136 lines
2.9 KiB
C++
136 lines
2.9 KiB
C++
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#include "StdAfx.h"
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#include "GrpMath.h"
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float CrossProduct2D(float x1, float y1, float x2, float y2)
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{
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return x1*y2-y1*x2;
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}
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bool IsInTriangle2D(float ax, float ay, float bx, float by, float cx, float cy, float tx, float ty)
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{
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float c1 = CrossProduct2D(bx-ax, by-ay, tx-ax, ty-ay);
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float c2 = CrossProduct2D(cx-bx, cy-by, tx-bx, ty-by);
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float c3 = CrossProduct2D(ax-cx, ay-cy, tx-cx, ty-cy);
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if (c1 * c2 > 0.0f && c1 * c3 > 0.0f)
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return true;
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if (c1 * c2 * c3 == 0.0f)
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{
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if (tx < ax)
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if (tx < bx)
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if (tx < cx)
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return false;
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if (tx > ax)
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if (tx > bx)
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if (tx > cx)
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return false;
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if (ty < ay)
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if (ty < by)
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if (ty < cy)
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return false;
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if (ty > ay)
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if (ty > by)
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if (ty > cy)
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return false;
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return true;
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}
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return false;
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}
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D3DXVECTOR3* D3DXVec3Rotation(D3DXVECTOR3* pvtOut, const D3DXVECTOR3* c_pvtSrc, const D3DXQUATERNION* c_pqtRot)
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{
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D3DXQUATERNION qtSrc(c_pvtSrc->x, c_pvtSrc->y, c_pvtSrc->z, 0);
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D3DXQUATERNION qtRet;
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D3DXQuaternionConjugate(&qtRet, c_pqtRot);
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D3DXQuaternionMultiply(&qtRet, &qtSrc, &qtRet);
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D3DXQuaternionMultiply(&qtRet, c_pqtRot, &qtRet);
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pvtOut->x=qtRet.x;
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pvtOut->y=qtRet.y;
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pvtOut->z=qtRet.z;
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return pvtOut;
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}
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void GetRotationFromMatrix(D3DXVECTOR3 * pRotation, const D3DXMATRIX * c_pMatrix)
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{
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float sx = c_pMatrix->_32;
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float cx = sqrtf(1.0f - sx * sx);
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if (cx < 0.00001f)
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{
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if (sx > 0)
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pRotation->x = D3DX_PI / 2;
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else
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pRotation->x = -D3DX_PI / 2;
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pRotation->y = atan2f(c_pMatrix->_31, c_pMatrix->_11);
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pRotation->z = 0.0f;
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}
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else
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{
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pRotation->x = atan2f(sx, cx);
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pRotation->y = atan2f(-c_pMatrix->_31, c_pMatrix->_33);
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pRotation->z = atan2f(-c_pMatrix->_12, c_pMatrix->_22);
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}
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}
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void GetPivotAndRotationFromMatrix(D3DXMATRIX * pMatrix, D3DXVECTOR3 * pPivot, D3DXVECTOR3 * pRotation)
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{
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float sx = pMatrix->_32;
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float cx = sqrtf(1.0f - sx * sx);
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float x, y, z;
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if (cx < 0.00001f)
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{
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if (sx > 0)
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x = D3DX_PI / 2;
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else
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x = -D3DX_PI / 2;
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y = atan2f(pMatrix->_31, pMatrix->_11);
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z = 0.0f;
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}
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else
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{
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x = atan2f(sx, cx);
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y = atan2f(-pMatrix->_31, pMatrix->_33);
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z = atan2f(-pMatrix->_12, pMatrix->_22);
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}
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pRotation->x = x;
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pRotation->y = y;
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pRotation->z = z;
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pPivot->x = pMatrix->_41;
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pPivot->y = pMatrix->_42;
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pPivot->z = pMatrix->_43;
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}
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// NOTE : must be optimized!
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void ExtractMovement(D3DXMATRIX * pTargetMatrix, D3DXMATRIX * pSourceMatrix)
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{
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D3DXVECTOR3 v3Pivot;
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D3DXVECTOR3 v3Rotation;
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GetPivotAndRotationFromMatrix(pSourceMatrix, &v3Pivot, &v3Rotation);
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D3DXMATRIX matRotationX;
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D3DXMatrixRotationX(&matRotationX, v3Rotation.x);
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D3DXMATRIX matRotationY;
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D3DXMatrixRotationY(&matRotationY, v3Rotation.y);
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D3DXMATRIX matRotationZ;
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D3DXMatrixRotationZ(&matRotationZ, v3Rotation.z);
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D3DXMATRIX matTranslation;
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D3DXMatrixTranslation(&matTranslation, v3Pivot.x, v3Pivot.y, v3Pivot.z);
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*pTargetMatrix = matRotationX * matRotationY * matRotationZ * matTranslation;
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}
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