Justin Marshall
88 lines
2.7 KiB
C++
88 lines
2.7 KiB
C++
#pragma once
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#include "../math/matrix.h"
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#include <cmath>
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enum jointModTransform_t : int {
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JOINTMOD_NONE = 0,
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JOINTMOD_LOCAL = 1,
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JOINTMOD_LOCAL_OVERRIDE = 2,
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JOINTMOD_MODEL = 3,
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JOINTMOD_MODEL_OVERRIDE = 4,
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JOINTMOD_PARENT_OVERRIDE = 5
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};
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class idJointQuat {
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public:
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float jointQuat[8];
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void FromMat4(const idMat4& matrix) {
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const float trace = matrix[0].x + matrix[1].y + matrix[2].z;
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if (trace > 0.0f) {
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const float scale = std::sqrt(trace + 1.0f);
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jointQuat[3] = 0.5f * scale;
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const float inverseScale = 0.5f / scale;
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jointQuat[0] = (matrix[2].y - matrix[1].z) * inverseScale;
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jointQuat[1] = (matrix[0].z - matrix[2].x) * inverseScale;
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jointQuat[2] = (matrix[1].x - matrix[0].y) * inverseScale;
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} else {
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const int next[3] = { 1, 2, 0 };
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int i = matrix[1].y > matrix[0].x ? 1 : 0;
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if (matrix[2].z > matrix[i][i]) i = 2;
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const int j = next[i];
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const int k = next[j];
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float scale = std::sqrt(
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matrix[i][i] - matrix[j][j] - matrix[k][k] + 1.0f);
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jointQuat[i] = 0.5f * scale;
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scale = scale > 0.0f ? 0.5f / scale : 0.0f;
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jointQuat[3] = (matrix[k][j] - matrix[j][k]) * scale;
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jointQuat[j] = (matrix[j][i] + matrix[i][j]) * scale;
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jointQuat[k] = (matrix[k][i] + matrix[i][k]) * scale;
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}
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jointQuat[4] = matrix[0].w;
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jointQuat[5] = matrix[1].w;
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jointQuat[6] = matrix[2].w;
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jointQuat[7] = 0.0f;
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}
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idQuat& Rotation() { return *reinterpret_cast<idQuat*>(jointQuat); }
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const idQuat& Rotation() const {
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return *reinterpret_cast<const idQuat*>(jointQuat);
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}
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idVec3& Translation() { return *reinterpret_cast<idVec3*>(jointQuat + 4); }
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const idVec3& Translation() const {
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return *reinterpret_cast<const idVec3*>(jointQuat + 4);
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}
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};
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class idJointMat {
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public:
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float mat[12];
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float* operator[](const int row) { return mat + row * 4; }
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const float* operator[](const int row) const { return mat + row * 4; }
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};
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struct jointTransforms_t {
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idJointMat left;
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idJointMat right;
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idJointMat origin;
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};
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struct jointTransform_t {
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idQuat msQuat;
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idVec3 msOrigin;
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};
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using getJointTransform_t = bool (*)(
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void*, const idJointMat*, const char*, idVec3*, idMat3*);
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static_assert(sizeof(idJointQuat) == 32, "Recovered idJointQuat layout changed");
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static_assert(sizeof(idJointMat) == 48, "Recovered idJointMat layout changed");
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static_assert(sizeof(jointTransforms_t) == 144,
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"Recovered jointTransforms_t layout changed");
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static_assert(sizeof(jointTransform_t) == 28,
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"Recovered jointTransform_t layout changed");
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