114 lines
2.4 KiB
C++
114 lines
2.4 KiB
C++
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#include "q_shared.h"
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mat3_t mat3_default( idVec3_t( 1, 0, 0 ), idVec3_t( 0, 1, 0 ), idVec3_t( 0, 0, 1 ) );
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void toMatrix( quat_t const &src, mat3_t &dst ) {
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float wx, wy, wz;
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float xx, yy, yz;
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float xy, xz, zz;
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float x2, y2, z2;
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x2 = src.x + src.x;
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y2 = src.y + src.y;
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z2 = src.z + src.z;
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xx = src.x * x2;
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xy = src.x * y2;
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xz = src.x * z2;
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yy = src.y * y2;
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yz = src.y * z2;
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zz = src.z * z2;
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wx = src.w * x2;
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wy = src.w * y2;
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wz = src.w * z2;
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dst[ 0 ][ 0 ] = 1.0f - ( yy + zz );
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dst[ 0 ][ 1 ] = xy - wz;
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dst[ 0 ][ 2 ] = xz + wy;
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dst[ 1 ][ 0 ] = xy + wz;
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dst[ 1 ][ 1 ] = 1.0f - ( xx + zz );
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dst[ 1 ][ 2 ] = yz - wx;
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dst[ 2 ][ 0 ] = xz - wy;
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dst[ 2 ][ 1 ] = yz + wx;
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dst[ 2 ][ 2 ] = 1.0f - ( xx + yy );
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}
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void toMatrix( angles_t const &src, mat3_t &dst ) {
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float angle;
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static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
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angle = src.yaw * ( M_PI * 2.0f / 360.0f );
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sy = sin( angle );
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cy = cos( angle );
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angle = src.pitch * ( M_PI * 2.0f / 360.0f );
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sp = sin( angle );
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cp = cos( angle );
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angle = src.roll * ( M_PI * 2.0f / 360.0f );
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sr = sin( angle );
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cr = cos( angle );
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dst[ 0 ].set( cp * cy, cp * sy, -sp );
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dst[ 1 ].set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
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dst[ 2 ].set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
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}
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void toMatrix( idVec3_t const &src, mat3_t &dst ) {
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angles_t sup = src;
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toMatrix(sup, dst);
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}
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void mat3_t::ProjectVector( const idVec3_t &src, idVec3_t &dst ) const {
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dst.x = src * mat[ 0 ];
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dst.y = src * mat[ 1 ];
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dst.z = src * mat[ 2 ];
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}
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void mat3_t::UnprojectVector( const idVec3_t &src, idVec3_t &dst ) const {
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dst = mat[ 0 ] * src.x + mat[ 1 ] * src.y + mat[ 2 ] * src.z;
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}
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void mat3_t::Transpose( mat3_t &matrix ) {
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int i;
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int j;
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for( i = 0; i < 3; i++ ) {
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for( j = 0; j < 3; j++ ) {
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matrix[ i ][ j ] = mat[ j ][ i ];
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}
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}
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}
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void mat3_t::Transpose( void ) {
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float temp;
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int i;
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int j;
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for( i = 0; i < 3; i++ ) {
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for( j = i + 1; j < 3; j++ ) {
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temp = mat[ i ][ j ];
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mat[ i ][ j ] = mat[ j ][ i ];
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mat[ j ][ i ] = temp;
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}
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}
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}
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mat3_t mat3_t::Inverse( void ) const {
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mat3_t inv( *this );
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inv.Transpose();
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return inv;
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}
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void mat3_t::Clear( void ) {
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mat[0].set( 1, 0, 0 );
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mat[1].set( 0, 1, 0 );
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mat[2].set( 0, 0, 1 );
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}
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