341 lines
15 KiB
C++
341 lines
15 KiB
C++
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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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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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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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ID_INLINE void SetRotation( const idMat3 &m );
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ID_INLINE void SetTranslation( const idVec3 &t );
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ID_INLINE idVec3 operator*( const idVec3 &v ) const; // only rotate
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ID_INLINE idVec3 operator*( const idVec4 &v ) const; // rotate and translate
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ID_INLINE idJointMat & operator*=( const idJointMat &a ); // transform
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ID_INLINE idJointMat & operator/=( const idJointMat &a ); // untransform
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ID_INLINE bool Compare( const idJointMat &a ) const; // exact compare, no epsilon
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ID_INLINE bool Compare( const idJointMat &a, const float epsilon ) const; // compare with epsilon
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ID_INLINE bool operator==( const idJointMat &a ) const; // exact compare, no epsilon
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ID_INLINE bool operator!=( const idJointMat &a ) const; // exact compare, no epsilon
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ID_INLINE idMat3 ToMat3( void ) const;
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ID_INLINE idVec3 ToVec3( void ) const;
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idJointQuat ToJointQuat( void ) const;
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const float * ToFloatPtr( void ) const;
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ID_INLINE float * ToFloatPtr( void );
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ID_INLINE static void Mul( idJointMat &result, const idJointMat &mat, const float s );
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ID_INLINE static void Mad( idJointMat &result, const idJointMat &mat, const float s );
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ID_INLINE static void Multiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
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ID_INLINE static void InverseMultiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 );
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// RAVEN BEGIN
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// dluetscher: added function to quickly invert an idJointMat - assumes rotation-translation only
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ID_INLINE void Invert( );
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// RAVEN END
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private:
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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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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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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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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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ID_INLINE idJointMat &idJointMat::operator*=( const idJointMat &a ) {
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float dst[3];
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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];
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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];
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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];
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mat[0 * 4 + 0] = dst[0];
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mat[1 * 4 + 0] = dst[1];
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mat[2 * 4 + 0] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = dst[0];
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mat[1 * 4 + 1] = dst[1];
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mat[2 * 4 + 1] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = dst[0];
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mat[1 * 4 + 2] = dst[1];
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mat[2 * 4 + 2] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = dst[0];
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mat[1 * 4 + 3] = dst[1];
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mat[2 * 4 + 3] = dst[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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ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
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float dst[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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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];
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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];
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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];
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mat[0 * 4 + 0] = dst[0];
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mat[1 * 4 + 0] = dst[1];
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mat[2 * 4 + 0] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 1] = dst[0];
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mat[1 * 4 + 1] = dst[1];
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mat[2 * 4 + 1] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 2] = dst[0];
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mat[1 * 4 + 2] = dst[1];
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mat[2 * 4 + 2] = dst[2];
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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];
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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];
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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];
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mat[0 * 4 + 3] = dst[0];
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mat[1 * 4 + 3] = dst[1];
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mat[2 * 4 + 3] = dst[2];
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return *this;
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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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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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ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
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return Compare( a );
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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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ID_INLINE idMat3 idJointMat::ToMat3( void ) 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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ID_INLINE idVec3 idJointMat::ToVec3( void ) const {
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return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
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}
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ID_INLINE const float *idJointMat::ToFloatPtr( void ) const {
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return mat;
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}
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ID_INLINE float *idJointMat::ToFloatPtr( void ) {
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return mat;
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}
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ID_INLINE void idJointMat::Mul( idJointMat &result, const idJointMat &mat, const float s ) {
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result.mat[0 * 4 + 0] = s * mat.mat[0 * 4 + 0];
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result.mat[0 * 4 + 1] = s * mat.mat[0 * 4 + 1];
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result.mat[0 * 4 + 2] = s * mat.mat[0 * 4 + 2];
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result.mat[0 * 4 + 3] = s * mat.mat[0 * 4 + 3];
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result.mat[1 * 4 + 0] = s * mat.mat[1 * 4 + 0];
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result.mat[1 * 4 + 1] = s * mat.mat[1 * 4 + 1];
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result.mat[1 * 4 + 2] = s * mat.mat[1 * 4 + 2];
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result.mat[1 * 4 + 3] = s * mat.mat[1 * 4 + 3];
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result.mat[2 * 4 + 0] = s * mat.mat[2 * 4 + 0];
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result.mat[2 * 4 + 1] = s * mat.mat[2 * 4 + 1];
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result.mat[2 * 4 + 2] = s * mat.mat[2 * 4 + 2];
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result.mat[2 * 4 + 3] = s * mat.mat[2 * 4 + 3];
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}
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ID_INLINE void idJointMat::Mad( idJointMat &result, const idJointMat &mat, const float s ) {
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result.mat[0 * 4 + 0] += s * mat.mat[0 * 4 + 0];
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result.mat[0 * 4 + 1] += s * mat.mat[0 * 4 + 1];
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result.mat[0 * 4 + 2] += s * mat.mat[0 * 4 + 2];
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result.mat[0 * 4 + 3] += s * mat.mat[0 * 4 + 3];
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result.mat[1 * 4 + 0] += s * mat.mat[1 * 4 + 0];
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result.mat[1 * 4 + 1] += s * mat.mat[1 * 4 + 1];
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result.mat[1 * 4 + 2] += s * mat.mat[1 * 4 + 2];
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result.mat[1 * 4 + 3] += s * mat.mat[1 * 4 + 3];
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result.mat[2 * 4 + 0] += s * mat.mat[2 * 4 + 0];
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result.mat[2 * 4 + 1] += s * mat.mat[2 * 4 + 1];
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result.mat[2 * 4 + 2] += s * mat.mat[2 * 4 + 2];
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result.mat[2 * 4 + 3] += s * mat.mat[2 * 4 + 3];
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}
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ID_INLINE void idJointMat::Multiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 ) {
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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}
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ID_INLINE void idJointMat::InverseMultiply( idJointMat &result, const idJointMat &m1, const idJointMat &m2 ) {
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float dst[3];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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];
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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] );
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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] );
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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] );
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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];
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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];
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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];
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}
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// RAVEN BEGIN
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// dluetscher: added function to quickly invert an idJointMat - assumes rotation-translation only
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ID_INLINE void idJointMat::Invert( ) {
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float m01, m02, m12, tx, ty;
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tx = mat[0 * 4 + 3];
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ty = mat[1 * 4 + 3];
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mat[0 * 4 + 3] = -(tx*mat[0 * 4 + 0] + ty*mat[1 * 4 + 0] + mat[2 * 4 + 3]*mat[2 * 4 + 0]);
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mat[1 * 4 + 3] = -(tx*mat[0 * 4 + 1] + ty*mat[1 * 4 + 1] + mat[2 * 4 + 3]*mat[2 * 4 + 1]);
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mat[2 * 4 + 3] = -(tx*mat[0 * 4 + 2] + ty*mat[1 * 4 + 2] + mat[2 * 4 + 3]*mat[2 * 4 + 2]);
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m01 = mat[0 * 4 + 1];
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m02 = mat[0 * 4 + 2];
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m12 = mat[1 * 4 + 2];
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mat[0 * 4 + 1] = mat[1 * 4 + 0];
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mat[0 * 4 + 2] = mat[2 * 4 + 0];
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mat[1 * 4 + 0] = m01;
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mat[1 * 4 + 2] = mat[2 * 4 + 1];
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mat[2 * 4 + 0] = m02;
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mat[2 * 4 + 1] = m12;
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}
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// RAVEN END
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#endif /* !__JOINTTRANSFORM_H__ */
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