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ImGuizmo.cpp
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// https://github.com/CedricGuillemet/ImGuizmo
// v 1.84 WIP
//
// The MIT License(MIT)
//
// Copyright(c) 2021 Cedric Guillemet
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files(the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and / or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions :
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
#include "imgui.h"
#ifndef IMGUI_DEFINE_MATH_OPERATORS
#define IMGUI_DEFINE_MATH_OPERATORS
#endif
#include "imgui_internal.h"
#include "ImGuizmo.h"
#if defined(_MSC_VER) || defined(__MINGW32__)
#include <malloc.h>
#endif
#if !defined(_MSC_VER) && !defined(__MINGW64_VERSION_MAJOR)
#define _malloca(x) alloca(x)
#define _freea(x)
#endif
// includes patches for multiview from
// https://github.com/CedricGuillemet/ImGuizmo/issues/15
namespace IMGUIZMO_NAMESPACE
{
static const float ZPI = 3.14159265358979323846f;
static const float RAD2DEG = (180.f / ZPI);
static const float DEG2RAD = (ZPI / 180.f);
const float screenRotateSize = 0.06f;
// scale a bit so translate axis do not touch when in universal
const float rotationDisplayFactor = 1.2f;
static OPERATION operator&(OPERATION lhs, OPERATION rhs)
{
return static_cast<OPERATION>(static_cast<int>(lhs) & static_cast<int>(rhs));
}
static bool operator!=(OPERATION lhs, int rhs)
{
return static_cast<int>(lhs) != rhs;
}
static bool operator==(OPERATION lhs, int rhs)
{
return static_cast<int>(lhs) == rhs;
}
static bool Intersects(OPERATION lhs, OPERATION rhs)
{
return (lhs & rhs) != 0;
}
// True if lhs contains rhs
static bool Contains(OPERATION lhs, OPERATION rhs)
{
return (lhs & rhs) == rhs;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// utility and math
void FPU_MatrixF_x_MatrixF(const float* a, const float* b, float* r)
{
r[0] = a[0] * b[0] + a[1] * b[4] + a[2] * b[8] + a[3] * b[12];
r[1] = a[0] * b[1] + a[1] * b[5] + a[2] * b[9] + a[3] * b[13];
r[2] = a[0] * b[2] + a[1] * b[6] + a[2] * b[10] + a[3] * b[14];
r[3] = a[0] * b[3] + a[1] * b[7] + a[2] * b[11] + a[3] * b[15];
r[4] = a[4] * b[0] + a[5] * b[4] + a[6] * b[8] + a[7] * b[12];
r[5] = a[4] * b[1] + a[5] * b[5] + a[6] * b[9] + a[7] * b[13];
r[6] = a[4] * b[2] + a[5] * b[6] + a[6] * b[10] + a[7] * b[14];
r[7] = a[4] * b[3] + a[5] * b[7] + a[6] * b[11] + a[7] * b[15];
r[8] = a[8] * b[0] + a[9] * b[4] + a[10] * b[8] + a[11] * b[12];
r[9] = a[8] * b[1] + a[9] * b[5] + a[10] * b[9] + a[11] * b[13];
r[10] = a[8] * b[2] + a[9] * b[6] + a[10] * b[10] + a[11] * b[14];
r[11] = a[8] * b[3] + a[9] * b[7] + a[10] * b[11] + a[11] * b[15];
r[12] = a[12] * b[0] + a[13] * b[4] + a[14] * b[8] + a[15] * b[12];
r[13] = a[12] * b[1] + a[13] * b[5] + a[14] * b[9] + a[15] * b[13];
r[14] = a[12] * b[2] + a[13] * b[6] + a[14] * b[10] + a[15] * b[14];
r[15] = a[12] * b[3] + a[13] * b[7] + a[14] * b[11] + a[15] * b[15];
}
void Frustum(float left, float right, float bottom, float top, float znear, float zfar, float* m16)
{
float temp, temp2, temp3, temp4;
temp = 2.0f * znear;
temp2 = right - left;
temp3 = top - bottom;
temp4 = zfar - znear;
m16[0] = temp / temp2;
m16[1] = 0.0;
m16[2] = 0.0;
m16[3] = 0.0;
m16[4] = 0.0;
m16[5] = temp / temp3;
m16[6] = 0.0;
m16[7] = 0.0;
m16[8] = (right + left) / temp2;
m16[9] = (top + bottom) / temp3;
m16[10] = (-zfar - znear) / temp4;
m16[11] = -1.0f;
m16[12] = 0.0;
m16[13] = 0.0;
m16[14] = (-temp * zfar) / temp4;
m16[15] = 0.0;
}
