246 lines
9.0 KiB
C++
246 lines
9.0 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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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.
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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.
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===========================================================================
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*/
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#ifndef __JOINTTRANSFORM_H__
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#define __JOINTTRANSFORM_H__
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/*
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===============================================================================
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Joint Quaternion
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===============================================================================
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*/
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class idJointQuat {
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public:
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idQuat q;
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idVec3 t;
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};
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/*
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===============================================================================
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Joint Matrix
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idMat3 m;
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idVec3 t;
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m[0][0], m[1][0], m[2][0], t[0]
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m[0][1], m[1][1], m[2][1], t[1]
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m[0][2], m[1][2], m[2][2], t[2]
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===============================================================================
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*/
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class idJointMat {
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public:
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void SetRotation( const idMat3 &m );
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void SetTranslation( const idVec3 &t );
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idVec3 operator*( const idVec3 &v ) const; // only rotate
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idVec3 operator*( const idVec4 &v ) const; // rotate and translate
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idJointMat & operator*=( const idJointMat &a ); // transform
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idJointMat & operator/=( const idJointMat &a ); // untransform
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bool Compare( const idJointMat &a ) const; // exact compare, no epsilon
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bool Compare( const idJointMat &a, const float epsilon ) const; // compare with epsilon
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bool operator==( const idJointMat &a ) const; // exact compare, no epsilon
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bool operator!=( const idJointMat &a ) const; // exact compare, no epsilon
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idMat3 ToMat3( void ) const;
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idVec3 ToVec3( void ) const;
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idJointQuat ToJointQuat( void ) const;
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const float * ToFloatPtr( void ) const;
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float * ToFloatPtr( void );
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private:
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float mat[3*4];
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};
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ID_INLINE void idJointMat::SetRotation( const idMat3 &m ) {
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// NOTE: idMat3 is transposed because it is column-major
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mat[0 * 4 + 0] = m[0][0];
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mat[0 * 4 + 1] = m[1][0];
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mat[0 * 4 + 2] = m[2][0];
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mat[1 * 4 + 0] = m[0][1];
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mat[1 * 4 + 1] = m[1][1];
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mat[1 * 4 + 2] = m[2][1];
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mat[2 * 4 + 0] = m[0][2];
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mat[2 * 4 + 1] = m[1][2];
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mat[2 * 4 + 2] = m[2][2];
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}
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ID_INLINE void idJointMat::SetTranslation( const idVec3 &t ) {
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mat[0 * 4 + 3] = t[0];
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mat[1 * 4 + 3] = t[1];
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mat[2 * 4 + 3] = t[2];
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}
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ID_INLINE idVec3 idJointMat::operator*( const idVec3 &v ) const {
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return idVec3( mat[0 * 4 + 0] * v[0] + mat[0 * 4 + 1] * v[1] + mat[0 * 4 + 2] * v[2],
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mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2],
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mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] );
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}
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ID_INLINE idVec3 idJointMat::operator*( const idVec4 &v ) const {
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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],
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mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2] + mat[1 * 4 + 3] * v[3],
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mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] + mat[2 * 4 + 3] * v[3] );
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}
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ID_INLINE idJointMat &idJointMat::operator*=( const idJointMat &a ) {
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float dst[3];
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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];
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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];
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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];
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mat[0 * 4 + 0] = dst[0];
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mat[1 * 4 + 0] = dst[1];
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mat[2 * 4 + 0] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = dst[0];
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mat[1 * 4 + 1] = dst[1];
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mat[2 * 4 + 1] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = dst[0];
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mat[1 * 4 + 2] = dst[1];
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mat[2 * 4 + 2] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = dst[0];
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mat[1 * 4 + 3] = dst[1];
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mat[2 * 4 + 3] = dst[2];
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mat[0 * 4 + 3] += a.mat[0 * 4 + 3];
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mat[1 * 4 + 3] += a.mat[1 * 4 + 3];
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mat[2 * 4 + 3] += a.mat[2 * 4 + 3];
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return *this;
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}
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ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
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float dst[3];
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mat[0 * 4 + 3] -= a.mat[0 * 4 + 3];
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mat[1 * 4 + 3] -= a.mat[1 * 4 + 3];
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mat[2 * 4 + 3] -= a.mat[2 * 4 + 3];
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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];
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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];
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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];
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mat[0 * 4 + 0] = dst[0];
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mat[1 * 4 + 0] = dst[1];
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mat[2 * 4 + 0] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = dst[0];
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mat[1 * 4 + 1] = dst[1];
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mat[2 * 4 + 1] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = dst[0];
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mat[1 * 4 + 2] = dst[1];
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mat[2 * 4 + 2] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = dst[0];
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mat[1 * 4 + 3] = dst[1];
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mat[2 * 4 + 3] = dst[2];
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return *this;
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}
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ID_INLINE bool idJointMat::Compare( const idJointMat &a ) const {
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int i;
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for ( i = 0; i < 12; i++ ) {
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if ( mat[i] != a.mat[i] ) {
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return false;
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}
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}
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return true;
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}
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ID_INLINE bool idJointMat::Compare( const idJointMat &a, const float epsilon ) const {
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int i;
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for ( i = 0; i < 12; i++ ) {
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if ( idMath::Fabs( mat[i] - a.mat[i] ) > epsilon ) {
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return false;
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}
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}
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return true;
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}
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ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
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return Compare( a );
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}
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ID_INLINE bool idJointMat::operator!=( const idJointMat &a ) const {
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return !Compare( a );
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}
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ID_INLINE idMat3 idJointMat::ToMat3( void ) const {
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return idMat3( mat[0 * 4 + 0], mat[1 * 4 + 0], mat[2 * 4 + 0],
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mat[0 * 4 + 1], mat[1 * 4 + 1], mat[2 * 4 + 1],
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mat[0 * 4 + 2], mat[1 * 4 + 2], mat[2 * 4 + 2] );
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}
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ID_INLINE idVec3 idJointMat::ToVec3( void ) const {
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return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
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}
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ID_INLINE const float *idJointMat::ToFloatPtr( void ) const {
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return mat;
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}
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ID_INLINE float *idJointMat::ToFloatPtr( void ) {
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return mat;
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}
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#endif /* !__JOINTTRANSFORM_H__ */
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