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Merge pull request #298 from gittyhubacc/sceGumRotate

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some quaternion functions
This commit is contained in:
Wouter Wijsman
2025-06-10 21:00:52 +02:00
committed by GitHub
parent d09cdf9b43 54ad07c2c2
commit e3c184f781
3 changed files with 127 additions and 2 deletions
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6
src/gum/Makefile.am
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@@ -17,11 +17,13 @@ lib_LIBRARIES = libpspgum.a libpspgum_vfpu.a
noinst_HEADERS = gumInternal.h
PSPGUM_SHARED_OBJS = gumLoadMatrix.o gumOrtho.o gumPerspective.o \
PSPGUM_SHARED_OBJS = gumLoadMatrix.o gumOrtho.o gumPerspective.o gumLoadQuaternion.o \
gumLookAt.o gumRotateXYZ.o gumRotateZYX.o gumFullInverse.o \
gumCrossProduct.o gumDotProduct.o gumNormalize.o \
gumLoadAxisAngle.o gumMultQuaternion.o gumNormalizeQuaternion.o \
gumRotateVector.o gumRotateMatrix.o \
sceGumDrawArray.o sceGumDrawArrayN.o sceGumDrawBezier.o sceGumDrawSpline.o \
sceGumRotateXYZ.o sceGumRotateZYX.o
sceGumRotateXYZ.o sceGumRotateZYX.o sceGumRotate.o
PSPGUM_FPU_OBJS = sceGumLoadIdentity.o sceGumLoadMatrix.o sceGumMatrixMode.o \
sceGumMultMatrix.o sceGumOrtho.o sceGumPerspective.o sceGumPopMatrix.o \

108
src/gum/pspgum.c
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@@ -131,6 +131,44 @@ void gumLoadMatrix(ScePspFMatrix4* r, const ScePspFMatrix4* a)
}
#endif
#ifdef F_gumLoadQuaternion
void gumLoadQuaternion(ScePspFMatrix4 *m, const ScePspFQuaternion* q)
{
m->x.x = 1 - 2 * (q->y * q->y + q->z * q->z);
m->y.x = 2 * (q->x * q->y - q->w * q->z);
m->z.x = 2 * (q->x * q->z + q->w * q->y);
m->w.x = 0;
m->x.y = 2 * (q->x * q->y + q->w * q->z);
m->y.y = 1 - 2 * (q->x * q->x + q->z * q->z);
m->z.y = 2 * (q->y * q->z - q->w * q->x);
m->w.y = 0;
m->x.z = 2 * (q->x * q->z - q->w * q->y);
m->y.z = 2 * (q->y * q->z + q->w * q->x);
m->z.z = 1 - 2 * (q->x * q->x + q->y * q->y);
m->w.z = 0;
m->x.w = 0;
m->y.w = 0;
m->z.w = 0;
m->w.w = 1;
}
#endif
#ifdef F_gumLoadAxisAngle
void gumLoadAxisAngle(ScePspFQuaternion* q, ScePspFVector3* axis, float theta)
{
gumNormalize(axis);
float sin_t = sinf(theta / 2);
float cos_t = cosf(theta / 2);
q->x = axis->x * sin_t;
q->y = axis->y * sin_t;
q->z = axis->z * sin_t;
q->w = cos_t;
}
#endif
#ifdef F_gumLookAt
void gumLookAt(ScePspFMatrix4* m, ScePspFVector3* eye, ScePspFVector3* center, ScePspFVector3* up)
{
@@ -191,6 +229,36 @@ void gumMultMatrix(ScePspFMatrix4* result, const ScePspFMatrix4* a, const ScePsp
}
#endif
#ifdef F_gumMultQuaternion
void gumMultQuaternion(ScePspFQuaternion* result, const ScePspFQuaternion* a, const ScePspFQuaternion* b)
{
ScePspFVector3 cp;
ScePspFQuaternion res;
gumCrossProduct(&cp, (ScePspFVector3 *)a, (ScePspFVector3 *)b);
res.w = (a->w * b->w) - gumDotProduct((ScePspFVector3 *)a, (ScePspFVector3 *)b);
res.x = (a->w * b->x) + (b->w * a->x) + cp.x;
res.y = (a->w * b->y) + (b->w * a->y) + cp.y;
res.z = (a->w * b->z) + (b->w * a->z) + cp.z;
gumNormalizeQuaternion(&res);
*result = res;
}
#endif
#ifdef F_gumNormalizeQuaternion
void gumNormalizeQuaternion(ScePspFQuaternion* q)
{
float l = sqrtf((q->w * q->w) + (q->x * q->x) + (q->y * q->y) + (q->z * q->z));
if (l > GUM_EPSILON)
{
float il = 1 / l;
q->w *= il;
q->x *= il;
q->y *= il;
q->z *= il;
}
}
#endif
#ifdef F_gumNormalize
void gumNormalize(ScePspFVector3* v)
{
@@ -318,6 +386,38 @@ void gumRotateZYX(ScePspFMatrix4* m, const ScePspFVector3* v)
}
#endif
#ifdef F_gumRotateMatrix
void gumRotateMatrix(ScePspFMatrix4* m, const ScePspFQuaternion* q)
{
ScePspFMatrix4 rot_m;
gumLoadQuaternion(&rot_m, q);
gumMultMatrix(m, m, &rot_m);
}
#endif
#ifdef F_gumRotateVector
void gumRotateVector(ScePspFVector3* r, const ScePspFQuaternion* q, const ScePspFVector3* v)
{
ScePspFQuaternion conjugate = {
-q->x,
-q->y,
-q->z,
q->w,
};
ScePspFQuaternion vector = {
v->x,
v->y,
v->z,
0,
};
gumMultQuaternion(&vector, &vector, &conjugate);
gumMultQuaternion(&vector, q, &vector);
r->x = vector.x;
r->y = vector.y;
r->z = vector.z;
}
#endif
#ifdef F_gumScale
void gumScale(ScePspFMatrix4* m, const ScePspFVector3* v)
{
@@ -534,6 +634,14 @@ void sceGumRotateZYX(const ScePspFVector3* v)
}
#endif
#ifdef F_sceGumRotate
void sceGumRotate(const ScePspFQuaternion* q)
{
gumRotateMatrix(gum_current_matrix, q);
gum_current_matrix_update = 1;
}
#endif
#ifdef F_sceGumScale
void sceGumScale(const ScePspFVector3* v)
{

