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Huge refactoring v3

master
Vectozavr 2021-10-30 04:20:48 +07:00
parent 8f03c3226d
commit 88d57b5af6
7 changed files with 31 additions and 14 deletions
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22
engine/Matrix4x4.cpp
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@ -85,10 +85,6 @@ Matrix4x4 Matrix4x4::Translation(const Vec3D& v) {
t._arr[2][2] = 1.0;
t._arr[3][3] = 1.0;
//t._arr[0][3] = v.x();
//t._arr[1][3] = v.y();
//t._arr[2][3] = v.z();
t._arr[3][0] = v.x();
t._arr[3][1] = v.y();
t._arr[3][2] = v.z();
@ -192,6 +188,20 @@ Matrix4x4 Matrix4x4::ScreenSpace(int width, int height) {
return s;
}
Matrix4x4 Matrix4x4::Model(const Matrix4x4& transformMatrix) {
Matrix4x4 M(transformMatrix);
M._arr[0][3] = M._arr[3][0];
M._arr[1][3] = M._arr[3][1];
M._arr[2][3] = M._arr[3][2];
M._arr[3][0] = 0;
M._arr[3][1] = 0;
M._arr[3][2] = 0;
return M;
}
Matrix4x4 Matrix4x4::View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye) {
Matrix4x4 V = Zero();
@ -226,3 +236,7 @@ Vec3D Matrix4x4::y() const {
Vec3D Matrix4x4::z() const {
return Vec3D(_arr[0][2], _arr[1][2],_arr[2][2]);
}
[[nodiscard]] Vec3D Matrix4x4::w() const {
return Vec3D(_arr[3][0], _arr[3][1],_arr[3][2]);
}

3
engine/Matrix4x4.h
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@ -24,6 +24,8 @@ public:
[[nodiscard]] Vec3D x() const;
[[nodiscard]] Vec3D y() const;
[[nodiscard]] Vec3D z() const;
[[nodiscard]] Vec3D w() const;
// Any useful matrix (static methods)
Matrix4x4 static Identity();
@ -38,6 +40,7 @@ public:
Matrix4x4 static RotationZ (double rz);
Matrix4x4 static Rotation (const Vec3D& v, double rv);
Matrix4x4 static Model(const Matrix4x4& transformMatrix);
Matrix4x4 static View(const Vec3D &left, const Vec3D &up, const Vec3D &lookAt, const Vec3D &eye);
Matrix4x4 static Projection (double fov = 90.0, double aspect = 1.0, double ZNear = 1.0, double ZFar = 10.0);
Matrix4x4 static ScreenSpace (int width, int height);

7
engine/Object.cpp
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@ -8,7 +8,7 @@
void Object::translate(const Vec3D &dv) {
_position = _position + dv;
_transformMatrix = _transformMatrix * Matrix4x4::Translation(dv);
for(auto &[attachedName, attachedObject] : _attachedObjects) {
if(!attachedObject.expired()) {
@ -67,7 +67,8 @@ void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &r) {
_transformMatrix = rotationMatrix*_transformMatrix;
// After rotation we translate XYZ by vector -r2 and recalculate position
_position = s + r2;
_transformMatrix = _transformMatrix * Matrix4x4::Translation(s + r2 - position());
for(auto &[attachedName, attachedObject] : _attachedObjects) {
if(!attachedObject.expired()) {
@ -86,7 +87,7 @@ void Object::rotateRelativePoint(const Vec3D &s, const Vec3D &v, double r) {
_transformMatrix = rotationMatrix*_transformMatrix;
// After rotation we translate XYZ by vector -r2 and recalculate position
_position = s + r2;
_transformMatrix = _transformMatrix * Matrix4x4::Translation(s + r2 - position());
for(auto &[attachedName, attachedObject] : _attachedObjects) {
if(!attachedObject.expired()) {

5
engine/Object.h
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@ -34,7 +34,6 @@ private:
std::map<ObjectNameTag, std::weak_ptr<Object>> _attachedObjects;
Vec3D _position {0, 0, 0};
Vec3D _angle {0, 0, 0};
Vec3D _angleLeftUpLookAt{0, 0, 0};
public:
@ -56,7 +55,7 @@ public:
[[nodiscard]] Vec3D left() const { return _transformMatrix.x(); }
[[nodiscard]] Vec3D up() const { return _transformMatrix.y(); }
[[nodiscard]] Vec3D lookAt() const { return _transformMatrix.z(); }
[[nodiscard]] Vec3D position() const { return _position; }
[[nodiscard]] Vec3D position() const { return _transformMatrix.w(); }
[[nodiscard]] Vec3D angle() const { return _angle; }
[[nodiscard]] Vec3D angleLeftUpLookAt() const { return _angleLeftUpLookAt; }
@ -67,7 +66,7 @@ public:
[[nodiscard]] ObjectNameTag name() const { return _nameTag; }
[[nodiscard]] Matrix4x4 model() const { return _transformMatrix; }
[[nodiscard]] Matrix4x4 model() const { return Matrix4x4::Model(_transformMatrix); }
// OpenGL function
[[nodiscard]] GLfloat* glModel() const;

3
engine/Screen.cpp
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@ -190,7 +190,6 @@ void Screen::glDrawMesh(GLfloat* geometry, GLfloat* view, GLfloat* model, size_t
}
GLfloat* Screen::glMeshToGLfloatArray(std::shared_ptr<Mesh> mesh, const Vec3D& cameraPosition) {
Vec3D pos = mesh->position();
std::vector<Triangle>& triangles = mesh->triangles();
auto* geometry = (GLfloat*)malloc(7*3*triangles.size()*sizeof(GLfloat));
@ -199,7 +198,7 @@ GLfloat* Screen::glMeshToGLfloatArray(std::shared_ptr<Mesh> mesh, const Vec3D& c
int stride = 21*i;
double dot = triangles[i].norm().dot((pos + mesh->model()*Vec3D(triangles[i][0]) - cameraPosition).normalized());
double dot = triangles[i].norm().dot((mesh->model()*Vec3D(triangles[i][0]) - cameraPosition).normalized());
sf::Color color = triangles[i].color();
sf::Color ambientColor = sf::Color((sf::Uint8)(color.r * (0.3 * std::abs(dot) + 0.7)),
(sf::Uint8)(color.g * (0.3 * std::abs(dot) + 0.7)),

3
engine/World.cpp
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@ -52,7 +52,8 @@ IntersectionInformation World::rayCast(const Vec3D& from, const Vec3D& to, const
}
for(auto& tri : body->triangles()) {
Triangle tri_translated(body->model()*tri[0] + body->position().makePoint4D(), body->model()*tri[1] + body->position().makePoint4D(), body->model()*tri[2] + body->position().makePoint4D());
Matrix4x4 model = body->model();
Triangle tri_translated(model*tri[0], model*tri[1], model*tri[2]);
Plane plane(tri_translated);
auto intersection = plane.intersection(from, to);

2
engine/physics/RigidBody.cpp
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@ -20,7 +20,7 @@ Vec3D RigidBody::_findFurthestPoint(const Vec3D& direction) {
for(auto& tri : triangles()){
for(int i = 0; i < 3; i++){
Vec3D point = model()*Vec3D(tri[i]) + position();
Vec3D point(model()*tri[i]);
double distance = point.dot(direction.normalized());
if(distance > maxDistance) {