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OpenXR - Get rid of ovrMatrix4f structure
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@@ -1,6 +1,7 @@
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <cstring>
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#include "VRMath.h"
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@@ -15,240 +16,21 @@ float ToRadians(float deg) {
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/*
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================================================================================
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ovrMatrix4f
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================================================================================
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*/
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float ovrMatrix4f_Minor(const ovrMatrix4f* m, int r0, int r1, int r2, int c0, int c1, int c2) {
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return m->M[r0][c0] * (m->M[r1][c1] * m->M[r2][c2] - m->M[r2][c1] * m->M[r1][c2]) -
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m->M[r0][c1] * (m->M[r1][c0] * m->M[r2][c2] - m->M[r2][c0] * m->M[r1][c2]) +
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m->M[r0][c2] * (m->M[r1][c0] * m->M[r2][c1] - m->M[r2][c0] * m->M[r1][c1]);
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}
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ovrMatrix4f ovrMatrix4f_CreateFromQuaternion(const XrQuaternionf* q) {
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const float ww = q->w * q->w;
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const float xx = q->x * q->x;
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const float yy = q->y * q->y;
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const float zz = q->z * q->z;
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ovrMatrix4f out;
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out.M[0][0] = ww + xx - yy - zz;
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out.M[0][1] = 2 * (q->x * q->y - q->w * q->z);
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out.M[0][2] = 2 * (q->x * q->z + q->w * q->y);
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out.M[0][3] = 0;
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out.M[1][0] = 2 * (q->x * q->y + q->w * q->z);
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out.M[1][1] = ww - xx + yy - zz;
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out.M[1][2] = 2 * (q->y * q->z - q->w * q->x);
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out.M[1][3] = 0;
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out.M[2][0] = 2 * (q->x * q->z - q->w * q->y);
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out.M[2][1] = 2 * (q->y * q->z + q->w * q->x);
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out.M[2][2] = ww - xx - yy + zz;
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out.M[2][3] = 0;
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out.M[3][0] = 0;
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out.M[3][1] = 0;
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out.M[3][2] = 0;
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out.M[3][3] = 1;
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return out;
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}
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ovrMatrix4f ovrMatrix4f_CreateProjectionFov(
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const float angleLeft,
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const float angleRight,
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const float angleUp,
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const float angleDown,
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const float nearZ,
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const float farZ) {
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const float tanAngleLeft = tanf(angleLeft);
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const float tanAngleRight = tanf(angleRight);
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const float tanAngleDown = tanf(angleDown);
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const float tanAngleUp = tanf(angleUp);
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const float tanAngleWidth = tanAngleRight - tanAngleLeft;
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// Set to tanAngleDown - tanAngleUp for a clip space with positive Y
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// down (Vulkan). Set to tanAngleUp - tanAngleDown for a clip space with
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// positive Y up (OpenGL / D3D / Metal).
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const float tanAngleHeight = tanAngleUp - tanAngleDown;
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// Set to nearZ for a [-1,1] Z clip space (OpenGL / OpenGL ES).
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// Set to zero for a [0,1] Z clip space (Vulkan / D3D / Metal).
