quadrilateralcowboy/idlib/geometry/JointTransform.h

/*
===========================================================================

Doom 3 GPL Source Code
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company. 

This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).  

Doom 3 Source Code is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

Doom 3 Source Code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with Doom 3 Source Code.  If not, see <http://www.gnu.org/licenses/>.

In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code.  If not, please request a copy in writing from id Software at the address below.

If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.

===========================================================================
*/

#ifndef __JOINTTRANSFORM_H__
#define __JOINTTRANSFORM_H__

/*
===============================================================================

  Joint Quaternion

===============================================================================
*/

class idJointQuat {
public:

	idQuat			q;
	idVec3			t;
};


/*
===============================================================================

  Joint Matrix

  idMat3 m;
  idVec3 t;

  m[0][0], m[1][0], m[2][0], t[0]
  m[0][1], m[1][1], m[2][1], t[1]
  m[0][2], m[1][2], m[2][2], t[2]

===============================================================================
*/

class idJointMat {
public:

	void			SetRotation( const idMat3 &m );
	void			SetTranslation( const idVec3 &t );

	idVec3			operator*( const idVec3 &v ) const;							// only rotate
	idVec3			operator*( const idVec4 &v ) const;							// rotate and translate

	idJointMat &	operator*=( const idJointMat &a );							// transform
	idJointMat &	operator/=( const idJointMat &a );							// untransform

	bool			Compare( const idJointMat &a ) const;						// exact compare, no epsilon
	bool			Compare( const idJointMat &a, const float epsilon ) const;	// compare with epsilon
	bool			operator==(	const idJointMat &a ) const;					// exact compare, no epsilon
	bool			operator!=(	const idJointMat &a ) const;					// exact compare, no epsilon

	idMat3			ToMat3( void ) const;
	idVec3			ToVec3( void ) const;
	idJointQuat		ToJointQuat( void ) const;
	const float *	ToFloatPtr( void ) const;
	float *			ToFloatPtr( void );

private:
	float			mat[3*4];
};

ID_INLINE void idJointMat::SetRotation( const idMat3 &m ) {
	// NOTE: idMat3 is transposed because it is column-major
	mat[0 * 4 + 0] = m[0][0];
	mat[0 * 4 + 1] = m[1][0];
	mat[0 * 4 + 2] = m[2][0];
	mat[1 * 4 + 0] = m[0][1];
	mat[1 * 4 + 1] = m[1][1];
	mat[1 * 4 + 2] = m[2][1];
	mat[2 * 4 + 0] = m[0][2];
	mat[2 * 4 + 1] = m[1][2];
	mat[2 * 4 + 2] = m[2][2];
}

ID_INLINE void idJointMat::SetTranslation( const idVec3 &t ) {
	mat[0 * 4 + 3] = t[0];
	mat[1 * 4 + 3] = t[1];
	mat[2 * 4 + 3] = t[2];
}

ID_INLINE idVec3 idJointMat::operator*( const idVec3 &v ) const {
	return idVec3(	mat[0 * 4 + 0] * v[0] + mat[0 * 4 + 1] * v[1] + mat[0 * 4 + 2] * v[2],
					mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2],
					mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] );
}

ID_INLINE idVec3 idJointMat::operator*( const idVec4 &v ) const {
	return idVec3(	mat[0 * 4 + 0] * v[0] + mat[0 * 4 + 1] * v[1] + mat[0 * 4 + 2] * v[2] + mat[0 * 4 + 3] * v[3],
					mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2] + mat[1 * 4 + 3] * v[3],
					mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] + mat[2 * 4 + 3] * v[3] );
}

