CMCore/src/Math/Matrix4f.cpp

#include<hgl/math/Matrix.h>

// Vulkan Cookbook
// ISBN: 9781786468154
// Packt Publishing Limited
// git: https://github.com/PacktPublishing/Vulkan-Cookbook.git
//
// Author:   Pawel Lapinski
// LinkedIn: https://www.linkedin.com/in/pawel-lapinski-84522329
//
// Chapter: 10 Helper Recipes
// Recipe:  04 Preparing a perspective projection matrix
// Recipe:  05 Preparing an orthographic projection matrix

namespace hgl
{
    Matrix4f ortho( float left,
                    float right,
                    float bottom,
                    float top,
                    float znear,
                    float zfar )
    {
        return Matrix4f(
          2.0f / (right - left),
          0.0f,
          0.0f,
          0.0f,

          0.0f,
          2.0f / (bottom - top),
          0.0f,
          0.0f,

          0.0f,
          0.0f,
          1.0f / (znear - zfar),
          0.0f,

          -(right + left) / (right - left),
          -(bottom + top) / (bottom - top),
          znear / (znear - zfar),
          1.0f
        );
    }

    /**
     * 生成一个正角视图矩阵
     * @param width 宽
     * @param height 高
     * @param znear 近平面z值
     * @param zfar 远平台z值
     */
    Matrix4f ortho(float width,float height,float znear,float zfar)
    {        
        return ortho(0.0f,width,height,0.0f,znear,zfar);
    }

    /**
     * 生成一个正角视图矩阵
     * @param width 宽
     * @param height 高
     */
    Matrix4f ortho(float width,float height)
    {    
        return ortho(width,height,0.0f,1.0f);
    }

    /**
     * 生成一个透视矩阵
     * @param field_of_view 视野(角度)
     * @param aspect_ratio 宽高比
     * @param znear 近截面
     * @param zfar 远截面
     */
    Matrix4f perspective(   float field_of_view,
                            float aspect_ratio,
                            float znear,
                            float zfar)
    { 
        float f = 1.0f / tanf( deg2rad( 0.5f * field_of_view ) );

        return Matrix4f(
          f / aspect_ratio,
          0.0f,
          0.0f,
          0.0f,

          0.0f,
          -f,
          0.0f,
          0.0f,

          0.0f,
          0.0f,
          zfar/(znear-zfar),
          -1.0f,
      
          0.0f,
          0.0f,
          -(znear * zfar) / (zfar-znear),
          0.0f
        );

        //经查证，此代码等于glm::perspectiveRH_ZO之后将[1][1]乘-1，在SaschaWillems的范例中，如果反转Y轴，则[1][1]确实要乘-1。
    }

    Matrix4f lookat(const Vector3f &eye,const Vector3f &target,const Vector3f &up)
    {
        Vector3f forward=normalize(target-eye);
        Vector3f right  =normalize(cross(forward,up));
        Vector3f nup    =cross(right,forward);

        return Matrix4f(   right.x,
                             nup.x,
                        -forward.x,
                              0.0f,

                           right.y,
                             nup.y,
                        -forward.y,
                              0.0f,

                           right.z,
                             nup.z,
                        -forward.z,
                              0.0f,

                 -dot(eye,right  ),
                 -dot(eye,nup    ),
                  dot(eye,forward),
                              1.0f
        );

        //经查证，此代码完全等于glm::lookAtRH，无任何差别
    }

    // 函数用于从 glm::mat4 中提取平移、旋转和缩放
    bool DecomposeTransform(const Matrix4f & transform, Vector3f & outTranslation, Quatf & outRotation, Vector3f & outScale)
    {
        using namespace glm;
        mat4 LocalMatrix(transform);

        // 提取平移
        outTranslation = vec3(LocalMatrix[3]);

        // 提取缩放和旋转
        vec3 Row[3];

        for (int i = 0; i < 3; ++i)
            for (int j = 0; j < 3; ++j)
                Row[i][j] = LocalMatrix[i][j];

        // 提取缩放
        outScale.x = length(Row[0]);
        outScale.y = length(Row[1]);
        outScale.z = length(Row[2]);

        // 归一化行向量以提取旋转
        if (outScale.x) Row[0] /= outScale.x;
        if (outScale.y) Row[1] /= outScale.y;
        if (outScale.z) Row[2] /= outScale.z;

        // 提取旋转
        mat3 RotationMatrix(Row[0], Row[1], Row[2]);
        outRotation = quat_cast(RotationMatrix);

        return true;
    }

    Transform Blend(const Transform &from,const Transform &to,const float t)
    {
        Transform result;

        result.SetTranslation(  from.GetTranslation()*(1.0f-t) + to.GetTranslation()  *t);
        result.SetRotation(     SLerpQuat(from.GetRotationQuat(),to.GetRotationQuat(),t));
        result.SetScale(        from.GetScale()      *(1.0f-t) + to.GetScale()       *t);

        return result;
    }
    
    /**
    * 计算一个方向旋转成另一个方向的变换矩阵
    */
    const Matrix4f GetRotateMatrix(const Vector3f &world_position,const Vector3f &cur_direction,const Vector3f &new_direction)
    {
        Vector3f axis=glm::cross(cur_direction,new_direction);

        if(glm::length2(axis)<0.0001)
            return Matrix4f(1.0f);

        axis=glm::normalize(axis);

        float angle=acos(glm::dot(cur_direction,new_direction));

        return glm::rotate(Matrix4f(1.0f),angle,axis);
    }

    /**
    * 计算一个方向旋转成另一个方向的四元数
    */
    const Quatf GetRotateQuat(const Vector3f &world_position,const Vector3f &cur_direction,const Vector3f &new_direction)
    {
        Vector3f axis=glm::cross(cur_direction,new_direction);

        if(glm::length2(axis)<0.0001)
            return Quatf(1.0f,0.0f,0.0f,0.0f);

        axis=glm::normalize(axis);

        float angle=acos(glm::dot(cur_direction,new_direction));

        return glm::angleAxis(angle,axis);
    }
}//namespace hgl