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author | Diva Canto | 2015-08-30 20:06:53 -0700 |
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committer | Diva Canto | 2015-08-30 20:06:53 -0700 |
commit | 1d6b33bc2da3b312cff1d1802a73aacdf72b0385 (patch) | |
tree | 393736b501aac3b31eb0810bb72d926c7f14fbf8 /OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs | |
parent | Moved instantiation of SceneCommunicationService object to inside the scene c... (diff) | |
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Major renaming of Physics dlls / folders. No functional changes, just renames.
Diffstat (limited to 'OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs')
-rw-r--r-- | OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs | 284 |
1 files changed, 284 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs new file mode 100644 index 0000000..7d1592f --- /dev/null +++ b/OpenSim/Region/PhysicsModules/ConvexDecompositionDotNet/float4x4.cs | |||
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1 | /* The MIT License | ||
2 | * | ||
3 | * Copyright (c) 2010 Intel Corporation. | ||
4 | * All rights reserved. | ||
5 | * | ||
6 | * Based on the convexdecomposition library from | ||
7 | * <http://codesuppository.googlecode.com> by John W. Ratcliff and Stan Melax. | ||
8 | * | ||
9 | * Permission is hereby granted, free of charge, to any person obtaining a copy | ||
10 | * of this software and associated documentation files (the "Software"), to deal | ||
11 | * in the Software without restriction, including without limitation the rights | ||
12 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
13 | * copies of the Software, and to permit persons to whom the Software is | ||
14 | * furnished to do so, subject to the following conditions: | ||
15 | * | ||
16 | * The above copyright notice and this permission notice shall be included in | ||
17 | * all copies or substantial portions of the Software. | ||
18 | * | ||
19 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
20 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
21 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
22 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
23 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
24 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN | ||
25 | * THE SOFTWARE. | ||
26 | */ | ||
27 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Linq; | ||
31 | using System.Text; | ||
32 | |||
33 | namespace OpenSim.Region.Physics.ConvexDecompositionDotNet | ||
34 | { | ||
35 | public class float4x4 | ||
36 | { | ||
37 | public float4 x = new float4(); | ||
38 | public float4 y = new float4(); | ||
39 | public float4 z = new float4(); | ||
40 | public float4 w = new float4(); | ||
41 | |||
42 | public float4x4() | ||
43 | { | ||
44 | } | ||
45 | |||
46 | public float4x4(float4 _x, float4 _y, float4 _z, float4 _w) | ||
47 | { | ||
48 | x = new float4(_x); | ||
49 | y = new float4(_y); | ||
50 | z = new float4(_z); | ||
51 | w = new float4(_w); | ||
52 | } | ||
53 | |||
54 | public float4x4( | ||
55 | float m00, float m01, float m02, float m03, | ||
56 | float m10, float m11, float m12, float m13, | ||
57 | float m20, float m21, float m22, float m23, | ||
58 | float m30, float m31, float m32, float m33) | ||
59 | { | ||
60 | x = new float4(m00, m01, m02, m03); | ||
61 | y = new float4(m10, m11, m12, m13); | ||
62 | z = new float4(m20, m21, m22, m23); | ||
63 | w = new float4(m30, m31, m32, m33); | ||
64 | } | ||
65 | |||
66 | public float4x4(float4x4 m) | ||
67 | { | ||
68 | x = new float4(m.x); | ||
69 | y = new float4(m.y); | ||
70 | z = new float4(m.z); | ||
71 | w = new float4(m.w); | ||
72 | } | ||
73 | |||
74 | public float4 this[int i] | ||
75 | { | ||
76 | get | ||
77 | { | ||
78 | switch (i) | ||
79 | { | ||
80 | case 0: return x; | ||
81 | case 1: return y; | ||
82 | case 2: return z; | ||
83 | case 3: return w; | ||
84 | } | ||
85 | throw new ArgumentOutOfRangeException(); | ||
86 | } | ||
87 | set | ||
88 | { | ||
89 | switch (i) | ||
90 | { | ||
91 | case 0: x = value; return; | ||