ID_INLINE idJointMat &idJointMat::operator*=( const idJointMat &a ) {
	float dst[3];

	dst[0] = mat[0 * 4 + 0] * a.mat[0 * 4 + 0] + mat[1 * 4 + 0] * a.mat[0 * 4 + 1] + mat[2 * 4 + 0] * a.mat[0 * 4 + 2];
	dst[1] = mat[0 * 4 + 0] * a.mat[1 * 4 + 0] + mat[1 * 4 + 0] * a.mat[1 * 4 + 1] + mat[2 * 4 + 0] * a.mat[1 * 4 + 2];
	dst[2] = mat[0 * 4 + 0] * a.mat[2 * 4 + 0] + mat[1 * 4 + 0] * a.mat[2 * 4 + 1] + mat[2 * 4 + 0] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 0] = dst[0];
	mat[1 * 4 + 0] = dst[1];
	mat[2 * 4 + 0] = dst[2];

	dst[0] = mat[0 * 4 + 1] * a.mat[0 * 4 + 0] + mat[1 * 4 + 1] * a.mat[0 * 4 + 1] + mat[2 * 4 + 1] * a.mat[0 * 4 + 2];
	dst[1] = mat[0 * 4 + 1] * a.mat[1 * 4 + 0] + mat[1 * 4 + 1] * a.mat[1 * 4 + 1] + mat[2 * 4 + 1] * a.mat[1 * 4 + 2];
	dst[2] = mat[0 * 4 + 1] * a.mat[2 * 4 + 0] + mat[1 * 4 + 1] * a.mat[2 * 4 + 1] + mat[2 * 4 + 1] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 1] = dst[0];
	mat[1 * 4 + 1] = dst[1];
	mat[2 * 4 + 1] = dst[2];

	dst[0] = mat[0 * 4 + 2] * a.mat[0 * 4 + 0] + mat[1 * 4 + 2] * a.mat[0 * 4 + 1] + mat[2 * 4 + 2] * a.mat[0 * 4 + 2];
	dst[1] = mat[0 * 4 + 2] * a.mat[1 * 4 + 0] + mat[1 * 4 + 2] * a.mat[1 * 4 + 1] + mat[2 * 4 + 2] * a.mat[1 * 4 + 2];
	dst[2] = mat[0 * 4 + 2] * a.mat[2 * 4 + 0] + mat[1 * 4 + 2] * a.mat[2 * 4 + 1] + mat[2 * 4 + 2] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 2] = dst[0];
	mat[1 * 4 + 2] = dst[1];
	mat[2 * 4 + 2] = dst[2];

	dst[0] = mat[0 * 4 + 3] * a.mat[0 * 4 + 0] + mat[1 * 4 + 3] * a.mat[0 * 4 + 1] + mat[2 * 4 + 3] * a.mat[0 * 4 + 2];
	dst[1] = mat[0 * 4 + 3] * a.mat[1 * 4 + 0] + mat[1 * 4 + 3] * a.mat[1 * 4 + 1] + mat[2 * 4 + 3] * a.mat[1 * 4 + 2];
	dst[2] = mat[0 * 4 + 3] * a.mat[2 * 4 + 0] + mat[1 * 4 + 3] * a.mat[2 * 4 + 1] + mat[2 * 4 + 3] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 3] = dst[0];
	mat[1 * 4 + 3] = dst[1];
	mat[2 * 4 + 3] = dst[2];

	mat[0 * 4 + 3] += a.mat[0 * 4 + 3];
	mat[1 * 4 + 3] += a.mat[1 * 4 + 3];
	mat[2 * 4 + 3] += a.mat[2 * 4 + 3];

	return *this;
}

ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
	float dst[3];

	mat[0 * 4 + 3] -= a.mat[0 * 4 + 3];
	mat[1 * 4 + 3] -= a.mat[1 * 4 + 3];
	mat[2 * 4 + 3] -= a.mat[2 * 4 + 3];

	dst[0] = mat[0 * 4 + 0] * a.mat[0 * 4 + 0] + mat[1 * 4 + 0] * a.mat[1 * 4 + 0] + mat[2 * 4 + 0] * a.mat[2 * 4 + 0];
	dst[1] = mat[0 * 4 + 0] * a.mat[0 * 4 + 1] + mat[1 * 4 + 0] * a.mat[1 * 4 + 1] + mat[2 * 4 + 0] * a.mat[2 * 4 + 1];
	dst[2] = mat[0 * 4 + 0] * a.mat[0 * 4 + 2] + mat[1 * 4 + 0] * a.mat[1 * 4 + 2] + mat[2 * 4 + 0] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 0] = dst[0];
	mat[1 * 4 + 0] = dst[1];
	mat[2 * 4 + 0] = dst[2];

