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DotRecastNetSim
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refactor: float[16] -> RcMatrix4x4f

This commit is contained in:
ikpil 2023-09-13 23:33:16 +09:00
parent 4726284c56
commit e8d14375e5
5 changed files with 113 additions and 86 deletions
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104
src/DotRecast.Core/RcMatrix4x4f.cs
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@ -1,4 +1,5 @@
using System;
using System.Numerics;
namespace DotRecast.Core
{
@ -12,22 +13,22 @@ namespace DotRecast.Core
0f, 0f, 0f, 1f
);
public float M11;
public float M12;
public float M13;
public float M14;
public float M21;
public float M22;
public float M23;
public float M24;
public float M31;
public float M32;
public float M33;
public float M34;
public float M41;
public float M42;
public float M43;
public float M44;
public float M11; // 0
public float M12; // 1
public float M13; // 2
public float M14; // 3
public float M21; // 4
public float M22; // 5
public float M23; // 6
public float M24; // 7
public float M31; // 8
public float M32; // 9
public float M33; // 10
public float M34; // 11
public float M41; // 12
public float M42; // 13
public float M43; // 14
public float M44; // 15
public RcMatrix4x4f(
float m11, float m12, float m13, float m14,
@ -56,6 +57,48 @@ namespace DotRecast.Core
M44 = m44;
}
public RcMatrix4x4f(float[] m)
{
M11 = m[0];
M12 = m[1];
M13 = m[2];
M14 = m[3];
M21 = m[4];
M22 = m[5];
M23 = m[6];
M24 = m[7];
M31 = m[8];
M32 = m[9];
M33 = m[10];
M34 = m[11];
M41 = m[12];
M42 = m[13];
M43 = m[14];
M44 = m[15];
}
public void CopyTo(float[] m)
{
m[0] = M11;
m[1] = M12;
m[2] = M13;
m[3] = M14;
m[4] = M21;
m[5] = M22;
m[6] = M23;
m[7] = M24;
m[8] = M31;
m[9] = M32;
m[10] = M33;
m[11] = M34;
m[12] = M41;
m[13] = M42;
m[14] = M43;
m[15] = M44;
}
public static RcMatrix4x4f Identity => _identity;
public readonly bool IsIdentity =>
@ -105,7 +148,34 @@ namespace DotRecast.Core
return dest;
}
public static RcMatrix4x4f Rotate(float a, float x, float y, float z)
public static RcMatrix4x4f Mul(float[] left, float[] right)
{
float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3];
float m01 = left[1] * right[0] + left[5] * right[1] + left[9] * right[2] + left[13] * right[3];
float m02 = left[2] * right[0] + left[6] * right[1] + left[10] * right[2] + left[14] * right[3];
float m03 = left[3] * right[0] + left[7] * right[1] + left[11] * right[2] + left[15] * right[3];
float m10 = left[0] * right[4] + left[4] * right[5] + left[8] * right[6] + left[12] * right[7];
float m11 = left[1] * right[4] + left[5] * right[5] + left[9] * right[6] + left[13] * right[7];
float m12 = left[2] * right[4] + left[6] * right[5] + left[10] * right[6] + left[14] * right[7];
float m13 = left[3] * right[4] + left[7] * right[5] + left[11] * right[6] + left[15] * right[7];
float m20 = left[0] * right[8] + left[4] * right[9] + left[8] * right[10] + left[12] * right[11];
float m21 = left[1] * right[8] + left[5] * right[9] + left[9] * right[10] + left[13] * right[11];
float m22 = left[2] * right[8] + left[6] * right[9] + left[10] * right[10] + left[14] * right[11];
float m23 = left[3] * right[8] + left[7] * right[9] + left[11] * right[10] + left[15] * right[11];
float m30 = left[0] * right[12] + left[4] * right[13] + left[8] * right[14] + left[12] * right[15];
float m31 = left[1] * right[12] + left[5] * right[13] + left[9] * right[14] + left[13] * right[15];
float m32 = left[2] * right[12] + left[6] * right[13] + left[10] * right[14] + left[14] * right[15];
float m33 = left[3] * right[12] + left[7] * right[13] + left[11] * right[14] + left[15] * right[15];
return new RcMatrix4x4f(
m00, m01, m02, m03,
m10, m11, m12, m13,
m20, m21, m22, m23,
m30, m31, m32, m33
);
}
public static RcMatrix4x4f CreateFromRotate(float a, float x, float y, float z)
{
var matrix = new RcMatrix4x4f();
a = (float)(a * Math.PI / 180.0); // convert to radians