92 | case 1: y = value; return; | ||
93 | case 2: z = value; return; | ||
94 | case 3: w = value; return; | ||
95 | } | ||
96 | throw new ArgumentOutOfRangeException(); | ||
97 | } | ||
98 | } | ||
99 | |||
100 | public override int GetHashCode() | ||
101 | { | ||
102 | return x.GetHashCode() ^ y.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode(); | ||
103 | } | ||
104 | |||
105 | public override bool Equals(object obj) | ||
106 | { | ||
107 | float4x4 m = obj as float4x4; | ||
108 | if (m == null) | ||
109 | return false; | ||
110 | |||
111 | return this == m; | ||
112 | } | ||
113 | |||
114 | public static float4x4 operator *(float4x4 a, float4x4 b) | ||
115 | { | ||
116 | return new float4x4(a.x * b, a.y * b, a.z * b, a.w * b); | ||
117 | } | ||
118 | |||
119 | public static bool operator ==(float4x4 a, float4x4 b) | ||
120 | { | ||
121 | return (a.x == b.x && a.y == b.y && a.z == b.z && a.w == b.w); | ||
122 | } | ||
123 | |||
124 | public static bool operator !=(float4x4 a, float4x4 b) | ||
125 | { | ||
126 | return !(a == b); | ||
127 | } | ||
128 | |||
129 | public static float4x4 Inverse(float4x4 m) | ||
130 | { | ||
131 | float4x4 d = new float4x4(); | ||
132 | //float dst = d.x.x; | ||
133 | float[] tmp = new float[12]; // temp array for pairs | ||
134 | float[] src = new float[16]; // array of transpose source matrix | ||
135 | float det; // determinant | ||
136 | // transpose matrix | ||
137 | for (int i = 0; i < 4; i++) | ||
138 | { | ||
139 | src[i] = m[i].x; | ||
140 | src[i + 4] = m[i].y; | ||
141 | src[i + 8] = m[i].z; | ||
142 | src[i + 12] = m[i].w; | ||
143 | } | ||
144 | // calculate pairs for first 8 elements (cofactors) | ||
145 | tmp[0] = src[10] * src[15]; | ||
146 | tmp[1] = src[11] * src[14]; | ||
147 | tmp[2] = src[9] * src[15]; | ||
148 | tmp[3] = src[11] * src[13]; | ||
149 | tmp[4] = src[9] * src[14]; | ||
150 | tmp[5] = src[10] * src[13]; | ||
151 | tmp[6] = src[8] * src[15]; | ||
152 | tmp[7] = src[11] * src[12]; | ||
153 | tmp[8] = src[8] * src[14]; | ||
154 | tmp[9] = src[10] * src[12]; | ||
155 | tmp[10] = src[8] * src[13]; | ||
156 | tmp[11] = src[9] * src[12]; | ||
157 | // calculate first 8 elements (cofactors) | ||
158 | d.x.x = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7]; | ||
159 | d.x.x -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7]; | ||
160 | d.x.y = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7]; | ||
161 | d.x.y -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7]; | ||
162 | d.x.z = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7]; | ||
163 | d.x.z -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7]; | ||
164 | d.x.w = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6]; | ||
165 | d.x.w -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6]; | ||
166 | d.y.x = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3]; | ||
167 | d.y.x -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3]; | ||
168 | d.y.y = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3]; | ||
169 | d.y.y -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3]; | ||
170 | d.y.z = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3]; | ||
171 | d.y.z -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3]; | ||
172 | d.y.w = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2]; | ||
173 | d.y.w -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2]; | ||
174 | // calculate pairs for second 8 elements (cofactors) | ||
175 | tmp[0] = src[2]*src[7]; | ||
176 | tmp[1] = src[3]*src[6]; | ||
177 | tmp[2] = src[1]*src[7]; | ||
178 | tmp[3] = src[3]*src[5]; | ||
179 | tmp[4] = src[1]*src[6]; | ||
180 | tmp[5] = src[2]*src[5]; | ||
181 | tmp[6] = src[0]*src[7]; | ||
182 | tmp[7] = src[3]*src[4]; | ||
183 | tmp[8] = src[0]*src[6]; | ||
184 | tmp[9] = src[2]*src[4]; | ||
185 | tmp[10] = src[0]*src[5]; | ||
186 | tmp[11] = src[1]*src[4]; | ||
187 | // calculate second 8 elements (cofactors) | ||
188 | d.z.x = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15]; | ||
189 | d.z.x -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15]; | ||
