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Added COBBox and renamed SBoundingBox to CAABox

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Reorganized code
This commit is contained in:
Phillip Stephens
2015-08-11 18:41:28 -07:00
parent 3a25f59adb
commit 9d657895cb
35 changed files with 353 additions and 233 deletions
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139
src/CMatrix3f.cpp Normal file
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#include "CMatrix3f.hpp"
#include "CQuaternion.hpp"
#include "Global.hpp"
const CMatrix3f CMatrix3f::skIdentityMatrix3f = CMatrix3f();
CMatrix3f::CMatrix3f(const CQuaternion& quat)
{
CQuaternion nq = quat.normalized();
float x2 = nq.v[0] * nq.v[0];
float y2 = nq.v[1] * nq.v[1];
float z2 = nq.v[2] * nq.v[2];
m[0][0] = 1.0 - 2.0 * y2 - 2.0 * z2;
m[1][0] = 2.0 * nq.v[0] * nq.v[1] - 2.0 * nq.v[2] * nq.r;
m[2][0] = 2.0 * nq.v[0] * nq.v[2] + 2.0 * nq.v[1] * nq.r;
m[0][1] = 2.0 * nq.v[0] * nq.v[1] + 2.0 * nq.v[2] * nq.r;
m[1][1] = 1.0 - 2.0 * x2 - 2.0 * z2;
m[2][1] = 2.0 * nq.v[1] * nq.v[2] - 2.0 * nq.v[0] * nq.r;
m[0][2] = 2.0 * nq.v[0] * nq.v[2] - 2.0 * nq.v[1] * nq.r;
m[1][2] = 2.0 * nq.v[1] * nq.v[2] + 2.0 * nq.v[0] * nq.r;
m[2][2] = 1.0 - 2.0 * x2 - 2.0 * y2;
m[0][3] = 0.0f;
m[1][3] = 0.0f;
m[2][3] = 0.0f;
}
CMatrix3f operator*(const CMatrix3f& lhs, const CMatrix3f& rhs)
{
#if __SSE__
unsigned i;
TVectorUnion resVec[3];
for (i=0 ; i<3 ; ++i) {
resVec[i].mVec128 =
_mm_add_ps(_mm_add_ps(
_mm_mul_ps(lhs[0].mVec128, ze_splat_ps(rhs[i].mVec128, 0)),
_mm_mul_ps(lhs[1].mVec128, ze_splat_ps(rhs[i].mVec128, 1))),
_mm_mul_ps(lhs[2].mVec128, ze_splat_ps(rhs[i].mVec128, 2)));
resVec[i].v[3] = 0.0;
}
return CMatrix3f(resVec[0].mVec128, resVec[1].mVec128, resVec[2].mVec128);
#else
return CMatrix3f(lhs[0][0] * rhs[0][0] + lhs[1][0] * rhs[0][1] + lhs[2][0] * rhs[0][2],
lhs[0][0] * rhs[1][0] + lhs[1][0] * rhs[1][1] + lhs[2][0] * rhs[1][2],
lhs[0][0] * rhs[2][0] + lhs[1][0] * rhs[2][1] + lhs[2][0] * rhs[2][2],
lhs[0][1] * rhs[0][0] + lhs[1][1] * rhs[0][1] + lhs[2][1] * rhs[0][2],
lhs[0][1] * rhs[1][0] + lhs[1][1] * rhs[1][1] + lhs[2][1] * rhs[1][2],
lhs[0][1] * rhs[2][0] + lhs[1][1] * rhs[2][1] + lhs[2][1] * rhs[2][2],
lhs[0][2] * rhs[0][0] + lhs[1][2] * rhs[0][1] + lhs[2][2] * rhs[0][2],
lhs[0][2] * rhs[1][0] + lhs[1][2] * rhs[1][1] + lhs[2][2] * rhs[1][2],
lhs[0][2] * rhs[2][0] + lhs[1][2] * rhs[2][1] + lhs[2][2] * rhs[2][2]);
#endif
}
void CMatrix3f::transpose()
{
#if __SSE__
__m128 zero = _mm_xor_ps(vec[0].mVec128, vec[0].mVec128);
__m128 T0 = _mm_unpacklo_ps(vec[0].mVec128, vec[1].mVec128);
__m128 T2 = _mm_unpacklo_ps(vec[2].mVec128, zero);
__m128 T1 = _mm_unpackhi_ps(vec[0].mVec128, vec[1].mVec128);
__m128 T3 = _mm_unpackhi_ps(vec[2].mVec128, zero);
vec[0].mVec128 = _mm_movelh_ps(T0, T2);
vec[1].mVec128 = _mm_movehl_ps(T2, T0);
vec[2].mVec128 = _mm_movelh_ps(T1, T3);
#else
float tmp;
tmp = m[0][1];
m[0][1] = m[1][0];
m[1][0] = tmp;
tmp = m[0][2];
m[0][2] = m[2][0];
m[2][0] = tmp;
tmp = m[1][2];
m[1][2] = m[2][1];
m[2][1] = tmp;
#endif
}
CMatrix3f CMatrix3f::transposed() const
{
#if __SSE__
__m128 zero = _mm_xor_ps(vec[0].mVec128, vec[0].mVec128);
__m128 T0 = _mm_unpacklo_ps(vec[0].mVec128, vec[1].mVec128);
__m128 T2 = _mm_unpacklo_ps(vec[2].mVec128, zero);
__m128 T1 = _mm_unpackhi_ps(vec[0].mVec128, vec[1].mVec128);
__m128 T3 = _mm_unpackhi_ps(vec[2].mVec128, zero);
return CMatrix3f(_mm_movelh_ps(T0, T2), _mm_movehl_ps(T2, T0), _mm_movelh_ps(T1, T3));
#else
CMatrix3f ret(*this);
float tmp;
tmp = ret.m[0][1];
ret.m[0][1] = ret.m[1][0];
ret.m[1][0] = tmp;
tmp = m[0][2];
ret.m[0][2] = ret.m[2][0];
ret.m[2][0] = tmp;
tmp = m[1][2];
ret.m[1][2] = ret.m[2][1];
ret.m[2][1] = tmp;
return ret;
#endif
}
CMatrix3f CMatrix3f::inverted() const
{
float det =
m[0][0] * m[1][1] * m[2][2] +
m[1][0] * m[2][1] * m[0][2] +
m[2][0] * m[0][1] * m[1][2] -
m[0][2] * m[1][1] * m[2][0] -
m[1][2] * m[2][1] * m[0][0] -
m[2][2] * m[0][1] * m[1][0];
if (det == 0.0)
return CMatrix3f();
det = 1.0f / det;
return CMatrix3f((m[1][1]*m[2][2] - m[1][2]*m[2][1]) * det,
-(m[1][0]*m[2][2] - m[1][2]*m[2][0]) * det,
(m[1][0]*m[2][1] - m[1][1]*m[2][0]) * det,
-(m[0][1]*m[2][2] - m[0][2]*m[2][1]) * det,
(m[0][0]*m[2][2] - m[0][2]*m[2][0]) * det,
-(m[0][0]*m[2][1] - m[0][1]*m[2][0]) * det,
(m[0][1]*m[1][2] - m[0][2]*m[1][1]) * det,
-(m[0][0]*m[1][2] - m[0][2]*m[1][0]) * det,
(m[0][0]*m[1][1] - m[0][1]*m[1][0]) * det);
}