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doom3-bfg/neo/idlib/geometry/JointTransform.h
Brian Harris 5016f605b8 Initial commit
2012-11-26 12:58:24 -06:00

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/*
===========================================================================
Doom 3 BFG Edition GPL Source Code
Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
Doom 3 BFG Edition 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 BFG Edition 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 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 BFG Edition 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 BFG Edition 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:
const float * ToFloatPtr() const { return q.ToFloatPtr(); }
float * ToFloatPtr() { return q.ToFloatPtr(); }
idQuat q;
idVec3 t;
float w;
};
// offsets for SIMD code
#define JOINTQUAT_SIZE (8*4) // sizeof( idJointQuat )
#define JOINTQUAT_SIZE_SHIFT 5 // log2( sizeof( idJointQuat ) )
#define JOINTQUAT_Q_OFFSET (0*4) // offsetof( idJointQuat, q )
#define JOINTQUAT_T_OFFSET (4*4) // offsetof( idJointQuat, t )
assert_sizeof( idJointQuat, JOINTQUAT_SIZE );
assert_sizeof( idJointQuat, (1<<JOINTQUAT_SIZE_SHIFT) );
assert_offsetof( idJointQuat, q, JOINTQUAT_Q_OFFSET );
assert_offsetof( idJointQuat, t, JOINTQUAT_T_OFFSET );
/*
===============================================================================
Joint Matrix
===============================================================================
*/
/*
================================================
idJointMat has the following structure:
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 );
idMat3 GetRotation() const;
void SetTranslation( const idVec3 &t );
idVec3 GetTranslation() const;
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
void Identity();
void Invert();
void FromMat4( const idMat4 & m );
idMat3 ToMat3() const;
idMat4 ToMat4() const;
idVec3 ToVec3() const;
const float * ToFloatPtr() const { return mat; }
float * ToFloatPtr() { return mat; }
idJointQuat ToJointQuat() const;
void Transform( idVec3 &result, const idVec3 &v ) const;
void Rotate( idVec3 &result, const idVec3 &v ) const;
static void Mul( idJointMat &result, const idJointMat &mat, const float s );
static void Mad( idJointMat &result, const idJointMat &mat, const float s );
static void Multiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
static void InverseMultiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
float mat[3*4];
};
// offsets for SIMD code
#define JOINTMAT_SIZE (4*3*4) // sizeof( idJointMat )
assert_sizeof( idJointMat, JOINTMAT_SIZE );
#define JOINTMAT_TYPESIZE ( 4 * 3 )
/*
========================
idJointMat::SetRotation
========================
*/
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];
}
/*
========================
idJointMat::GetRotation
========================
*/
ID_INLINE idMat3 idJointMat::GetRotation() const {
idMat3 m;
m[0][0] = mat[0 * 4 + 0];
