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JointTransform.h
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28 
29 #ifndef __JOINTTRANSFORM_H__
30 #define __JOINTTRANSFORM_H__
31 
32 /*
33 ===============================================================================
34 
35  Joint Quaternion
36 
37 ===============================================================================
38 */
39 
40 class idJointQuat {
41 public:
42 
43  idQuat q;
44  idVec3 t;
45 };
46 
47 
48 /*
49 ===============================================================================
50 
51  Joint Matrix
52 
53  idMat3 m;
54  idVec3 t;
55 
56  m[0][0], m[1][0], m[2][0], t[0]
57  m[0][1], m[1][1], m[2][1], t[1]
58  m[0][2], m[1][2], m[2][2], t[2]
59 
60 ===============================================================================
61 */
62 
63 class idJointMat {
64 public:
65 
66  void SetRotation( const idMat3 &m );
67  void SetTranslation( const idVec3 &t );
68 
69  idVec3 operator*( const idVec3 &v ) const; // only rotate
70  idVec3 operator*( const idVec4 &v ) const; // rotate and translate
71 
72  idJointMat & operator*=( const idJointMat &a ); // transform
73  idJointMat & operator/=( const idJointMat &a ); // untransform
74 
75  bool Compare( const idJointMat &a ) const; // exact compare, no epsilon
76  bool Compare( const idJointMat &a, const float epsilon ) const; // compare with epsilon
77  bool operator==( const idJointMat &a ) const; // exact compare, no epsilon
78  bool operator!=( const idJointMat &a ) const; // exact compare, no epsilon
79 
80  idMat3 ToMat3( void ) const;
81  idVec3 ToVec3( void ) const;
82  idJointQuat ToJointQuat( void ) const;
83  const float * ToFloatPtr( void ) const;
84  float * ToFloatPtr( void );
85 
86 private:
87  float mat[3*4];
88 };
89 
90 ID_INLINE void idJointMat::SetRotation( const idMat3 &m ) {
91  // NOTE: idMat3 is transposed because it is column-major
92  mat[0 * 4 + 0] = m[0][0];
93  mat[0 * 4 + 1] = m[1][0];
94  mat[0 * 4 + 2] = m[2][0];
95  mat[1 * 4 + 0] = m[0][1];
96  mat[1 * 4 + 1] = m[1][1];
97  mat[1 * 4 + 2] = m[2][1];
98  mat[2 * 4 + 0] = m[0][2];
99  mat[2 * 4 + 1] = m[1][2];
100  mat[2 * 4 + 2] = m[2][2];
101 }
102 
103 ID_INLINE void idJointMat::SetTranslation( const idVec3 &t ) {
104  mat[0 * 4 + 3] = t[0];
105  mat[1 * 4 + 3] = t[1];
106  mat[2 * 4 + 3] = t[2];
107 }
108 
109 ID_INLINE idVec3 idJointMat::operator*( const idVec3 &v ) const {
110  return idVec3( mat[0 * 4 + 0] * v[0] + mat[0 * 4 + 1] * v[1] + mat[0 * 4 + 2] * v[2],
111  mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2],
112  mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] );
113 }
114 
115 ID_INLINE idVec3 idJointMat::operator*( const idVec4 &v ) const {
116  return idVec3( mat[0 * 4 + 0] * v[0] + mat[0 * 4 + 1] * v[1] + mat[0 * 4 + 2] * v[2] + mat[0 * 4 + 3] * v[3],
117  mat[1 * 4 + 0] * v[0] + mat[1 * 4 + 1] * v[1] + mat[1 * 4 + 2] * v[2] + mat[1 * 4 + 3] * v[3],
118  mat[2 * 4 + 0] * v[0] + mat[2 * 4 + 1] * v[1] + mat[2 * 4 + 2] * v[2] + mat[2 * 4 + 3] * v[3] );
119 }
120 
121 ID_INLINE idJointMat &idJointMat::operator*=( const idJointMat &a ) {
122  float dst[3];
123 
