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dhewm3-sdk/idlib/geometry/JointTransform.h

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hello world
2011-11-22 21:28:15 +00:00
/*
===========================================================================
Doom 3 GPL Source Code
Fix all whitespace errors Excluding 3rd party files.
2011-12-06 18:20:15 +00:00
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
hello world
2011-11-22 21:28:15 +00:00
Fix quoting in GPL headers
2011-12-06 16:14:59 +00:00
This file is part of the Doom 3 GPL Source Code ("Doom 3 Source Code").
hello world
2011-11-22 21:28:15 +00:00
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__
Untangle the epic precompiled.h mess Don't include the lazy precompiled.h everywhere, only what's required for the compilation unit. platform.h needs to be included instead to provide all essential defines and types. All includes use the relative path to the neo or the game specific root. Move all idlib related includes from idlib/Lib.h to precompiled.h. precompiled.h still exists for the MFC stuff in tools/. Add some missing header guards.
2011-12-16 22:28:29 +00:00
#include "idlib/math/Matrix.h"
#include "idlib/math/Quat.h"
hello world
2011-11-22 21:28:15 +00:00
/*
===============================================================================
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__ */
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