diff options
Diffstat (limited to 'thirdparty/openxr/src/common/xr_linear.h')
| -rw-r--r-- | thirdparty/openxr/src/common/xr_linear.h | 122 |
1 files changed, 100 insertions, 22 deletions
diff --git a/thirdparty/openxr/src/common/xr_linear.h b/thirdparty/openxr/src/common/xr_linear.h index 1f0e803b7a..5b0da645ac 100644 --- a/thirdparty/openxr/src/common/xr_linear.h +++ b/thirdparty/openxr/src/common/xr_linear.h @@ -21,11 +21,6 @@ #ifndef XR_LINEAR_H_ #define XR_LINEAR_H_ -#if defined(OS_LINUX_XCB) || defined(OS_LINUX_XCB_GLX) || defined(OS_LINUX_WAYLAND) -#pragma GCC diagnostic ignored "-Wunused-function" -#pragma clang diagnostic ignored "-Wunused-function" -#endif - #include <openxr/openxr.h> /* @@ -51,6 +46,7 @@ XrVector2f XrVector3f XrVector4f XrQuaternionf +XrPosef XrMatrix4x4f inline static void XrVector3f_Set(XrVector3f* v, const float value); @@ -64,8 +60,18 @@ inline static void XrVector3f_Scale(XrVector3f* result, const XrVector3f* a, con inline static void XrVector3f_Normalize(XrVector3f* v); inline static float XrVector3f_Length(const XrVector3f* v); +inline static void XrQuaternionf_CreateIdentity(XrQuaternionf* q); +inline static void XrQuaternionf_CreateFromAxisAngle(XrQuaternionf* result, const XrVector3f* axis, const float angleInRadians); inline static void XrQuaternionf_Lerp(XrQuaternionf* result, const XrQuaternionf* a, const XrQuaternionf* b, const float fraction); -inline static void XrQuaternionf_Multiply(XrQuaternionf* result, const XrQuaternionf* a, const XrQuaternionf* b; +inline static void XrQuaternionf_Multiply(XrQuaternionf* result, const XrQuaternionf* a, const XrQuaternionf* b); +inline static void XrQuaternionf_Invert(XrQuaternionf* result, const XrQuaternionf* q); +inline static void XrQuaternionf_Normalize(XrQuaternionf* q); +inline static void XrQuaternionf_RotateVector3f(XrVector3f* result, const XrQuaternionf* a, const XrVector3f* v); + +inline static void XrPosef_CreateIdentity(XrPosef* result); +inline static void XrPosef_TransformVector3f(XrVector3f* result, const XrPosef* a, const XrVector3f* v); +inline static void XrPosef_Multiply(XrPosef* result, const XrPosef* a, const XrPosef* b); +inline static void XrPosef_Invert(XrPosef* result, const XrPosef* a); inline static void XrMatrix4x4f_CreateIdentity(XrMatrix4x4f* result); inline static void XrMatrix4x4f_CreateTranslation(XrMatrix4x4f* result, const float x, const float y, const float z); @@ -74,13 +80,13 @@ inline static void XrMatrix4x4f_CreateRotation(XrMatrix4x4f* result, const float inline static void XrMatrix4x4f_CreateScale(XrMatrix4x4f* result, const float x, const float y, const float z); inline static void XrMatrix4x4f_CreateTranslationRotationScale(XrMatrix4x4f* result, const XrVector3f* translation, const XrQuaternionf* rotation, const XrVector3f* scale); -inline static void XrMatrix4x4f_CreateProjection(XrMatrix4x4f* result, const float tanAngleLeft, const float tanAngleRight, - const float tanAngleUp, float const tanAngleDown, const float nearZ, - const float farZ); -inline static void XrMatrix4x4f_CreateProjectionFov(XrMatrix4x4f* result, const float fovDegreesLeft, const float fovDegreesRight, - const float fovDegreeUp, const float fovDegreesDown, const float nearZ, - const float farZ); -inline