[2197] | 1 | #pragma once
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| 2 |
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| 3 | #include "Vector.hpp"
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| 4 | #include "Float.h"
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| 5 | #include <math.h>
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| 6 |
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| 7 | typedef float m3x3Type[3][3];
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| 8 |
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| 9 | /*!
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| 10 | \brief 3D linear transformation + translation class.
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| 11 | Used by the ray-tracing system to store entity modelling transformations. Class Transformed is an Intersecable
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| 12 | that refers to an Intersectable and contains a Transformation.
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| 13 | */
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| 14 | class Transformation {
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| 15 | public:
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| 16 | float m[3][3];
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| 17 | float t[3];
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| 18 |
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| 19 | Transformation(std::istream& isc)
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| 20 | {
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| 21 | for(int i=0;i < 3;i++)
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| 22 | for(int j=0;j < 3;j++)
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| 23 | isc >> m[i][j];
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| 24 | for(int ti=0;ti < 3;ti++)
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| 25 | isc >> t[ti];
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| 26 | }
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| 27 |
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| 28 | Transformation()
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| 29 | {
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| 30 | m[0][0] = m[1][1] = m[2][2] = 1.0f;
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| 31 | m[0][1] = m[0][2] = m [1][0] = m[1][2] = m[2][0] = m[2][1] = 0.0f;
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| 32 | t[0] = t[1] = t[2] = 0.0f;
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| 33 | }
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| 34 |
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| 35 | inline void fill (float m00, float m01, float m02,
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| 36 | float m10, float m11, float m12,
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| 37 | float m20, float m21, float m22,
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| 38 | float t0, float t1, float t2){
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| 39 | /* m[0][0] = m00;
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| 40 | m[0][1] = m01;
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| 41 | m[0][2] = m02;
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| 42 |
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| 43 | m[1][0] = m10;
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| 44 | m[1][1] = m11;
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| 45 | m[1][2] = m12;
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| 46 |
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| 47 | m[2][0] = m20;
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| 48 | m[2][1] = m21;
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| 49 | m[2][2] = m22;*/
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| 50 |
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| 51 | m[0][0] = m00;
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| 52 | m[1][0] = m01;
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| 53 | m[2][0] = m02;
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| 54 |
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| 55 | m[0][1] = m10;
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| 56 | m[1][1] = m11;
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| 57 | m[2][1] = m12;
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| 58 |
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| 59 | m[0][2] = m20;
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| 60 | m[1][2] = m21;
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| 61 | m[2][2] = m22;
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| 62 |
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| 63 | t[0] = t0;
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| 64 | t[1] = t1;
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| 65 | t[2] = t2;
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| 66 | }
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| 67 |
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| 68 | inline void setInvert (Transformation& mA);
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| 69 | inline void transformPoint (const Vector& vIn, Vector& vOut) const;
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| 70 | inline void transformDirection (const Vector& vIn, Vector& vOut) const;
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| 71 | inline void transformPointTransposed (const Vector& vIn, Vector& vOut) const;
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| 72 | inline void transformDirectionTransposed (const Vector& vIn, Vector& vOut) const;
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| 73 | inline void rotateX(float angle);
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| 74 | inline void rotateY(float angle);
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| 75 | inline void rotateZ(float angle);
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| 76 | inline void scale(float factor);
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| 77 | };
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| 78 |
