X-Git-Url: http://git.xonotic.org/?a=blobdiff_plain;f=libs%2Fsplines%2Fmath_matrix.h;h=a039945cabbd00f8eaf27442c1cf76297320b4f8;hb=99980506540d9546dad31223a6eadf126ba68121;hp=f2cfae0d0a3984af97d28acafb9d8d102abe7ae5;hpb=80378101101ca1762bbf5638a9e3566893096d8a;p=xonotic%2Fnetradiant.git diff --git a/libs/splines/math_matrix.h b/libs/splines/math_matrix.h index f2cfae0d..a039945c 100644 --- a/libs/splines/math_matrix.h +++ b/libs/splines/math_matrix.h @@ -1,223 +1,223 @@ -/* -Copyright (C) 1999-2007 id Software, Inc. and contributors. -For a list of contributors, see the accompanying CONTRIBUTORS file. - -This file is part of GtkRadiant. - -GtkRadiant 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 2 of the License, or -(at your option) any later version. - -GtkRadiant 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 GtkRadiant; if not, write to the Free Software -Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA -*/ - -#ifndef __MATH_MATRIX_H__ -#define __MATH_MATRIX_H__ - -#include -#include "math_vector.h" - -#ifndef ID_INLINE -#ifdef _WIN32 -#define ID_INLINE __inline -#else -#define ID_INLINE inline -#endif -#endif - -class quat_t; -class angles_t; - -class mat3_t { -public: - idVec3 mat[ 3 ]; - - mat3_t(); - mat3_t( float src[ 3 ][ 3 ] ); - mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ); - mat3_t( const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz ); - - friend void toMatrix( quat_t const &src, mat3_t &dst ); - friend void toMatrix( angles_t const &src, mat3_t &dst ); - friend void toMatrix( idVec3 const &src, mat3_t &dst ); - - idVec3 operator[]( int index ) const; - idVec3 &operator[]( int index ); - - idVec3 operator*( const idVec3 &vec ) const; - mat3_t operator*( const mat3_t &a ) const; - mat3_t operator*( float a ) const; - mat3_t operator+( mat3_t const &a ) const; - mat3_t operator-( mat3_t const &a ) const; - - friend idVec3 operator*( const idVec3 &vec, const mat3_t &mat ); - friend mat3_t operator*( float a, mat3_t const &b ); - - mat3_t &operator*=( float a ); - mat3_t &operator+=( mat3_t const &a ); - mat3_t &operator-=( mat3_t const &a ); - - void Clear( void ); - - void ProjectVector( const idVec3 &src, idVec3 &dst ) const; - void UnprojectVector( const idVec3 &src, idVec3 &dst ) const; - - void OrthoNormalize( void ); - void Transpose( mat3_t &matrix ); - void Transpose( void ); - mat3_t Inverse( void ) const; - void Identity( void ); - - friend void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ); - friend mat3_t SkewSymmetric( idVec3 const &src ); -}; - -ID_INLINE mat3_t::mat3_t() { -} - -ID_INLINE mat3_t::mat3_t( float src[ 3 ][ 3 ] ) { - memcpy( mat, src, sizeof( src ) ); -} - -ID_INLINE mat3_t::mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ) { - mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z; - mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z; - mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z; -} - -ID_INLINE mat3_t::mat3_t( const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz ) { - mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz; - mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz; - mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz; -} - -ID_INLINE idVec3 mat3_t::operator[]( int index ) const { - assert( ( index >= 0 ) && ( index < 3 ) ); - return mat[ index ]; -} - -ID_INLINE idVec3& mat3_t::operator[]( int index ) { - assert( ( index >= 0 ) && ( index < 3 ) ); - return mat[ index ]; -} - -ID_INLINE idVec3 mat3_t::operator*( const idVec3 &vec ) const { - return idVec3( - mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z, - mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z, - mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z ); -} - -ID_INLINE mat3_t mat3_t::operator*( const mat3_t &a ) const { - return mat3_t( - mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x, - mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y, - mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z, - mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x, - mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y, - mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z, - mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x, - mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y, - mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z ); -} - -ID_INLINE mat3_t mat3_t::operator*( float a ) const { - return mat3_t( - mat[0].x * a, mat[0].y * a, mat[0].z * a, - mat[1].x * a, mat[1].y * a, mat[1].z * a, - mat[2].x * a, mat[2].y * a, mat[2].z * a ); -} - -ID_INLINE mat3_t mat3_t::operator+( mat3_t const &a ) const { - return mat3_t( - mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z, - mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z, - mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z ); -} - -ID_INLINE mat3_t mat3_t::operator-( mat3_t const &a ) const { - return mat3_t( - mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z, - mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z, - mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z ); -} - -ID_INLINE idVec3 operator*( const idVec3 &vec, const mat3_t &mat ) { - return idVec3( - mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z, - mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z, - mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z ); -} - -ID_INLINE mat3_t operator*( float a, mat3_t const &b ) { - return mat3_t( - b[0].x * a, b[0].y * a, b[0].z * a, - b[1].x * a, b[1].y * a, b[1].z * a, - b[2].x * a, b[2].y * a, b[2].z * a ); -} - -ID_INLINE mat3_t &mat3_t::operator*=( float a ) { - mat[0].x *= a; mat[0].y *= a; mat[0].z *= a; - mat[1].x *= a; mat[1].y *= a; mat[1].z *= a; - mat[2].x *= a; mat[2].y *= a; mat[2].z *= a; - - return *this; -} - -ID_INLINE mat3_t &mat3_t::operator+=( mat3_t const &a ) { - mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z; - mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z; - mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z; - - return *this; -} - -ID_INLINE mat3_t &mat3_t::operator-=( mat3_t const &a ) { - mat[0].x -= a[0].x; mat[0].y -= a[0].y; mat[0].z -= a[0].z; - mat[1].x -= a[1].x; mat[1].y -= a[1].y; mat[1].z -= a[1].z; - mat[2].x -= a[2].x; mat[2].y -= a[2].y; mat[2].z -= a[2].z; - - return *this; -} - -ID_INLINE void mat3_t::OrthoNormalize( void ) { - mat[ 0 ].Normalize(); - mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] ); - mat[ 2 ].Normalize(); - mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] ); - mat[ 1 ].Normalize(); -} - -ID_INLINE void mat3_t::Identity( void ) { - mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f; - mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f; - mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f; -} - -ID_INLINE void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ) { - dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x; - dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y; - dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z; - dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x; - dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y; - dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z; - dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x; - dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y; - dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z; -} - -ID_INLINE mat3_t SkewSymmetric( idVec3 const &src ) { - return mat3_t( 0.0f, -src.z, src.y, src.z, 0.0f, -src.x, -src.y, src.x, 0.0f ); -} - -extern mat3_t mat3_default; - -#endif /* !__MATH_MATRIX_H__ */ +/* +Copyright (C) 1999-2007 id Software, Inc. and contributors. +For a list of contributors, see the accompanying CONTRIBUTORS file. + +This file is part of GtkRadiant. + +GtkRadiant 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 2 of the License, or +(at your option) any later version. + +GtkRadiant 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 GtkRadiant; if not, write to the Free Software +Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef __MATH_MATRIX_H__ +#define __MATH_MATRIX_H__ + +#include +#include "math_vector.h" + +#ifndef ID_INLINE +#ifdef _WIN32 +#define ID_INLINE __inline +#else +#define ID_INLINE inline +#endif +#endif + +class quat_t; +class angles_t; + +class mat3_t { +public: + idVec3 mat[ 3 ]; + + mat3_t(); + mat3_t( float src[ 3 ][ 3 ] ); + mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ); + mat3_t( const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz ); + + friend void toMatrix( quat_t const &src, mat3_t &dst ); + friend void toMatrix( angles_t const &src, mat3_t &dst ); + friend void toMatrix( idVec3 const &src, mat3_t &dst ); + + idVec3 operator[]( int index ) const; + idVec3 &operator[]( int index ); + + idVec3 operator*( const idVec3 &vec ) const; + mat3_t operator*( const mat3_t &a ) const; + mat3_t operator*( float a ) const; + mat3_t operator+( mat3_t const &a ) const; + mat3_t operator-( mat3_t const &a ) const; + + friend idVec3 operator*( const idVec3 &vec, const mat3_t &mat ); + friend mat3_t operator*( float a, mat3_t const &b ); + + mat3_t &operator*=( float a ); + mat3_t &operator+=( mat3_t const &a ); + mat3_t &operator-=( mat3_t const &a ); + + void Clear( void ); + + void ProjectVector( const idVec3 &src, idVec3 &dst ) const; + void UnprojectVector( const idVec3 &src, idVec3 &dst ) const; + + void OrthoNormalize( void ); + void Transpose( mat3_t &matrix ); + void Transpose( void ); + mat3_t Inverse( void ) const; + void Identity( void ); + + friend void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ); + friend mat3_t SkewSymmetric( idVec3 const &src ); +}; + +ID_INLINE mat3_t::mat3_t() { +} + +ID_INLINE mat3_t::mat3_t( float src[ 3 ][ 3 ] ) { + memcpy( mat, src, sizeof( src ) ); +} + +ID_INLINE