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Fixed: when concatenating multiple transforms by multiplying their matrices, transformations were done in wrong order

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Joost Nieuwenhuijse 2012-01-27 18:44:37 +01:00
parent e926541595
commit 6fb07da2ad
1 changed files with 62 additions and 14 deletions
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76
csg.js
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@ -937,7 +937,7 @@ CSG.Vector3D.prototype = {
// Right multiply by a 4x4 matrix (the vector is interpreted as a row vector)
// Returns a new CSG.Vector3D
multiply4x4: function(matrix4x4) {
return matrix4x4.rightMultiply1x3Vector(this);
return matrix4x4.leftMultiply1x3Vector(this);
},
toStlString: function() {
@ -1990,7 +1990,8 @@ CSG.Matrix4x4.prototype = {
return new CSG.Matrix4x4(elements);
},
// Multiply a CSG.Vector3D (interpreted as 1 row, 3 column) by this matrix
// Right multiply the matrix by a CSG.Vector3D (interpreted as 3 row, 1 column)
// (result = M*v)
// Fourth element is taken as 1
rightMultiply1x3Vector: function(v) {
var v0 = v.x;
@ -2012,7 +2013,31 @@ CSG.Matrix4x4.prototype = {
return new CSG.Vector3D(x,y,z);
},
// Multiply a CSG.Vector2D (interpreted as 1 row, 2 column) by this matrix
// Multiply a CSG.Vector3D (interpreted as 3 column, 1 row) by this matrix
// (result = v*M)
// Fourth element is taken as 1
leftMultiply1x3Vector: function(v) {
var v0 = v.x;
var v1 = v.y;
var v2 = v.z;
var v3 = 1;
var x = v0*this.elements[0] + v1*this.elements[4] + v2*this.elements[8] + v3*this.elements[12];
var y = v0*this.elements[1] + v1*this.elements[5] + v2*this.elements[9] + v3*this.elements[13];
var z = v0*this.elements[2] + v1*this.elements[6] + v2*this.elements[10] + v3*this.elements[14];
var w = v0*this.elements[3] + v1*this.elements[7] + v2*this.elements[11] + v3*this.elements[15];
// scale such that fourth element becomes 1:
if(w != 1)
{
var invw=1.0/w;
x *= invw;
y *= invw;
z *= invw;
}
return new CSG.Vector3D(x,y,z);
},
// Right multiply the matrix by a CSG.Vector2D (interpreted as 2 row, 1 column)
// (result = M*v)
// Fourth element is taken as 1
rightMultiply1x2Vector: function(v) {
var v0 = v.x;
@ -2033,6 +2058,29 @@ CSG.Matrix4x4.prototype = {
}
return new CSG.Vector2D(x,y);
},
// Multiply a CSG.Vector2D (interpreted as 2 column, 1 row) by this matrix
// (result = v*M)
// Fourth element is taken as 1
leftMultiply1x2Vector: function(v) {
var v0 = v.x;
var v1 = v.y;
var v2 = 0;
var v3 = 1;
var x = v0*this.elements[0] + v1*this.elements[4] + v2*this.elements[8] + v3*this.elements[12];
var y = v0*this.elements[1] + v1*this.elements[5] + v2*this.elements[9] + v3*this.elements[13];
var z = v0*this.elements[2] + v1*this.elements[6] + v2*this.elements[10] + v3*this.elements[14];
var w = v0*this.elements[3] + v1*this.elements[7] + v2*this.elements[11] + v3*this.elements[15];
// scale such that fourth element becomes 1:
if(w != 1)
{
var invw=1.0/w;
x *= invw;
y *= invw;
z *= invw;
}
return new CSG.Vector2D(x,y);
},
};
// return the unity matrix
@ -2047,8 +2095,8 @@ CSG.Matrix4x4.rotationX = function(degrees) {
var sin = Math.sin(radians);
var els = [
1, 0, 0, 0,
0, cos, -sin, 0,
0, sin, cos, 0,
0, cos, sin, 0,
0, -sin, cos, 0,
0, 0, 0, 1
];
return new CSG.Matrix4x4(els);
@ -2060,9 +2108,9 @@ CSG.Matrix4x4.rotationY = function(degrees) {
var cos = Math.cos(radians);
var sin = Math.sin(radians);
var els = [
cos, 0, sin, 0,
cos, 0, -sin, 0,
0, 1, 0, 0,
-sin, 0, cos, 0,
sin, 0, cos, 0,
0, 0, 0, 1
];
return new CSG.Matrix4x4(els);
@ -2074,8 +2122,8 @@ CSG.Matrix4x4.rotationZ = function(degrees) {
var cos = Math.cos(radians);
var sin = Math.sin(radians);
var els = [
cos, -sin, 0, 0,
sin, cos, 0, 0,
cos, sin, 0, 0,
-sin, cos, 0, 0,
0, 0, 1, 0,
0, 0, 0, 1
];
@ -2087,10 +2135,10 @@ CSG.Matrix4x4.translation = function(v) {
// parse as CSG.Vector3D, so we can pass an array or a CSG.Vector3D
var vec = new CSG.Vector3D(v);
var els = [
1, 0, 0, vec.x,
0, 1, 0, vec.y,
0, 0, 1, vec.z,
0, 0, 0, 1
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0,
vec.x, vec.y, vec.z, 1
];
return new CSG.Matrix4x4(els);
};
@ -2211,7 +2259,7 @@ CSG.Vector2D.prototype = {
// Right multiply by a 4x4 matrix (the vector is interpreted as a row vector)
// Returns a new CSG.Vector2D
multiply4x4: function(matrix4x4) {
return matrix4x4.rightMultiply1x2Vector(this);
return matrix4x4.leftMultiply1x2Vector(this);
},
angle: function() {