2 Copyright (C) 1999-2007 id Software, Inc. and contributors.
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3 For a list of contributors, see the accompanying CONTRIBUTORS file.
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5 This file is part of GtkRadiant.
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7 GtkRadiant is free software; you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License as published by
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9 the Free Software Foundation; either version 2 of the License, or
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10 (at your option) any later version.
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12 GtkRadiant is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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17 You should have received a copy of the GNU General Public License
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18 along with GtkRadiant; if not, write to the Free Software
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19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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22 #ifndef __MATH_MATRIX_H__
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23 #define __MATH_MATRIX_H__
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26 #include "math_vector.h"
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30 #define ID_INLINE __inline
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32 #define ID_INLINE inline
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44 mat3_t( float src[ 3 ][ 3 ] );
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45 mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z );
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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 );
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48 friend void toMatrix( quat_t const &src, mat3_t &dst );
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49 friend void toMatrix( angles_t const &src, mat3_t &dst );
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50 friend void toMatrix( idVec3 const &src, mat3_t &dst );
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52 idVec3 operator[]( int index ) const;
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53 idVec3 &operator[]( int index );
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55 idVec3 operator*( const idVec3 &vec ) const;
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56 mat3_t operator*( const mat3_t &a ) const;
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57 mat3_t operator*( float a ) const;
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58 mat3_t operator+( mat3_t const &a ) const;
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59 mat3_t operator-( mat3_t const &a ) const;
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61 friend idVec3 operator*( const idVec3 &vec, const mat3_t &mat );
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62 friend mat3_t operator*( float a, mat3_t const &b );
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64 mat3_t &operator*=( float a );
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65 mat3_t &operator+=( mat3_t const &a );
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66 mat3_t &operator-=( mat3_t const &a );
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70 void ProjectVector( const idVec3 &src, idVec3 &dst ) const;
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71 void UnprojectVector( const idVec3 &src, idVec3 &dst ) const;
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73 void OrthoNormalize( void );
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74 void Transpose( mat3_t &matrix );
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75 void Transpose( void );
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76 mat3_t Inverse( void ) const;
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77 void Identity( void );
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79 friend void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst );
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80 friend mat3_t SkewSymmetric( idVec3 const &src );
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83 ID_INLINE mat3_t::mat3_t() {
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86 ID_INLINE mat3_t::mat3_t( float src[ 3 ][ 3 ] ) {
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87 memcpy( mat, src, sizeof( src ) );
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90 ID_INLINE mat3_t::mat3_t( idVec3 const &x, idVec3 const &y, idVec3 const &z ) {
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91 mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z;
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92 mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z;
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93 mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z;
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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 ) {
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97 mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz;
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98 mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz;
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99 mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz;
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102 ID_INLINE idVec3 mat3_t::operator[]( int index ) const {
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103 assert( ( index >= 0 ) && ( index < 3 ) );
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104 return mat[ index ];
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107 ID_INLINE idVec3& mat3_t::operator[]( int index ) {
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108 assert( ( index >= 0 ) && ( index < 3 ) );
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109 return mat[ index ];
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112 ID_INLINE idVec3 mat3_t::operator*( const idVec3 &vec ) const {
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114 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
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115 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
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116 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
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119 ID_INLINE mat3_t mat3_t::operator*( const mat3_t &a ) const {
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121 mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x,
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122 mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y,
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123 mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z,
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124 mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x,
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125 mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y,
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126 mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z,
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127 mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x,
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128 mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y,
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129 mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z );
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132 ID_INLINE mat3_t mat3_t::operator*( float a ) const {
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134 mat[0].x * a, mat[0].y * a, mat[0].z * a,
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135 mat[1].x * a, mat[1].y * a, mat[1].z * a,
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136 mat[2].x * a, mat[2].y * a, mat[2].z * a );
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139 ID_INLINE mat3_t mat3_t::operator+( mat3_t const &a ) const {
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141 mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z,
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142 mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z,
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143 mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z );
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146 ID_INLINE mat3_t mat3_t::operator-( mat3_t const &a ) const {
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148 mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z,
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149 mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z,
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150 mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z );
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153 ID_INLINE idVec3 operator*( const idVec3 &vec, const mat3_t &mat ) {
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155 mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
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156 mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
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157 mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
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160 ID_INLINE mat3_t operator*( float a, mat3_t const &b ) {
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162 b[0].x * a, b[0].y * a, b[0].z * a,
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163 b[1].x * a, b[1].y * a, b[1].z * a,
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164 b[2].x * a, b[2].y * a, b[2].z * a );
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167 ID_INLINE mat3_t &mat3_t::operator*=( float a ) {
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168 mat[0].x *= a; mat[0].y *= a; mat[0].z *= a;
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169 mat[1].x *= a; mat[1].y *= a; mat[1].z *= a;
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170 mat[2].x *= a; mat[2].y *= a; mat[2].z *= a;
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175 ID_INLINE mat3_t &mat3_t::operator+=( mat3_t const &a ) {
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176 mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z;
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177 mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z;
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178 mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z;
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183 ID_INLINE mat3_t &mat3_t::operator-=( mat3_t const &a ) {
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184 mat[0].x -= a[0].x; mat[0].y -= a[0].y; mat[0].z -= a[0].z;
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185 mat[1].x -= a[1].x; mat[1].y -= a[1].y; mat[1].z -= a[1].z;
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186 mat[2].x -= a[2].x; mat[2].y -= a[2].y; mat[2].z -= a[2].z;
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191 ID_INLINE void mat3_t::OrthoNormalize( void ) {
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192 mat[ 0 ].Normalize();
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193 mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] );
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194 mat[ 2 ].Normalize();
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195 mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] );
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196 mat[ 1 ].Normalize();
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199 ID_INLINE void mat3_t::Identity( void ) {
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200 mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f;
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201 mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f;
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202 mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f;
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205 ID_INLINE void InverseMultiply( const mat3_t &inv, const mat3_t &b, mat3_t &dst ) {
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206 dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x;
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207 dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y;
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208 dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z;
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209 dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x;
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210 dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y;
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211 dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z;
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212 dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x;
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213 dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y;
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214 dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z;
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217 ID_INLINE mat3_t SkewSymmetric( idVec3 const &src ) {
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218 return mat3_t( 0.0f, -src.z, src.y, src.z, 0.0f, -src.x, -src.y, src.x, 0.0f );
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221 extern mat3_t mat3_default;
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223 #endif /* !__MATH_MATRIX_H__ */
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