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const float offsetZ = nearZ;
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ovrMatrix4f result;
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if (farZ <= nearZ) {
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// place the far plane at infinity
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result.M[0][0] = 2 / tanAngleWidth;
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result.M[0][1] = 0;
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result.M[0][2] = (tanAngleRight + tanAngleLeft) / tanAngleWidth;
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result.M[0][3] = 0;
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result.M[1][0] = 0;
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result.M[1][1] = 2 / tanAngleHeight;
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result.M[1][2] = (tanAngleUp + tanAngleDown) / tanAngleHeight;
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result.M[1][3] = 0;
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result.M[2][0] = 0;
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result.M[2][1] = 0;
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result.M[2][2] = -1;
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result.M[2][3] = -(nearZ + offsetZ);
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result.M[3][0] = 0;
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result.M[3][1] = 0;
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result.M[3][2] = -1;
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result.M[3][3] = 0;
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} else {
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// normal projection
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result.M[0][0] = 2 / tanAngleWidth;
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result.M[0][1] = 0;
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result.M[0][2] = (tanAngleRight + tanAngleLeft) / tanAngleWidth;
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result.M[0][3] = 0;
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result.M[1][0] = 0;
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result.M[1][1] = 2 / tanAngleHeight;
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result.M[1][2] = (tanAngleUp + tanAngleDown) / tanAngleHeight;
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result.M[1][3] = 0;
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result.M[2][0] = 0;
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result.M[2][1] = 0;
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result.M[2][2] = -(farZ + offsetZ) / (farZ - nearZ);
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result.M[2][3] = -(farZ * (nearZ + offsetZ)) / (farZ - nearZ);
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result.M[3][0] = 0;
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result.M[3][1] = 0;
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result.M[3][2] = -1;
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result.M[3][3] = 0;
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}
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return result;
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}
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ovrMatrix4f ovrMatrix4f_CreateRotation(const float radiansX, const float radiansY, const float radiansZ) {
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const float sinX = sinf(radiansX);
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const float cosX = cosf(radiansX);
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const ovrMatrix4f rotationX = {
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{{1, 0, 0, 0}, {0, cosX, -sinX, 0}, {0, sinX, cosX, 0}, {0, 0, 0, 1}}};
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const float sinY = sinf(radiansY);
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const float cosY = cosf(radiansY);
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const ovrMatrix4f rotationY = {
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{{cosY, 0, sinY, 0}, {0, 1, 0, 0}, {-sinY, 0, cosY, 0}, {0, 0, 0, 1}}};
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const float sinZ = sinf(radiansZ);
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const float cosZ = cosf(radiansZ);
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const ovrMatrix4f rotationZ = {
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{{cosZ, -sinZ, 0, 0}, {sinZ, cosZ, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}};
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const ovrMatrix4f rotationXY = ovrMatrix4f_Multiply(&rotationY, &rotationX);
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return ovrMatrix4f_Multiply(&rotationZ, &rotationXY);
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}
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ovrMatrix4f ovrMatrix4f_Inverse(const ovrMatrix4f* m) {
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const float rcpDet = 1.0f /
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(m->M[0][0] * ovrMatrix4f_Minor(m, 1, 2, 3, 1, 2, 3) -
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m->M[0][1] * ovrMatrix4f_Minor(m, 1, 2, 3, 0, 2, 3) +
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m->M[0][2] * ovrMatrix4f_Minor(m, 1, 2, 3, 0, 1, 3) -
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m->M[0][3] * ovrMatrix4f_Minor(m, 1, 2, 3, 0, 1, 2));
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ovrMatrix4f out;
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out.M[0][0] = ovrMatrix4f_Minor(m, 1, 2, 3, 1, 2, 3) * rcpDet;
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out.M[0][1] = -ovrMatrix4f_Minor(m, 0, 2, 3, 1, 2, 3) * rcpDet;
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out.M[0][2] = ovrMatrix4f_Minor(m, 0, 1, 3, 1, 2, 3) * rcpDet;
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out.M[0][3] = -ovrMatrix4f_Minor(m, 0, 1, 2, 1, 2, 3) * rcpDet;
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out.M[1][0] = -ovrMatrix4f_Minor(m, 1, 2, 3, 0, 2, 3) * rcpDet;
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out.M[1][1] = ovrMatrix4f_Minor(m, 0, 2, 3, 0, 2, 3) * rcpDet;
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out.M[1][2] = -ovrMatrix4f_Minor(m, 0, 1, 3, 0, 2, 3) * rcpDet;
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out.M[1][3] = ovrMatrix4f_Minor(m, 0, 1, 2, 0, 2, 3) * rcpDet;
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out.M[2][0] = ovrMatrix4f_Minor(m, 1, 2, 3, 0, 1, 3) * rcpDet;
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out.M[2][1] = -ovrMatrix4f_Minor(m, 0, 2, 3, 0, 1, 3) * rcpDet;
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out.M[2][2] = ovrMatrix4f_Minor(m, 0, 1, 3, 0, 1, 3) * rcpDet;
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out.M[2][3] = -ovrMatrix4f_Minor(m, 0, 1, 2, 0, 1, 3) * rcpDet;
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out.M[3][0] = -ovrMatrix4f_Minor(m, 1, 2, 3, 0, 1, 2) * rcpDet;
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out.M[3][1] = ovrMatrix4f_Minor(m, 0, 2, 3, 0, 1, 2) * rcpDet;
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out.M[3][2] = -ovrMatrix4f_Minor(m, 0, 1, 3, 0, 1, 2) * rcpDet;
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out.M[3][3] = ovrMatrix4f_Minor(m, 0, 1, 2, 0, 1, 2) * rcpDet;
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return out;
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}
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/// Use left-multiplication to accumulate transformations.
