mirror of
https://github.com/id-Software/DOOM-3-BFG.git
synced 2024-12-11 13:11:47 +00:00
414 lines
10 KiB
C++
414 lines
10 KiB
C++
/*
|
|
===========================================================================
|
|
|
|
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 __MATH_PLUECKER_H__
|
|
#define __MATH_PLUECKER_H__
|
|
|
|
/*
|
|
===============================================================================
|
|
|
|
Pluecker coordinate
|
|
|
|
===============================================================================
|
|
*/
|
|
|
|
class idPluecker
|
|
{
|
|
public:
|
|
idPluecker();
|
|
explicit idPluecker( const float* a );
|
|
explicit idPluecker( const idVec3& start, const idVec3& end );
|
|
explicit idPluecker( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
|
|
|
|
float operator[]( const int index ) const;
|
|
float& operator[]( const int index );
|
|
idPluecker operator-() const; // flips the direction
|
|
idPluecker operator*( const float a ) const;
|
|
idPluecker operator/( const float a ) const;
|
|
float operator*( const idPluecker& a ) const; // permuted inner product
|
|
idPluecker operator-( const idPluecker& a ) const;
|
|
idPluecker operator+( const idPluecker& a ) const;
|
|
idPluecker& operator*=( const float a );
|
|
idPluecker& operator/=( const float a );
|
|
idPluecker& operator+=( const idPluecker& a );
|
|
idPluecker& operator-=( const idPluecker& a );
|
|
|
|
bool Compare( const idPluecker& a ) const; // exact compare, no epsilon
|
|
bool Compare( const idPluecker& a, const float epsilon ) const; // compare with epsilon
|
|
bool operator==( const idPluecker& a ) const; // exact compare, no epsilon
|
|
bool operator!=( const idPluecker& a ) const; // exact compare, no epsilon
|
|
|
|
void Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 );
|
|
void Zero();
|
|
|
|
void FromLine( const idVec3& start, const idVec3& end ); // pluecker from line
|
|
void FromRay( const idVec3& start, const idVec3& dir ); // pluecker from ray
|
|
bool FromPlanes( const idPlane& p1, const idPlane& p2 ); // pluecker from intersection of planes
|
|
bool ToLine( idVec3& start, idVec3& end ) const; // pluecker to line
|
|
bool ToRay( idVec3& start, idVec3& dir ) const; // pluecker to ray
|
|
void ToDir( idVec3& dir ) const; // pluecker to direction
|
|
float PermutedInnerProduct( const idPluecker& a ) const; // pluecker permuted inner product
|
|
float Distance3DSqr( const idPluecker& a ) const; // pluecker line distance
|
|
|
|
float Length() const; // pluecker length
|
|
float LengthSqr() const; // pluecker squared length
|
|
idPluecker Normalize() const; // pluecker normalize
|
|
float NormalizeSelf(); // pluecker normalize
|
|
|
|
int GetDimension() const;
|
|
|
|
const float* ToFloatPtr() const;
|
|
float* ToFloatPtr();
|
|
const char* ToString( int precision = 2 ) const;
|
|
|
|
private:
|
|
float p[6];
|
|
};
|
|
|
|
extern idPluecker pluecker_origin;
|
|
#define pluecker_zero pluecker_origin
|
|
|
|
ID_INLINE idPluecker::idPluecker()
|
|
{
|
|
}
|
|
|
|
ID_INLINE idPluecker::idPluecker( const float* a )
|
|
{
|
|
memcpy( p, a, 6 * sizeof( float ) );
|
|
}
|
|
|
|
ID_INLINE idPluecker::idPluecker( const idVec3& start, const idVec3& end )
|
|
{
|
|
FromLine( start, end );
|
|
}
|
|
|
|
ID_INLINE idPluecker::idPluecker( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 )
|
|
{
|
|
p[0] = a1;
|
|
p[1] = a2;
|
|
p[2] = a3;
|
|
p[3] = a4;
|
|
p[4] = a5;
|
|
