 1:
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return &b1;
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case 2:
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return &c1;
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case 3:
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return &d1;
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default:
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break;
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}
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return &a1;
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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bool aiMatrix4x4t<TReal>::operator== (const aiMatrix4x4t<TReal>& m) const {
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return (a1 == m.a1 && a2 == m.a2 && a3 == m.a3 && a4 == m.a4 &&
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b1 == m.b1 && b2 == m.b2 && b3 == m.b3 && b4 == m.b4 &&
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c1 == m.c1 && c2 == m.c2 && c3 == m.c3 && c4 == m.c4 &&
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d1 == m.d1 && d2 == m.d2 && d3 == m.d3 && d4 == m.d4);
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}
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// ----------------------------------------------------------------------------------------
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template <typename TReal>
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AI_FORCE_INLINE
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bool aiMatrix4x4t<TReal>::operator!= (const aiMatrix4x4t<TReal>& m) const {
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return !(*this == m);
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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AI_FORCE_INLINE
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bool aiMatrix4x4t<TReal>::Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon) const {
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return
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std::abs(a1 - m.a1) <= epsilon &&
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std::abs(a2 - m.a2) <= epsilon &&
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std::abs(a3 - m.a3) <= epsilon &&
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std::abs(a4 - m.a4) <= epsilon &&
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std::abs(b1 - m.b1) <= epsilon &&
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std::abs(b2 - m.b2) <= epsilon &&
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std::abs(b3 - m.b3) <= epsilon &&
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std::abs(b4 - m.b4) <= epsilon &&
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std::abs(c1 - m.c1) <= epsilon &&
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std::abs(c2 - m.c2) <= epsilon &&
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std::abs(c3 - m.c3) <= epsilon &&
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std::abs(c4 - m.c4) <= epsilon &&
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std::abs(d1 - m.d1) <= epsilon &&
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std::abs(d2 - m.d2) <= epsilon &&
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std::abs(d3 - m.d3) <= epsilon &&
|
|
std::abs(d4 - m.d4) <= epsilon;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
|
|
#define ASSIMP_MATRIX4_4_DECOMPOSE_PART \
|
|
const aiMatrix4x4t<TReal>& _this = *this;/* Create alias for conveniance. */ \
|
|
\
|
|
/* extract translation */ \
|
|
pPosition.x = _this[0][3]; \
|
|
pPosition.y = _this[1][3]; \
|
|
pPosition.z = _this[2][3]; \
|
|
\
|
|
/* extract the columns of the matrix. */ \
|
|
aiVector3t<TReal> vCols[3] = { \
|
|
aiVector3t<TReal>(_this[0][0],_this[1][0],_this[2][0]), \
|
|
aiVector3t<TReal>(_this[0][1],_this[1][1],_this[2][1]), \
|
|
aiVector3t<TReal>(_this[0][2],_this[1][2],_this[2][2]) \
|
|
}; \
|
|
\
|
|
/* extract the scaling factors */ \
|
|
pScaling.x = vCols[0].Length(); \
|
|
pScaling.y = vCols[1].Length(); \
|
|
pScaling.z = vCols[2].Length(); \
|
|
\
|
|
/* and the sign of the scaling */ \
|
|
if (Determinant() < 0) pScaling = -pScaling; \
|
|
\
|
|
/* and remove all scaling from the matrix */ \
|
|
if(pScaling.x) vCols[0] /= pScaling.x; \
|
|
if(pScaling.y) vCols[1] /= pScaling.y; \
|
|
if(pScaling.z) vCols[2] /= pScaling.z; \
|
|
\
|
|
do {} while(false)
|
|
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
void aiMatrix4x4t<TReal>::Decompose (aiVector3t<TReal>& pScaling, aiQuaterniont<TReal>& pRotation,
|
|
aiVector3t<TReal>& pPosition) const {
|
|
ASSIMP_MATRIX4_4_DECOMPOSE_PART;
|
|
|
|
// build a 3x3 rotation matrix
|
|
aiMatrix3x3t<TReal> m(vCols[0].x,vCols[1].x,vCols[2].x,
|
|
vCols[0].y,vCols[1].y,vCols[2].y,
|
|
vCols[0].z,vCols[1].z,vCols[2].z);
|
|
|
|
// and generate the rotation quaternion from it
|
|
pRotation = aiQuaterniont<TReal>(m);
|
|
}
|
|
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const {
|
|
ASSIMP_MATRIX4_4_DECOMPOSE_PART;
|
|
|
|
/*
|
|
assuming a right-handed coordinate system
|
|
and post-multiplication of column vectors,
|
|
the rotation matrix for an euler XYZ rotation is M = Rz * Ry * Rx.