static void XrMatrix4x4f_CreateFromQuaternion(XrMatrix4x4f* result, const XrQuaternionf* src); +inline static void XrMatrix4x4f_CreateFromRigidTransform(XrMatrix4x4f* result, const XrPosef* s); +inline static void XrMatrix4x4f_CreateProjection(XrMatrix4x4f* result, GraphicsAPI graphicsApi, const float tanAngleLeft, + const float tanAngleRight, const float tanAngleUp, float const tanAngleDown, + const float nearZ, const float farZ); +inline static void XrMatrix4x4f_CreateProjectionFov(XrMatrix4x4f* result, GraphicsAPI graphicsApi, const XrFovf fov, + const float nearZ, const float farZ); +inline static void XrMatrix4x4f_CreateFromQuaternion(XrMatrix4x4f* result, const XrQuaternionf* quat); inline static void XrMatrix4x4f_CreateOffsetScaleForBounds(XrMatrix4x4f* result, const XrMatrix4x4f* matrix, const XrVector3f* mins, const XrVector3f* maxs); @@ -207,6 +213,13 @@ inline static void XrVector3f_Normalize(XrVector3f* v) { inline static float XrVector3f_Length(const XrVector3f* v) { return sqrtf(v->x * v->x + v->y * v->y + v->z * v->z); } +inline static void XrQuaternionf_CreateIdentity(XrQuaternionf* q) { + q->x = 0.0f; + q->y = 0.0f; + q->z = 0.0f; + q->w = 1.0f; +} + inline static void XrQuaternionf_CreateFromAxisAngle(XrQuaternionf* result, const XrVector3f* axis, const float angleInRadians) { float s = sinf(angleInRadians / 2.0f); float lengthRcp = XrRcpSqrt(axis->x * axis->x + axis->y * axis->y + axis->z * axis->z); @@ -238,6 +251,58 @@ inline static void XrQuaternionf_Multiply(XrQuaternionf* result, const XrQuatern result->w = (b->w * a->w) - (b->x * a->x) - (b->y * a->y) - (b->z * a->z); } +inline static void XrQuaternionf_Invert(XrQuaternionf* result, const XrQuaternionf* q) { + result->x = -q->x; + result->y = -q->y; + result->z = -q->z; + result->w = q->w; +} + +inline static void XrQuaternionf_Normalize(XrQuaternionf* q) { + const float lengthRcp = XrRcpSqrt(q->x * q->x + q->y * q->y + q->z * q->z + q->w * q->w); + q->x *= lengthRcp; + q->y *= lengthRcp; + q->z *= lengthRcp; + q->w *= lengthRcp; +} + +inline static void XrQuaternionf_RotateVector3f(XrVector3f* result, const XrQuaternionf* a, const XrVector3f* v) { + XrQuaternionf q = {v->x, v->y, v->z, 0.0f}; + XrQuaternionf aq; + XrQuaternionf_Multiply(&aq, &q, a); + XrQuaternionf aInv; + XrQuaternionf_Invert(&aInv, a); + XrQuaternionf aqaInv; + XrQuaternionf_Multiply(&aqaInv, &aInv, &aq); + + result->x = aqaInv.x; + result->y = aqaInv.y; + result->z = aqaInv.z; +} + +inline static void XrPosef_CreateIdentity(XrPosef* result) { + XrQuaternionf_CreateIdentity(&result->orientation); + XrVector3f_Set(&result->position, 0); +} + +inline static void XrPosef_TransformVector3f(XrVector3f* result, const XrPosef* a, const XrVector3f* v) { + XrVector3f r0; + XrQuaternionf_RotateVector3f(&r0, &a->orientation, v); + XrVector3f_Add(result, &r0, &a->position); +} + +inline static void XrPosef_Multiply(XrPosef* result, const XrPosef* a, const XrPosef* b) { + XrQuaternionf_Multiply(&result->orientation, &b->orientation, &a->orientation); + XrPosef_TransformVector3f(&result->position, a, &b->position); +} + +inline static void XrPosef_Invert(XrPosef* result, const XrPosef* a) { + XrQuaternionf_Invert(&result->orientation, &a->orientation); + XrVector3f