From 24548b03d13b10d0836f40900955beba5bdc99b6 Mon Sep 17 00:00:00 2001 From: Michael Theall Date: Thu, 4 Aug 2016 23:41:47 -0500 Subject: [PATCH] Fix Mtx_LookAt --- source/maths/mtx_lookat.c | 56 +++++++++++++++------------------------ test/pc/main.cpp | 44 +++++++++++++++++++++--------- 2 files changed, 52 insertions(+), 48 deletions(-) diff --git a/source/maths/mtx_lookat.c b/source/maths/mtx_lookat.c index 112f8a8..40108d4 100644 --- a/source/maths/mtx_lookat.c +++ b/source/maths/mtx_lookat.c @@ -8,44 +8,30 @@ void Mtx_LookAt(C3D_Mtx* out, C3D_FVec cameraPosition, C3D_FVec cameraTarget, C3 C3D_FVec xaxis, yaxis, zaxis; //Order of operations is crucial. - zaxis = FVec3_Normalize(FVec3_New(cameraPosition.x - cameraTarget.x, cameraPosition.y - cameraTarget.y, cameraPosition.z - cameraTarget.z)); + if (isLeftHanded) + zaxis = FVec3_Normalize(FVec3_Subtract(cameraTarget, cameraPosition)); + else + zaxis = FVec3_Normalize(FVec3_Subtract(cameraPosition, cameraTarget)); xaxis = FVec3_Normalize(FVec3_Cross(cameraUpVector, zaxis)); yaxis = FVec3_Cross(zaxis, xaxis); out->r[0].x = xaxis.x; - out->r[0].y = yaxis.x; - out->r[0].z = zaxis.x; - out->r[0].w = 0.0f; - - if (isLeftHanded) - { - //In LH matrix, the Y is in Row 2 of 4 and the Z is in Row 3 of 4. - out->r[1].x = xaxis.y; - out->r[1].y = yaxis.y; - out->r[1].z = zaxis.y; - out->r[1].w = 0.0f; - - out->r[2].x = xaxis.z; - out->r[2].y = yaxis.z; - out->r[2].z = zaxis.z; - out->r[2].w = 0.0f; - } - else - { - //In RH matrix, the Z is in Row 2 of 4, and the Y is in Row 3 of 4. - out->r[1].x = xaxis.z; - out->r[1].y = yaxis.z; - out->r[1].z = zaxis.z; - out->r[1].w = 0.0f; - - out->r[2].x = xaxis.y; - out->r[2].y = yaxis.y; - out->r[2].z = zaxis.y; - out->r[2].w = 0.0f; - } - - out->r[3].x = -FVec3_Dot(xaxis, cameraPosition); - out->r[3].y = -FVec3_Dot(yaxis, cameraPosition); - out->r[3].z = -FVec3_Dot(zaxis, cameraPosition); + out->r[0].y = xaxis.y; + out->r[0].z = xaxis.z; + out->r[0].w = -FVec3_Dot(xaxis, cameraPosition); + + out->r[1].x = yaxis.x; + out->r[1].y = yaxis.y; + out->r[1].z = yaxis.z; + out->r[1].w = -FVec3_Dot(yaxis, cameraPosition); + + out->r[2].x = zaxis.x; + out->r[2].y = zaxis.y; + out->r[2].z = zaxis.z; + out->r[2].w = -FVec3_Dot(zaxis, cameraPosition); + + out->r[3].x = 0.0f; + out->r[3].y = 0.0f; + out->r[3].z = 0.0f; out->r[3].w = 1.0f; } diff --git a/test/pc/main.cpp b/test/pc/main.cpp index 79dd498..3a5d8a9 100644 --- a/test/pc/main.cpp +++ b/test/pc/main.cpp @@ -99,7 +99,7 @@ operator==(const glm::mat4 &lhs, const C3D_Mtx &rhs) for(size_t j = 0; j < 4; ++j) { if(std::abs(lhs[i][j] - rhs.m[j*4+3-i]) > 0.001f) - return false; + return false; // LCOV_EXCL_LINE This would cause an assertion failure } } @@ -115,12 +115,6 @@ operator==(const C3D_Mtx &lhs, const glm::mat4 &rhs) static inline bool operator==(const glm::quat &lhs, const C3D_FQuat &rhs) { - if((std::isnan(lhs.w) && std::isnan(rhs.r)) - || (std::isnan(lhs.x) && std::isnan(rhs.i)) - || (std::isnan(lhs.y) && std::isnan(rhs.j)) - || (std::isnan(lhs.z) && std::isnan(rhs.k))) - return true; - return std::abs(lhs.w - rhs.r) < 0.01f && std::abs(lhs.x - rhs.i) < 0.01f && std::abs(lhs.y - rhs.j) < 0.01f @@ -136,12 +130,6 @@ operator==(const C3D_FQuat &lhs, const glm::quat &rhs) static inline bool operator==(const C3D_FQuat &lhs, const C3D_FQuat &rhs) { - if((std::isnan(lhs.r) && std::isnan(rhs.r)) - || (std::isnan(lhs.i) && std::isnan(rhs.i)) - || (std::isnan(lhs.j) && std::isnan(rhs.j)) - || (std::isnan(lhs.k) && std::isnan(rhs.k))) - return true; - return std::abs(lhs.r - rhs.r) < 0.01f && std::abs(lhs.i - rhs.i) < 0.01f && std::abs(lhs.j - rhs.j) < 0.01f @@ -530,6 +518,36 @@ check_matrix(generator_t &gen, distribution_t &dist) assert(m == tilt*fix_depth*glm::scale(g, z_flip)); } + // check lookAt + { + C3D_Mtx m; + C3D_FVec camera, target, diff, up; + + // avoid very small distances and 'up' pointing near the target + do + { + camera = FVec3_New(dist(gen), dist(gen), dist(gen)); + target = FVec3_New(dist(gen), dist(gen), dist(gen)); + up = FVec3_New(dist(gen), dist(gen), dist(gen)); + diff = FVec3_Subtract(target, camera); + } while(FVec3_Magnitude(diff) < 0.25f + || FVec3_Magnitude(up) < 0.25f + || FVec3_Dot(up, diff) / FVec3_Magnitude(up) / FVec3_Magnitude(diff) < cosf(30.0f*M_TAU/360.0f)); + + glm::mat4 g = glm::lookAt(glm::vec3(camera.x, camera.y, camera.z), + glm::vec3(target.x, target.y, target.z), + glm::vec3(up.x, up.y, up.z)); + + // RH + Mtx_LookAt(&m, camera, target, up, false); + assert(m == g); + + // LH + Mtx_LookAt(&m, camera, target, up, true); + // I can't say for certain that this is the correct test + assert(m == glm::scale(glm::mat4(), glm::vec3(-1.0f, 1.0f, -1.0f))*g); + } + // check multiply { C3D_Mtx m1, m2;