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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
#include <RendererProjection.h>
#include <math.h>
using namespace SampleRenderer;
RendererProjection::RendererProjection(float fov, float aspectRatio, float nearPlane, float farPlane)
{
RENDERER_ASSERT(farPlane > nearPlane, "Cannot construct a Projection Matrix whose nearPlane is further than the farPlane.");
memset(m_matrix, 0, sizeof(m_matrix));
float fd = 1/tanf(fov/2);
m_matrix[0] = fd;
m_matrix[5] = fd*aspectRatio;
m_matrix[10] = (farPlane + nearPlane)/(nearPlane - farPlane);
m_matrix[11] = -1;
m_matrix[14] = (2 * farPlane * nearPlane)/(nearPlane - farPlane);
}
RendererProjection::RendererProjection(float left, float right, float bottom, float top, float nearPlane, float farPlane)
{
memset(m_matrix, 0, sizeof(m_matrix));
m_matrix[0] = 2/(right - left);
m_matrix[5] = 2/(top - bottom);
m_matrix[10] = -2/(farPlane - nearPlane);
m_matrix[12] = - (right + left) / (right - left);
m_matrix[13] = - (top + bottom) / (top - bottom);
m_matrix[14] = - (farPlane + nearPlane) / (farPlane - nearPlane);
m_matrix[15] = 1;
}
RendererProjection::RendererProjection(const PxMat44 mat)
{
getPxMat44() = mat;
}
void RendererProjection::getColumnMajor44(float *f) const
{
if(f) memcpy(f, m_matrix, sizeof(m_matrix));
}
void RendererProjection::getRowMajor44(float *f) const
{
getColumnMajor44(f);
for (int i = 0; i < 4; i++) {
for (int j = i + 1; j < 4; j++) {
float save = f[4 * i + j];
f[4 * i + j] = f[4 * j + i];
f[4 * j + i] = save;
}
}
}
class vec4
{
public:
vec4(void) {}
vec4(const PxVec3& v3)
{
x=v3.x;
y=v3.y;
z=v3.z;
w=1.0f;
}
vec4(PxF32 _x, PxF32 _y, PxF32 _z, PxF32 _w)
{
x=_x;
y=_y;
z=_z;
w=_w;
}
vec4 operator*=(PxF32 f)
{
x*=f;
y*=f;
z*=f;
w*=f;
return *this;
}
public:
PxF32 x, y, z, w;
};
class mat4x4
{
public:
mat4x4(void){}
mat4x4(const physx::PxTransform &m)
{
PxMat44 mat44(m);
memcpy(&x.x, mat44.front(), 4 * 4 * sizeof (PxReal));
}
mat4x4(const RendererProjection &m)
{
m.getColumnMajor44(&x.x);
}
public:
vec4 x;
vec4 y;
vec4 z;
vec4 w;
};
mat4x4 invert(const mat4x4 &m)
{
mat4x4 inv;
#define det3x3(a0, a1, a2, a3, a4, a5, a6, a7, a8) \
(a0 * (a4*a8 - a7*a5) - a1 * (a3*a8 - a6*a5) + a2 * (a3*a7 - a6*a4))
inv.x.x = det3x3(m.y.y, m.y.z, m.y.w, m.z.y, m.z.z, m.z.w, m.w.y, m.w.z, m.w.w);
inv.x.y = -det3x3(m.x.y, m.x.z, m.x.w, m.z.y, m.z.z, m.z.w, m.w.y, m.w.z, m.w.w);
inv.x.z = det3x3(m.x.y, m.x.z, m.x.w, m.y.y, m.y.z, m.y.w, m.w.y, m.w.z, m.w.w);
inv.x.w = -det3x3(m.x.y, m.x.z, m.x.w, m.y.y, m.y.z, m.y.w, m.z.y, m.z.z, m.z.w);
inv.y.x = -det3x3(m.y.x, m.y.z, m.y.w, m.z.x, m.z.z, m.z.w, m.w.x, m.w.z, m.w.w);
inv.y.y = det3x3(m.x.x, m.x.z, m.x.w, m.z.x, m.z.z, m.z.w, m.w.x, m.w.z, m.w.w);
inv.y.z = -det3x3(m.x.x, m.x.z, m.x.w, m.y.x, m.y.z, m.y.w, m.w.x, m.w.z, m.w.w);
inv.y.w = det3x3(m.x.x, m.x.z, m.x.w, m.y.x, m.y.z, m.y.w, m.z.x, m.z.z, m.z.w);
