mirror of
https://github.com/id-Software/DOOM-3-BFG.git
synced 2024-11-22 20:31:04 +00:00
544 lines
20 KiB
C++
544 lines
20 KiB
C++
/*
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===========================================================================
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Doom 3 BFG Edition GPL Source Code
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Copyright (C) 1993-2012 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 BFG Edition GPL Source Code ("Doom 3 BFG Edition Source Code").
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Doom 3 BFG Edition 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 BFG Edition 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 BFG Edition Source Code. If not, see <http://www.gnu.org/licenses/>.
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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.
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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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const float * ToFloatPtr() const { return q.ToFloatPtr(); }
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float * ToFloatPtr() { return q.ToFloatPtr(); }
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idQuat q;
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idVec3 t;
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float w;
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};
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// offsets for SIMD code
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#define JOINTQUAT_SIZE (8*4) // sizeof( idJointQuat )
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#define JOINTQUAT_SIZE_SHIFT 5 // log2( sizeof( idJointQuat ) )
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#define JOINTQUAT_Q_OFFSET (0*4) // offsetof( idJointQuat, q )
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#define JOINTQUAT_T_OFFSET (4*4) // offsetof( idJointQuat, t )
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assert_sizeof( idJointQuat, JOINTQUAT_SIZE );
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assert_sizeof( idJointQuat, (1<<JOINTQUAT_SIZE_SHIFT) );
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assert_offsetof( idJointQuat, q, JOINTQUAT_Q_OFFSET );
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assert_offsetof( idJointQuat, t, JOINTQUAT_T_OFFSET );
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/*
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===============================================================================
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Joint Matrix
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===============================================================================
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*/
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/*
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================================================
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idJointMat has the following structure:
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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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idMat3 GetRotation() const;
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void SetTranslation( const idVec3 &t );
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idVec3 GetTranslation() const;
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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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void Identity();
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void Invert();
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void FromMat4( const idMat4 & m );
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idMat3 ToMat3() const;
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idMat4 ToMat4() const;
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idVec3 ToVec3() const;
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const float * ToFloatPtr() const { return mat; }
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float * ToFloatPtr() { return mat; }
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idJointQuat ToJointQuat() const;
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void Transform( idVec3 &result, const idVec3 &v ) const;
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void Rotate( idVec3 &result, const idVec3 &v ) const;
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static void Mul( idJointMat &result, const idJointMat &mat, const float s );
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static void Mad( idJointMat &result, const idJointMat &mat, const float s );
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static void Multiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
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static void InverseMultiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
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float mat[3*4];
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};
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// offsets for SIMD code
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#define JOINTMAT_SIZE (4*3*4) // sizeof( idJointMat )
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assert_sizeof( idJointMat, JOINTMAT_SIZE );
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#define JOINTMAT_TYPESIZE ( 4 * 3 )
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/*
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========================
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idJointMat::SetRotation
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========================
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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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/*
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========================
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idJointMat::GetRotation
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========================
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*/
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ID_INLINE idMat3 idJointMat::GetRotation() const {
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idMat3 m;
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m[0][0] = mat[0 * 4 + 0];
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m[1][0] = mat[0 * 4 + 1];
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m[2][0] = mat[0 * 4 + 2];
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m[0][1] = mat[1 * 4 + 0];
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m[1][1] = mat[1 * 4 + 1];
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m[2][1] = mat[1 * 4 + 2];
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m[0][2] = mat[2 * 4 + 0];
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m[1][2] = mat[2 * 4 + 1];
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m[2][2] = mat[2 * 4 + 2];
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return m;
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}
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/*
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========================
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idJointMat::SetTranslation
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========================
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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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/*
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========================
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idJointMat::GetTranslation
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========================
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*/
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ID_INLINE idVec3 idJointMat::GetTranslation() const {
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idVec3 t;
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t[0] = mat[0 * 4 + 3];
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t[1] = mat[1 * 4 + 3];
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t[2] = mat[2 * 4 + 3];
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return t;
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}
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/*
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========================
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idJointMat::operator*
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========================
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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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/*
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========================
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idJointMat::operator*=
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========================
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*/
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ID_INLINE idJointMat & idJointMat::operator*=( const idJointMat &a ) {
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float tmp[3];
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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];