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ovrMatrix4f ovrMatrix4f_Multiply(const ovrMatrix4f* a, const ovrMatrix4f* b) {
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ovrMatrix4f out;
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out.M[0][0] = a->M[0][0] * b->M[0][0] + a->M[0][1] * b->M[1][0] + a->M[0][2] * b->M[2][0] +
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a->M[0][3] * b->M[3][0];
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out.M[1][0] = a->M[1][0] * b->M[0][0] + a->M[1][1] * b->M[1][0] + a->M[1][2] * b->M[2][0] +
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a->M[1][3] * b->M[3][0];
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out.M[2][0] = a->M[2][0] * b->M[0][0] + a->M[2][1] * b->M[1][0] + a->M[2][2] * b->M[2][0] +
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a->M[2][3] * b->M[3][0];
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out.M[3][0] = a->M[3][0] * b->M[0][0] + a->M[3][1] * b->M[1][0] + a->M[3][2] * b->M[2][0] +
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a->M[3][3] * b->M[3][0];
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out.M[0][1] = a->M[0][0] * b->M[0][1] + a->M[0][1] * b->M[1][1] + a->M[0][2] * b->M[2][1] +
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a->M[0][3] * b->M[3][1];
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out.M[1][1] = a->M[1][0] * b->M[0][1] + a->M[1][1] * b->M[1][1] + a->M[1][2] * b->M[2][1] +
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a->M[1][3] * b->M[3][1];
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out.M[2][1] = a->M[2][0] * b->M[0][1] + a->M[2][1] * b->M[1][1] + a->M[2][2] * b->M[2][1] +
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a->M[2][3] * b->M[3][1];
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out.M[3][1] = a->M[3][0] * b->M[0][1] + a->M[3][1] * b->M[1][1] + a->M[3][2] * b->M[2][1] +
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a->M[3][3] * b->M[3][1];
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out.M[0][2] = a->M[0][0] * b->M[0][2] + a->M[0][1] * b->M[1][2] + a->M[0][2] * b->M[2][2] +
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a->M[0][3] * b->M[3][2];
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out.M[1][2] = a->M[1][0] * b->M[0][2] + a->M[1][1] * b->M[1][2] + a->M[1][2] * b->M[2][2] +
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a->M[1][3] * b->M[3][2];
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out.M[2][2] = a->M[2][0] * b->M[0][2] + a->M[2][1] * b->M[1][2] + a->M[2][2] * b->M[2][2] +
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a->M[2][3] * b->M[3][2];
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out.M[3][2] = a->M[3][0] * b->M[0][2] + a->M[3][1] * b->M[1][2] + a->M[3][2] * b->M[2][2] +
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a->M[3][3] * b->M[3][2];
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out.M[0][3] = a->M[0][0] * b->M[0][3] + a->M[0][1] * b->M[1][3] + a->M[0][2] * b->M[2][3] +
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a->M[0][3] * b->M[3][3];
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out.M[1][3] = a->M[1][0] * b->M[0][3] + a->M[1][1] * b->M[1][3] + a->M[1][2] * b->M[2][3] +
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a->M[1][3] * b->M[3][3];
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out.M[2][3] = a->M[2][0] * b->M[0][3] + a->M[2][1] * b->M[1][3] + a->M[2][2] * b->M[2][3] +
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a->M[2][3] * b->M[3][3];
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out.M[3][3] = a->M[3][0] * b->M[0][3] + a->M[3][1] * b->M[1][3] + a->M[3][2] * b->M[2][3] +
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a->M[3][3] * b->M[3][3];
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return out;
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}
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XrVector3f ovrMatrix4f_ToEulerAngles(const ovrMatrix4f* m) {
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XrVector4f v1 = {0, 0, -1, 0};
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XrVector4f v2 = {1, 0, 0, 0};
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XrVector4f v3 = {0, 1, 0, 0};
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XrVector4f forwardInVRSpace = XrVector4f_MultiplyMatrix4f(m, &v1);
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XrVector4f rightInVRSpace = XrVector4f_MultiplyMatrix4f(m, &v2);
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XrVector4f upInVRSpace = XrVector4f_MultiplyMatrix4f(m, &v3);
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XrVector3f forward = {-forwardInVRSpace.z, -forwardInVRSpace.x, forwardInVRSpace.y};
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XrVector3f right = {-rightInVRSpace.z, -rightInVRSpace.x, rightInVRSpace.y};
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XrVector3f up = {-upInVRSpace.z, -upInVRSpace.x, upInVRSpace.y};