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| 79 |
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| 80 | void Transformation::setInvert (Transformation& mA)
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| 81 | {
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| 82 | m3x3Type& A = mA.m;
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| 83 |
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| 84 | // generated by maple C(A_inv,optimized);
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| 85 | float t4 = A[0][0]*A[1][1];
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| 86 | float t6 = A[0][0]*A[1][2];
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| 87 | float t8 = A[0][1]*A[1][0];
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| 88 | float t10 = A[0][2]*A[1][0];
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| 89 | float t12 = A[0][1]*A[2][0];
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| 90 | float t14 = A[0][2]*A[2][0];
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| 91 | float t17 = 1/(t4*A[2][2]-t6*A[2][1]-t8*A[2][2]+t10*A[2][1]+t12*A[1][2]-t14*A[1][1]);
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| 92 |
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| 93 | // assert (!_isnan (t17));
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| 94 |
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| 95 | m[0][0] = (A[1][1]*A[2][2]-A[1][2]*A[2][1])*t17;
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| 96 | m[0][1] = -(A[0][1]*A[2][2]-A[0][2]*A[2][1])*t17;
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| 97 | m[0][2] = -(-A[0][1]*A[1][2]+A[0][2]*A[1][1])*t17;
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| 98 | m[1][0] = -(A[1][0]*A[2][2]-A[1][2]*A[2][0])*t17;
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| 99 | m[1][1] = (A[0][0]*A[2][2]-t14)*t17;
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| 100 | m[1][2] = -(t6-t10)*t17;
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| 101 | m[2][0] = -(-A[1][0]*A[2][1]+A[1][1]*A[2][0])*t17;
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| 102 | m[2][1] = -(A[0][0]*A[2][1]-t12)*t17;
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| 103 | m[2][2] = (t4-t8)*t17;
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| 104 |
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| 105 | t[0] = -(mA.t[0] * m[0][0] + mA.t[1] * m[0][1] + mA.t[2] * m[0][2]);
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| 106 | t[1] = -(mA.t[0] * m[1][0] + mA.t[1] * m[1][1] + mA.t[2] * m[1][2]);
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| 107 | t[2] = -(mA.t[0] * m[2][0] + mA.t[1] * m[2][1] + mA.t[2] * m[2][2]);
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| 108 |
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| 109 | }
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| 110 |
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| 111 | //! vOut = Matrix * vIn, matrix is on the left side
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| 112 | inline void Transformation::transformPoint (const Vector& vIn, Vector& vOut) const
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| 113 | {
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| 114 | vOut.x = vIn.x * m[0][0] + vIn.y * m[0][1] + vIn.z * m[0][2] + t[0];
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| 115 | vOut.y = vIn.x * m[1][0] + vIn.y * m[1][1] + vIn.z * m[1][2] + t[1];
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| 116 | vOut.z = vIn.x * m[2][0] + vIn.y * m[2][1] + vIn.z * m[2][2] + t[2];
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| 117 | }
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| 118 |
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| 119 | //! vOut = vIn * Matrix, matrix is on the right side
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| 120 | inline void Transformation::transformPointTransposed (const Vector& vIn, Vector& vOut) const
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| 121 | {
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| 122 | vOut.x = vIn.x * m[0][0] + vIn.y * m[1][0] + vIn.z * m[2][0] + t[0];
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| 123 | vOut.y = vIn.x * m[0][1] + vIn.y * m[1][1] + vIn.z * m[2][1] + t[1];
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| 124 | vOut.z = vIn.x * m[0][2] + vIn.y * m[1][2] + vIn.z * m[2][2] + t[2];
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| 125 | }
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| 126 |
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| 127 | //! vOut = Matrix * vIn, matrix is on the left side
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| 128 | inline void Transformation::transformDirection (const Vector& vIn, Vector& vOut) const
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| 129 | {
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| 130 | vOut.x = vIn.x * m[0][0] + vIn.y * m[0][1] + vIn.z * m[0][2];
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| 131 | vOut.y = vIn.x * m[1][0] + vIn.y * m[1][1] + vIn.z * m[1][2];
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| 132 | vOut.z = vIn.x * m[2][0] + vIn.y * m[2][1] + vIn.z * m[2][2];
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| 133 | }
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| 134 |
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| 135 | //! vOut = vIn * Matrix, matrix is on the right side
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| 136 | inline void Transformation::transformDirectionTransposed (const Vector& vIn, Vector& vOut) const
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| 137 | {
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| 138 | vOut.x = vIn.x * m[0][0] + vIn.y * m[1][0] + vIn.z * m[2][0];
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| 139 | vOut.y = vIn.x * m[0][1] + vIn.y * m[1][1] + vIn.z * m[2][1];
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| 140 | vOut.z = vIn.x * m[0][2] + vIn.y * m[1][2] + vIn.z * m[2][2];
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| 141 | }
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| 142 |