190 | d.z.y = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15]; | ||
191 | d.z.y -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15]; | ||
192 | d.z.z = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15]; | ||
193 | d.z.z -= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15]; | ||
194 | d.z.w = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14]; | ||
195 | d.z.w-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14]; | ||
196 | d.w.x = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9]; | ||
197 | d.w.x-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10]; | ||
198 | d.w.y = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10]; | ||
199 | d.w.y-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8]; | ||
200 | d.w.z = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8]; | ||
201 | d.w.z-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9]; | ||
202 | d.w.w = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9]; | ||
203 | d.w.w-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8]; | ||
204 | // calculate determinant | ||
205 | det = src[0] * d.x.x + src[1] * d.x.y + src[2] * d.x.z + src[3] * d.x.w; | ||
206 | // calculate matrix inverse | ||
207 | det = 1/det; | ||
208 | for (int j = 0; j < 4; j++) | ||
209 | d[j] *= det; | ||
210 | return d; | ||
211 | } | ||
212 | |||
213 | public static float4x4 MatrixRigidInverse(float4x4 m) | ||
214 | { | ||
215 | float4x4 trans_inverse = MatrixTranslation(-m.w.xyz()); | ||
216 | float4x4 rot = new float4x4(m); | ||
217 | rot.w = new float4(0f, 0f, 0f, 1f); | ||
218 | return trans_inverse * MatrixTranspose(rot); | ||
219 | } | ||
220 | public static float4x4 MatrixTranspose(float4x4 m) | ||
221 | { | ||
222 | return new float4x4(m.x.x, m.y.x, m.z.x, m.w.x, m.x.y, m.y.y, m.z.y, m.w.y, m.x.z, m.y.z, m.z.z, m.w.z, m.x.w, m.y.w, m.z.w, m.w.w); | ||
223 | } | ||
224 | public static float4x4 MatrixPerspectiveFov(float fovy, float aspect, float zn, float zf) | ||
225 | { | ||
226 | float h = 1.0f / (float)Math.Tan(fovy / 2.0f); // view space height | ||
227 | float w = h / aspect; // view space width | ||
228 | return new float4x4(w, 0, 0, 0, 0, h, 0, 0, 0, 0, zf / (zn - zf), -1, 0, 0, zn * zf / (zn - zf), 0); | ||
229 | } | ||
230 | public static float4x4 MatrixTranslation(float3 t) | ||
231 | { | ||
232 | return new float4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, t.x, t.y, t.z, 1); | ||
233 | } | ||
234 | public static float4x4 MatrixRotationZ(float angle_radians) | ||
235 | { | ||
236 | float s = (float)Math.Sin(angle_radians); | ||
237 | float c = (float)Math.Cos(angle_radians); | ||
238 | return new float4x4(c, s, 0, 0, -s, c, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1); | ||
239 | } | ||
240 | public static float4x4 MatrixLookAt(float3 eye, float3 at, float3 up) | ||
241 | { | ||
242 | float4x4 m = new float4x4(); | ||
243 | m.w.w = 1.0f; | ||
244 | m.w.setxyz(eye); | ||
245 | m.z.setxyz(float3.normalize(eye - at)); | ||
246 | m.x.setxyz(float3.normalize(float3.cross(up, m.z.xyz()))); | ||
247 | m.y.setxyz(float3.cross(m.z.xyz(), m.x.xyz())); | ||
248 | return MatrixRigidInverse(m); | ||
249 | } | ||
250 | |||
251 | public static float4x4 MatrixFromQuatVec(Quaternion q, float3 v) | ||
252 | { | ||
253 | // builds a 4x4 transformation matrix based on orientation q and translation v | ||
254 | float qx2 = q.x * q.x; | ||
255 | float qy2 = q.y * q.y; | ||
256 | float qz2 = q.z * q.z; | ||
257 | |||
258 | float qxqy = q.x * q.y; | ||
259 | float qxqz = q.x * q.z; | ||
260 | float qxqw = q.x * q.w; | ||
261 | float qyqz = q.y * q.z; | ||
262 | float qyqw = q.y * q.w; | ||
263 | float qzqw = q.z * q.w; | ||
264 | |||
265 | return new float4x4( | ||
266 | 1 - 2 * (qy2 + qz2), | ||
267 | 2 * (qxqy + qzqw), | ||
268 | 2 * (qxqz - qyqw), | ||
269 | 0, | ||
270 | 2 * (qxqy - qzqw), | ||
271 | 1 - 2 * (qx2 + qz2), | ||
272 | 2 * (qyqz + qxqw), | ||
273 | 0, | ||
274 | 2 * (qxqz + qyqw), | ||
275 | 2 * (qyqz - qxqw), | ||
276 | 1 - 2 * (qx2 + qy2), | ||
277 | 0, | ||
278 | v.x, | ||
279 | v.y, | ||
280 | v.z, | ||
281 | 1.0f); | ||
282 | } | ||
283 | } | ||
284 | } | ||