m[1][0] = mat[0 * 4 + 1];
m[2][0] = mat[0 * 4 + 2];
m[0][1] = mat[1 * 4 + 0];
m[1][1] = mat[1 * 4 + 1];
m[2][1] = mat[1 * 4 + 2];
m[0][2] = mat[2 * 4 + 0];
m[1][2] = mat[2 * 4 + 1];
m[2][2] = mat[2 * 4 + 2];
return m;
}
/*
========================
idJointMat::SetTranslation
========================
*/
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];
}
/*
========================
idJointMat::GetTranslation
========================
*/
ID_INLINE idVec3 idJointMat::GetTranslation() const {
idVec3 t;
t[0] = mat[0 * 4 + 3];
t[1] = mat[1 * 4 + 3];
t[2] = mat[2 * 4 + 3];
return t;
}
/*
========================
idJointMat::operator*
========================
*/
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] );
}
/*
========================
idJointMat::operator*=
========================
*/
ID_INLINE idJointMat & idJointMat::operator*=( const idJointMat &a ) {
float tmp[3];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 0] = tmp[1];
mat[2 * 4 + 0] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 1] = tmp[1];
mat[2 * 4 + 1] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 2] = tmp[1];
mat[2 * 4 + 2] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 3] = tmp[1];
mat[2 * 4 + 3] = tmp[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;
}
/*
========================
idJointMat::operator/=
========================
*/
ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
float tmp[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];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 0] = tmp[1];
mat[2 * 4 + 0] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 1] = tmp[1];
mat[2 * 4 + 1] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 2] = tmp[1];
mat[2 * 4 + 2] = tmp[2];
tmp[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];
tmp[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];
tmp[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] = tmp[0];
mat[1 * 4 + 3] = tmp[1];
mat[2 * 4 + 3] = tmp[2];
return *this;
}
/*
========================
idJointMat::Compare
========================
*/
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;
}
/*
========================
idJointMat::Compare
========================
*/
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;
}
/*
========================
idJointMat::operator==
========================
*/
ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
return Compare( a );
}
/*
========================
idJointMat::operator!=
========================
*/
ID_INLINE bool idJointMat::operator!=( const idJointMat &a ) const {
return !Compare( a );
}
/*
========================
idJointMat::Identity
========================
*/
ID_INLINE void idJointMat::Identity() {
mat[0 * 4 + 0] = 1.0f; mat[0 * 4 + 1] = 0.0f; mat[0 * 4 + 2] = 0.0f; mat[0 * 4 + 3] = 0.0f;
mat[1 * 4 + 0] = 0.0f; mat[1 * 4 + 1] = 1.0f; mat[1 * 4 + 2] = 0.0f; mat[1 * 4 + 3] = 0.0f;
mat[2 * 4 + 0] = 0.0f; mat[2 * 4 + 1] = 0.0f; mat[2 * 4 + 2] = 1.0f; mat[2 * 4 + 3] = 0.0f;
