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gba-bitmap-engine
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fix transform coordinates

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master
wgroeneveld 3 years ago
parent fa4aa10d14
commit d74916f4c8
7 changed files with 104 additions and 63 deletions
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4
demos/demo1-wireframes/src/wirescene.cpp
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@ -43,12 +43,12 @@ void WireScene::load() {
SoftEngine.js:50 drawing 163,36
SoftEngine.js:50 drawing 76,36
*/
//cube->rotateTo(int2fx(13), int2fx(13));
}
void WireScene::tick(u16 keys) {
cube->rotate(2, 2);
if(keys & KEY_START || keys & KEY_A) {
cube->rotate(5, 5);
} else if(keys & KEY_B) {
cube->resetRotation();
}
}

10
engine/include/libgba-sprite-engine/math.h
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@ -13,6 +13,7 @@
#endif
#include <cmath>
#include <string>
// fixed point math things that were missing from TONC
@ -34,18 +35,25 @@ INLINE FIXED fxtan(FIXED fxrad);
INLINE FIXED fxsin(FIXED fxrad);
INLINE FIXED fxcos(FIXED fxrad);
INLINE float rnd(float val);
INLINE std::string fstr(FIXED which);
// ---- impl
INLINE float rnd(float val) {
return (float) ((std::floor(val * 100) + .5) / 100);
}
INLINE std::string fstr(FIXED which) {
char buffer[30];
snprintf(buffer, 30, "%4.3f", rnd(fx2float(which)));
std::string strObj4(buffer);
return strObj4;
}
INLINE float gr2rad(uint grad) {
return grad*M_PI/180;
}
INLINE FIXED gr2lut(uint grad) {
return 65535 / (360 / grad);
return 65535 / (360 / (grad % 360));
}
INLINE FIXED rad2lut(float rad) {

25
engine/include/libgba-sprite-engine/matrixfx.h
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@ -21,11 +21,8 @@ class MatrixFx {
private:
FIXED m[MATRIX_DIMENSION];
inline std::string mstr(int index) {
char buffer[30];
snprintf(buffer, 30, "%4.3f", rnd(fx2float(m[index])));
std::string strObj4(buffer);
return strObj4;
inline std::string mstr(int index) const {
return fstr(m[index]);
}
public:
@ -105,24 +102,24 @@ public:
m[14] = m43;
m[15] = m44;
}
std::string to_string_m1() {
std::string to_string_m1() const {
return "(" + mstr(0) + "," + mstr(1) + "," + mstr(2) + "," + mstr(3) +")";
}
std::string to_string_m2() {
std::string to_string_m2() const {
return "(" + mstr(4) + "," + mstr(5) + "," + mstr(6) + "," + mstr(7) +")";
}
std::string to_string_m3() {
std::string to_string_m3() const {
return "(" + mstr(8) + "," + mstr(9) + "," + mstr(10) + "," + mstr(11) +")";
}
std::string to_string_m4() {
std::string to_string_m4() const {
return "(" + mstr(12) + "," + mstr(13) + "," + mstr(14) + "," + mstr(15) +")";
}
inline static VectorFx transformCoordinates(const VectorFx &vector, const MatrixFx &transformation) {
FIXED x = fxmul(vector.x(), transformation.mAt(0)) + fxmul(vector.y(), transformation.mAt(4)) + fxmul(vector.z(), transformation.mAt(8) + transformation.mAt(12));
FIXED y = fxmul(vector.x(), transformation.mAt(1)) + fxmul(vector.y(), transformation.mAt(5)) + fxmul(vector.z(), transformation.mAt(9) + transformation.mAt(13));
FIXED z = fxmul(vector.x(), transformation.mAt(2)) + fxmul(vector.y(), transformation.mAt(6)) + fxmul(vector.z(), transformation.mAt(10) + transformation.mAt(14));
FIXED w = fxmul(vector.x(), transformation.mAt(3)) + fxmul(vector.y(), transformation.mAt(7)) + fxmul(vector.z(), transformation.mAt(11) + transformation.mAt(15));
FIXED x = fxmul(vector.x(), transformation.mAt(0)) + fxmul(vector.y(), transformation.mAt(4)) + fxmul(vector.z(), transformation.mAt(8)) + transformation.mAt(12);
FIXED y = fxmul(vector.x(), transformation.mAt(1)) + fxmul(vector.y(), transformation.mAt(5)) + fxmul(vector.z(), transformation.mAt(9)) + transformation.mAt(13);
FIXED z = fxmul(vector.x(), transformation.mAt(2)) + fxmul(vector.y(), transformation.mAt(6)) + fxmul(vector.z(), transformation.mAt(10)) + transformation.mAt(14);
FIXED w = fxmul(vector.x(), transformation.mAt(3)) + fxmul(vector.y(), transformation.mAt(7)) + fxmul(vector.z(), transformation.mAt(11)) + transformation.mAt(15);
return VectorFx(fxdiv(x, w), fxdiv(y, w), fxdiv(z, w));
}
@ -209,7 +206,7 @@ public:
}
inline static MatrixFx rotationYawPitchRoll(FIXED yaw, FIXED pitch, FIXED roll) {
return MatrixFx::rotationZ(roll) * MatrixFx::rotationX(pitch) * MatrixFx::rotationY(yaw);
return (MatrixFx::rotationZ(roll) * MatrixFx::rotationX(pitch)) * MatrixFx::rotationY(yaw);
}
inline static MatrixFx perspectiveFovLH(FIXED fov, FIXED aspect, FIXED znear, FIXED zfar) {