41
src/DotRecast.Recast.Demo/Draw/DebugDraw.cs
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@ -19,6 +19,7 @@ freely, subject to the following restrictions:
*/
using System;
using System.Numerics;
using Silk.NET.OpenGL;
using DotRecast.Core;
using DotRecast.Recast.Toolset.Builder;
@ -638,15 +639,17 @@ public class DebugDraw
public float[] ViewMatrix(RcVec3f cameraPos, float[] cameraEulers)
{
float[] rx = GLU.Build_4x4_rotation_matrix(cameraEulers[0], 1, 0, 0);
float[] ry = GLU.Build_4x4_rotation_matrix(cameraEulers[1], 0, 1, 0);
float[] r = GLU.Mul(rx, ry);
float[] t = new float[16];
t[0] = t[5] = t[10] = t[15] = 1;
t[12] = -cameraPos.x;
t[13] = -cameraPos.y;
t[14] = -cameraPos.z;
_viewMatrix = GLU.Mul(r, t);
var rx = RcMatrix4x4f.CreateFromRotate(cameraEulers[0], 1, 0, 0);
var ry = RcMatrix4x4f.CreateFromRotate(cameraEulers[1], 0, 1, 0);
var r = RcMatrix4x4f.Mul(rx, ry);
var t = new RcMatrix4x4f();
t.M11 = t.M22 = t.M33 = t.M44 = 1;
t.M41 = -cameraPos.x;
t.M42 = -cameraPos.y;
t.M43 = -cameraPos.z;
var mul = RcMatrix4x4f.Mul(r, t);
mul.CopyTo(_viewMatrix);
GetOpenGlDraw().ViewMatrix(_viewMatrix);
UpdateFrustum();
return _viewMatrix;
@ -665,19 +668,13 @@ public class DebugDraw
private void UpdateFrustum()
{
float[] vpm = GLU.Mul(_projectionMatrix, _viewMatrix);
// left
NormalizePlane(vpm[0 + 3] + vpm[0 + 0], vpm[4 + 3] + vpm[4 + 0], vpm[8 + 3] + vpm[8 + 0], vpm[12 + 3] + vpm[12 + 0], ref frustumPlanes[0]);
// right
NormalizePlane(vpm[0 + 3] - vpm[0 + 0], vpm[4 + 3] - vpm[4 + 0], vpm[8 + 3] - vpm[8 + 0], vpm[12 + 3] - vpm[12 + 0], ref frustumPlanes[1]);
// top
NormalizePlane(vpm[0 + 3] - vpm[0 + 1], vpm[4 + 3] - vpm[4 + 1], vpm[8 + 3] - vpm[8 + 1], vpm[12 + 3] - vpm[12 + 1], ref frustumPlanes[2]);
// bottom
NormalizePlane(vpm[0 + 3] + vpm[0 + 1], vpm[4 + 3] + vpm[4 + 1], vpm[8 + 3] + vpm[8 + 1], vpm[12 + 3] + vpm[12 + 1], ref frustumPlanes[3]);
// near
NormalizePlane(vpm[0 + 3] + vpm[0 + 2], vpm[4 + 3] + vpm[4 + 2], vpm[8 + 3] + vpm[8 + 2], vpm[12 + 3] + vpm[12 + 2], ref frustumPlanes[4]);
// far
NormalizePlane(vpm[0 + 3] - vpm[0 + 2], vpm[4 + 3] - vpm[4 + 2], vpm[8 + 3] - vpm[8 + 2], vpm[12 + 3] - vpm[12 + 2], ref frustumPlanes[5]);
var vpm = RcMatrix4x4f.Mul(_projectionMatrix, _viewMatrix);
NormalizePlane(vpm.M14 + vpm.M11, vpm.M24 + vpm.M21, vpm.M34 + vpm.M31, vpm.M44 + vpm.M41, ref frustumPlanes[0]); // left
NormalizePlane(vpm.M14 - vpm.M11, vpm.M24 - vpm.M21, vpm.M34 - vpm.M31, vpm.M44 - vpm.M41, ref frustumPlanes[1]); // right
NormalizePlane(vpm.M14 - vpm.M12, vpm.M24 - vpm.M22, vpm.M34 - vpm.M32, vpm.M44 - vpm.M42, ref frustumPlanes[2]); // top
NormalizePlane(vpm.M14 + vpm.M12, vpm.M24 + vpm.M22, vpm.M34 + vpm.M32, vpm.M44 + vpm.M42, ref frustumPlanes[3]); // bottom
NormalizePlane(vpm.M14 + vpm.M13, vpm.M24 + vpm.M23, vpm.M34 + vpm.M33, vpm.M44 + vpm.M43, ref frustumPlanes[4]); // near
NormalizePlane(vpm.M14 - vpm.M13, vpm.M24 - vpm.M23, vpm.M34 - vpm.M33, vpm.M44 - vpm.M43, ref frustumPlanes[5]); // far
}
private void NormalizePlane(float px, float py, float pz, float pw, ref float[] plane)