|
|
combining gives:
|
|
|
|
| CE BDE-AF ADE+BF 0 |
|
|
M = | CF BDF+AE ADF-BE 0 |
|
|
| -D CB AC 0 |
|
|
| 0 0 0 1 |
|
|
|
|
where
|
|
A = cos(angle_x), B = sin(angle_x);
|
|
C = cos(angle_y), D = sin(angle_y);
|
|
E = cos(angle_z), F = sin(angle_z);
|
|
*/
|
|
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const TReal epsilon = Assimp::Math::getEpsilon<TReal>();
|
|
|
|
pRotation.y = std::asin(-vCols[0].z);// D. Angle around oY.
|
|
|
|
TReal C = std::cos(pRotation.y);
|
|
|
|
if(std::fabs(C) > epsilon)
|
|
{
|
|
// Finding angle around oX.
|
|
TReal tan_x = vCols[2].z / C;// A
|
|
TReal tan_y = vCols[1].z / C;// B
|
|
|
|
pRotation.x = std::atan2(tan_y, tan_x);
|
|
// Finding angle around oZ.
|
|
tan_x = vCols[0].x / C;// E
|
|
tan_y = vCols[0].y / C;// F
|
|
pRotation.z = std::atan2(tan_y, tan_x);
|
|
}
|
|
else
|
|
{// oY is fixed.
|
|
pRotation.x = 0;// Set angle around oX to 0. => A == 1, B == 0, C == 0, D == 1.
|
|
|
|
// And finding angle around oZ.
|
|
TReal tan_x = vCols[1].y;// BDF+AE => E
|
|
TReal tan_y = -vCols[1].x;// BDE-AF => F
|
|
|
|
pRotation.z = std::atan2(tan_y, tan_x);
|
|
}
|
|
}
|
|
|
|
#undef ASSIMP_MATRIX4_4_DECOMPOSE_PART
|
|
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
void aiMatrix4x4t<TReal>::Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle,
|
|
aiVector3t<TReal>& pPosition) const {
|
|
aiQuaterniont<TReal> pRotation;
|
|
|
|
Decompose(pScaling, pRotation, pPosition);
|
|
pRotation.Normalize();
|
|
|
|
TReal angle_cos = pRotation.w;
|
|
TReal angle_sin = std::sqrt(1.0f - angle_cos * angle_cos);
|
|
|
|
pRotationAngle = std::acos(angle_cos) * 2;
|
|
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const TReal epsilon = 10e-3f;
|
|
|
|
if(std::fabs(angle_sin) < epsilon) angle_sin = 1;
|
|
|
|
pRotationAxis.x = pRotation.x / angle_sin;
|
|
pRotationAxis.y = pRotation.y / angle_sin;
|
|
pRotationAxis.z = pRotation.z / angle_sin;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
void aiMatrix4x4t<TReal>::DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
|
|
aiVector3t<TReal>& position) const {
|
|
const aiMatrix4x4t<TReal>& _this = *this;
|
|
|
|
// extract translation
|
|
position.x = _this[0][3];
|
|
position.y = _this[1][3];
|
|
position.z = _this[2][3];
|
|
|
|
// extract rotation
|
|
rotation = aiQuaterniont<TReal>((aiMatrix3x3t<TReal>)_this);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb) {
|
|
return FromEulerAnglesXYZ(blubb.x,blubb.y,blubb.z);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromEulerAnglesXYZ(TReal x, TReal y, TReal z) {
|
|
aiMatrix4x4t<TReal>& _this = *this;
|
|
|
|
TReal cx = std::cos(x);
|
|
TReal sx = std::sin(x);
|
|
TReal cy = std::cos(y);
|
|
TReal sy = std::sin(y);
|
|
TReal cz = std::cos(z);
|
|
TReal sz = std::sin(z);
|
|
|
|
// mz*my*mx
|
|
_this.a1 = cz * cy;
|
|
_this.a2 = cz * sy * sx - sz * cx;
|
|
_this.a3 = sz * sx + cz * sy * cx;
|
|
|
|
_this.b1 = sz * cy;
|
|
_this.b2 = cz * cx + sz * sy * sx;
|
|
_this.b3 = sz * sy * cx - cz * sx;
|
|
|
|
_this.c1 = -sy;
|
|
_this.c2 = cy * sx;
|
|
_this.c3 = cy * cx;
|
|
|
|
return *this;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
bool aiMatrix4x4t<TReal>::IsIdentity() const {
|
|
// Use a small epsilon to solve floating-point inaccuracies
|
|
const static TReal epsilon = 10e-3f;
|
|
|
|
return (a2 <= epsilon && a2 >= -epsilon &&
|
|
a3 <= epsilon && a3 >= -epsilon &&
|
|
a4 <= epsilon && a4 >= -epsilon &&
|
|
b1 <= epsilon && b1 >= -epsilon &&
|
|
b3 <= epsilon && b3 >= -epsilon &&
|
|