15
engine/include/libgba-sprite-engine/mesh.h
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@ -22,15 +22,22 @@ public:
inline std::vector<std::unique_ptr<VectorFx>> const& vertices() const {
return verticesArr;
}
inline VectorFx position() { return pos; }
inline FIXED rotx() { return rot.x(); }
inline FIXED roty() { return rot.y(); }
inline FIXED rotz() { return rot.z(); }
inline VectorFx &position() { return pos; }
inline VectorFx &rotation() { return rot; }
inline FIXED rotx() const { return rot.x(); }
inline FIXED roty() const { return rot.y(); }
inline FIXED rotz() const { return rot.z(); }
inline void resetRotation() {
rot.setX(0);
rot.setY(0);
}
void rotateTo(FIXED x, FIXED y) {
rot.setX(x);
rot.setY(y);
}
inline void rotate(FIXED x, FIXED y) {
rot.setX(rot.x() + x);
rot.setY(rot.y() + y);

16
engine/include/libgba-sprite-engine/vectorfx.h
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@ -10,6 +10,7 @@
#include <string>
#include <deque>
#include <libgba-sprite-engine/gba/tonc_bios.h>
#include <libgba-sprite-engine/math.h>
#ifdef CODE_COMPILED_AS_PART_OF_TEST
#include <libgba-sprite-engine/gba/tonc_math_stub.h>
@ -21,6 +22,7 @@
class VectorFx {
private:
VECTOR v;
public:
VectorFx() : v({}) {}
VectorFx(const VectorFx& other) : v(other.v) {}
@ -31,7 +33,7 @@ public:
return VectorFx(int2fx(x), int2fx(y), int2fx(z));
}
inline VectorFx toInt() {
inline VectorFx toInt() const {
return VectorFx(fx2int(v.x), fx2int(v.y), fx2int(v.z));
}
@ -61,15 +63,15 @@ public:
inline friend VectorFx operator/(const VectorFx &one, const VectorFx &two) {
return VectorFx(fxdiv(one.v.x, two.v.x), fxdiv(one.v.y, two.v.y), fxdiv(one.v.z, two.v.z));
}
inline FIXED length() {
inline FIXED length() const {
FIXED toRoot = fxmul(v.x, v.x) + fxmul(v.y, v.y) + fxmul(v.z, v.z);
// tonc's fx() methods are .8fx, and BIOS needs .16 (results are .8??)
return Sqrt(toRoot << 8);
}
inline VectorFx negate() {
inline VectorFx negate() const {
return VectorFx(-v.x, -v.y, -v.z);
}
inline VectorFx scale(int scale) {
inline VectorFx scale(int scale) const {
FIXED fac = int2fx(scale);
return VectorFx(fxmul(v.x, fac), fxmul(v.y, fac), fxmul(v.z, fac));
}
@ -94,11 +96,11 @@ public:
inline float floatZ() const { return fx2float(v.z); }
inline void setZ(FIXED z) { v.z = z; }
std::string to_string() {
std::string to_string() const {
return "(" + std::to_string(v.x) + "," + std::to_string(v.y) + "," + std::to_string(v.z) + ")";
}
std::string to_stringfl() {
return "(" + std::to_string(fx2float(v.x)) + "," + std::to_string(fx2float(v.y)) + "," + std::to_string(fx2float(v.z)) + ")";
std::string to_stringfl() const {
return "(" + fstr(v.x) + "," + fstr(v.y) + "," + fstr(v.z) + ")";
}
};