p[5] = a6;
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::operator-() const
|
|
{
|
|
return idPluecker( -p[0], -p[1], -p[2], -p[3], -p[4], -p[5] );
|
|
}
|
|
|
|
ID_INLINE float idPluecker::operator[]( const int index ) const
|
|
{
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE float& idPluecker::operator[]( const int index )
|
|
{
|
|
return p[index];
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::operator*( const float a ) const
|
|
{
|
|
return idPluecker( p[0] * a, p[1] * a, p[2] * a, p[3] * a, p[4] * a, p[5] * a );
|
|
}
|
|
|
|
ID_INLINE float idPluecker::operator*( const idPluecker& a ) const
|
|
{
|
|
return p[0] * a.p[4] + p[1] * a.p[5] + p[2] * a.p[3] + p[4] * a.p[0] + p[5] * a.p[1] + p[3] * a.p[2];
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::operator/( const float a ) const
|
|
{
|
|
float inva;
|
|
|
|
assert( a != 0.0f );
|
|
inva = 1.0f / a;
|
|
return idPluecker( p[0] * inva, p[1] * inva, p[2] * inva, p[3] * inva, p[4] * inva, p[5] * inva );
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::operator+( const idPluecker& a ) const
|
|
{
|
|
return idPluecker( p[0] + a[0], p[1] + a[1], p[2] + a[2], p[3] + a[3], p[4] + a[4], p[5] + a[5] );
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::operator-( const idPluecker& a ) const
|
|
{
|
|
return idPluecker( p[0] - a[0], p[1] - a[1], p[2] - a[2], p[3] - a[3], p[4] - a[4], p[5] - a[5] );
|
|
}
|
|
|
|
ID_INLINE idPluecker& idPluecker::operator*=( const float a )
|
|
{
|
|
p[0] *= a;
|
|
p[1] *= a;
|
|
p[2] *= a;
|
|
p[3] *= a;
|
|
p[4] *= a;
|
|
p[5] *= a;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idPluecker& idPluecker::operator/=( const float a )
|
|
{
|
|
float inva;
|
|
|
|
assert( a != 0.0f );
|
|
inva = 1.0f / a;
|
|
p[0] *= inva;
|
|
p[1] *= inva;
|
|
p[2] *= inva;
|
|
p[3] *= inva;
|
|
p[4] *= inva;
|
|
p[5] *= inva;
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idPluecker& idPluecker::operator+=( const idPluecker& a )
|
|
{
|
|
p[0] += a[0];
|
|
p[1] += a[1];
|
|
p[2] += a[2];
|
|
p[3] += a[3];
|
|
p[4] += a[4];
|
|
p[5] += a[5];
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE idPluecker& idPluecker::operator-=( const idPluecker& a )
|
|
{
|
|
p[0] -= a[0];
|
|
p[1] -= a[1];
|
|
p[2] -= a[2];
|
|
p[3] -= a[3];
|
|
p[4] -= a[4];
|
|
p[5] -= a[5];
|
|
return *this;
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::Compare( const idPluecker& a ) const
|
|
{
|
|
return ( ( p[0] == a[0] ) && ( p[1] == a[1] ) && ( p[2] == a[2] ) &&
|
|
( p[3] == a[3] ) && ( p[4] == a[4] ) && ( p[5] == a[5] ) );
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::Compare( const idPluecker& a, const float epsilon ) const
|
|
{
|
|
if( idMath::Fabs( p[0] - a[0] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if( idMath::Fabs( p[1] - a[1] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if( idMath::Fabs( p[2] - a[2] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if( idMath::Fabs( p[3] - a[3] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if( idMath::Fabs( p[4] - a[4] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if( idMath::Fabs( p[5] - a[5] ) > epsilon )
|
|
{
|
|
return false;
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::operator==( const idPluecker& a ) const
|
|
{
|
|
return Compare( a );
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::operator!=( const idPluecker& a ) const
|
|
{
|
|
return !Compare( a );
|
|
}
|
|
|
|