15
src/gum/pspgum.h
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@@ -120,6 +120,13 @@ void sceGumRotateXYZ(const ScePspFVector3* v);
**/
void sceGumRotateZYX(const ScePspFVector3* v);
/**
* Apply rotation represented by quaternion q
*
* @param q - Pointer to quaternion
**/
void sceGumRotate(const ScePspFQuaternion* q);
/**
* Scale matrix
*
@@ -198,6 +205,7 @@ void gumInit(void);
**/
void gumLoadIdentity(ScePspFMatrix4* m);
void gumLoadQuaternion(ScePspFMatrix4* r, const ScePspFQuaternion* q);
void gumLoadMatrix(ScePspFMatrix4* r, const ScePspFMatrix4* a);
void gumLookAt(ScePspFMatrix4* m, ScePspFVector3* eye, ScePspFVector3* center, ScePspFVector3* up);
void gumMultMatrix(ScePspFMatrix4* result, const ScePspFMatrix4* a, const ScePspFMatrix4* b);
@@ -208,6 +216,7 @@ void gumRotateXYZ(ScePspFMatrix4* m, const ScePspFVector3* v);
void gumRotateY(ScePspFMatrix4* m, float angle);
void gumRotateZ(ScePspFMatrix4* m, float angle);
void gumRotateZYX(ScePspFMatrix4* m, const ScePspFVector3* v);
void gumRotateMatrix(ScePspFMatrix4* m, const ScePspFQuaternion* q);
void gumScale(ScePspFMatrix4* m, const ScePspFVector3* v);
void gumTranslate(ScePspFMatrix4* m, const ScePspFVector3* v);
void gumFullInverse(ScePspFMatrix4* r, const ScePspFMatrix4* a);
@@ -228,6 +237,12 @@ void gumFastInverse(ScePspFMatrix4* r, const ScePspFMatrix4* a);
void gumCrossProduct(ScePspFVector3* r, const ScePspFVector3* a, const ScePspFVector3* b);
float gumDotProduct(const ScePspFVector3* a, const ScePspFVector3* b);
void gumNormalize(ScePspFVector3* v);
void gumRotateVector(ScePspFVector3* r, const ScePspFQuaternion* q, const ScePspFVector3* v);
// quaternion functions
void gumNormalizeQuaternion(ScePspFQuaternion* q);
void gumLoadAxisAngle(ScePspFQuaternion* r, ScePspFVector3* axis, float t);
void gumMultQuaternion(ScePspFQuaternion* result, const ScePspFQuaternion* a, const ScePspFQuaternion* b);
#if defined(__cplusplus)
}