2 Copyright (C) 1999-2006 Id Software, Inc. and contributors.
3 For a list of contributors, see the accompanying CONTRIBUTORS file.
5 This file is part of GtkRadiant.
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.
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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.
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19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
22 #ifndef __MATH_MATRIX_H__
23 #define __MATH_MATRIX_H__
26 #include "math_vector.h"
36 mat3_t( float src[ 3 ][ 3 ] );
37 mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z );
38 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 );
40 friend void toMatrix( quat_t const &src, mat3_t &dst );
41 friend void toMatrix( angles_t const &src, mat3_t &dst );
42 friend void toMatrix( idVec3 const &src, mat3_t &dst );
44 idVec3 operator[]( int index ) const;
45 idVec3 &operator[]( int index );
47 idVec3 operator*( const idVec3 &vec ) const;
48 mat3_t operator*( const mat3_t &a ) const;
49 mat3_t operator*( float a ) const;
50 mat3_t operator+( mat3_t const &a ) const;
51 mat3_t operator-( mat3_t const &a ) const;
53 friend idVec3 operator*( const idVec3 &vec, const mat3_t &mat );
54 friend mat3_t operator*( float a, mat3_t const &b );
56 mat3_t &operator*=( float a );
57 mat3_t &operator+=( mat3_t const &a );
58 mat3_t &operator-=( mat3_t const &a );
62 void ProjectVector( const idVec3 &src, idVec3 &dst ) const;
63 void UnprojectVector( const idVec3 &src, idVec3 &dst ) const;
65 void OrthoNormalize( void );
66 void Transpose( mat3_t &matrix );
67 void Transpose( void );
68 mat3_t Inverse( void ) const;
69 void Identity( void );
71 friend void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst );
72 friend mat3_t SkewSymmetric( idVec3 const &src );
75 ID_INLINE mat3_t::mat3_t() {
78 ID_INLINE mat3_t::mat3_t(float src[3][3]) {
79 memcpy(mat, src, sizeof(float) * 3 * 3);
82 ID_INLINE mat3_t::mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ) {
83 mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z;
84 mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z;
85 mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z;
88 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 ) {
89 mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz;
90 mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz;
91 mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz;
94 ID_INLINE idVec3 mat3_t::operator[]( int index ) const {
95 assert( ( index >= 0 ) && ( index < 3 ) );
99 ID_INLINE idVec3& mat3_t::operator[]( int index ) {
100 assert( ( index >= 0 ) && ( index < 3 ) );
104 ID_INLINE idVec3 mat3_t::operator*( const idVec3 &vec ) const {
106 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
107 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
108 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
111 ID_INLINE mat3_t mat3_t::operator*( const mat3_t &a ) const {
113 mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x,
114 mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y,
115 mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z,
116 mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x,
117 mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y,
118 mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z,
119 mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x,
120 mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y,
121 mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z );
124 ID_INLINE mat3_t mat3_t::operator*( float a ) const {
126 mat[0].x * a, mat[0].y * a, mat[0].z * a,
127 mat[1].x * a, mat[1].y * a, mat[1].z * a,
128 mat[2].x * a, mat[2].y * a, mat[2].z * a );
131 ID_INLINE mat3_t mat3_t::operator+( mat3_t const &a ) const {
133 mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z,
134 mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z,
135 mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z );
138 ID_INLINE mat3_t mat3_t::operator-( mat3_t const &a ) const {
140 mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z,
141 mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z,
142 mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z );
145 ID_INLINE idVec3 operator*( const idVec3 &vec, const mat3_t &mat ) {
147 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
148 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
149 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
152 ID_INLINE mat3_t operator*( float a, mat3_t const &b ) {
154 b[0].x * a, b[0].y * a, b[0].z * a,
155 b[1].x * a, b[1].y * a, b[1].z * a,
156 b[2].x * a, b[2].y * a, b[2].z * a );
159 ID_INLINE mat3_t &mat3_t::operator*=( float a ) {
160 mat[0].x *= a; mat[0].y *= a; mat[0].z *= a;
161 mat[1].x *= a; mat[1].y *= a; mat[1].z *= a;
162 mat[2].x *= a; mat[2].y *= a; mat[2].z *= a;
167 ID_INLINE mat3_t &mat3_t::operator+=( mat3_t const &a ) {
168 mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z;
169 mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z;
170 mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z;
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;
183 ID_INLINE void mat3_t::OrthoNormalize( void ) {
184 mat[ 0 ].Normalize();
185 mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] );
186 mat[ 2 ].Normalize();
187 mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] );
188 mat[ 1 ].Normalize();
191 ID_INLINE void mat3_t::Identity( void ) {
192 mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f;
193 mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f;
194 mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f;
197 ID_INLINE void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ) {
198 dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x;
199 dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y;
200 dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z;
201 dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x;
202 dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y;
203 dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z;
204 dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x;
205 dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y;
206 dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z;
209 ID_INLINE mat3_t SkewSymmetric( idVec3 const &src ) {
210 return mat3_t( 0.0f, -src.z, src.y, src.z, 0.0f, -src.x, -src.y, src.x, 0.0f );
213 extern mat3_t mat3_default;
215 #endif /* !__MATH_MATRIX_H__ */