ID_INLINE void idPluecker::Set( const float a1, const float a2, const float a3, const float a4, const float a5, const float a6 )
|
|
{
|
|
p[0] = a1;
|
|
p[1] = a2;
|
|
p[2] = a3;
|
|
p[3] = a4;
|
|
p[4] = a5;
|
|
p[5] = a6;
|
|
}
|
|
|
|
ID_INLINE void idPluecker::Zero()
|
|
{
|
|
p[0] = p[1] = p[2] = p[3] = p[4] = p[5] = 0.0f;
|
|
}
|
|
|
|
ID_INLINE void idPluecker::FromLine( const idVec3& start, const idVec3& end )
|
|
{
|
|
p[0] = start[0] * end[1] - end[0] * start[1];
|
|
p[1] = start[0] * end[2] - end[0] * start[2];
|
|
p[2] = start[0] - end[0];
|
|
p[3] = start[1] * end[2] - end[1] * start[2];
|
|
p[4] = start[2] - end[2];
|
|
p[5] = end[1] - start[1];
|
|
}
|
|
|
|
ID_INLINE void idPluecker::FromRay( const idVec3& start, const idVec3& dir )
|
|
{
|
|
p[0] = start[0] * dir[1] - dir[0] * start[1];
|
|
p[1] = start[0] * dir[2] - dir[0] * start[2];
|
|
p[2] = -dir[0];
|
|
p[3] = start[1] * dir[2] - dir[1] * start[2];
|
|
p[4] = -dir[2];
|
|
p[5] = dir[1];
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::ToLine( idVec3& start, idVec3& end ) const
|
|
{
|
|
idVec3 dir1, dir2;
|
|
float d;
|
|
|
|
dir1[0] = p[3];
|
|
dir1[1] = -p[1];
|
|
dir1[2] = p[0];
|
|
|
|
dir2[0] = -p[2];
|
|
dir2[1] = p[5];
|
|
dir2[2] = -p[4];
|
|
|
|
d = dir2 * dir2;
|
|
if( d == 0.0f )
|
|
{
|
|
return false; // pluecker coordinate does not represent a line
|
|
}
|
|
|
|
start = dir2.Cross( dir1 ) * ( 1.0f / d );
|
|
end = start + dir2;
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE bool idPluecker::ToRay( idVec3& start, idVec3& dir ) const
|
|
{
|
|
idVec3 dir1;
|
|
float d;
|
|
|
|
dir1[0] = p[3];
|
|
dir1[1] = -p[1];
|
|
dir1[2] = p[0];
|
|
|
|
dir[0] = -p[2];
|
|
dir[1] = p[5];
|
|
dir[2] = -p[4];
|
|
|
|
d = dir * dir;
|
|
if( d == 0.0f )
|
|
{
|
|
return false; // pluecker coordinate does not represent a line
|
|
}
|
|
|
|
start = dir.Cross( dir1 ) * ( 1.0f / d );
|
|
return true;
|
|
}
|
|
|
|
ID_INLINE void idPluecker::ToDir( idVec3& dir ) const
|
|
{
|
|
dir[0] = -p[2];
|
|
dir[1] = p[5];
|
|
dir[2] = -p[4];
|
|
}
|
|
|
|
ID_INLINE float idPluecker::PermutedInnerProduct( const idPluecker& a ) const
|
|
{
|
|
return p[0] * a.p[4] + p[1] * a.p[5] + p[2] * a.p[3] + p[4] * a.p[0] + p[5] * a.p[1] + p[3] * a.p[2];
|
|
}
|
|
|
|
ID_INLINE float idPluecker::Length() const
|
|
{
|
|
return ( float )idMath::Sqrt( p[5] * p[5] + p[4] * p[4] + p[2] * p[2] );
|
|
}
|
|
|
|
ID_INLINE float idPluecker::LengthSqr() const
|
|
{
|
|
return ( p[5] * p[5] + p[4] * p[4] + p[2] * p[2] );
|
|
}
|
|
|
|
ID_INLINE float idPluecker::NormalizeSelf()
|
|
{
|
|
float l, d;
|
|
|
|
l = LengthSqr();
|
|
if( l == 0.0f )
|
|
{
|
|
return l; // pluecker coordinate does not represent a line
|
|
}
|
|
d = idMath::InvSqrt( l );
|
|
p[0] *= d;
|
|
p[1] *= d;
|
|
p[2] *= d;
|
|
p[3] *= d;
|
|
p[4] *= d;
|
|
p[5] *= d;
|
|
return d * l;
|
|
}
|
|
|
|
ID_INLINE idPluecker idPluecker::Normalize() const
|
|
{
|
|
float d;
|
|
|
|
d = LengthSqr();
|
|
if( d == 0.0f )
|
|
{
|
|
return *this; // pluecker coordinate does not represent a line
|
|
}
|
|
d = idMath::InvSqrt( d );
|
|
return idPluecker( p[0] * d, p[1] * d, p[2] * d, p[3] * d, p[4] * d, p[5] * d );
|
|
}
|
|
|
|
ID_INLINE int idPluecker::GetDimension() const
|
|
{
|
|
return 6;
|
|
}
|
|
|
|
ID_INLINE const float* idPluecker::ToFloatPtr() const
|
|
{
|
|
return p;
|
|
}
|
|
|
|
ID_INLINE float* idPluecker::ToFloatPtr()
|
|
{
|
|
return p;
|
|
}
|
|
|
|
#endif /* !__MATH_PLUECKER_H__ */
|