Justin Marshall
83 lines
2.7 KiB
C++
83 lines
2.7 KiB
C++
#pragma once
|
|
|
|
#include "vector.h"
|
|
|
|
class idMat3x4 {
|
|
public:
|
|
idMat3x4() {
|
|
Identity();
|
|
}
|
|
|
|
idMat3x4(const idMat3& rotation, const idVec3& translation) {
|
|
for (int row = 0; row < 3; ++row) {
|
|
for (int column = 0; column < 3; ++column) {
|
|
mat[row * 4 + column] = rotation[column][row];
|
|
}
|
|
mat[row * 4 + 3] = translation[row];
|
|
}
|
|
}
|
|
|
|
void Identity() {
|
|
for (int index = 0; index < 12; ++index) {
|
|
mat[index] = 0.0f;
|
|
}
|
|
mat[0] = mat[5] = mat[10] = 1.0f;
|
|
}
|
|
|
|
void Transform(idVec3& result, const idVec3& value) const {
|
|
result.x = value.x * mat[0] + value.y * mat[1]
|
|
+ value.z * mat[2] + mat[3];
|
|
result.y = value.x * mat[4] + value.y * mat[5]
|
|
+ value.z * mat[6] + mat[7];
|
|
result.z = value.x * mat[8] + value.y * mat[9]
|
|
+ value.z * mat[10] + mat[11];
|
|
}
|
|
|
|
void Rotate(idMat3& result, const idMat3& value) const {
|
|
for (int column = 0; column < 3; ++column) {
|
|
result[column].x = mat[0] * value[column].x
|
|
+ mat[1] * value[column].y + mat[2] * value[column].z;
|
|
result[column].y = mat[4] * value[column].x
|
|
+ mat[5] * value[column].y + mat[6] * value[column].z;
|
|
result[column].z = mat[8] * value[column].x
|
|
+ mat[9] * value[column].y + mat[10] * value[column].z;
|
|
}
|
|
}
|
|
|
|
void Invert() {
|
|
const float old[12] = {
|
|
mat[0], mat[1], mat[2], mat[3],
|
|
mat[4], mat[5], mat[6], mat[7],
|
|
mat[8], mat[9], mat[10], mat[11]
|
|
};
|
|
mat[0] = old[0]; mat[1] = old[4]; mat[2] = old[8];
|
|
mat[4] = old[1]; mat[5] = old[5]; mat[6] = old[9];
|
|
mat[8] = old[2]; mat[9] = old[6]; mat[10] = old[10];
|
|
mat[3] = -(mat[0] * old[3] + mat[1] * old[7] + mat[2] * old[11]);
|
|
mat[7] = -(mat[4] * old[3] + mat[5] * old[7] + mat[6] * old[11]);
|
|
mat[11] = -(mat[8] * old[3] + mat[9] * old[7] + mat[10] * old[11]);
|
|
}
|
|
|
|
void LeftTransposeMultiply(const idMat3& value) {
|
|
float old[12];
|
|
for (int index = 0; index < 12; ++index) {
|
|
old[index] = mat[index];
|
|
}
|
|
for (int row = 0; row < 3; ++row) {
|
|
for (int column = 0; column < 4; ++column) {
|
|
mat[row * 4 + column] = value[0][row] * old[column]
|
|
+ value[1][row] * old[4 + column]
|
|
+ value[2][row] * old[8 + column];
|
|
}
|
|
}
|
|
}
|
|
|
|
float* ToFloatPtr() { return mat; }
|
|
const float* ToFloatPtr() const { return mat; }
|
|
|
|
public:
|
|
float mat[12];
|
|
};
|
|
|
|
static_assert(sizeof(idMat3x4) == 48, "Recovered idMat3x4 ABI changed");
|