23
engine/src/gba_engine.cpp
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@ -156,6 +156,8 @@ inline void GBAEngine::plotPixel(int x, int y, u8 clrId) {
}
}
int i = 0;
inline VectorFx GBAEngine::project(const VectorFx &coord, const MatrixFx &transMat) {
auto point = MatrixFx::transformCoordinates(coord, transMat);
@ -172,32 +174,13 @@ void GBAEngine::render() {
auto worldMatrix = MatrixFx::rotationYawPitchRoll(mesh->roty(), mesh->rotx(), mesh->rotz()) * MatrixFx::translation(mesh->position());
auto transformMatrix = worldMatrix * viewMatrix * projectionMatrix;
TextStream::instance().setText(transformMatrix.to_string_m1(), 1, 1);
TextStream::instance().setText(transformMatrix.to_string_m2(), 2, 1);
TextStream::instance().setText(transformMatrix.to_string_m3(), 3, 1);
TextStream::instance().setText(transformMatrix.to_string_m4(), 4, 1);
TextStream::instance().setText("rot: " + mesh->rotation().to_stringfl(), 1, 1);
int i = 0;
for(auto& vertex : mesh->vertices()) {
auto projectedPoint = project(*vertex.get(), transformMatrix).toInt();
plotPixel(projectedPoint.x(), projectedPoint.y(), 1);
//TextStream::instance().setText(std::to_string(i) + ":" + projectedPoint.to_string(), i, 1);
i++;
}
}
/*
* according to the unit tests; it should do something like this:
plotPixel(150, 40, 1);
plotPixel(60, 40, 1);
plotPixel(150, 140, 1);
plotPixel(93, 26, 1);
plotPixel(93, 115, 1);
plotPixel(172, 115, 1);
plotPixel(60, 140, 1);
plotPixel(93, 26, 1);
*/
}
void GBAEngine::renderClear() {