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XrVector3f forwardNormal = XrVector3f_Normalized(forward);
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XrVector3f rightNormal = XrVector3f_Normalized(right);
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XrVector3f upNormal = XrVector3f_Normalized(up);
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return XrVector3f_GetAnglesFromVectors(forwardNormal, rightNormal, upNormal);
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}
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/*
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================================================================================
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XrPosef
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================================================================================
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*/
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XrPosef XrPosef_Identity() {
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XrPosef r;
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r.orientation.x = 0;
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r.orientation.y = 0;
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r.orientation.z = 0;
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r.orientation.w = 1;
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r.position.x = 0;
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r.position.y = 0;
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r.position.z = 0;
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return r;
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XrPosef r;
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r.orientation.x = 0;
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r.orientation.y = 0;
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r.orientation.z = 0;
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r.orientation.w = 1;
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r.position.x = 0;
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r.position.y = 0;
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r.position.z = 0;
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return r;
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}
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XrPosef XrPosef_Inverse(const XrPosef a) {
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@@ -258,18 +40,6 @@ XrPosef XrPosef_Inverse(const XrPosef a) {
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return b;
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}
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XrPosef XrPosef_Multiply(const XrPosef a, const XrPosef b) {
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XrPosef c;
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c.orientation = XrQuaternionf_Multiply(a.orientation, b.orientation);
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c.position = XrPosef_Transform(a, b.position);
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return c;
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}
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XrVector3f XrPosef_Transform(const XrPosef a, const XrVector3f v) {
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XrVector3f r0 = XrQuaternionf_Rotate(a.orientation, v);
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return XrVector3f_Add(r0, a.position);
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}
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/*
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================================================================================
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@@ -329,8 +99,56 @@ XrVector3f XrQuaternionf_Rotate(const XrQuaternionf a, const XrVector3f v) {
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}
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XrVector3f XrQuaternionf_ToEulerAngles(const XrQuaternionf q) {
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ovrMatrix4f m = ovrMatrix4f_CreateFromQuaternion( &q );
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return ovrMatrix4f_ToEulerAngles(&m);
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float M[16];
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XrQuaternionf_ToMatrix4f( &q, M);
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XrVector4f v1 = {0, 0, -1, 0};
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XrVector4f v2 = {1, 0, 0, 0};
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XrVector4f v3 = {0, 1, 0, 0};
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XrVector4f forwardInVRSpace = XrVector4f_MultiplyMatrix4f(M, &v1);
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XrVector4f rightInVRSpace = XrVector4f_MultiplyMatrix4f(M, &v2);
