Projection matrices following OpenGL spec

gitlab #6

Change-Id: Ia2fe79cb6beaeba65e51de1c5830427533441aed

diff --git a/org.simantics.g3d/src/org/simantics/g3d/math/MathTools.java b/org.simantics.g3d/src/org/simantics/g3d/math/MathTools.java
index 73d5e6067fdb255cd288d40cd2ad3e7c9e606fcb..63ac1ccc402b3a844e09bec7ec99417242fab272 100644 (file)
--- a/org.simantics.g3d/src/org/simantics/g3d/math/MathTools.java
+++ b/org.simantics.g3d/src/org/simantics/g3d/math/MathTools.java
@@ -328,6 +328,19 @@ public class MathTools {
 
    }
    
+   public static void getMatrix(Quat4d quat, Matrix4d m) {
+          m.setZero();
+          m.m00 = 1.0f - 2.0 * (quat.y * quat.y + quat.z * quat.z);
+          m.m01 = 2.0 * (quat.x * quat.y + quat.w * quat.z);
+          m.m02 = 2.0 * (quat.x * quat.z - quat.w * quat.y);
+          m.m10 = 2.0 * (quat.x * quat.y - quat.w * quat.z);
+          m.m11 = 1.0 - 2.0f * (quat.x * quat.x + quat.z * quat.z);
+          m.m12 = 2.0 * (quat.y * quat.z + quat.w * quat.x);
+          m.m20 = 2.0 * (quat.x * quat.z + quat.w * quat.y);
+          m.m21 = 2.0 * (quat.y * quat.z - quat.w * quat.x);
+          m.m22 = 1.0 - 2.0f * (quat.x * quat.x + quat.y * quat.y);
+          m.m33 = 1.0;
+   }
    
    private static double q[] = new double[3];
    private static int nxt[] = { 1, 2, 0 };
@@ -917,4 +930,28 @@ public class MathTools {
          }
          return t;
         }
+        
+        public static Matrix4d glFrustum(double l, double r, double b, double t, double n, double f) {
+                Matrix4d mat = new Matrix4d();
+                mat.m00 = 2.0 * n / (r - l);
+                mat.m11 = 2.0 * n / (t - b);
+                mat.m02 = (r+l) / (r-l);
+                mat.m12 = (t+b) / (t-b);
+                mat.m22 = -(f+n) / (f-n);
+                mat.m23 = -(2.0 *f * n) / (f-n);
+                mat.m32 = -1.0;
+                return mat;
+        }
+        
+        public static Matrix4d glOrtho(double l, double r, double b, double t, double n, double f) {
+                Matrix4d mat = new Matrix4d();
+                mat.m00 = 2.0 / (r - l);
+                mat.m11 = 2.0 / (t - b);
+                mat.m22 = -2.0 / (f-n);
+                mat.m33 =  1.0;
+                mat.m03 = -(r+l)/(r-l);
+                mat.m13 = -(t+b)/(t-b);
+                mat.m23 = -(f+n)/(f-n);
+                return mat;
+        }
 }