ref: bea7b7bf8ccbc2bc41906517079e76fcfb31cb5a
dir: /code/splines/math_matrix.cpp/
/* =========================================================================== 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 ); }