void Perspective(float fovyInDegrees, float aspectRatio, float znear, float zfar, float* m16)
{
float ymax, xmax;
ymax = znear * tanf(fovyInDegrees * DEG2RAD);
xmax = ymax * aspectRatio;
Frustum(-xmax, xmax, -ymax, ymax, znear, zfar, m16);
}
void Cross(const float* a, const float* b, float* r)
{
r[0] = a[1] * b[2] - a[2] * b[1];
r[1] = a[2] * b[0] - a[0] * b[2];
r[2] = a[0] * b[1] - a[1] * b[0];
}
float Dot(const float* a, const float* b)
{
return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
}
void Normalize(const float* a, float* r)
{
float il = 1.f / (sqrtf(Dot(a, a)) + FLT_EPSILON);
r[0] = a[0] * il;
r[1] = a[1] * il;
r[2] = a[2] * il;
}
void LookAt(const float* eye, const float* at, const float* up, float* m16)
{
float X[3], Y[3], Z[3], tmp[3];
tmp[0] = eye[0] - at[0];
tmp[1] = eye[1] - at[1];
tmp[2] = eye[2] - at[2];
Normalize(tmp, Z);
Normalize(up, Y);
Cross(Y, Z, tmp);
Normalize(tmp, X);
Cross(Z, X, tmp);
Normalize(tmp, Y);
m16[0] = X[0];
m16[1] = Y[0];
m16[2] = Z[0];
m16[3] = 0.0f;
m16[4] = X[1];
m16[5] = Y[1];
m16[6] = Z[1];
m16[7] = 0.0f;
m16[8] = X[2];
m16[9] = Y[2];
m16[10] = Z[2];
m16[11] = 0.0f;
m16[12] = -Dot(X, eye);
m16[13] = -Dot(Y, eye);
m16[14] = -Dot(Z, eye);
m16[15] = 1.0f;
}
template <typename T> T Clamp(T x, T y, T z) { return ((x < y) ? y : ((x > z) ? z : x)); }
template <typename T> T max(T x, T y) { return (x > y) ? x : y; }
template <typename T> T min(T x, T y) { return (x < y) ? x : y; }
template <typename T> bool IsWithin(T x, T y, T z) { return (x >= y) && (x <= z); }
struct matrix_t;
struct vec_t
{
public:
float x, y, z, w;
void Lerp(const vec_t& v, float t)
{
x += (v.x - x) * t;
y += (v.y - y) * t;
z += (v.z - z) * t;
w += (v.w - w) * t;
}
void Set(float v) { x = y = z = w = v; }
void Set(float _x, float _y, float _z = 0.f, float _w = 0.f) { x = _x; y = _y; z = _z; w = _w; }
vec_t& operator -= (const vec_t& v) { x -= v.x; y -= v.y; z -= v.z; w -= v.w; return *this; }
vec_t& operator += (const vec_t& v) { x += v.x; y += v.y; z += v.z; w += v.w; return *this; }
vec_t& operator *= (const vec_t& v) { x *= v.x; y *= v.y; z *= v.z; w *= v.w; return *this; }
vec_t& operator *= (float v) { x *= v; y *= v; z *= v; w *= v; return *this; }
vec_t operator * (float f) const;
vec_t operator - () const;
vec_t operator - (const vec_t& v) const;
vec_t operator + (const vec_t& v) const;
vec_t operator * (const vec_t& v) const;
const vec_t& operator + () const { return (*this); }
float Length() const { return sqrtf(x * x + y * y + z * z); };
float LengthSq() const { return (x * x + y * y + z * z); };
vec_t Normalize() { (*this) *= (1.f / ( Length() > FLT_EPSILON ? Length() : FLT_EPSILON ) ); return (*this); }
vec_t Normalize(const vec_t& v) { this->Set(v.x, v.y, v.z, v.w); this->Normalize(); return (*this); }
vec_t Abs() const;
void Cross(const vec_t& v)
{
vec_t res;
res.x = y * v.z - z * v.y;
res.y = z * v.x - x * v.z;
res.z = x * v.y - y * v.x;
x = res.x;
y = res.y;
z = res.z;
w = 0.f;
}
void Cross(const vec_t& v1, const vec_t& v2)
{
x = v1.y * v2.z - v1.z * v2.y;
y = v1.z * v2.x - v1.x * v2.z;
z = v1.x * v2.y - v1.y * v2.x;
w = 0.f;
}
float Dot(const vec_t& v) const
{
return (x * v.x) + (y * v.y) + (z * v.z) + (w * v.w);
}
float Dot3(const vec_t& v) const
{
return (x * v.x) + (y * v.y) + (z * v.z);
}
void Transform(const matrix_t& matrix);
void Transform(const vec_t& s, const matrix_t& matrix);
void TransformVector(const matrix_t& matrix);
void TransformPoint(const matrix_t& matrix);
