3D flight

9 files changed, 224 insertions, 25 deletions

diff --git a/src/math/Makefile.am b/src/math/Makefile.am
index 465f9b0..7ea7d66 100644
--- a/src/math/Makefile.am
+++ b/src/math/Makefile.am
@@ -1,9 +1,11 @@
 METASOURCES = AUTO
 
-libmath_la_SOURCES = axis.cc color.cc functions.cc plane3f.cc vector3f.cc
+libmath_la_SOURCES = axis.cc color.cc functions.cc matrix4f.cc plane3f.cc \
+	vector3f.cc
 libmath_la_LDFLAGS = -avoid-version -no-undefined -lm
 
 noinst_LTLIBRARIES = libmath.la
-noinst_HEADERS = axis.h color.h functions.h mathlib.h plane3f.h vector3f.h
+noinst_HEADERS = axis.h color.h functions.h mathlib.h matrix4f.h plane3f.h \
+	vector3f.h
 
 INCLUDES = -I$(top_srcdir)/src
diff --git a/src/math/axis.cc b/src/math/axis.cc
index 7bd5262..cbca99b 100644
--- a/src/math/axis.cc
+++ b/src/math/axis.cc
@@ -6,6 +6,7 @@
 
 // project headers
 #include "math/axis.h"
+#include "math/mathlib.h"
 
 namespace math
 {
@@ -37,18 +38,56 @@ Axis & Axis::operator=(const Axis & other) {
 	return *this;
 }
 
-// alter heading, rotate around Z-axis (positive is left)
-void Axis::direction(const float angle) {
-	for (size_t i=0; i < 3; i++) {
-		//axis_vector[i].rotate(axis_vector[2], angle);
-	}
+// change heading, rotate around Z-axis (positive is left)
+void Axis::change_direction(const float angle) {
+	float cosa = cosf(angle * M_PI / 180.0f);
+	float sina = sinf(angle * M_PI / 180.0f);
+
+	Vector3f forward = axis_vector[0] * cosa + axis_vector[1] * sina;
+	Vector3f left = axis_vector[1] *cosa - axis_vector[0] * sina;
+	
+	axis_vector[0].assign(forward);
+	axis_vector[1].assign(left);
 }
 
-// alter heading, rotate around negative Y-axis (positive is up)
-void Axis::pitch(const float pitch) {
-	for (size_t i=0; i < 3; i++) {
-		//axis_vector[i].rotate(axis_vector[1], -angle);
-	}
+// change pitch, rotate around negative Y-axis (positive is up)
+void Axis::change_pitch(const float angle) {
+	float cosa = cosf(angle * M_PI / 180.0f);
+	float sina = sinf(angle * M_PI / 180.0f);
+
+	Vector3f forward = axis_vector[0] * cosa + axis_vector[2] * sina;
+	Vector3f up = axis_vector[2] * cosa - axis_vector[0] * sina;
+
+	axis_vector[0].assign(forward);
+	axis_vector[2].assign(up);
+}
+
+// change roll, rotate around forward vector (positive is left)
+void Axis::change_roll(const float angle) {
+	float cosa = cosf(angle * M_PI / 180.0f);
+	float sina = sinf(angle * M_PI / 180.0f);
+
+	Vector3f forward = axis_vector[2] * cosa + axis_vector[1] * sina;
+	Vector3f up = axis_vector[1] * cosa - axis_vector[2] * sina;
+
+	axis_vector[2].assign(forward);
+	axis_vector[1].assign(up);
+}
+
+// write an axis to a std::ostream
+std::ostream &operator<<(std::ostream & os, Axis const & axis)
+{
+	os << axis.forward() << " " << axis.left() << " " << axis.up();
+	return os;
+}
+
+// read an axis from a std::istream
+std::istream &operator>>(std::istream & is, Axis & axis)
+{
+	is >> axis[0];
+	is >> axis[1];
+	is >> axis[2];
+	return is;
 }
 
 }
diff --git a/src/math/axis.h b/src/math/axis.h
index 73474ef..7e81d9a 100644
--- a/src/math/axis.h
+++ b/src/math/axis.h
@@ -25,28 +25,39 @@ public:
 	void assign(const Axis & other);
 