44
src/DotRecast.Recast.Demo/Draw/GLU.cs
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@ -31,8 +31,7 @@ public static class GLU
return projectionMatrix;
}
public static void GlhPerspectivef2(float[] matrix, float fovyInDegrees, float aspectRatio, float znear,
float zfar)
public static void GlhPerspectivef2(float[] matrix, float fovyInDegrees, float aspectRatio, float znear, float zfar)
{
float ymax, xmax;
ymax = (float)(znear * Math.Tan(fovyInDegrees * Math.PI / 360.0));
@ -40,8 +39,7 @@ public static class GLU
GlhFrustumf2(matrix, -xmax, xmax, -ymax, ymax, znear, zfar);
}
private static void GlhFrustumf2(float[] matrix, float left, float right, float bottom, float top, float znear,
float zfar)
private static void GlhFrustumf2(float[] matrix, float left, float right, float bottom, float top, float znear, float zfar)
{
float temp, temp2, temp3, temp4;
temp = 2.0f * znear;
@ -369,44 +367,6 @@ public static class GLU
m[(c) * 4 + (r)] = v;
}
public static float[] Build_4x4_rotation_matrix(float a, float x, float y, float z)
{
float[] matrix = new float[16];
a = (float)(a * Math.PI / 180.0); // convert to radians
float s = (float)Math.Sin(a);
float c = (float)Math.Cos(a);
float t = 1.0f - c;
float tx = t * x;
float ty = t * y;
float tz = t * z;
float sz = s * z;
float sy = s * y;
float sx = s * x;
matrix[0] = tx * x + c;
matrix[1] = tx * y + sz;
matrix[2] = tx * z - sy;
matrix[3] = 0;
matrix[4] = tx * y - sz;
matrix[5] = ty * y + c;
matrix[6] = ty * z + sx;
matrix[7] = 0;
matrix[8] = tx * z + sy;
matrix[9] = ty * z - sx;
matrix[10] = tz * z + c;
matrix[11] = 0;
matrix[12] = 0;
matrix[13] = 0;
matrix[14] = 0;
matrix[15] = 1;
return matrix;
}
public static float[] Mul(float[] left, float[] right)
{
float m00 = left[0] * right[0] + left[4] * right[1] + left[8] * right[2] + left[12] * right[3];

4
src/DotRecast.Recast.Demo/Draw/ModernOpenGLDraw.cs
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@ -317,12 +317,12 @@ public class ModernOpenGLDraw : IOpenGLDraw
public void ProjectionMatrix(float[] projectionMatrix)
{
this._projectionMatrix = projectionMatrix;
_projectionMatrix = projectionMatrix;
}
public void ViewMatrix(float[] viewMatrix)
{
this._viewMatrix = viewMatrix;
_viewMatrix = viewMatrix;
}
public void Fog(float start, float end)

6
src/DotRecast.Recast.Toolset/Tools/RcDynamicUpdateTool.cs
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@ -238,7 +238,7 @@ namespace DotRecast.Recast.Toolset.Tools
SampleAreaModifications.SAMPLE_POLYAREA_TYPE_ROAD, walkableClimb);
var roofUp = RcVec3f.Zero;
RcVec3f roofExtent = RcVec3f.Of(4.5f, 4.5f, 8f);
var rx = RcMatrix4x4f.Rotate(45, forward.x, forward.y, forward.z);
var rx = RcMatrix4x4f.CreateFromRotate(45, forward.x, forward.y, forward.z);
roofUp = MulMatrixVector(ref roofUp, rx, baseUp);
RcVec3f roofCenter = RcVec3f.Of(p.x, p.y + 6, p.z);
BoxCollider roof = new BoxCollider(roofCenter, Detour.Dynamic.Colliders.BoxCollider.GetHalfEdges(roofUp, forward, roofExtent),
@ -297,8 +297,8 @@ namespace DotRecast.Recast.Toolset.Tools
private float[] TransformVertices(RcVec3f p, DemoInputGeomProvider geom, float ax)
{
var rx = RcMatrix4x4f.Rotate((float)random.NextDouble() * ax, 1, 0, 0);
var ry = RcMatrix4x4f.Rotate((float)random.NextDouble() * 360, 0, 1, 0);
var rx = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * ax, 1, 0, 0);
var ry = RcMatrix4x4f.CreateFromRotate((float)random.NextDouble() * 360, 0, 1, 0);
var m = RcMatrix4x4f.Mul(rx, ry);
float[] verts = new float[geom.vertices.Length];
RcVec3f v = new RcVec3f();