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Timothee 'TTimo' Besset
2011-11-22 15:28:15 -06:00
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neo/idlib/geometry/JointTransform.h Normal file
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/*
===========================================================================
Doom 3 GPL Source Code
Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
Doom 3 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 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 Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the Doom 3 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 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:
idQuat q;
idVec3 t;
};
/*
===============================================================================
Joint Matrix
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 );
void SetTranslation( const idVec3 &t );
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
idMat3 ToMat3( void ) const;
idVec3 ToVec3( void ) const;
idJointQuat ToJointQuat( void ) const;
const float * ToFloatPtr( void ) const;
float * ToFloatPtr( void );
private:
float mat[3*4];
};
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];
}
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];
}
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] );
}
ID_INLINE idJointMat &idJointMat::operator*=( const idJointMat &a ) {
float dst[3];
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];
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];
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];
mat[0 * 4 + 0] = dst[0];
mat[1 * 4 + 0] = dst[1];
mat[2 * 4 + 0] = dst[2];
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];
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];
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];
mat[0 * 4 + 1] = dst[0];
mat[1 * 4 + 1] = dst[1];
mat[2 * 4 + 1] = dst[2];
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];
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];
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];
mat[0 * 4 + 2] = dst[0];
mat[1 * 4 + 2] = dst[1];
mat[2 * 4 + 2] = dst[2];
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];
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];
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];
mat[0 * 4 + 3] = dst[0];
mat[1 * 4 + 3] = dst[1];
mat[2 * 4 + 3] = dst[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;
}
ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
float dst[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];
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];
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];
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];
mat[0 * 4 + 0] = dst[0];
mat[1 * 4 + 0] = dst[1];
mat[2 * 4 + 0] = dst[2];
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];
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];
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];
mat[0 * 4 + 1] = dst[0];
mat[1 * 4 + 1] = dst[1];
mat[2 * 4 + 1] = dst[2];
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];
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];
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];
mat[0 * 4 + 2] = dst[0];
mat[1 * 4 + 2] = dst[1];
mat[2 * 4 + 2] = dst[2];
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];
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];
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];
mat[0 * 4 + 3] = dst[0];
mat[1 * 4 + 3] = dst[1];
mat[2 * 4 + 3] = dst[2];
return *this;
}
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;
}
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;
}
ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
return Compare( a );
}
ID_INLINE bool idJointMat::operator!=( const idJointMat &a ) const {
return !Compare( a );
}
ID_INLINE idMat3 idJointMat::ToMat3( void ) 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] );
}
ID_INLINE idVec3 idJointMat::ToVec3( void ) const {
return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
}
ID_INLINE const float *idJointMat::ToFloatPtr( void ) const {
return mat;
}
ID_INLINE float *idJointMat::ToFloatPtr( void ) {
return mat;
}
#endif /* !__JOINTTRANSFORM_H__ */