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XrVector4f upInVRSpace = XrVector4f_MultiplyMatrix4f(M, &v3);
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XrVector3f forward = {-forwardInVRSpace.z, -forwardInVRSpace.x, forwardInVRSpace.y};
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XrVector3f right = {-rightInVRSpace.z, -rightInVRSpace.x, rightInVRSpace.y};
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XrVector3f up = {-upInVRSpace.z, -upInVRSpace.x, upInVRSpace.y};
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XrVector3f forwardNormal = XrVector3f_Normalized(forward);
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XrVector3f rightNormal = XrVector3f_Normalized(right);
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XrVector3f upNormal = XrVector3f_Normalized(up);
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return XrVector3f_GetAnglesFromVectors(forwardNormal, rightNormal, upNormal);
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}
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void XrQuaternionf_ToMatrix4f(const XrQuaternionf* q, float* matrix) {
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const float ww = q->w * q->w;
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const float xx = q->x * q->x;
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const float yy = q->y * q->y;
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const float zz = q->z * q->z;
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float M[4][4];
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M[0][0] = ww + xx - yy - zz;
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M[0][1] = 2 * (q->x * q->y - q->w * q->z);
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M[0][2] = 2 * (q->x * q->z + q->w * q->y);
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M[0][3] = 0;
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M[1][0] = 2 * (q->x * q->y + q->w * q->z);
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M[1][1] = ww - xx + yy - zz;
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M[1][2] = 2 * (q->y * q->z - q->w * q->x);
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M[1][3] = 0;
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M[2][0] = 2 * (q->x * q->z - q->w * q->y);
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M[2][1] = 2 * (q->y * q->z + q->w * q->x);
|
||||
M[2][2] = ww - xx - yy + zz;
|
||||
M[2][3] = 0;
|
||||
|
||||
M[3][0] = 0;
|
||||
M[3][1] = 0;
|
||||
M[3][2] = 0;
|
||||
M[3][3] = 1;
|
||||
|
||||
memcpy(matrix, &M, sizeof(float) * 16);
|
||||
}
|
||||
|
||||
/*
|
||||
@@ -341,22 +159,10 @@ XrVector3f, XrVector4f
|
||||
================================================================================
|
||||
*/
|
||||
|
||||
float XrVector3f_Length(const XrVector3f v) {
|
||||
return sqrtf(XrVector3f_LengthSquared(v));
|
||||
}
|
||||
|
||||
float XrVector3f_LengthSquared(const XrVector3f v) {
|
||||
return v.x * v.x + v.y * v.y + v.z * v.z;;
|
||||
}
|
||||
|
||||
XrVector3f XrVector3f_Add(const XrVector3f u, const XrVector3f v) {
|
||||
XrVector3f w;
|
||||
w.x = u.x + v.x;
|
||||
w.y = u.y + v.y;
|
||||
w.z = u.z + v.z;
|
||||
return w;
|
||||
}
|
||||
|
||||
XrVector3f XrVector3f_GetAnglesFromVectors(const XrVector3f forward, const XrVector3f right, const XrVector3f up) {
|
||||
float sr, sp, sy, cr, cp, cy;
|
||||
|
||||
@@ -397,7 +203,7 @@ XrVector3f XrVector3f_GetAnglesFromVectors(const XrVector3f forward, const XrVec
|
||||
}
|
||||
|
||||
XrVector3f XrVector3f_Normalized(const XrVector3f v) {
|
||||
float rcpLen = 1.0f / XrVector3f_Length(v);
|
||||
float rcpLen = 1.0f / sqrtf(XrVector3f_LengthSquared(v));
|
||||
return XrVector3f_ScalarMultiply(v, rcpLen);
|
||||
}
|
||||
|
||||
@@ -409,11 +215,14 @@ XrVector3f XrVector3f_ScalarMultiply(const XrVector3f v, float scale) {
|
||||
return u;
|
||||
}
|
||||
|
||||
XrVector4f XrVector4f_MultiplyMatrix4f(const ovrMatrix4f* a, const XrVector4f* v) {
|
||||
XrVector4f XrVector4f_MultiplyMatrix4f(const float* m, const XrVector4f* v) {
|
||||
float M[4][4];
|
||||
memcpy(&M, m, sizeof(float) * 16);
|
||||
|
||||
XrVector4f out;
|
||||
out.x = a->M[0][0] * v->x + a->M[0][1] * v->y + a->M[0][2] * v->z + a->M[0][3] * v->w;
|
||||
out.y = a->M[1][0] * v->x + a->M[1][1] * v->y + a->M[1][2] * v->z + a->M[1][3] * v->w;
|
||||
out.z = a->M[2][0] * v->x + a->M[2][1] * v->y + a->M[2][2] * v->z + a->M[2][3] * v->w;
|
||||
out.w = a->M[3][0] * v->x + a->M[3][1] * v->y + a->M[3][2] * v->z + a->M[3][3] * v->w;
|
||||
out.x = M[0][0] * v->x + M[0][1] * v->y + M[0][2] * v->z + M[0][3] * v->w;
|
||||
out.y = M[1][0] * v->x + M[1][1] * v->y + M[1][2] * v->z + M[1][3] * v->w;
|
||||
out.z = M[2][0] * v->x + M[2][1] * v->y + M[2][2] * v->z + M[2][3] * v->w;
|
||||
out.w = M[3][0] * v->x + M[3][1] * v->y + M[3][2] * v->z + M[3][3] * v->w;
|
||||
return out;
|
||||
}
|
||||
Reference in new issue
Block a user