1 /*
2 Copyright (C) 1999-2006 Id Software, Inc. and contributors.
3 For a list of contributors, see the accompanying CONTRIBUTORS file.
4
5 This file is part of GtkRadiant.
6
7 GtkRadiant is free software; you can redistribute it and/or modify
8 it under the terms of the GNU General Public License as published by
9 the Free Software Foundation; either version 2 of the License, or
10 (at your option) any later version.
11
12 GtkRadiant is distributed in the hope that it will be useful,
13 but WITHOUT ANY WARRANTY; without even the implied warranty of
14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 GNU General Public License for more details.
16
17 You should have received a copy of the GNU General Public License
18 along with GtkRadiant; if not, write to the Free Software
19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 */
21
22 #ifndef __MATH_MATRIX_H__
23 #define __MATH_MATRIX_H__
24
25 #include <string.h>
26 #include "math_vector.h"
27
28 #ifndef ID_INLINE
29 #ifdef _WIN32
30 #define ID_INLINE __inline
31 #else
32 #define ID_INLINE inline
33 #endif
34 #endif
35
36 class quat_t;
37 class angles_t;
38
39 class mat3_t {
40 public:
41 idVec3 mat[ 3 ];
42
43 mat3_t();
44 mat3_t( float src[ 3 ][ 3 ] );
45 mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z );
46 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 );
47
48 friend void toMatrix( quat_t const &src, mat3_t &dst );
49 friend void toMatrix( angles_t const &src, mat3_t &dst );
50 friend void toMatrix( idVec3 const &src, mat3_t &dst );
51
52 idVec3 operator[]( int index ) const;
53 idVec3 &operator[]( int index );
54
55 idVec3 operator*( const idVec3 &vec ) const;
56 mat3_t operator*( const mat3_t &a ) const;
57 mat3_t operator*( float a ) const;
58 mat3_t operator+( mat3_t const &a ) const;
59 mat3_t operator-( mat3_t const &a ) const;
60
61 friend idVec3 operator*( const idVec3 &vec, const mat3_t &mat );
62 friend mat3_t operator*( float a, mat3_t const &b );
63
64 mat3_t &operator*=( float a );
65 mat3_t &operator+=( mat3_t const &a );
66 mat3_t &operator-=( mat3_t const &a );
67
68 void Clear( void );
69
70 void ProjectVector( const idVec3 &src, idVec3 &dst ) const;
71 void UnprojectVector( const idVec3 &src, idVec3 &dst ) const;
72
73 void OrthoNormalize( void );
74 void Transpose( mat3_t &matrix );
75 void Transpose( void );
76 mat3_t Inverse( void ) const;
77 void Identity( void );
78
79 friend void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst );
80 friend mat3_t SkewSymmetric( idVec3 const &src );
81 };
82
mat3_t()83 ID_INLINE mat3_t::mat3_t() {
84 }
85
mat3_t(float src[3][3])86 ID_INLINE mat3_t::mat3_t( float src[ 3 ][ 3 ] ) {
87 memcpy( mat, src, sizeof( src ) );
88 }
89
mat3_t(idVec3 const & x,idVec3 const & y,idVec3 const & z)90 ID_INLINE mat3_t::mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ) {
91 mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z;
92 mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z;
93 mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z;
94 }
95
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)96 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 ) {
97 mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz;
98 mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz;
99 mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz;
100 }
101
102 ID_INLINE idVec3 mat3_t::operator[]( int index ) const {
103 assert( ( index >= 0 ) && ( index < 3 ) );
104 return mat[ index ];
105 }
106
107 ID_INLINE idVec3& mat3_t::operator[]( int index ) {
108 assert( ( index >= 0 ) && ( index < 3 ) );
109 return mat[ index ];
110 }
111
112 ID_INLINE idVec3 mat3_t::operator*( const idVec3 &vec ) const {
113 return idVec3(
114 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
115 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
116 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
117 }
118
119 ID_INLINE mat3_t mat3_t::operator*( const mat3_t &a ) const {
120 return mat3_t(
121 mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x,
122 mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y,
123 mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z,
124 mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x,
125 mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y,
126 mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z,
127 mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x,
128 mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y,
129 mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z );
130 }
131
132 ID_INLINE mat3_t mat3_t::operator*( float a ) const {
133 return mat3_t(
134 mat[0].x * a, mat[0].y * a, mat[0].z * a,
135 mat[1].x * a, mat[1].y * a, mat[1].z * a,
136 mat[2].x * a, mat[2].y * a, mat[2].z * a );
137 }
138
139 ID_INLINE mat3_t mat3_t::operator+( mat3_t const &a ) const {
140 return mat3_t(
141 mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z,
142 mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z,
143 mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z );
144 }
145
146 ID_INLINE mat3_t mat3_t::operator-( mat3_t const &a ) const {
147 return mat3_t(
148 mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z,
149 mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z,
150 mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z );
151 }
152
153 ID_INLINE idVec3 operator*( const idVec3 &vec, const mat3_t &mat ) {
154 return idVec3(
155 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
156 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
157 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
158 }
159
160 ID_INLINE mat3_t operator*( float a, mat3_t const &b ) {
161 return mat3_t(
162 b[0].x * a, b[0].y * a, b[0].z * a,
163 b[1].x * a, b[1].y * a, b[1].z * a,
164 b[2].x * a, b[2].y * a, b[2].z * a );
165 }
166
167 ID_INLINE mat3_t &mat3_t::operator*=( float a ) {
168 mat[0].x *= a; mat[0].y *= a; mat[0].z *= a;
169 mat[1].x *= a; mat[1].y *= a; mat[1].z *= a;
170 mat[2].x *= a; mat[2].y *= a; mat[2].z *= a;
171
172 return *this;
173 }
174
175 ID_INLINE mat3_t &mat3_t::operator+=( mat3_t const &a ) {
176 mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z;
177 mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z;
178 mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z;
179
180 return *this;
181 }
182
183 ID_INLINE mat3_t &mat3_t::operator-=( mat3_t const &a ) {
184 mat[0].x -= a[0].x; mat[0].y -= a[0].y; mat[0].z -= a[0].z;
185 mat[1].x -= a[1].x; mat[1].y -= a[1].y; mat[1].z -= a[1].z;
186 mat[2].x -= a[2].x; mat[2].y -= a[2].y; mat[2].z -= a[2].z;
187
188 return *this;
189 }
190
OrthoNormalize(void)191 ID_INLINE void mat3_t::OrthoNormalize( void ) {
192 mat[ 0 ].Normalize();
193 mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] );
194 mat[ 2 ].Normalize();
195 mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] );
196 mat[ 1 ].Normalize();
197 }
198
Identity(void)199 ID_INLINE void mat3_t::Identity( void ) {
200 mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f;
201 mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f;
202 mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f;
203 }
204
InverseMultiply(const mat3_t & inv,const mat3_t & b,mat3_t & dst)205 ID_INLINE void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ) {
206 dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x;
207 dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y;
208 dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z;
209 dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x;
210 dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y;
211 dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z;
212 dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x;
213 dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y;
214 dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z;
215 }
216
SkewSymmetric(idVec3 const & src)217 ID_INLINE mat3_t SkewSymmetric( idVec3 const &src ) {
218 return mat3_t( 0.0f, -src.z, src.y, src.z, 0.0f, -src.x, -src.y, src.x, 0.0f );
219 }
220
221 extern mat3_t mat3_default;
222
223 #endif /* !__MATH_MATRIX_H__ */
224