}
/*
========================
idJointMat::Invert
========================
*/
ID_INLINE void idJointMat::Invert() {
float tmp[3];
// negate inverse rotated translation part
tmp[0] = mat[0 * 4 + 0] * mat[0 * 4 + 3] + mat[1 * 4 + 0] * mat[1 * 4 + 3] + mat[2 * 4 + 0] * mat[2 * 4 + 3];
tmp[1] = mat[0 * 4 + 1] * mat[0 * 4 + 3] + mat[1 * 4 + 1] * mat[1 * 4 + 3] + mat[2 * 4 + 1] * mat[2 * 4 + 3];
tmp[2] = mat[0 * 4 + 2] * mat[0 * 4 + 3] + mat[1 * 4 + 2] * mat[1 * 4 + 3] + mat[2 * 4 + 2] * mat[2 * 4 + 3];
mat[0 * 4 + 3] = -tmp[0];
mat[1 * 4 + 3] = -tmp[1];
mat[2 * 4 + 3] = -tmp[2];
// transpose rotation part
tmp[0] = mat[0 * 4 + 1];
mat[0 * 4 + 1] = mat[1 * 4 + 0];
mat[1 * 4 + 0] = tmp[0];
tmp[1] = mat[0 * 4 + 2];
mat[0 * 4 + 2] = mat[2 * 4 + 0];
mat[2 * 4 + 0] = tmp[1];
tmp[2] = mat[1 * 4 + 2];
mat[1 * 4 + 2] = mat[2 * 4 + 1];
mat[2 * 4 + 1] = tmp[2];
}
/*
========================
idJointMat::ToMat3
========================
*/
ID_INLINE idMat3 idJointMat::ToMat3() 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] );
}
/*
========================
idJointMat::ToMat4
========================
*/
ID_INLINE idMat4 idJointMat::ToMat4() const {
return idMat4(
mat[0 * 4 + 0], mat[0 * 4 + 1], mat[0 * 4 + 2], mat[0 * 4 + 3],
mat[1 * 4 + 0], mat[1 * 4 + 1], mat[1 * 4 + 2], mat[1 * 4 + 3],
mat[2 * 4 + 0], mat[2 * 4 + 1], mat[2 * 4 + 2], mat[2 * 4 + 3],
0.0f, 0.0f, 0.0f, 1.0f
);
}
/*
========================
idJointMat::FromMat4
========================
*/
ID_INLINE void idJointMat::FromMat4( const idMat4 & m ) {
mat[0*4+0] = m[0][0], mat[0*4+1] = m[0][1], mat[0*4+2] = m[0][2], mat[0*4+3] = m[0][3];
mat[1*4+0] = m[1][0], mat[1*4+1] = m[1][1], mat[1*4+2] = m[1][2], mat[1*4+3] = m[1][3];
mat[2*4+0] = m[2][0], mat[2*4+1] = m[2][1], mat[2*4+2] = m[2][2], mat[2*4+3] = m[2][3];
assert( m[3][0] == 0.0f );
assert( m[3][1] == 0.0f );
assert( m[3][2] == 0.0f );
assert( m[3][3] == 1.0f );
}
/*
========================
idJointMat::ToVec3
========================
*/
ID_INLINE idVec3 idJointMat::ToVec3() const {
return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
}
/*
========================
idJointMat::Transform
========================
*/
ID_INLINE void idJointMat::Transform( idVec3 &result, const idVec3 &v ) const {
result.x = mat[0 * 4 + 0] * v.x + mat[0 * 4 + 1] * v.y + mat[0 * 4 + 2] * v.z + mat[0 * 4 + 3];
result.y = mat[1 * 4 + 0] * v.x + mat[1 * 4 + 1] * v.y + mat[1 * 4 + 2] * v.z + mat[1 * 4 + 3];
result.z = mat[2 * 4 + 0] * v.x + mat[2 * 4 + 1] * v.y + mat[2 * 4 + 2] * v.z + mat[2 * 4 + 3];
}
/*
========================
idJointMat::Rotate
========================
*/
ID_INLINE void idJointMat::Rotate( idVec3 &result, const idVec3 &v ) const {
result.x = mat[0 * 4 + 0] * v.x + mat[0 * 4 + 1] * v.y + mat[0 * 4 + 2] * v.z;
result.y = mat[1 * 4 + 0] * v.x + mat[1 * 4 + 1] * v.y + mat[1 * 4 + 2] * v.z;
result.z = mat[2 * 4 + 0] * v.x + mat[2 * 4 + 1] * v.y + mat[2 * 4 + 2] * v.z;
}
/*
========================
idJointMat::Mul
