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Minor CEulerAngles progress

This commit is contained in:
Luke Street 2022-12-07 00:13:59 -05:00
parent d065d80388
commit 67f01bc9cd
5 changed files with 52 additions and 4 deletions
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2
asm/MetroidPrime/CAutoMapper.s
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@ -5023,7 +5023,7 @@ lbl_80099984:
/* 80099994 000968F4 4B F7 0F D5 */ bl GetCurrentCameraTransform__14CCameraManagerCFRC13CStateManager
/* 80099998 000968F8 38 61 00 C8 */ addi r3, r1, 0xc8
/* 8009999C 000968FC 38 81 03 A0 */ addi r4, r1, 0x3a0
/* 800999A0 00096900 4B F8 1E 61 */ bl FromMatrix3f__12CEulerAnglesFRC9CMatrix3f
/* 800999A0 00096900 4B F8 1E 61 */ bl FromTransform__12CEulerAnglesFRC12CTransform4f
/* 800999A4 00096904 C0 81 00 D0 */ lfs f4, 0xd0(r1)
/* 800999A8 00096908 3C 00 43 30 */ lis r0, 0x4330
/* 800999AC 0009690C C0 02 8B A4 */ lfs f0, lbl_805AA8C4@sda21(r2)

4
asm/MetroidPrime/CEulerAngles.s
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@ -207,8 +207,8 @@ lbl_8001B7C4:
/* 8001B7F8 00018758 38 21 00 60 */ addi r1, r1, 0x60
/* 8001B7FC 0001875C 4E 80 00 20 */ blr
.global FromMatrix3f__12CEulerAnglesFRC9CMatrix3f
FromMatrix3f__12CEulerAnglesFRC9CMatrix3f:
.global FromTransform__12CEulerAnglesFRC12CTransform4f
FromTransform__12CEulerAnglesFRC12CTransform4f:
/* 8001B800 00018760 94 21 FF 90 */ stwu r1, -0x70(r1)
/* 8001B804 00018764 7C 08 02 A6 */ mflr r0
/* 8001B808 00018768 90 01 00 74 */ stw r0, 0x74(r1)

22
include/Kyoto/Math/CMatrix3f.hpp
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@ -3,6 +3,7 @@
#include "types.h"
#include "Kyoto/Math/CTransform4f.hpp"
#include "Kyoto/Math/CVector3f.hpp"
class CMatrix3f {
@ -10,6 +11,13 @@ class CMatrix3f {
public:
CMatrix3f(const CMatrix3f&);
CMatrix3f(const CVector3f& m0, const CVector3f& m1, const CVector3f& m2);
// fake but useful for CEulerAngles?
CMatrix3f(const CTransform4f& xf);/*
: m0(xf.GetRow(kDX))
, m1(xf.GetRow(kDY))
, m2(xf.GetRow(kDZ)) {}*/
const CMatrix3f& operator=(const CMatrix3f& other);
static const CMatrix3f& Identity() { return sIdentity; }
@ -21,8 +29,22 @@ public:
inline const CVector3f& GetRow(EDimY dim) const { return m1; }
inline const CVector3f& GetRow(EDimZ dim) const { return m2; }
float Get00() const { return m0.GetX(); }
float Get01() const { return m0.GetY(); }
float Get02() const { return m0.GetZ(); }
float Get10() const { return m1.GetX(); }
float Get11() const { return m1.GetY(); }
float Get12() const { return m1.GetZ(); }
float Get20() const { return m2.GetX(); }
float Get21() const { return m2.GetY(); }
float Get22() const { return m2.GetZ(); }
inline CVector3f GetColumn(EDimY dim) const { return CVector3f(m0.GetY(), m1.GetY(), m2.GetY()); }
static CMatrix3f FromTransform(const CTransform4f& xf);/* {
return CMatrix3f(xf.GetRow(kDX), xf.GetRow(kDY), xf.GetRow(kDZ));
}*/
private:
// TODO maybe individual floats
CVector3f m0;

8
include/MetroidPrime/CEulerAngles.hpp
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@ -3,12 +3,18 @@
#include "Kyoto/Math/CVector3f.hpp"
class CTransform4f;
class CQuaternion;
class CEulerAngles : public CVector3f {
public:
CEulerAngles(float x, float y, float z) : CVector3f(x, y, z) {}
CEulerAngles(float roll, float pitch, float yaw) : CVector3f(roll, pitch, yaw) {}
static CEulerAngles FromTransform(const CTransform4f&);
static CEulerAngles FromQuaternion(const CQuaternion&);
private:
static CEulerAngles sIdentity;
};
#endif // _CEULERANGLES

20
src/MetroidPrime/CEulerAngles.cpp
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@ -1,9 +1,29 @@
#include "MetroidPrime/CEulerAngles.hpp"
#include "Kyoto/Math/CMath.hpp"
#include "Kyoto/Math/CMatrix3f.hpp"
#include "Kyoto/Math/CQuaternion.hpp"
#include "Kyoto/Math/CTransform4f.hpp"
#include "Kyoto/Math/CloseEnough.hpp"
CEulerAngles CEulerAngles::sIdentity(0.f, 0.f, 0.f);
CEulerAngles CEulerAngles::FromTransform(const CTransform4f& xf) {
// TODO: actually CMatrix3f::FromTransform and uninlined, why?
CMatrix3f mtx(xf);
float sq = sqrt(mtx.Get11() * mtx.Get11() + mtx.Get01() * mtx.Get01());
if (!close_enough(sq, 0.f)) {
double yaw = -atan2(mtx.Get01(), mtx.Get11());
double pitch = -atan2(mtx.Get20(), mtx.Get22());
double roll = -atan2(-mtx.Get21(), sq);
return CEulerAngles(roll, pitch, yaw);
} else {
double pitch = -atan2(-mtx.Get02(), mtx.Get00());
double roll = -atan2(-mtx.Get21(), sq);
return CEulerAngles(roll, pitch, 0.f);
}
}
CEulerAngles CEulerAngles::FromQuaternion(const CQuaternion& quat) {
float quatDot = CQuaternion::Dot(quat, quat);
float t0 = 0.f;