aPosNeg; + XrVector3f_Scale(&aPosNeg, &a->position, -1.0f); + XrQuaternionf_RotateVector3f(&result->position, &result->orientation, &aPosNeg); +} + // Use left-multiplication to accumulate transformations. inline static void XrMatrix4x4f_Multiply(XrMatrix4x4f* result, const XrMatrix4x4f* a, const XrMatrix4x4f* b) { result->m[0] = a->m[0] * b->m[0] + a->m[4] * b->m[1] + a->m[8] * b->m[2] + a->m[12] * b->m[3]; @@ -379,23 +444,31 @@ inline static void XrMatrix4x4f_CreateTranslation(XrMatrix4x4f* result, const fl } // Creates a rotation matrix. -// If -Z=forward, +Y=up, +X=right, then degreesX=pitch, degreesY=yaw, degreesZ=roll. -inline static void XrMatrix4x4f_CreateRotation(XrMatrix4x4f* result, const float degreesX, const float degreesY, - const float degreesZ) { - const float sinX = sinf(degreesX * (MATH_PI / 180.0f)); - const float cosX = cosf(degreesX * (MATH_PI / 180.0f)); +// If -Z=forward, +Y=up, +X=right, then radiansX=pitch, radiansY=yaw, radiansZ=roll. +inline static void XrMatrix4x4f_CreateRotationRadians(XrMatrix4x4f* result, const float radiansX, const float radiansY, + const float radiansZ) { + const float sinX = sinf(radiansX); + const float cosX = cosf(radiansX); const XrMatrix4x4f rotationX = {{1, 0, 0, 0, 0, cosX, sinX, 0, 0, -sinX, cosX, 0, 0, 0, 0, 1}}; - const float sinY = sinf(degreesY * (MATH_PI / 180.0f)); - const float cosY = cosf(degreesY * (MATH_PI / 180.0f)); + const float sinY = sinf(radiansY); + const float cosY = cosf(radiansY); const XrMatrix4x4f rotationY = {{cosY, 0, -sinY, 0, 0, 1, 0, 0, sinY, 0, cosY, 0, 0, 0, 0, 1}}; - const float sinZ = sinf(degreesZ * (MATH_PI / 180.0f)); - const float cosZ = cosf(degreesZ * (MATH_PI / 180.0f)); + const float sinZ = sinf(radiansZ); + const float cosZ = cosf(radiansZ); const XrMatrix4x4f rotationZ = {{cosZ, sinZ, 0, 0, -sinZ, cosZ, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1}}; XrMatrix4x4f rotationXY; XrMatrix4x4f_Multiply(&rotationXY, &rotationY, &rotationX); XrMatrix4x4f_Multiply(result, &rotationZ, &rotationXY); } +// Creates a rotation matrix. +// If -Z=forward, +Y=up, +X=right, then degreesX=pitch, degreesY=yaw, degreesZ=roll. +inline static void XrMatrix4x4f_CreateRotation(XrMatrix4x4f* result, const float degreesX, const float degreesY, + const float degreesZ) { + XrMatrix4x4f_CreateRotationRadians(result, degreesX * (MATH_PI / 180.0f), degreesY * (MATH_PI / 180.0f), + degreesZ * (MATH_PI / 180.0f)); +} + // Creates a scale matrix. inline static void XrMatrix4x4f_CreateScale(XrMatrix4x4f* result, const float x, const float y, const float z) { result->m[0] = x; @@ -471,6 +544,11 @@ inline static void XrMatrix4x4f_CreateTranslationRotationScale(XrMatrix4x4f* res XrMatrix4x4f_Multiply(result, &translationMatrix, &combinedMatrix); } +inline static void XrMatrix4x4f_CreateFromRigidTransform(XrMatrix4x4f* result, const XrPosef* s) { + const XrVector3f identityScale = {1.0f, 1.0f, 1.0f}; + XrMatrix4x4f_CreateTranslationRotationScale(result, &s->position, &s->orientation, &identityScale); +} + // Creates a projection matrix based on the specified dimensions. // The projection matrix transforms -Z=forward, +Y=up, +X=right to the appropriate clip space for the graphics API. // The far plane is placed at infinity if farZ <= nearZ. |