Quaternions

rts/System/CMakeLists.txt

@@ -34,6 +34,7 @@ make_global_var(sources_engine_System_common
 		"${CMAKE_CURRENT_SOURCE_DIR}/Math/SpringDampers.cpp"
 		"${CMAKE_CURRENT_SOURCE_DIR}/Math/NURBS.cpp"
 		"${CMAKE_CURRENT_SOURCE_DIR}/Matrix44f.cpp"
+		"${CMAKE_CURRENT_SOURCE_DIR}/Quaternion.cpp"
 		"${CMAKE_CURRENT_SOURCE_DIR}/Misc/RectangleOverlapHandler.cpp"
 		"${CMAKE_CURRENT_SOURCE_DIR}/Misc/SpringTime.cpp"
 		"${CMAKE_CURRENT_SOURCE_DIR}/Object.cpp"

rts/System/Matrix44f.cpp

@@ -1,6 +1,7 @@
 /* This file is part of the Spring engine (GPL v2 or later), see LICENSE.html */
 
 #include "System/Matrix44f.h"
+#include "System/Quaternion.h"
 #include "System/SpringMath.h"
 #ifndef UNIT_TEST
 	#include "Rendering/GlobalRendering.h"
@@ -70,6 +71,22 @@ bool CMatrix44f::IsIdentity() const
 	return (*this) == IDENTITY;
 }
 
+float CMatrix44f::Det3() const
+{
+	// triple product == D
+	return col[0].dot(col[1].cross(col[2]));
+}
+
+float CMatrix44f::Det4() const
+{
+	return
+		md[0][3] * md[1][2] * md[2][1] * md[3][0] - md[0][2] * md[1][3] * md[2][1] * md[3][0] - md[0][3] * md[1][1] * md[2][2] * md[3][0] + md[0][1] * md[1][3] * md[2][2] * md[3][0] +
+		md[0][2] * md[1][1] * md[2][3] * md[3][0] - md[0][1] * md[1][2] * md[2][3] * md[3][0] - md[0][3] * md[1][2] * md[2][0] * md[3][1] + md[0][2] * md[1][3] * md[2][0] * md[3][1] +
+		md[0][3] * md[1][0] * md[2][2] * md[3][1] - md[0][0] * md[1][3] * md[2][2] * md[3][1] - md[0][2] * md[1][0] * md[2][3] * md[3][1] + md[0][0] * md[1][2] * md[2][3] * md[3][1] +
+		md[0][3] * md[1][1] * md[2][0] * md[3][2] - md[0][1] * md[1][3] * md[2][0] * md[3][2] - md[0][3] * md[1][0] * md[2][1] * md[3][2] + md[0][0] * md[1][3] * md[2][1] * md[3][2] +
+		md[0][1] * md[1][0] * md[2][3] * md[3][2] - md[0][0] * md[1][1] * md[2][3] * md[3][2] - md[0][2] * md[1][1] * md[2][0] * md[3][3] + md[0][1] * md[1][2] * md[2][0] * md[3][3] +
+		md[0][2] * md[1][0] * md[2][1] * md[3][3] - md[0][0] * md[1][2] * md[2][1] * md[3][3] - md[0][1] * md[1][0] * md[2][2] * md[3][3] + md[0][0] * md[1][1] * md[2][2] * md[3][3];
+}
 
 CMatrix44f& CMatrix44f::RotateX(float angle)
 {
@@ -272,7 +289,7 @@ CMatrix44f& CMatrix44f::RotateEulerZYX(const float3 angles)
 //  [ 0   0  sz   0]
 //  [ 0   0   0   1]
 //
-CMatrix44f& CMatrix44f::Scale(const float3 scales)
+CMatrix44f& CMatrix44f::Scale(const float3& scales)
 {
 	m[ 0] *= scales.x;
 	m[ 1] *= scales.x;
@@ -291,6 +308,15 @@ CMatrix44f& CMatrix44f::Scale(const float3 scales)
 	return *this;
 }
 
+CMatrix44f& CMatrix44f::FromTQS(const float3& pos, const CQuaternion& quat, const float3& scale)
+{
+	*this = quat.ToRotMatrix();
+	this->Scale(scale);
+	this->Translate(pos);
+
+	return *this;
+}
+
 CMatrix44f& CMatrix44f::Translate(const float x, const float y, const float z)
 {
 	m[12] += (x*m[0] + y*m[4] + z*m[ 8]);

rts/System/Matrix44f.h

@@ -9,6 +9,7 @@
 #include "System/float3.h"
 #include "System/float4.h"
 
+class CQuaternion;
 class CMatrix44f
 {
 public:
@@ -30,6 +31,10 @@ class CMatrix44f
 
 	bool IsOrthoNormal() const;
 	bool IsIdentity() const;
+	bool IsRotMatrix()          const { return IsOrthoNormal() && math::fabs(1.0f - Det4()) <= float3::cmp_eps(); }
+	bool IsRotOrRotTranMatrix() const { return IsOrthoNormal() && math::fabs(1.0f - Det3()) <= float3::cmp_eps(); }
+	float Det3() const;
+	float Det4() const;
 
 	CMatrix44f& LoadIdentity() { return (*this = CMatrix44f()); }
 
@@ -43,9 +48,10 @@ class CMatrix44f
 	CMatrix44f& RotateEulerZXY(const float3 angles); // executes Rotate{Z,X,Y}
 	CMatrix44f& RotateEulerZYX(const float3 angles); // executes Rotate{Z,Y,X}
 	CMatrix44f& Translate(const float x, const float y, const float z);
-	CMatrix44f& Translate(const float3 pos) { return Translate(pos.x, pos.y, pos.z); }
-	CMatrix44f& Scale(const float3 scales);
+	CMatrix44f& Translate(const float3& pos) { return Translate(pos.x, pos.y, pos.z); }
+	CMatrix44f& Scale(const float3& scales);
 	CMatrix44f& Scale(float scaleX, float scaleY, float scaleZ) { return Scale(float3{ scaleX, scaleY, scaleZ }); }
+	CMatrix44f& FromTQS(const float3& pos, const CQuaternion& quat, const float3& scale);
 
 	void SetPos(const float3 pos) { m[12] = pos.x; m[13] = pos.y; m[14] = pos.z; }
 	void SetX  (const float3 dir) { m[ 0] = dir.x; m[ 1] = dir.y; m[ 2] = dir.z; }