	dst[0] = mat[0 * 4 + 1] * a.mat[0 * 4 + 0] + mat[1 * 4 + 1] * a.mat[1 * 4 + 0] + mat[2 * 4 + 1] * a.mat[2 * 4 + 0];
	dst[1] = mat[0 * 4 + 1] * a.mat[0 * 4 + 1] + mat[1 * 4 + 1] * a.mat[1 * 4 + 1] + mat[2 * 4 + 1] * a.mat[2 * 4 + 1];
	dst[2] = mat[0 * 4 + 1] * a.mat[0 * 4 + 2] + mat[1 * 4 + 1] * a.mat[1 * 4 + 2] + mat[2 * 4 + 1] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 1] = dst[0];
	mat[1 * 4 + 1] = dst[1];
	mat[2 * 4 + 1] = dst[2];

	dst[0] = mat[0 * 4 + 2] * a.mat[0 * 4 + 0] + mat[1 * 4 + 2] * a.mat[1 * 4 + 0] + mat[2 * 4 + 2] * a.mat[2 * 4 + 0];
	dst[1] = mat[0 * 4 + 2] * a.mat[0 * 4 + 1] + mat[1 * 4 + 2] * a.mat[1 * 4 + 1] + mat[2 * 4 + 2] * a.mat[2 * 4 + 1];
	dst[2] = mat[0 * 4 + 2] * a.mat[0 * 4 + 2] + mat[1 * 4 + 2] * a.mat[1 * 4 + 2] + mat[2 * 4 + 2] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 2] = dst[0];
	mat[1 * 4 + 2] = dst[1];
	mat[2 * 4 + 2] = dst[2];

	dst[0] = mat[0 * 4 + 3] * a.mat[0 * 4 + 0] + mat[1 * 4 + 3] * a.mat[1 * 4 + 0] + mat[2 * 4 + 3] * a.mat[2 * 4 + 0];
	dst[1] = mat[0 * 4 + 3] * a.mat[0 * 4 + 1] + mat[1 * 4 + 3] * a.mat[1 * 4 + 1] + mat[2 * 4 + 3] * a.mat[2 * 4 + 1];
	dst[2] = mat[0 * 4 + 3] * a.mat[0 * 4 + 2] + mat[1 * 4 + 3] * a.mat[1 * 4 + 2] + mat[2 * 4 + 3] * a.mat[2 * 4 + 2];
	mat[0 * 4 + 3] = dst[0];
	mat[1 * 4 + 3] = dst[1];
	mat[2 * 4 + 3] = dst[2];

	return *this;
}

ID_INLINE bool idJointMat::Compare( const idJointMat &a ) const {
	int i;

	for ( i = 0; i < 12; i++ ) {
		if ( mat[i] != a.mat[i] ) {
			return false;
		}
	}
	return true;
}

ID_INLINE bool idJointMat::Compare( const idJointMat &a, const float epsilon ) const {
	int i;

	for ( i = 0; i < 12; i++ ) {
		if ( idMath::Fabs( mat[i] - a.mat[i] ) > epsilon ) {
			return false;
		}
	}
	return true;
}

ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
	return Compare( a );
}

ID_INLINE bool idJointMat::operator!=( const idJointMat &a ) const {
	return !Compare( a );
}

ID_INLINE idMat3 idJointMat::ToMat3( void ) const {
	return idMat3(	mat[0 * 4 + 0], mat[1 * 4 + 0], mat[2 * 4 + 0],
					mat[0 * 4 + 1], mat[1 * 4 + 1], mat[2 * 4 + 1],
					mat[0 * 4 + 2], mat[1 * 4 + 2], mat[2 * 4 + 2] );
}

ID_INLINE idVec3 idJointMat::ToVec3( void ) const {
	return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
}

ID_INLINE const float *idJointMat::ToFloatPtr( void ) const {
	return mat;
}

ID_INLINE float *idJointMat::ToFloatPtr( void ) {
	return mat;
}

#endif /* !__JOINTTRANSFORM_H__ */