========================
*/
ID_INLINE void idJointMat::Mul( idJointMat &result, const idJointMat &mat, const float s ) {
result.mat[0 * 4 + 0] = s * mat.mat[0 * 4 + 0];
result.mat[0 * 4 + 1] = s * mat.mat[0 * 4 + 1];
result.mat[0 * 4 + 2] = s * mat.mat[0 * 4 + 2];
result.mat[0 * 4 + 3] = s * mat.mat[0 * 4 + 3];
result.mat[1 * 4 + 0] = s * mat.mat[1 * 4 + 0];
result.mat[1 * 4 + 1] = s * mat.mat[1 * 4 + 1];
result.mat[1 * 4 + 2] = s * mat.mat[1 * 4 + 2];
result.mat[1 * 4 + 3] = s * mat.mat[1 * 4 + 3];
result.mat[2 * 4 + 0] = s * mat.mat[2 * 4 + 0];
result.mat[2 * 4 + 1] = s * mat.mat[2 * 4 + 1];
result.mat[2 * 4 + 2] = s * mat.mat[2 * 4 + 2];
result.mat[2 * 4 + 3] = s * mat.mat[2 * 4 + 3];
}
/*
========================
idJointMat::Mad
========================
*/
ID_INLINE void idJointMat::Mad( idJointMat &result, const idJointMat &mat, const float s ) {
result.mat[0 * 4 + 0] += s * mat.mat[0 * 4 + 0];
result.mat[0 * 4 + 1] += s * mat.mat[0 * 4 + 1];
result.mat[0 * 4 + 2] += s * mat.mat[0 * 4 + 2];
result.mat[0 * 4 + 3] += s * mat.mat[0 * 4 + 3];
result.mat[1 * 4 + 0] += s * mat.mat[1 * 4 + 0];
result.mat[1 * 4 + 1] += s * mat.mat[1 * 4 + 1];
result.mat[1 * 4 + 2] += s * mat.mat[1 * 4 + 2];
result.mat[1 * 4 + 3] += s * mat.mat[1 * 4 + 3];
result.mat[2 * 4 + 0] += s * mat.mat[2 * 4 + 0];
result.mat[2 * 4 + 1] += s * mat.mat[2 * 4 + 1];
result.mat[2 * 4 + 2] += s * mat.mat[2 * 4 + 2];
result.mat[2 * 4 + 3] += s * mat.mat[2 * 4 + 3];
}
/*
========================
idJointMat::Multiply
========================
*/
ID_INLINE void idJointMat::Multiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 ) {
result.mat[0 * 4 + 0] = m1.mat[0 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[0 * 4 + 1] * m2.mat[1 * 4 + 0] + m1.mat[0 * 4 + 2] * m2.mat[2 * 4 + 0];
result.mat[0 * 4 + 1] = m1.mat[0 * 4 + 0] * m2.mat[0 * 4 + 1] + m1.mat[0 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[0 * 4 + 2] * m2.mat[2 * 4 + 1];
result.mat[0 * 4 + 2] = m1.mat[0 * 4 + 0] * m2.mat[0 * 4 + 2] + m1.mat[0 * 4 + 1] * m2.mat[1 * 4 + 2] + m1.mat[0 * 4 + 2] * m2.mat[2 * 4 + 2];
result.mat[0 * 4 + 3] = m1.mat[0 * 4 + 0] * m2.mat[0 * 4 + 3] + m1.mat[0 * 4 + 1] * m2.mat[1 * 4 + 3] + m1.mat[0 * 4 + 2] * m2.mat[2 * 4 + 3] + m1.mat[0 * 4 + 3];
result.mat[1 * 4 + 0] = m1.mat[1 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[1 * 4 + 1] * m2.mat[1 * 4 + 0] + m1.mat[1 * 4 + 2] * m2.mat[2 * 4 + 0];
result.mat[1 * 4 + 1] = m1.mat[1 * 4 + 0] * m2.mat[0 * 4 + 1] + m1.mat[1 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[1 * 4 + 2] * m2.mat[2 * 4 + 1];
result.mat[1 * 4 + 2] = m1.mat[1 * 4 + 0] * m2.mat[0 * 4 + 2] + m1.mat[1 * 4 + 1] * m2.mat[1 * 4 + 2] + m1.mat[1 * 4 + 2] * m2.mat[2 * 4 + 2];
result.mat[1 * 4 + 3] = m1.mat[1 * 4 + 0] * m2.mat[0 * 4 + 3] + m1.mat[1 * 4 + 1] * m2.mat[1 * 4 + 3] + m1.mat[1 * 4 + 2] * m2.mat[2 * 4 + 3] + m1.mat[1 * 4 + 3];
result.mat[2 * 4 + 0] = m1.mat[2 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[2 * 4 + 1] * m2.mat[1 * 4 + 0] + m1.mat[2 * 4 + 2] * m2.mat[2 * 4 + 0];