b4 <= epsilon && b4 >= -epsilon &&
|
|
c1 <= epsilon && c1 >= -epsilon &&
|
|
c2 <= epsilon && c2 >= -epsilon &&
|
|
c4 <= epsilon && c4 >= -epsilon &&
|
|
d1 <= epsilon && d1 >= -epsilon &&
|
|
d2 <= epsilon && d2 >= -epsilon &&
|
|
d3 <= epsilon && d3 >= -epsilon &&
|
|
a1 <= 1.f+epsilon && a1 >= 1.f-epsilon &&
|
|
b2 <= 1.f+epsilon && b2 >= 1.f-epsilon &&
|
|
c3 <= 1.f+epsilon && c3 >= 1.f-epsilon &&
|
|
d4 <= 1.f+epsilon && d4 >= 1.f-epsilon);
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationX(TReal a, aiMatrix4x4t<TReal>& out) {
|
|
/*
|
|
| 1 0 0 0 |
|
|
M = | 0 cos(A) -sin(A) 0 |
|
|
| 0 sin(A) cos(A) 0 |
|
|
| 0 0 0 1 | */
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.b2 = out.c3 = std::cos(a);
|
|
out.b3 = -(out.c2 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationY(TReal a, aiMatrix4x4t<TReal>& out) {
|
|
/*
|
|
| cos(A) 0 sin(A) 0 |
|
|
M = | 0 1 0 0 |
|
|
| -sin(A) 0 cos(A) 0 |
|
|
| 0 0 0 1 |
|
|
*/
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = out.c3 = std::cos(a);
|
|
out.c1 = -(out.a3 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::RotationZ(TReal a, aiMatrix4x4t<TReal>& out) {
|
|
/*
|
|
| cos(A) -sin(A) 0 0 |
|
|
M = | sin(A) cos(A) 0 0 |
|
|
| 0 0 1 0 |
|
|
| 0 0 0 1 | */
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = out.b2 = std::cos(a);
|
|
out.a2 = -(out.b1 = std::sin(a));
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
// Returns a rotation matrix for a rotation around an arbitrary axis.
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix4x4t<TReal>& out) {
|
|
TReal c = std::cos( a), s = std::sin( a), t = 1 - c;
|
|
TReal x = axis.x, y = axis.y, z = axis.z;
|
|
|
|
// Many thanks to MathWorld and Wikipedia
|
|
out.a1 = t*x*x + c; out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y;
|
|
out.b1 = t*x*y + s*z; out.b2 = t*y*y + c; out.b3 = t*y*z - s*x;
|
|
out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c;
|
|
out.a4 = out.b4 = out.c4 = static_cast<TReal>(0.0);
|
|
out.d1 = out.d2 = out.d3 = static_cast<TReal>(0.0);
|
|
out.d4 = static_cast<TReal>(1.0);
|
|
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Translation( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) {
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a4 = v.x;
|
|
out.b4 = v.y;
|
|
out.c4 = v.z;
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t<TReal>& out) {
|
|
out = aiMatrix4x4t<TReal>();
|
|
out.a1 = v.x;
|
|
out.b2 = v.y;
|
|
out.c3 = v.z;
|
|
return out;
|
|
}
|
|
|
|
// ----------------------------------------------------------------------------------------
|
|
/** A function for creating a rotation matrix that rotates a vector called
|
|
* "from" into another vector called "to".
|
|
* Input : from[3], to[3] which both must be *normalized* non-zero vectors
|
|
* Output: mtx[3][3] -- a 3x3 matrix in colum-major form
|
|
* Authors: Tomas Möller, John Hughes
|
|
* "Efficiently Building a Matrix to Rotate One Vector to Another"
|
|
* Journal of Graphics Tools, 4(4):1-4, 1999
|
|
*/
|
|
// ----------------------------------------------------------------------------------------
|
|
template <typename TReal>
|
|
AI_FORCE_INLINE
|
|
aiMatrix4x4t<TReal>& aiMatrix4x4t<TReal>::FromToMatrix(const aiVector3t<TReal>& from,
|
|
const aiVector3t<TReal>& to, aiMatrix4x4t<TReal>& mtx) {
|
|
aiMatrix3x3t<TReal> m3;
|
|
aiMatrix3x3t<TReal>::FromToMatrix(from,to,m3);
|
|
mtx = aiMatrix4x4t<TReal>(m3);
|
|
return mtx;
|
|
}
|
|
|
|
#endif // __cplusplus
|
|
#endif // AI_MATRIX4X4_INL_INC
|