void TransformVector(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformVector(matrix); }
void TransformPoint(const vec_t& v, const matrix_t& matrix) { (*this) = v; this->TransformPoint(matrix); }
float& operator [] (size_t index) { return ((float*)&x)[index]; }
const float& operator [] (size_t index) const { return ((float*)&x)[index]; }
bool operator!=(const vec_t& other) const { return memcmp(this, &other, sizeof(vec_t)); }
};
vec_t makeVect(float _x, float _y, float _z = 0.f, float _w = 0.f) { vec_t res; res.x = _x; res.y = _y; res.z = _z; res.w = _w; return res; }
vec_t makeVect(ImVec2 v) { vec_t res; res.x = v.x; res.y = v.y; res.z = 0.f; res.w = 0.f; return res; }
vec_t vec_t::operator * (float f) const { return makeVect(x * f, y * f, z * f, w * f); }
vec_t vec_t::operator - () const { return makeVect(-x, -y, -z, -w); }
vec_t vec_t::operator - (const vec_t& v) const { return makeVect(x - v.x, y - v.y, z - v.z, w - v.w); }
vec_t vec_t::operator + (const vec_t& v) const { return makeVect(x + v.x, y + v.y, z + v.z, w + v.w); }
vec_t vec_t::operator * (const vec_t& v) const { return makeVect(x * v.x, y * v.y, z * v.z, w * v.w); }
vec_t vec_t::Abs() const { return makeVect(fabsf(x), fabsf(y), fabsf(z)); }
vec_t Normalized(const vec_t& v) { vec_t res; res = v; res.Normalize(); return res; }
vec_t Cross(const vec_t& v1, const vec_t& v2)
{
vec_t res;
res.x = v1.y * v2.z - v1.z * v2.y;
res.y = v1.z * v2.x - v1.x * v2.z;
res.z = v1.x * v2.y - v1.y * v2.x;
res.w = 0.f;
return res;
}
float Dot(const vec_t& v1, const vec_t& v2)
{
return (v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z);
}
vec_t BuildPlan(const vec_t& p_point1, const vec_t& p_normal)
{
vec_t normal, res;
normal.Normalize(p_normal);
res.w = normal.Dot(p_point1);
res.x = normal.x;
res.y = normal.y;
res.z = normal.z;
return res;
}
struct matrix_t
{
public:
union
{
float m[4][4];
float m16[16];
struct
{
vec_t right, up, dir, position;
} v;
vec_t component[4];
};
matrix_t(const matrix_t& other) { memcpy(&m16[0], &other.m16[0], sizeof(float) * 16); }
matrix_t() {}
operator float* () { return m16; }
operator const float* () const { return m16; }
void Translation(float _x, float _y, float _z) { this->Translation(makeVect(_x, _y, _z)); }
void Translation(const vec_t& vt)
{
v.right.Set(1.f, 0.f, 0.f, 0.f);
v.up.Set(0.f, 1.f, 0.f, 0.f);
v.dir.Set(0.f, 0.f, 1.f, 0.f);
v.position.Set(vt.x, vt.y, vt.z, 1.f);
}
void Scale(float _x, float _y, float _z)
{
v.right.Set(_x, 0.f, 0.f, 0.f);
v.up.Set(0.f, _y, 0.f, 0.f);
v.dir.Set(0.f, 0.f, _z, 0.f);
v.position.Set(0.f, 0.f, 0.f, 1.f);
}
void Scale(const vec_t& s) { Scale(s.x, s.y, s.z); }
matrix_t& operator *= (const matrix_t& mat)
{
matrix_t tmpMat;
tmpMat = *this;
tmpMat.Multiply(mat);
*this = tmpMat;
return *this;
}
matrix_t operator * (const matrix_t& mat) const
{
matrix_t matT;
matT.Multiply(*this, mat);
return matT;
}
void Multiply(const matrix_t& matrix)
{
matrix_t tmp;
tmp = *this;
FPU_MatrixF_x_MatrixF((float*)&tmp, (float*)&matrix, (float*)this);
}
void Multiply(const matrix_t& m1, const matrix_t& m2)
{
FPU_MatrixF_x_MatrixF((float*)&m1, (float*)&m2, (float*)this);
}
float GetDeterminant() const
{
return m[0][0] * m[1][1] * m[2][2] + m[0][1] * m[1][2] * m[2][0] + m[0][2] * m[1][0] * m[2][1] -
m[0][2] * m[1][1] * m[2][0] - m[0][1] * m[1][0] * m[2][2] - m[0][0] * m[1][2] * m[2][1];
}
float Inverse(const matrix_t& srcMatrix, bool affine = false);
void SetToIdentity()
{
v.right.Set(1.f, 0.f, 0.f, 0.f);
v.up.Set(0.f, 1.f, 0.f, 0.f);