74
test/matrixfxtest.cpp
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@ -43,12 +43,56 @@ TEST_F(MatrixFxSuite, RotationMatriches) {
assertMatrix(expectedIdMatrix, result, "rotz");
}
TEST_F(MatrixFxSuite, RotationYawPitchRoll) {
TEST_F(MatrixFxSuite, RotationYawPitchRoll_WithoutRotations) {
auto expectedIdMatrix = MatrixFx(float2fx(1.0), 0, 0, 0, 0, float2fx(1.0), 0, 0, 0, 0, float2fx(1.0), 0, 0, 0, 0, float2fx(1.0));
auto rotYwaPitchRoll = MatrixFx::rotationYawPitchRoll(0, 0, 0);
assertMatrix(expectedIdMatrix, rotYwaPitchRoll, "rotywa");
}
TEST_F(MatrixFxSuite, RotationYawPitchRoll_WithRotations) {
auto expectedMatrix = MatrixFx::fromFloat(
0.9074467814501962, 0, -0.4201670368266409, 0,
0.17654033883567982, 0.9074467814501962, 0.38127922523980134, 0,
0.38127922523980134, -0.4201670368266409, 0.8234596611643201, 0,
0, 0, 0, 1);
auto rotYwaPitchRoll = MatrixFx::rotationYawPitchRoll(int2fx(13), int2fx(13), 0);
assertMatrix(expectedMatrix, rotYwaPitchRoll, "rotywa");
}
TEST_F(MatrixFxSuite, TransformCoordinates) {
// test data taken from Babylon, first coord of cube to be transformed with calculated transfomatrix
auto transformation = MatrixFx::fromFloat(
-1.6218433160440375,
0,
0,
0,
0,
2.4327649740660564,
0,
0,
0,
0,
-1.0101010101010102,
-1,
0,
0,
10.090909090909092,
10);
auto result = MatrixFx::transformCoordinates(VectorFx::fromInt(-1, 1, 1), transformation);
// expected result: Vector3 {x: 0.18020481289378196, y: 0.2703072193406729, z: 1.0089786756453423}
ASSERT_FLOAT_EQ(fx2float(result.x()), 0.1796875);
ASSERT_FLOAT_EQ(fx2float(result.y()), 0.26953125);
ASSERT_FLOAT_EQ(fx2float(result.z()), 1.0078125);
result = MatrixFx::transformCoordinates(VectorFx::fromInt(-1, -1, -1), transformation);
// expected result: Vector3 {x: 0.14744030145854886, y: -0.22116045218782332, z: 1.0091827364554637}
ASSERT_FLOAT_EQ(fx2float(result.x()), 0.14453125);
ASSERT_FLOAT_EQ(fx2float(result.y()), -0.21875);
ASSERT_FLOAT_EQ(fx2float(result.z()), 1.0078125);
}
TEST_F(MatrixFxSuite, MeshToTransformMatrix_IntegrationTest) {
// source:
Mesh cube;
@ -83,25 +127,25 @@ TEST_F(MatrixFxSuite, MeshToTransformMatrix_IntegrationTest) {
auto coord = *cube.vertices()[0].get();
auto point = MatrixFx::transformCoordinates(coord, transformMatrix);
ASSERT_EQ(fx2float(point.x()), 0.125f);
ASSERT_EQ(fx2float(point.y()), 0.25f);
ASSERT_EQ(fx2float(point.z()), 1.00f);
ASSERT_FLOAT_EQ(fx2float(point.x()), 0);
ASSERT_FLOAT_EQ(fx2float(point.y()), 0);
ASSERT_FLOAT_EQ(fx2float(point.z()), 1.0039062);
auto x = fxmul(point.x(), GBA_SCREEN_WIDTH_FX) + fxdiv(GBA_SCREEN_WIDTH_FX, int2fx(2));
auto y = fxmul(-point.y(), GBA_SCREEN_HEIGHT_FX) + fxdiv(GBA_SCREEN_HEIGHT_FX, int2fx(2));
ASSERT_EQ(fx2float(x), 150);
ASSERT_EQ(fx2float(y), 40);
ASSERT_EQ(fx2float(x), 120);
ASSERT_EQ(fx2float(y), 80);
// dest in Babylon - dest according to for loop below (should print something roughly similar)
// dest in Babylon - dest according to for loop below - dest printed using TextStream (should print something roughly similar)
/*
* 163, 36 - 150,40
* 76, 36 - 60,40
* 163, 123 - 150,140
* 155, 115 - 93,26
* 155, 44 - 93,115
* 84, 44 - 172,115
* 76, 123 - 60,140
* 84, 115 - 93,26
* 0 163, 36 - 150,40 - 165, 34
* 1 76, 36 - 60,40 - 75, 34
* 2 163, 123 - 150,140 - 165, 125
* 3 155, 115 - 93,26 - 75, 34 (same as 0)
* 4 155, 44 - 93,115 - 75, 125
* 5 84, 44 - 172,115 - 165, 125 (same as 2)
* 6 76, 123 - 60,140 - 75, 125 (same as 4)
* 7 84, 115 - 93,26 - 165, 34 (same as 0)
*
*/
for(auto& vertex : cube.vertices()) {

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