inv.z.x = det3x3(m.y.x, m.y.y, m.y.w, m.z.x, m.z.y, m.z.w, m.w.x, m.w.y, m.w.w);
inv.z.y = -det3x3(m.x.x, m.x.y, m.x.w, m.z.x, m.z.y, m.z.w, m.w.x, m.w.y, m.w.w);
inv.z.z = det3x3(m.x.x, m.x.y, m.x.w, m.y.x, m.y.y, m.y.w, m.w.x, m.w.y, m.w.w);
inv.z.w = -det3x3(m.x.x, m.x.y, m.x.w, m.y.x, m.y.y, m.y.w, m.z.x, m.z.y, m.z.w);
inv.w.x = -det3x3(m.y.x, m.y.y, m.y.z, m.z.x, m.z.y, m.z.z, m.w.x, m.w.y, m.w.z);
inv.w.y = det3x3(m.x.x, m.x.y, m.x.z, m.z.x, m.z.y, m.z.z, m.w.x, m.w.y, m.w.z);
inv.w.z = -det3x3(m.x.x, m.x.y, m.x.z, m.y.x, m.y.y, m.y.z, m.w.x, m.w.y, m.w.z);
inv.w.w = det3x3(m.x.x, m.x.y, m.x.z, m.y.x, m.y.y, m.y.z, m.z.x, m.z.y, m.z.z);
#undef det3x3
PxF32 det = m.x.x*inv.x.x + m.y.x*inv.x.y + m.z.x*inv.x.z + m.w.x*inv.x.w;
RENDERER_ASSERT(det, "Matrix inversion failed!");
if(!det) det = 1;
PxF32 invDet = 1 / det;
inv.x *= invDet;
inv.y *= invDet;
inv.z *= invDet;
inv.w *= invDet;
return inv;
}
mat4x4 operator*(const mat4x4 &a, const mat4x4 &b)
{
mat4x4 t;
#define VECMUL(_r, _c) \
t._c ._r = a._c.x * b.x._r + \
a._c.y * b.y._r + \
a._c.z * b.z._r + \
a._c.w * b.w._r;
VECMUL(x,x); VECMUL(x,y); VECMUL(x,z); VECMUL(x,w);
VECMUL(y,x); VECMUL(y,y); VECMUL(y,z); VECMUL(y,w);
VECMUL(z,x); VECMUL(z,y); VECMUL(z,z); VECMUL(z,w);
VECMUL(w,x); VECMUL(w,y); VECMUL(w,z); VECMUL(w,w);
#undef VECMUL
return t;
}
vec4 operator*(const mat4x4 &a, const vec4 &b)
{
vec4 v;
v.x = a.x.x * b.x + a.y.x * b.y + a.z.x * b.z + a.w.x;
v.y = a.x.y * b.x + a.y.y * b.y + a.z.y * b.z + a.w.y;
v.z = a.x.z * b.x + a.y.z * b.y + a.z.z * b.z + a.w.z;
v.w = a.x.w * b.x + a.y.w * b.y + a.z.w * b.z + a.w.w;
return v;
}
void SampleRenderer::buildProjectMatrix(float *dst, const RendererProjection &proj, const physx::PxTransform &view)
{
mat4x4 projview = invert(mat4x4(view)) * mat4x4(proj);
memcpy(dst, &projview.x.x, sizeof(float)*16);
}
void SampleRenderer::buildUnprojectMatrix(float *dst, const RendererProjection &proj, const physx::PxTransform &view)
{
mat4x4 invprojview = invert(mat4x4(view) * mat4x4(proj));
memcpy(dst, &invprojview.x.x, sizeof(float)*16);
}
PxVec3 SampleRenderer::unproject(const RendererProjection &proj, const physx::PxTransform &view, PxF32 x, PxF32 y, PxF32 z)
{
vec4 screenPoint(x, y, z, 1);
mat4x4 invprojview = invert(mat4x4(view) * mat4x4(proj));
vec4 nearPoint = invprojview * screenPoint;
RENDERER_ASSERT(nearPoint.w, "Unproject failed!");
if(nearPoint.w) nearPoint *= 1.0f / nearPoint.w;
return PxVec3(nearPoint.x, nearPoint.y, nearPoint.z);
}
PxVec3 SampleRenderer::project( const RendererProjection &proj, const physx::PxTransform &view, const PxVec3& pos)
{
mat4x4 projView = mat4x4(view) * mat4x4(proj);
vec4 screenPoint = projView * vec4(pos);
float rw = 1.0f / screenPoint.w;
return PxVec3( screenPoint.x, -screenPoint.y, screenPoint.z ) * rw;
}
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