v.dir.Set(0.f, 0.f, 1.f, 0.f);
v.position.Set(0.f, 0.f, 0.f, 1.f);
}
void Transpose()
{
matrix_t tmpm;
for (int l = 0; l < 4; l++)
{
for (int c = 0; c < 4; c++)
{
tmpm.m[l][c] = m[c][l];
}
}
(*this) = tmpm;
}
void RotationAxis(const vec_t& axis, float angle);
void OrthoNormalize()
{
v.right.Normalize();
v.up.Normalize();
v.dir.Normalize();
}
};
void vec_t::Transform(const matrix_t& matrix)
{
vec_t out;
out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + w * matrix.m[3][0];
out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + w * matrix.m[3][1];
out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + w * matrix.m[3][2];
out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + w * matrix.m[3][3];
x = out.x;
y = out.y;
z = out.z;
w = out.w;
}
void vec_t::Transform(const vec_t& s, const matrix_t& matrix)
{
*this = s;
Transform(matrix);
}
void vec_t::TransformPoint(const matrix_t& matrix)
{
vec_t out;
out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0] + matrix.m[3][0];
out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1] + matrix.m[3][1];
out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2] + matrix.m[3][2];
out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3] + matrix.m[3][3];
x = out.x;
y = out.y;
z = out.z;
w = out.w;
}
void vec_t::TransformVector(const matrix_t& matrix)
{
vec_t out;
out.x = x * matrix.m[0][0] + y * matrix.m[1][0] + z * matrix.m[2][0];
out.y = x * matrix.m[0][1] + y * matrix.m[1][1] + z * matrix.m[2][1];
out.z = x * matrix.m[0][2] + y * matrix.m[1][2] + z * matrix.m[2][2];
out.w = x * matrix.m[0][3] + y * matrix.m[1][3] + z * matrix.m[2][3];
x = out.x;
y = out.y;
z = out.z;
w = out.w;
}
float matrix_t::Inverse(const matrix_t& srcMatrix, bool affine)
{
float det = 0;
if (affine)
{
det = GetDeterminant();
float s = 1 / det;
m[0][0] = (srcMatrix.m[1][1] * srcMatrix.m[2][2] - srcMatrix.m[1][2] * srcMatrix.m[2][1]) * s;
m[0][1] = (srcMatrix.m[2][1] * srcMatrix.m[0][2] - srcMatrix.m[2][2] * srcMatrix.m[0][1]) * s;
m[0][2] = (srcMatrix.m[0][1] * srcMatrix.m[1][2] - srcMatrix.m[0][2] * srcMatrix.m[1][1]) * s;
m[1][0] = (srcMatrix.m[1][2] * srcMatrix.m[2][0] - srcMatrix.m[1][0] * srcMatrix.m[2][2]) * s;
m[1][1] = (srcMatrix.m[2][2] * srcMatrix.m[0][0] - srcMatrix.m[2][0] * srcMatrix.m[0][2]) * s;
m[1][2] = (srcMatrix.m[0][2] * srcMatrix.m[1][0] - srcMatrix.m[0][0] * srcMatrix.m[1][2]) * s;
m[2][0] = (srcMatrix.m[1][0] * srcMatrix.m[2][1] - srcMatrix.m[1][1] * srcMatrix.m[2][0]) * s;
m[2][1] = (srcMatrix.m[2][0] * srcMatrix.m[0][1] - srcMatrix.m[2][1] * srcMatrix.m[0][0]) * s;
m[2][2] = (srcMatrix.m[0][0] * srcMatrix.m[1][1] - srcMatrix.m[0][1] * srcMatrix.m[1][0]) * s;
m[3][0] = -(m[0][0] * srcMatrix.m[3][0] + m[1][0] * srcMatrix.m[3][1] + m[2][0] * srcMatrix.m[3][2]);
m[3][1] = -(m[0][1] * srcMatrix.m[3][0] + m[1][1] * srcMatrix.m[3][1] + m[2][1] * srcMatrix.m[3][2]);
m[3][2] = -(m[0][2] * srcMatrix.m[3][0] + m[1][2] * srcMatrix.m[3][1] + m[2][2] * srcMatrix.m[3][2]);
}
else
{
// transpose matrix
float src[16];
for (int i = 0; i < 4; ++i)
{
src[i] = srcMatrix.m16[i * 4];
src[i + 4] = srcMatrix.m16[i * 4 + 1];
src[i + 8] = srcMatrix.m16[i * 4 + 2];
src[i + 12] = srcMatrix.m16[i * 4 + 3];
}
// calculate pairs for first 8 elements (cofactors)
float tmp[12]; // temp array for pairs
tmp[0] = src[10] * src[15];
tmp[1] = src[11] * src[14];
tmp[2] = src[9] * src[15];
tmp[3] = src[11] * src[13];
tmp[4] = src[9] * src[14];
tmp[5] = src[10] * src[13];
tmp[6] = src[8] * src[15];