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| 143 | inline void Transformation::rotateZ(float angle)
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| 144 | {
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| 145 | float cosx = cosf(angle);
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| 146 | float sinx = sinf(angle);
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| 147 |
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| 148 | float tmp = m[0][0];
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| 149 | m[0][0] = cosx * tmp - sinx * m[1][0];
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| 150 | m[1][0] = sinx * tmp + cosx * m[1][0];
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| 151 |
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| 152 | tmp = m[0][1];
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| 153 | m[0][1] = cosx * tmp - sinx * m[1][1];
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| 154 | m[1][1] = sinx * tmp + cosx * m[1][1];
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| 155 |
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| 156 | tmp = m[0][2];
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| 157 | m[0][2] = cosx * tmp - sinx * m[1][2];
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| 158 | m[1][2] = sinx * tmp + cosx * m[1][2];
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| 159 |
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| 160 | tmp = t[0];
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| 161 | t[0] = cosx * tmp - sinx * t[1];
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| 162 | t[1] = sinx * tmp + cosx * t[1];
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| 163 | }
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| 164 |
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| 165 | inline void Transformation::rotateY(float angle)
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| 166 | {
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| 167 | float cosx = cosf(angle);
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| 168 | float sinx = sinf(angle);
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| 169 |
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| 170 | float tmp = m[0][0];
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| 171 | m[0][0] = cosx * tmp - sinx * m[2][0];
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| 172 | m[2][0] = sinx * tmp + cosx * m[2][0];
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| 173 |
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| 174 | tmp = m[0][2];
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| 175 | m[0][2] = cosx * tmp - sinx * m[2][2];
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| 176 | m[2][2] = sinx * tmp + cosx * m[2][2];
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| 177 |
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| 178 | tmp = m[0][1];
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| 179 | m[0][1] = cosx * tmp - sinx * m[2][1];
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| 180 | m[2][1] = sinx * tmp + cosx * m[2][1];
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| 181 |
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| 182 | tmp = t[0];
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| 183 | t[0] = cosx * tmp - sinx * t[2];
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| 184 | t[2] = sinx * tmp + cosx * t[2];
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| 185 | }
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| 186 |
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| 187 | inline void Transformation::rotateX(float angle)
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| 188 | {
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| 189 | float cosx = cosf(angle);
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| 190 | float sinx = sinf(angle);
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| 191 |
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| 192 | float tmp = m[1][1];
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| 193 | m[1][1] = cosx * tmp - sinx * m[2][1];
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| 194 | m[2][1] = sinx * tmp + cosx * m[2][1];
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| 195 |
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| 196 | tmp = m[1][2];
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| 197 | m[1][2] = cosx * tmp - sinx * m[2][2];
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| 198 | m[2][2] = sinx * tmp + cosx * m[2][2];
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| 199 |
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| 200 | tmp = m[1][0];
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| 201 | m[1][0] = cosx * tmp - sinx * m[2][0];
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| 202 | m[2][0] = sinx * tmp + cosx * m[2][0];
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| 203 |
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| 204 | tmp = t[1];
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| 205 | t[1] = cosx * tmp - sinx * t[2];
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| 206 | t[2] = sinx * tmp + cosx * t[2];
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| 207 | }
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| 208 |
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| 209 | inline void Transformation::scale(float factor)
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| 210 | {
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| 211 |
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| 212 | for(int i=0; i<3; i++)
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| 213 | {
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| 214 | for(int j=0; j<3; j++)
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| 215 | m[i][j] *= factor;
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| 216 | t[i] *= factor;
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| 217 | }
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| 218 |
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| 219 | } |
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