1 | //#include <math/projection.h> |
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2 | #include <math.h> |
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3 | #include <memory.h> |
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4 | |
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5 | static void __gluMakeIdentityd(float m[16]) |
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6 | { |
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7 | m[0+4*0] = 1; m[0+4*1] = 0; m[0+4*2] = 0; m[0+4*3] = 0; |
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8 | m[1+4*0] = 0; m[1+4*1] = 1; m[1+4*2] = 0; m[1+4*3] = 0; |
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9 | m[2+4*0] = 0; m[2+4*1] = 0; m[2+4*2] = 1; m[2+4*3] = 0; |
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10 | m[3+4*0] = 0; m[3+4*1] = 0; m[3+4*2] = 0; m[3+4*3] = 1; |
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11 | } |
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12 | |
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13 | |
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14 | static int __gluInvertMatrixd(const float m[16], float invOut[16]) |
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15 | { |
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16 | float inv[16], det; |
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17 | int i; |
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18 | |
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19 | inv[0] = m[5]*m[10]*m[15] - m[5]*m[11]*m[14] - m[9]*m[6]*m[15] |
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20 | + m[9]*m[7]*m[14] + m[13]*m[6]*m[11] - m[13]*m[7]*m[10]; |
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21 | inv[4] = -m[4]*m[10]*m[15] + m[4]*m[11]*m[14] + m[8]*m[6]*m[15] |
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22 | - m[8]*m[7]*m[14] - m[12]*m[6]*m[11] + m[12]*m[7]*m[10]; |
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23 | inv[8] = m[4]*m[9]*m[15] - m[4]*m[11]*m[13] - m[8]*m[5]*m[15] |
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24 | + m[8]*m[7]*m[13] + m[12]*m[5]*m[11] - m[12]*m[7]*m[9]; |
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25 | inv[12] = -m[4]*m[9]*m[14] + m[4]*m[10]*m[13] + m[8]*m[5]*m[14] |
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26 | - m[8]*m[6]*m[13] - m[12]*m[5]*m[10] + m[12]*m[6]*m[9]; |
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27 | inv[1] = -m[1]*m[10]*m[15] + m[1]*m[11]*m[14] + m[9]*m[2]*m[15] |
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28 | - m[9]*m[3]*m[14] - m[13]*m[2]*m[11] + m[13]*m[3]*m[10]; |
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29 | inv[5] = m[0]*m[10]*m[15] - m[0]*m[11]*m[14] - m[8]*m[2]*m[15] |
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30 | + m[8]*m[3]*m[14] + m[12]*m[2]*m[11] - m[12]*m[3]*m[10]; |
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31 | inv[9] = -m[0]*m[9]*m[15] + m[0]*m[11]*m[13] + m[8]*m[1]*m[15] |
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32 | - m[8]*m[3]*m[13] - m[12]*m[1]*m[11] + m[12]*m[3]*m[9]; |
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33 | inv[13] = m[0]*m[9]*m[14] - m[0]*m[10]*m[13] - m[8]*m[1]*m[14] |
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34 | + m[8]*m[2]*m[13] + m[12]*m[1]*m[10] - m[12]*m[2]*m[9]; |
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35 | inv[2] = m[1]*m[6]*m[15] - m[1]*m[7]*m[14] - m[5]*m[2]*m[15] |
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36 | + m[5]*m[3]*m[14] + m[13]*m[2]*m[7] - m[13]*m[3]*m[6]; |
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37 | inv[6] = -m[0]*m[6]*m[15] + m[0]*m[7]*m[14] + m[4]*m[2]*m[15] |
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38 | - m[4]*m[3]*m[14] - m[12]*m[2]*m[7] + m[12]*m[3]*m[6]; |
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39 | inv[10] = m[0]*m[5]*m[15] - m[0]*m[7]*m[13] - m[4]*m[1]*m[15] |
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40 | + m[4]*m[3]*m[13] + m[12]*m[1]*m[7] - m[12]*m[3]*m[5]; |
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41 | inv[14] = -m[0]*m[5]*m[14] + m[0]*m[6]*m[13] + m[4]*m[1]*m[14] |
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42 | - m[4]*m[2]*m[13] - m[12]*m[1]*m[6] + m[12]*m[2]*m[5]; |
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43 | inv[3] = -m[1]*m[6]*m[11] + m[1]*m[7]*m[10] + m[5]*m[2]*m[11] |
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44 | - m[5]*m[3]*m[10] - m[9]*m[2]*m[7] + m[9]*m[3]*m[6]; |
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45 | inv[7] = m[0]*m[6]*m[11] - m[0]*m[7]*m[10] - m[4]*m[2]*m[11] |
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46 | + m[4]*m[3]*m[10] + m[8]*m[2]*m[7] - m[8]*m[3]*m[6]; |
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47 | inv[11] = -m[0]*m[5]*m[11] + m[0]*m[7]*m[9] + m[4]*m[1]*m[11] |
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48 | - m[4]*m[3]*m[9] - m[8]*m[1]*m[7] + m[8]*m[3]*m[5]; |
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49 | inv[15] = m[0]*m[5]*m[10] - m[0]*m[6]*m[9] - m[4]*m[1]*m[10] |
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50 | + m[4]*m[2]*m[9] + m[8]*m[1]*m[6] - m[8]*m[2]*m[5]; |
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51 | |
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52 | det = m[0]*inv[0] + m[1]*inv[4] + m[2]*inv[8] + m[3]*inv[12]; |
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53 | |
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54 | if (det == 0) |
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55 | return 0; |
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56 | |
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57 | det = 1.0f / det; |
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58 | |
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59 | for (i = 0; i < 16; i++) |
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60 | invOut[i] = inv[i] * det; |
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61 | |
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62 | return 1; |
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63 | } |
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64 | |
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65 | |
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66 | static void __gluMultMatrixVecd(const float matrix[16], const float in[4], |
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67 | float out[4]) |
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68 | { |
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69 | int i; |
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70 | |
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71 | for (i=0; i<4; i++) { |
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72 | out[i] = |
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73 | in[0] * matrix[0*4+i] + |