 	/// global coordinates of the X-axis in the local coordinates system
-	inline Vector3f const & forward() { return axis_vector[0]; }
+	inline Vector3f const & forward() const { return axis_vector[0]; }
 
 	/// global coordinates of the Y-axis in the local coordinates system
-	inline Vector3f const & left() { return axis_vector[1]; }
+	inline Vector3f const & left() const { return axis_vector[1]; }
 	
 	/// global coordinates of the Z-axis in the local coordinates system
-	inline Vector3f const & up() { return axis_vector[2]; }
+	inline Vector3f const & up() const { return axis_vector[2]; }
 
-	inline Vector3f const operator[](size_t index) { return axis_vector[index]; }
+	inline Vector3f & operator[](size_t index) { return axis_vector[index]; }
+
+	inline Vector3f const & operator[](size_t index) const { return axis_vector[index]; }
 
 	Axis & operator=(const Axis & other);
 		
-	/// alter heading, rotate around Z-axis (positive is left)
-	void direction(const float angle);
+	/// change direction, rotate around up vector (positive is left)
+	void change_direction(const float angle);
+
+	/// change pitch, rotate around left vector (positive is up)
+	void change_pitch(const float angle);
 
-	/// alter heading, rotate around negative Y-axis (positive is up)
-	void pitch(const float angle);
+	/// change roll, rotate around forward vector (positive is left)
+	void change_roll(const float angle);
 
 private:
 	Vector3f		axis_vector[3];
 };
 
+/// write an axis to a std::ostream
+std::ostream &operator<<(std::ostream & os, Axis const & axis);
+
+/// read an axis from a std::istream
+std::istream &operator>>(std::istream & is, Axis & axis);
+
 }
 
 #endif // __INCLUDED_MATH_AXIS_H__
diff --git a/src/math/color.h b/src/math/color.h
index 7fa0d68..0dd5fc8 100644
--- a/src/math/color.h
+++ b/src/math/color.h
@@ -46,7 +46,10 @@ public:
 	/// multiply rgb values with scalar value.
 	Color operator*(const float scalar) const;
 
-	/// clam color values to the 0-1 range
+	/// pointer to the internal data
+	inline float *ptr() const { return (float *) rgba_data; };
+
+	/// clamp color values to the 0-1 range
 	void clamp();
 
 	float &r;
@@ -54,6 +57,8 @@ public:
 	float &b;
 	float &a;
 
+	
+private:
 	float rgba_data[4];
 };
 
diff --git a/src/math/mathlib.h b/src/math/mathlib.h
index b76c562..77ccde5 100644
--- a/src/math/mathlib.h
+++ b/src/math/mathlib.h
@@ -4,8 +4,8 @@
    the terms of the GNU General Public License version 2
 */
 
-#ifndef __INCLUDED_MATH_H__
-#define __INCLUDED_MATH_H__
+#ifndef __INCLUDED_MATHLIB_H__
+#define __INCLUDED_MATHLIB_H__
 
 /// this namespace contains mathematical classes and functions
 /** This is an independent library
@@ -14,8 +14,9 @@ namespace math {}
 
 #include "math/vector3f.h"
 #include "math/plane3f.h"
+#include "math/matrix4f.h"
 #include "math/color.h"
 #include "math/functions.h"
 