tmp[7] = src[11] * src[12];
tmp[8] = src[8] * src[14];
tmp[9] = src[10] * src[12];
tmp[10] = src[8] * src[13];
tmp[11] = src[9] * src[12];
// calculate first 8 elements (cofactors)
m16[0] = (tmp[0] * src[5] + tmp[3] * src[6] + tmp[4] * src[7]) - (tmp[1] * src[5] + tmp[2] * src[6] + tmp[5] * src[7]);
m16[1] = (tmp[1] * src[4] + tmp[6] * src[6] + tmp[9] * src[7]) - (tmp[0] * src[4] + tmp[7] * src[6] + tmp[8] * src[7]);
m16[2] = (tmp[2] * src[4] + tmp[7] * src[5] + tmp[10] * src[7]) - (tmp[3] * src[4] + tmp[6] * src[5] + tmp[11] * src[7]);
m16[3] = (tmp[5] * src[4] + tmp[8] * src[5] + tmp[11] * src[6]) - (tmp[4] * src[4] + tmp[9] * src[5] + tmp[10] * src[6]);
m16[4] = (tmp[1] * src[1] + tmp[2] * src[2] + tmp[5] * src[3]) - (tmp[0] * src[1] + tmp[3] * src[2] + tmp[4] * src[3]);
m16[5] = (tmp[0] * src[0] + tmp[7] * src[2] + tmp[8] * src[3]) - (tmp[1] * src[0] + tmp[6] * src[2] + tmp[9] * src[3]);
m16[6] = (tmp[3] * src[0] + tmp[6] * src[1] + tmp[11] * src[3]) - (tmp[2] * src[0] + tmp[7] * src[1] + tmp[10] * src[3]);
m16[7] = (tmp[4] * src[0] + tmp[9] * src[1] + tmp[10] * src[2]) - (tmp[5] * src[0] + tmp[8] * src[1] + tmp[11] * src[2]);
// calculate pairs for second 8 elements (cofactors)
tmp[0] = src[2] * src[7];
tmp[1] = src[3] * src[6];
tmp[2] = src[1] * src[7];
tmp[3] = src[3] * src[5];
tmp[4] = src[1] * src[6];
tmp[5] = src[2] * src[5];
tmp[6] = src[0] * src[7];
tmp[7] = src[3] * src[4];
tmp[8] = src[0] * src[6];
tmp[9] = src[2] * src[4];
tmp[10] = src[0] * src[5];
tmp[11] = src[1] * src[4];
// calculate second 8 elements (cofactors)
m16[8] = (tmp[0] * src[13] + tmp[3] * src[14] + tmp[4] * src[15]) - (tmp[1] * src[13] + tmp[2] * src[14] + tmp[5] * src[15]);
m16[9] = (tmp[1] * src[12] + tmp[6] * src[14] + tmp[9] * src[15]) - (tmp[0] * src[12] + tmp[7] * src[14] + tmp[8] * src[15]);
m16[10] = (tmp[2] * src[12] + tmp[7] * src[13] + tmp[10] * src[15]) - (tmp[3] * src[12] + tmp[6] * src[13] + tmp[11] * src[15]);
m16[11] = (tmp[5] * src[12] + tmp[8] * src[13] + tmp[11] * src[14]) - (tmp[4] * src[12] + tmp[9] * src[13] + tmp[10] * src[14]);
m16[12] = (tmp[2] * src[10] + tmp[5] * src[11] + tmp[1] * src[9]) - (tmp[4] * src[11] + tmp[0] * src[9] + tmp[3] * src[10]);
m16[13] = (tmp[8] * src[11] + tmp[0] * src[8] + tmp[7] * src[10]) - (tmp[6] * src[10] + tmp[9] * src[11] + tmp[1] * src[8]);
m16[14] = (tmp[6] * src[9] + tmp[11] * src[11] + tmp[3] * src[8]) - (tmp[10] * src[11] + tmp[2] * src[8] + tmp[7] * src[9]);
m16[15] = (tmp[10] * src[10] + tmp[4] * src[8] + tmp[9] * src[9]) - (tmp[8] * src[9] + tmp[11] * src[10] + tmp[5] * src[8]);
// calculate determinant
det = src[0] * m16[0] + src[1] * m16[1] + src[2] * m16[2] + src[3] * m16[3];
// calculate matrix inverse
float invdet = 1 / det;
for (int j = 0; j < 16; ++j)
{
m16[j] *= invdet;
}
}
return det;
}
void matrix_t::RotationAxis(const vec_t& axis, float angle)
{
float length2 = axis.LengthSq();
if (length2 < FLT_EPSILON)
{
SetToIdentity();
return;
}
vec_t n = axis * (1.f / sqrtf(length2));
float s = sinf(angle);
float c = cosf(angle);
float k = 1.f - c;
float xx = n.x * n.x * k + c;
float yy = n.y * n.y * k + c;
float zz = n.z * n.z * k + c;
float xy = n.x * n.y * k;
float yz = n.y * n.z * k;
float zx = n.z * n.x * k;
float xs = n.x * s;
float ys = n.y * s;
float zs = n.z * s;
m[0][0] = xx;
m[0][1] = xy + zs;
m[0][2] = zx - ys;
m[0][3] = 0.f;
m[1][0] = xy - zs;
m[1][1] = yy;
m[1][2] = yz + xs;
m[1][3] = 0.f;
m[2][0] = zx + ys;
m[2][1] = yz - xs;
m[2][2] = zz;
m[2][3] = 0.f;