result.mat[2 * 4 + 1] = m1.mat[2 * 4 + 0] * m2.mat[0 * 4 + 1] + m1.mat[2 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[2 * 4 + 2] * m2.mat[2 * 4 + 1];
result.mat[2 * 4 + 2] = m1.mat[2 * 4 + 0] * m2.mat[0 * 4 + 2] + m1.mat[2 * 4 + 1] * m2.mat[1 * 4 + 2] + m1.mat[2 * 4 + 2] * m2.mat[2 * 4 + 2];
result.mat[2 * 4 + 3] = m1.mat[2 * 4 + 0] * m2.mat[0 * 4 + 3] + m1.mat[2 * 4 + 1] * m2.mat[1 * 4 + 3] + m1.mat[2 * 4 + 2] * m2.mat[2 * 4 + 3] + m1.mat[2 * 4 + 3];
}
/*
========================
idJointMat::InverseMultiply
========================
*/
ID_INLINE void idJointMat::InverseMultiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 ) {
float dst[3];
result.mat[0 * 4 + 0] = m1.mat[0 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[0 * 4 + 1] * m2.mat[0 * 4 + 1] + m1.mat[0 * 4 + 2] * m2.mat[0 * 4 + 2];
result.mat[0 * 4 + 1] = m1.mat[0 * 4 + 0] * m2.mat[1 * 4 + 0] + m1.mat[0 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[0 * 4 + 2] * m2.mat[1 * 4 + 2];
result.mat[0 * 4 + 2] = m1.mat[0 * 4 + 0] * m2.mat[2 * 4 + 0] + m1.mat[0 * 4 + 1] * m2.mat[2 * 4 + 1] + m1.mat[0 * 4 + 2] * m2.mat[2 * 4 + 2];
result.mat[1 * 4 + 0] = m1.mat[1 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[1 * 4 + 1] * m2.mat[0 * 4 + 1] + m1.mat[1 * 4 + 2] * m2.mat[0 * 4 + 2];
result.mat[1 * 4 + 1] = m1.mat[1 * 4 + 0] * m2.mat[1 * 4 + 0] + m1.mat[1 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[1 * 4 + 2] * m2.mat[1 * 4 + 2];
result.mat[1 * 4 + 2] = m1.mat[1 * 4 + 0] * m2.mat[2 * 4 + 0] + m1.mat[1 * 4 + 1] * m2.mat[2 * 4 + 1] + m1.mat[1 * 4 + 2] * m2.mat[2 * 4 + 2];
result.mat[2 * 4 + 0] = m1.mat[2 * 4 + 0] * m2.mat[0 * 4 + 0] + m1.mat[2 * 4 + 1] * m2.mat[0 * 4 + 1] + m1.mat[2 * 4 + 2] * m2.mat[0 * 4 + 2];
result.mat[2 * 4 + 1] = m1.mat[2 * 4 + 0] * m2.mat[1 * 4 + 0] + m1.mat[2 * 4 + 1] * m2.mat[1 * 4 + 1] + m1.mat[2 * 4 + 2] * m2.mat[1 * 4 + 2];
result.mat[2 * 4 + 2] = m1.mat[2 * 4 + 0] * m2.mat[2 * 4 + 0] + m1.mat[2 * 4 + 1] * m2.mat[2 * 4 + 1] + m1.mat[2 * 4 + 2] * m2.mat[2 * 4 + 2];
dst[0] = - ( m2.mat[0 * 4 + 0] * m2.mat[0 * 4 + 3] + m2.mat[1 * 4 + 0] * m2.mat[1 * 4 + 3] + m2.mat[2 * 4 + 0] * m2.mat[2 * 4 + 3] );
dst[1] = - ( m2.mat[0 * 4 + 1] * m2.mat[0 * 4 + 3] + m2.mat[1 * 4 + 1] * m2.mat[1 * 4 + 3] + m2.mat[2 * 4 + 1] * m2.mat[2 * 4 + 3] );
dst[2] = - ( m2.mat[0 * 4 + 2] * m2.mat[0 * 4 + 3] + m2.mat[1 * 4 + 2] * m2.mat[1 * 4 + 3] + m2.mat[2 * 4 + 2] * m2.mat[2 * 4 + 3] );
result.mat[0 * 4 + 3] = m1.mat[0 * 4 + 0] * dst[0] + m1.mat[0 * 4 + 1] * dst[1] + m1.mat[0 * 4 + 2] * dst[2] + m1.mat[0 * 4 + 3];
result.mat[1 * 4 + 3] = m1.mat[1 * 4 + 0] * dst[0] + m1.mat[1 * 4 + 1] * dst[1] + m1.mat[1 * 4 + 2] * dst[2] + m1.mat[1 * 4 + 3];
result.mat[2 * 4 + 3] = m1.mat[2 * 4 + 0] * dst[0] + m1.mat[2 * 4 + 1] * dst[1] + m1.mat[2 * 4 + 2] * dst[2] + m1.mat[2 * 4 + 3];
}
#endif /* !__JOINTTRANSFORM_H__ */
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