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Diffstat (limited to 'code/splines/math_matrix.cpp')
| -rwxr-xr-x | code/splines/math_matrix.cpp | 134 |
1 files changed, 134 insertions, 0 deletions
diff --git a/code/splines/math_matrix.cpp b/code/splines/math_matrix.cpp new file mode 100755 index 0000000..c7ae6db --- /dev/null +++ b/code/splines/math_matrix.cpp @@ -0,0 +1,134 @@ +/*
+===========================================================================
+Copyright (C) 1999-2005 Id Software, Inc.
+
+This file is part of Quake III Arena source code.
+
+Quake III Arena 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 2 of the License,
+or (at your option) any later version.
+
+Quake III Arena 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 Foobar; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+===========================================================================
+*/
+#include "q_shared.h"
+
+mat3_t mat3_default( idVec3_t( 1, 0, 0 ), idVec3_t( 0, 1, 0 ), idVec3_t( 0, 0, 1 ) );
+
+void toMatrix( quat_t const &src, mat3_t &dst ) {
+ float wx, wy, wz;
+ float xx, yy, yz;
+ float xy, xz, zz;
+ float x2, y2, z2;
+
+ x2 = src.x + src.x;
+ y2 = src.y + src.y;
+ z2 = src.z + src.z;
+
+ xx = src.x * x2;
+ xy = src.x * y2;
+ xz = src.x * z2;
+
+ yy = src.y * y2;
+ yz = src.y * z2;
+ zz = src.z * z2;
+
+ wx = src.w * x2;
+ wy = src.w * y2;
+ wz = src.w * z2;
+
+ dst[ 0 ][ 0 ] = 1.0f - ( yy + zz );
+ dst[ 0 ][ 1 ] = xy - wz;
+ dst[ 0 ][ 2 ] = xz + wy;
+
+ dst[ 1 ][ 0 ] = xy + wz;
+ dst[ 1 ][ 1 ] = 1.0f - ( xx + zz );
+ dst[ 1 ][ 2 ] = yz - wx;
+
+ dst[ 2 ][ 0 ] = xz - wy;
+ dst[ 2 ][ 1 ] = yz + wx;
+ dst[ 2 ][ 2 ] = 1.0f - ( xx + yy );
+}
+
+void toMatrix( angles_t const &src, mat3_t &dst ) {
+ float angle;
+ static float sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
+
+ angle = src.yaw * ( M_PI * 2.0f / 360.0f );
+ sy = sin( angle );
+ cy = cos( angle );
+
+ angle = src.pitch * ( M_PI * 2.0f / 360.0f );
+ sp = sin( angle );
+ cp = cos( angle );
+
+ angle = src.roll * ( M_PI * 2.0f / 360.0f );
+ sr = sin( angle );
+ cr = cos( angle );
+
+ dst[ 0 ].set( cp * cy, cp * sy, -sp );
+ dst[ 1 ].set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
+ dst[ 2 ].set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
+}
+
+void toMatrix( idVec3_t const &src, mat3_t &dst ) {
+ angles_t sup = src;
+ toMatrix(sup, dst);
+}
+
+void mat3_t::ProjectVector( const idVec3_t &src, idVec3_t &dst ) const {
+ dst.x = src * mat[ 0 ];
+ dst.y = src * mat[ 1 ];
+ dst.z = src * mat[ 2 ];
+}
+
+void mat3_t::UnprojectVector( const idVec3_t &src, idVec3_t &dst ) const {
+ dst = mat[ 0 ] * src.x + mat[ 1 ] * src.y + mat[ 2 ] * src.z;
+}
+
+void mat3_t::Transpose( mat3_t &matrix ) {
+ int i;
+ int j;
+
+ for( i = 0; i < 3; i++ ) {
+ for( j = 0; j < 3; j++ ) {
+ matrix[ i ][ j ] = mat[ j ][ i ];
+ }
+ }
+}
+
+void mat3_t::Transpose( void ) {
+ float temp;
+ int i;
+ int j;
+
+ for( i = 0; i < 3; i++ ) {
+ for( j = i + 1; j < 3; j++ ) {
+ temp = mat[ i ][ j ];
+ mat[ i ][ j ] = mat[ j ][ i ];
+ mat[ j ][ i ] = temp;
+ }
+ }
+}
+
+mat3_t mat3_t::Inverse( void ) const {
+ mat3_t inv( *this );
+
+ inv.Transpose();
+
+ return inv;
+}
+
+void mat3_t::Clear( void ) {
+ mat[0].set( 1, 0, 0 );
+ mat[1].set( 0, 1, 0 );
+ mat[2].set( 0, 0, 1 );
+}
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