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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];
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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];
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mat[0 * 4 + 0] = tmp[0];
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mat[1 * 4 + 0] = tmp[1];
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mat[2 * 4 + 0] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = tmp[0];
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mat[1 * 4 + 1] = tmp[1];
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mat[2 * 4 + 1] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = tmp[0];
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mat[1 * 4 + 2] = tmp[1];
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mat[2 * 4 + 2] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = tmp[0];
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mat[1 * 4 + 3] = tmp[1];
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mat[2 * 4 + 3] = tmp[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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/*
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========================
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idJointMat::operator/=
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========================
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*/
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ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
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float tmp[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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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];
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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];
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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];
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mat[0 * 4 + 0] = tmp[0];
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mat[1 * 4 + 0] = tmp[1];
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mat[2 * 4 + 0] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = tmp[0];
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mat[1 * 4 + 1] = tmp[1];
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mat[2 * 4 + 1] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = tmp[0];
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mat[1 * 4 + 2] = tmp[1];
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mat[2 * 4 + 2] = tmp[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = tmp[0];
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mat[1 * 4 + 3] = tmp[1];
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mat[2 * 4 + 3] = tmp[2];
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return *this;
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}
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/*
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========================
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idJointMat::Compare
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========================
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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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/*
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========================
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idJointMat::Compare
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========================
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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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/*
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========================
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idJointMat::operator==
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========================
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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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/*
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========================
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idJointMat::operator!=
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========================
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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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/*
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========================
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idJointMat::Identity
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========================
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*/
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ID_INLINE void idJointMat::Identity() {
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mat[0 * 4 + 0] = 1.0f; mat[0 * 4 + 1] = 0.0f; mat[0 * 4 + 2] = 0.0f; mat[0 * 4 + 3] = 0.0f;
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mat[1 * 4 + 0] = 0.0f; mat[1 * 4 + 1] = 1.0f; mat[1 * 4 + 2] = 0.0f; mat[1 * 4 + 3] = 0.0f;
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mat[2 * 4 + 0] = 0.0f; mat[2 * 4 + 1] = 0.0f; mat[2 * 4 + 2] = 1.0f; mat[2 * 4 + 3] = 0.0f;
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}
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/*
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========================
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idJointMat::Invert
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========================
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*/
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ID_INLINE void idJointMat::Invert() {
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float tmp[3];
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// negate inverse rotated translation part
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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];
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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];
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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];
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mat[0 * 4 + 3] = -tmp[0];
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mat[1 * 4 + 3] = -tmp[1];
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mat[2 * 4 + 3] = -tmp[2];
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// transpose rotation part
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tmp[0] = mat[0 * 4 + 1];
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mat[0 * 4 + 1] = mat[1 * 4 + 0];
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mat[1 * 4 + 0] = tmp[0];
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tmp[1] = mat[0 * 4 + 2];
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mat[0 * 4 + 2] = mat[2 * 4 + 0];
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mat[2 * 4 + 0] = tmp[1];
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tmp[2] = mat[1 * 4 + 2];
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mat[1 * 4 + 2] = mat[2 * 4 + 1];
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mat[2 * 4 + 1] = tmp[2];
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}
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/*
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========================
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idJointMat::ToMat3
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========================
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*/
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ID_INLINE idMat3 idJointMat::ToMat3() 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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/*
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========================
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idJointMat::ToMat4
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========================
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*/
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ID_INLINE idMat4 idJointMat::ToMat4() const {
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return idMat4(
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mat[0 * 4 + 0], mat[0 * 4 + 1], mat[0 * 4 + 2], mat[0 * 4 + 3],
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mat[1 * 4 + 0], mat[1 * 4 + 1], mat[1 * 4 + 2], mat[1 * 4 + 3],
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|
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 ) {
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|
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];
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|
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];
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|
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];
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|
assert( m[3][0] == 0.0f );
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|
assert( m[3][1] == 0.0f );
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|
assert( m[3][2] == 0.0f );
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|
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__ */
|