m[3][0] = 0.f;
m[3][1] = 0.f;
m[3][2] = 0.f;
m[3][3] = 1.f;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
enum MOVETYPE
{
MT_NONE,
MT_MOVE_X,
MT_MOVE_Y,
MT_MOVE_Z,
MT_MOVE_YZ,
MT_MOVE_ZX,
MT_MOVE_XY,
MT_MOVE_SCREEN,
MT_ROTATE_X,
MT_ROTATE_Y,
MT_ROTATE_Z,
MT_ROTATE_SCREEN,
MT_SCALE_X,
MT_SCALE_Y,
MT_SCALE_Z,
MT_SCALE_XYZ
};
static bool IsTranslateType(int type)
{
return type >= MT_MOVE_X && type <= MT_MOVE_SCREEN;
}
static bool IsRotateType(int type)
{
return type >= MT_ROTATE_X && type <= MT_ROTATE_SCREEN;
}
static bool IsScaleType(int type)
{
return type >= MT_SCALE_X && type <= MT_SCALE_XYZ;
}
// Matches MT_MOVE_AB order
static const OPERATION TRANSLATE_PLANS[3] = { TRANSLATE_Y | TRANSLATE_Z, TRANSLATE_X | TRANSLATE_Z, TRANSLATE_X | TRANSLATE_Y };
struct Context
{
Context() : mbUsing(false), mbEnable(true), mbUsingBounds(false)
{
}
ImDrawList* mDrawList;
MODE mMode;
matrix_t mViewMat;
matrix_t mProjectionMat;
matrix_t mModel;
matrix_t mModelLocal; // orthonormalized model
matrix_t mModelInverse;
matrix_t mModelSource;
matrix_t mModelSourceInverse;
matrix_t mMVP;
matrix_t mMVPLocal; // MVP with full model matrix whereas mMVP's model matrix might only be translation in case of World space edition
matrix_t mViewProjection;
vec_t mModelScaleOrigin;
vec_t mCameraEye;
vec_t mCameraRight;
vec_t mCameraDir;
vec_t mCameraUp;
vec_t mRayOrigin;
vec_t mRayVector;
float mRadiusSquareCenter;
ImVec2 mScreenSquareCenter;
ImVec2 mScreenSquareMin;
ImVec2 mScreenSquareMax;
float mScreenFactor;
vec_t mRelativeOrigin;
bool mbUsing;
bool mbEnable;
bool mReversed; // reversed projection matrix
// translation
vec_t mTranslationPlan;
vec_t mTranslationPlanOrigin;
vec_t mMatrixOrigin;
vec_t mTranslationLastDelta;
// rotation
vec_t mRotationVectorSource;
float mRotationAngle;
float mRotationAngleOrigin;
//vec_t mWorldToLocalAxis;
// scale
vec_t mScale;
vec_t mScaleValueOrigin;
vec_t mScaleLast;
float mSaveMousePosx;
// save axis factor when using gizmo
bool mBelowAxisLimit[3];
bool mBelowPlaneLimit[3];
float mAxisFactor[3];
// bounds stretching
vec_t mBoundsPivot;
vec_t mBoundsAnchor;
vec_t mBoundsPlan;
vec_t mBoundsLocalPivot;
int mBoundsBestAxis;
int mBoundsAxis[2];
bool mbUsingBounds;
matrix_t mBoundsMatrix;
//
int mCurrentOperation;
float mX = 0.f;
float mY = 0.f;
float mWidth = 0.f;
float mHeight = 0.f;
float mXMax = 0.f;
float mYMax = 0.f;
float mDisplayRatio = 1.f;
bool mIsOrthographic = false;
int mActualID = -1;
int mEditingID = -1;
OPERATION mOperation = OPERATION(-1);
bool mAllowAxisFlip = true;
float mGizmoSizeClipSpace = 0.1f;
};
static Context gContext;
static const vec_t directionUnary[3] = { makeVect(1.f, 0.f, 0.f), makeVect(0.f, 1.f, 0.f), makeVect(0.f, 0.f, 1.f) };
static const ImU32 directionColor[3] = { IM_COL32(0xAA, 0, 0, 0xFF), IM_COL32(0, 0xAA, 0, 0xFF), IM_COL32(0, 0, 0xAA, 0XFF) };
// Alpha: 100%: FF, 87%: DE, 70%: B3, 54%: 8A, 50%: 80, 38%: 61, 12%: 1F
static const ImU32 planeColor[3] = { IM_COL32(0xAA, 0, 0, 0x61), IM_COL32(0, 0xAA, 0, 0x61), IM_COL32(0, 0, 0xAA, 0x61) };
static const ImU32 selectionColor = IM_COL32(0xFF, 0x80, 0x10, 0x8A);
static const ImU32 inactiveColor = IM_COL32(0x99, 0x99, 0x99, 0x99);
static const ImU32 translationLineColor = IM_COL32(0xAA, 0xAA, 0xAA, 0xAA);
static const char* translationInfoMask[] = { "X : %5.3f", "Y : %5.3f", "Z : %5.3f",
"Y : %5.3f Z : %5.3f", "X : %5.3f Z : %5.3f", "X : %5.3f Y : %5.3f",
"X : %5.3f Y : %5.3f Z : %5.3f" };