-#endif // __INCLUDED_MATH_H__
+#endif // __INCLUDED_MATHLIB_H__
 
diff --git a/src/math/matrix4f.cc b/src/math/matrix4f.cc
new file mode 100644
index 0000000..d73b12e
--- /dev/null
+++ b/src/math/matrix4f.cc
@@ -0,0 +1,79 @@
+/*
+   math/matrix4f.cc
+   This file is part of the Osirion project and is distributed under
+   the terms of the GNU General Public License version 2
+*/
+
+// project headers
+#include "math/matrix4f.h"
+
+// C++ headers
+#include <cmath>
+
+namespace math
+{
+
+Matrix4f::Matrix4f()
+{
+	clear();
+}
+
+Matrix4f::Matrix4f(const Matrix4f & other)
+{
+	assign(other);
+}
+
+Matrix4f::Matrix4f(const Axis & axis)
+{
+	assign(axis);
+}
+
+void Matrix4f::clear()
+{
+	memset(matrix, 0, sizeof(matrix));
+}
+
+void Matrix4f::unity()
+{
+	memset(matrix, 0, sizeof(matrix));
+	for (int i=0; i <4; i++)
+		matrix[i][i] = 1;
+}
+
+void Matrix4f::assign(const Matrix4f & other)
+{
+	memcpy(matrix, other.matrix, sizeof(matrix));
+}
+
+void Matrix4f::assign(const Axis & axis)
+{
+	memset(matrix, 0, sizeof(matrix));
+	for (int i=0; i < 3; i++) {
+		memcpy(&matrix[i][0], axis[i].ptr(), sizeof(float) * 3);
+	}
+	matrix[3][3] = 1;
+}
+
+Matrix4f & Matrix4f::operator=(const Matrix4f &other)
+{
+	assign(other);
+	return(*this);
+}
+	
+Matrix4f & Matrix4f::operator=(const Axis & axis)
+{
+	assign(axis);
+	return(*this);
+}
+
+Matrix4f const Matrix4f::transpose()
+{
+	Matrix4f t;
+
+	for (size_t i = 0; i < 4; i++)
+		for (size_t j = 0; j < 4; j++)
+			t.matrix[j][i] = matrix[i][j];
+	return t;
+}
+
+}
diff --git a/src/math/matrix4f.h b/src/math/matrix4f.h
new file mode 100644
index 0000000..0d7df90
--- /dev/null
+++ b/src/math/matrix4f.h
@@ -0,0 +1,58 @@
+/*
+   math/matrix4f.cc
+   This file is part of the Osirion project and is distributed under
+   the terms of the GNU General Public License version 2
+*/
+
+#ifndef __INCLUDED_MATH_MATRIX4F_H__
+#define __INCLUDED_MATH_MATRIX4F_H__
+
+// project headers
+#include "math/axis.h"
+
+// C++ headers
+#include <iostream>
+
+namespace math
+{
+
+/// a transformation matrix
+class Matrix4f
+{
+public:
+	Matrix4f();
+	Matrix4f(const Matrix4f & other);
+	Matrix4f(const Axis & axis);
+
+	/// set all values to zero
+	void clear();
+
+	/// set the value to a 4x4 unity matrix
+	void unity();
+
+	/// assignment operator
+	void assign(const Matrix4f & other);
+
+	/// assignment operator
+	inline Matrix4f & operator=(const Matrix4f &other);
+	
+	/// assign the matrix transformation equivalent to the coordinate system
+	void assign(const Axis & axis);
+
+	/// assign the matrix transformation equivalent to the coordinate system
+	Matrix4f & operator=(const Axis & axis);
+
+	/// return a pointer to the internal data
+	inline float * ptr() const { return (float *) matrix; }
+
+	/// return the transpose matrix
+	Matrix4f const transpose();
+
+private:
+	float		matrix[4][4];
+};
+
+}
+
+#endif // __INCLUDED_MATH_MATRIX4F_H__
+
diff --git a/src/math/vector3f.cc b/src/math/vector3f.cc
index 3d8e5ac..51d0385 100644
--- a/src/math/vector3f.cc
+++ b/src/math/vector3f.cc
@@ -1,5 +1,5 @@
 /*
-   common/vector3f.cc
+   math/vector3f.cc
    This file is part of the Osirion project and is distributed under
    the terms of the GNU General Public License version 2
 */
diff --git a/src/math/vector3f.h b/src/math/vector3f.h
index e94f4c7..ddb9e38 100644
--- a/src/math/vector3f.h
+++ b/src/math/vector3f.h
@@ -113,6 +113,9 @@ public:
 	/// WARNING: vector must not be (0, 0, 0)
 	void normalize();
 
+	/// a pointer to the internal data
+	inline float *ptr() const { return (float *) coord; }
+
 	/* static functions */
 
 	/// Returns the unity vector on the X-axis
@@ -136,6 +139,7 @@ public:
 	float &y;
 	float &z;
 
+private:
 	float coord[3];
 };