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74 | in[1] * matrix[1*4+i] + |
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75 | in[2] * matrix[2*4+i] + |
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76 | in[3] * matrix[3*4+i]; |
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77 | } |
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78 | } |
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79 | |
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80 | static void __gluMultMatricesd(const float a[16], const float b[16], |
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81 | float r[16]) |
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82 | { |
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83 | int i, j; |
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84 | |
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85 | for (i = 0; i < 4; i++) { |
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86 | for (j = 0; j < 4; j++) { |
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87 | r[i*4+j] = |
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88 | a[i*4+0]*b[0*4+j] + |
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89 | a[i*4+1]*b[1*4+j] + |
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90 | a[i*4+2]*b[2*4+j] + |
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91 | a[i*4+3]*b[3*4+j]; |
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92 | } |
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93 | } |
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94 | } |
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95 | |
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96 | int unproject(float winx, float winy, float winz, |
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97 | const float modelMatrix[16], |
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98 | const float projMatrix[16], |
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99 | const int viewport[4], |
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100 | float *objx, float *objy, float *objz) |
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101 | { |
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102 | float finalMatrix[16]; |
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103 | float in[4]; |
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104 | float out[4]; |
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105 | |
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106 | __gluMultMatricesd(modelMatrix, projMatrix, finalMatrix); |
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107 | if (!__gluInvertMatrixd(finalMatrix, finalMatrix)) return(0); |
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108 | |
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109 | in[0]=winx; |
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110 | in[1]=winy; |
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111 | in[2]=winz; |
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112 | in[3]=1.0; |
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113 | |
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114 | // Map x and y from window coordinates |
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115 | in[0] = (in[0] - viewport[0]) / viewport[2]; |
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116 | in[1] = (in[1] - viewport[1]) / viewport[3]; |
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117 | |
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118 | // Map to range -1 to 1 |
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119 | in[0] = in[0] * 2 - 1; |
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120 | in[1] = in[1] * 2 - 1; |
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121 | in[2] = in[2] * 2 - 1; |
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122 | |
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123 | __gluMultMatrixVecd(finalMatrix, in, out); |
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124 | if (out[3] == 0.0) return(0); |
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125 | out[0] /= out[3]; |
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126 | out[1] /= out[3]; |
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127 | out[2] /= out[3]; |
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128 | *objx = out[0]; |
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129 | *objy = out[1]; |
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130 | *objz = out[2]; |
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131 | return(1); |
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132 | } |
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133 | |
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134 | #define __glPi 3.14159265358979323846 |
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135 | |
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136 | void perspective(float fovy, float aspect, float zNear, float zFar, float* matrix) |
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137 | { |
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138 | float m[4][4]; |
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139 | float sine, cotangent, deltaZ; |
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140 | float radians = (float) (fovy / 2.0 * __glPi / 180.0); |
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141 | |
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142 | deltaZ = zFar - zNear; |
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143 | sine = sin(radians); |
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144 | if ((deltaZ == 0) || (sine == 0) || (aspect == 0)) { |
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145 | return; |
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146 | } |
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147 | cotangent = cos(radians) / sine; |
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148 | |
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149 | __gluMakeIdentityd(&m[0][0]); |
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150 | m[0][0] = cotangent / aspect; |
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151 | m[1][1] = cotangent; |
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152 | m[2][2] = -(zFar + zNear) / deltaZ; |
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153 | m[2][3] = -1; |
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154 | m[3][2] = -2 * zNear * zFar / deltaZ; |
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155 | m[3][3] = 0; |
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156 | //glMultMatrixd(&m[0][0]); |
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157 | memcpy(matrix, &m[0][0], sizeof(float) * 16); |
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158 | } |
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159 | |
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