static const char* scaleInfoMask[] = { "X : %5.2f", "Y : %5.2f", "Z : %5.2f", "XYZ : %5.2f" };
static const char* rotationInfoMask[] = { "X : %5.2f deg %5.2f rad", "Y : %5.2f deg %5.2f rad", "Z : %5.2f deg %5.2f rad", "Screen : %5.2f deg %5.2f rad" };
static const int translationInfoIndex[] = { 0,0,0, 1,0,0, 2,0,0, 1,2,0, 0,2,0, 0,1,0, 0,1,2 };
static const float quadMin = 0.5f;
static const float quadMax = 0.8f;
static const float quadUV[8] = { quadMin, quadMin, quadMin, quadMax, quadMax, quadMax, quadMax, quadMin };
static const int halfCircleSegmentCount = 64;
static const float snapTension = 0.5f;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//
static int GetMoveType(OPERATION op, vec_t* gizmoHitProportion);
static int GetRotateType(OPERATION op);
static int GetScaleType(OPERATION op);
static ImVec2 worldToPos(const vec_t& worldPos, const matrix_t& mat, ImVec2 position = ImVec2(gContext.mX, gContext.mY), ImVec2 size = ImVec2(gContext.mWidth, gContext.mHeight))
{
vec_t trans;
trans.TransformPoint(worldPos, mat);
trans *= 0.5f / trans.w;
trans += makeVect(0.5f, 0.5f);
trans.y = 1.f - trans.y;
trans.x *= size.x;
trans.y *= size.y;
trans.x += position.x;
trans.y += position.y;
return ImVec2(trans.x, trans.y);
}
static void ComputeCameraRay(vec_t& rayOrigin, vec_t& rayDir, ImVec2 position = ImVec2(gContext.mX, gContext.mY), ImVec2 size = ImVec2(gContext.mWidth, gContext.mHeight))
{
ImGuiIO& io = ImGui::GetIO();
matrix_t mViewProjInverse;
mViewProjInverse.Inverse(gContext.mViewMat * gContext.mProjectionMat);
const float mox = ((io.MousePos.x - position.x) / size.x) * 2.f - 1.f;
const float moy = (1.f - ((io.MousePos.y - position.y) / size.y)) * 2.f - 1.f;
const float zNear = gContext.mReversed ? (1.f - FLT_EPSILON) : 0.f;
const float zFar = gContext.mReversed ? 0.f : (1.f - FLT_EPSILON);
rayOrigin.Transform(makeVect(mox, moy, zNear, 1.f), mViewProjInverse);
rayOrigin *= 1.f / rayOrigin.w;
vec_t rayEnd;
rayEnd.Transform(makeVect(mox, moy, zFar, 1.f), mViewProjInverse);
rayEnd *= 1.f / rayEnd.w;
rayDir = Normalized(rayEnd - rayOrigin);
}
static float GetSegmentLengthClipSpace(const vec_t& start, const vec_t& end, const bool localCoordinates = false)
{
vec_t startOfSegment = start;
const matrix_t& mvp = localCoordinates ? gContext.mMVPLocal : gContext.mMVP;
startOfSegment.TransformPoint(mvp);
if (fabsf(startOfSegment.w) > FLT_EPSILON) // check for axis aligned with camera direction
{
startOfSegment *= 1.f / startOfSegment.w;
}
vec_t endOfSegment = end;
endOfSegment.TransformPoint(mvp);
if (fabsf(endOfSegment.w) > FLT_EPSILON) // check for axis aligned with camera direction
{
endOfSegment *= 1.f / endOfSegment.w;
}
vec_t clipSpaceAxis = endOfSegment - startOfSegment;
clipSpaceAxis.y /= gContext.mDisplayRatio;
float segmentLengthInClipSpace = sqrtf(clipSpaceAxis.x * clipSpaceAxis.x + clipSpaceAxis.y * clipSpaceAxis.y);
return segmentLengthInClipSpace;
}
static float GetParallelogram(const vec_t& ptO, const vec_t& ptA, const vec_t& ptB)
{
vec_t pts[] = { ptO, ptA, ptB };
for (unsigned int i = 0; i < 3; i++)
{
pts[i].TransformPoint(gContext.mMVP);
if (fabsf(pts[i].w) > FLT_EPSILON) // check for axis aligned with camera direction
{
pts[i] *= 1.f / pts[i].w;
}
}
vec_t segA = pts[1] - pts[0];
vec_t segB = pts[2] - pts[0];
segA.y /= gContext.mDisplayRatio;
segB.y /= gContext.mDisplayRatio;
vec_t segAOrtho = makeVect(-segA.y, segA.x);
segAOrtho.Normalize();
float dt = segAOrtho.Dot3(segB);
float surface = sqrtf(segA.x * segA.x + segA.y * segA.y) * fabsf(dt);