mat3_t::mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ) { + mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z; + mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z; + mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z; +} + +ID_INLINE mat3_t::mat3_t( const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz ) { + mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz; + mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz; + mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz; +} + +ID_INLINE idVec3 mat3_t::operator[]( int index ) const { + assert( ( index >= 0 ) && ( index < 3 ) ); + return mat[ index ]; +} + +ID_INLINE idVec3& mat3_t::operator[]( int index ) { + assert( ( index >= 0 ) && ( index < 3 ) ); + return mat[ index ]; +} + +ID_INLINE idVec3 mat3_t::operator*( const idVec3 &vec ) const { + return idVec3( + mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z, + mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z, + mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z ); +} + +ID_INLINE mat3_t mat3_t::operator*( const mat3_t &a ) const { + return mat3_t( + mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x, + mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y, + mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z, + mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x, + mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y, + mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z, + mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x, + mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y, + mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z ); +} + +ID_INLINE mat3_t mat3_t::operator*( float a ) const { + return mat3_t( + mat[0].x * a, mat[0].y * a, mat[0].z * a, + mat[1].x * a, mat[1].y * a, mat[1].z * a, + mat[2].x * a, mat[2].y * a, mat[2].z * a ); +} + +ID_INLINE mat3_t mat3_t::operator+( mat3_t const &a ) const { + return mat3_t( + mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z, + mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z, + mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z ); +} + +ID_INLINE mat3_t mat3_t::operator-( mat3_t const &a ) const { + return mat3_t( + mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z, + mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z, + mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z ); +} + +ID_INLINE idVec3 operator*( const idVec3 &vec, const mat3_t &mat ) { + return idVec3( + mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z, + mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z, + mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z ); +} + +ID_INLINE mat3_t operator*( float a, mat3_t const &b ) { + return mat3_t( + b[0].x * a, b[0].y * a, b[0].z * a, + b[1].x * a, b[1].y * a, b[1].z * a, + b[2].x * a, b[2].y * a, b[2].z * a ); +} + +ID_INLINE mat3_t &mat3_t::operator*=( float a ) { + mat[0].x *= a; mat[0].y *= a; mat[0].z *= a; + mat[1].x *= a; mat[1].y *= a; mat[1].z *= a; + mat[2].x *= a; mat[2].y *= a; mat[2].z *= a; + + return *this; +} + +ID_INLINE mat3_t &mat3_t::operator+=( mat3_t const &a ) { + mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z; + mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z; + mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z; + + return *this; +} + +ID_INLINE mat3_t &mat3_t::operator-=( mat3_t const &a ) { + mat[0].x -= a[0].x; mat[0].y -= a[0].y; mat[0].z -= a[0].z; + mat[1].x -= a[1].x; mat[1].y -= a[1].y; mat[1].z -= a[1].z; + mat[2].x -= a[2].x; mat[2].y -= a[2].y; mat[2].z -= a[2].z; + + return *this; +} + +ID_INLINE void mat3_t::OrthoNormalize( void ) { + mat[ 0 ].Normalize(); + mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] ); + mat[ 2 ].Normalize(); + mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] ); + mat[ 1 ].Normalize(); +} + +ID_INLINE void mat3_t::Identity( void ) { + mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f; + mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f; + mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f; +} + +ID_INLINE void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ) { + dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x; + dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y; + dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z; + dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x; + dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y; + dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z; + dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x; + dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y; + dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z; +} + +ID_INLINE mat3_t SkewSymmetric( idVec3 const &src ) { + return mat3_t( 0.0f, -src.z, src.y, src.z, 0.0f, -src.x, -src.y, src.x, 0.0f ); +} + +extern mat3_t mat3_default; + +#endif /* !__MATH_MATRIX_H__ */