111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
#pragma once
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#include <openvr.h>
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#include <cmath>
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namespace utils
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{
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inline vr::HmdMatrix34_t& initRotationMatrix( vr::HmdMatrix34_t& matrix,
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unsigned axisId,
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float angle )
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{
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switch ( axisId )
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{
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case 0: // x-axis
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matrix.m[0][0] = 1.0f;
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matrix.m[0][1] = 0.0f;
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matrix.m[0][2] = 0.0f;
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matrix.m[0][3] = 0.0f;
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matrix.m[1][0] = 0.0f;
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matrix.m[1][1] = std::cos( angle );
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matrix.m[1][2] = -std::sin( angle );
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matrix.m[1][3] = 0.0f;
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matrix.m[2][0] = 0.0f;
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matrix.m[2][1] = std::sin( angle );
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matrix.m[2][2] = std::cos( angle );
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matrix.m[2][3] = 0.0f;
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break;
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case 1: // y-axis
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matrix.m[0][0] = std::cos( angle );
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matrix.m[0][1] = 0.0f;
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matrix.m[0][2] = std::sin( angle );
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matrix.m[0][3] = 0.0f;
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matrix.m[1][0] = 0.0f;
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matrix.m[1][1] = 1.0f;
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matrix.m[1][2] = 0.0f;
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matrix.m[1][3] = 0.0f;
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matrix.m[2][0] = -std::sin( angle );
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matrix.m[2][1] = 0.0f;
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matrix.m[2][2] = std::cos( angle );
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matrix.m[2][3] = 0.0f;
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break;
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case 2: // z-axis
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matrix.m[0][0] = std::cos( angle );
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matrix.m[0][1] = -std::sin( angle );
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matrix.m[0][2] = 0.0f;
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matrix.m[0][3] = 0.0f;
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matrix.m[1][0] = std::sin( angle );
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matrix.m[1][1] = std::cos( angle );
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matrix.m[1][2] = 0.0f;
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matrix.m[1][3] = 0.0f;
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matrix.m[2][0] = 0.0f;
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matrix.m[2][1] = 0.0f;
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matrix.m[2][2] = 1.0f;
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matrix.m[2][3] = 0.0f;
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break;
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default:
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break;
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}
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return matrix;
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}
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inline vr::HmdMatrix34_t& matMul33( vr::HmdMatrix34_t& result,
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const vr::HmdMatrix34_t& a,
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const vr::HmdMatrix34_t& b )
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{
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for ( unsigned i = 0; i < 3; i++ )
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{
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for ( unsigned j = 0; j < 3; j++ )
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{
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result.m[i][j] = 0.0f;
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for ( unsigned k = 0; k < 3; k++ )
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{
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result.m[i][j] += a.m[i][k] * b.m[k][j];
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}
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}
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}
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return result;
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}
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inline vr::HmdVector3_t& matMul33( vr::HmdVector3_t& result,
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const vr::HmdMatrix34_t& a,
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const vr::HmdVector3_t& b )
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{
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for ( unsigned i = 0; i < 3; i++ )
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{
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result.v[i] = 0.0f;
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for ( unsigned k = 0; k < 3; k++ )
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{
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result.v[i] += a.m[i][k] * b.v[k];
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};
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}
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return result;
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}
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inline vr::HmdVector3_t& matMul33( vr::HmdVector3_t& result,
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const vr::HmdVector3_t& a,
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const vr::HmdMatrix34_t& b )
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{
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for ( unsigned i = 0; i < 3; i++ )
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{
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result.v[i] = 0.0f;
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for ( unsigned k = 0; k < 3; k++ )
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{
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result.v[i] += a.v[k] * b.m[k][i];
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};
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}
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return result;
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}
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} // end namespace utils
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