return surface;
}
inline vec_t PointOnSegment(const vec_t& point, const vec_t& vertPos1, const vec_t& vertPos2)
{
vec_t c = point - vertPos1;
vec_t V;
V.Normalize(vertPos2 - vertPos1);
float d = (vertPos2 - vertPos1).Length();
float t = V.Dot3(c);
if (t < 0.f)
{
return vertPos1;
}
if (t > d)
{
return vertPos2;
}
return vertPos1 + V * t;
}
static float IntersectRayPlane(const vec_t& rOrigin, const vec_t& rVector, const vec_t& plan)
{
const float numer = plan.Dot3(rOrigin) - plan.w;
const float denom = plan.Dot3(rVector);
if (fabsf(denom) < FLT_EPSILON) // normal is orthogonal to vector, cant intersect
{
return -1.0f;
}
return -(numer / denom);
}
static float DistanceToPlane(const vec_t& point, const vec_t& plan)
{
return plan.Dot3(point) + plan.w;
}
static bool IsInContextRect(ImVec2 p)
{
return IsWithin(p.x, gContext.mX, gContext.mXMax) && IsWithin(p.y, gContext.mY, gContext.mYMax);
}
void SetRect(float x, float y, float width, float height)
{
gContext.mX = x;
gContext.mY = y;
gContext.mWidth = width;
gContext.mHeight = height;
gContext.mXMax = gContext.mX + gContext.mWidth;
gContext.mYMax = gContext.mY + gContext.mXMax;
gContext.mDisplayRatio = width / height;
}
void SetOrthographic(bool isOrthographic)
{
gContext.mIsOrthographic = isOrthographic;
}
void SetDrawlist(ImDrawList* drawlist)
{
gContext.mDrawList = drawlist ? drawlist : ImGui::GetWindowDrawList();
}
void SetImGuiContext(ImGuiContext* ctx)
{
ImGui::SetCurrentContext(ctx);
}
void BeginFrame()
{
const ImU32 flags = ImGuiWindowFlags_NoTitleBar | ImGuiWindowFlags_NoResize | ImGuiWindowFlags_NoScrollbar | ImGuiWindowFlags_NoInputs | ImGuiWindowFlags_NoSavedSettings | ImGuiWindowFlags_NoFocusOnAppearing | ImGuiWindowFlags_NoBringToFrontOnFocus;
#ifdef IMGUI_HAS_VIEWPORT
ImGui::SetNextWindowSize(ImGui::GetMainViewport()->Size);
ImGui::SetNextWindowPos(ImGui::GetMainViewport()->Pos);
#else
ImGuiIO& io = ImGui::GetIO();
ImGui::SetNextWindowSize(io.DisplaySize);
ImGui::SetNextWindowPos(ImVec2(0, 0));
#endif
ImGui::PushStyleColor(ImGuiCol_WindowBg, 0);
ImGui::PushStyleColor(ImGuiCol_Border, 0);
ImGui::PushStyleVar(ImGuiStyleVar_WindowRounding, 0.0f);
ImGui::Begin("gizmo", NULL, flags);
gContext.mDrawList = ImGui::GetWindowDrawList();
ImGui::End();
ImGui::PopStyleVar();
ImGui::PopStyleColor(2);
}
bool IsUsing()
{
return gContext.mbUsing || gContext.mbUsingBounds;
}
bool IsOver()
{
return (Intersects(gContext.mOperation, TRANSLATE) && GetMoveType(gContext.mOperation, NULL) != MT_NONE) ||
(Intersects(gContext.mOperation, ROTATE) && GetRotateType(gContext.mOperation) != MT_NONE) ||
(Intersects(gContext.mOperation, SCALE) && GetScaleType(gContext.mOperation) != MT_NONE) || IsUsing();
}
bool IsOver(OPERATION op)
{
if(IsUsing())
{
return true;
}
if(Intersects(op, SCALE) && GetScaleType(op) != MT_NONE)
{
return true;
}
if(Intersects(op, ROTATE) && GetRotateType(op) != MT_NONE)
{
return true;
}
if(Intersects(op, TRANSLATE) && GetMoveType(op, NULL) != MT_NONE)
{
return true;
}
return false;
}
void Enable(bool enable)
{
gContext.mbEnable = enable;
if (!enable)
{
gContext.mbUsing = false;
gContext.mbUsingBounds = false;
}
}
static void ComputeContext(const float* view, const float* projection, float* matrix, MODE mode)
{
gContext.mMode = mode;
gContext.mViewMat = *(matrix_t*)view;
gContext.mProjectionMat = *(matrix_t*)projection;
gContext.mModelLocal = *(matrix_t*)matrix;
gContext.mModelLocal.OrthoNormalize();
if (mode == LOCAL)
{
gContext.mModel = gContext.mModelLocal;
}
else
{