124  dst[0] = mat[0 * 4 + 0] * a.mat[0 * 4 + 0] + mat[1 * 4 + 0] * a.mat[0 * 4 + 1] + mat[2 * 4 + 0] * a.mat[0 * 4 + 2];
125  dst[1] = mat[0 * 4 + 0] * a.mat[1 * 4 + 0] + mat[1 * 4 + 0] * a.mat[1 * 4 + 1] + mat[2 * 4 + 0] * a.mat[1 * 4 + 2];
126  dst[2] = mat[0 * 4 + 0] * a.mat[2 * 4 + 0] + mat[1 * 4 + 0] * a.mat[2 * 4 + 1] + mat[2 * 4 + 0] * a.mat[2 * 4 + 2];
127  mat[0 * 4 + 0] = dst[0];
128  mat[1 * 4 + 0] = dst[1];
129  mat[2 * 4 + 0] = dst[2];
130 
131  dst[0] = mat[0 * 4 + 1] * a.mat[0 * 4 + 0] + mat[1 * 4 + 1] * a.mat[0 * 4 + 1] + mat[2 * 4 + 1] * a.mat[0 * 4 + 2];
132  dst[1] = mat[0 * 4 + 1] * a.mat[1 * 4 + 0] + mat[1 * 4 + 1] * a.mat[1 * 4 + 1] + mat[2 * 4 + 1] * a.mat[1 * 4 + 2];
133  dst[2] = mat[0 * 4 + 1] * a.mat[2 * 4 + 0] + mat[1 * 4 + 1] * a.mat[2 * 4 + 1] + mat[2 * 4 + 1] * a.mat[2 * 4 + 2];
134  mat[0 * 4 + 1] = dst[0];
135  mat[1 * 4 + 1] = dst[1];
136  mat[2 * 4 + 1] = dst[2];
137 
138  dst[0] = mat[0 * 4 + 2] * a.mat[0 * 4 + 0] + mat[1 * 4 + 2] * a.mat[0 * 4 + 1] + mat[2 * 4 + 2] * a.mat[0 * 4 + 2];
139  dst[1] = mat[0 * 4 + 2] * a.mat[1 * 4 + 0] + mat[1 * 4 + 2] * a.mat[1 * 4 + 1] + mat[2 * 4 + 2] * a.mat[1 * 4 + 2];
140  dst[2] = mat[0 * 4 + 2] * a.mat[2 * 4 + 0] + mat[1 * 4 + 2] * a.mat[2 * 4 + 1] + mat[2 * 4 + 2] * a.mat[2 * 4 + 2];
141  mat[0 * 4 + 2] = dst[0];
142  mat[1 * 4 + 2] = dst[1];
143  mat[2 * 4 + 2] = dst[2];
144 
145  dst[0] = mat[0 * 4 + 3] * a.mat[0 * 4 + 0] + mat[1 * 4 + 3] * a.mat[0 * 4 + 1] + mat[2 * 4 + 3] * a.mat[0 * 4 + 2];
146  dst[1] = mat[0 * 4 + 3] * a.mat[1 * 4 + 0] + mat[1 * 4 + 3] * a.mat[1 * 4 + 1] + mat[2 * 4 + 3] * a.mat[1 * 4 + 2];
147  dst[2] = mat[0 * 4 + 3] * a.mat[2 * 4 + 0] + mat[1 * 4 + 3] * a.mat[2 * 4 + 1] + mat[2 * 4 + 3] * a.mat[2 * 4 + 2];
148  mat[0 * 4 + 3] = dst[0];
149  mat[1 * 4 + 3] = dst[1];
150  mat[2 * 4 + 3] = dst[2];
151 
152  mat[0 * 4 + 3] += a.mat[0 * 4 + 3];
153  mat[1 * 4 + 3] += a.mat[1 * 4 + 3];
154  mat[2 * 4 + 3] += a.mat[2 * 4 + 3];
155 
156  return *this;
157 }
158 
159 ID_INLINE idJointMat &idJointMat::operator/=( const idJointMat &a ) {
160  float dst[3];
161 
162  mat[0 * 4 + 3] -= a.mat[0 * 4 + 3];
163  mat[1 * 4 + 3] -= a.mat[1 * 4 + 3];
164  mat[2 * 4 + 3] -= a.mat[2 * 4 + 3];
165 
166  dst[0] = mat[0 * 4 + 0] * a.mat[0 * 4 + 0] + mat[1 * 4 + 0] * a.mat[1 * 4 + 0] + mat[2 * 4 + 0] * a.mat[2 * 4 + 0];
167  dst[1] = mat[0 * 4 + 0] * a.mat[0 * 4 + 1] + mat[1 * 4 + 0] * a.mat[1 * 4 + 1] + mat[2 * 4 + 0] * a.mat[2 * 4 + 1];
168  dst[2] = mat[0 * 4 + 0] * a.mat[0 * 4 + 2] + mat[1 * 4 + 0] * a.mat[1 * 4 + 2] + mat[2 * 4 + 0] * a.mat[2 * 4 + 2];
169  mat[0 * 4 + 0] = dst[0];
170  mat[1 * 4 + 0] = dst[1];
171  mat[2 * 4 + 0] = dst[2];
172 
173  dst[0] = mat[0 * 4 + 1] * a.mat[0 * 4 + 0] + mat[1 * 4 + 1] * a.mat[1 * 4 + 0] + mat[2 * 4 + 1] * a.mat[2 * 4 + 0];
174  dst[1] = mat[0 * 4 + 1] * a.mat[0 * 4 + 1] + mat[1 * 4 + 1] * a.mat[1 * 4 + 1] + mat[2 * 4 + 1] * a.mat[2 * 4 + 1];
175  dst[2] = mat[0 * 4 + 1] * a.mat[0 * 4 + 2] + mat[1 * 4 + 1] * a.mat[1 * 4 + 2] + mat[2 * 4 + 1] * a.mat[2 * 4 + 2];
176  mat[0 * 4 + 1] = dst[0];
177  mat[1 * 4 + 1] = dst[1];
178  mat[2 * 4 + 1] = dst[2];
179 
180  dst[0] = mat[0 * 4 + 2] * a.mat[0 * 4 + 0] + mat[1 * 4 + 2] * a.mat[1 * 4 + 0] + mat[2 * 4 + 2] * a.mat[2 * 4 + 0];
181  dst[1] = mat[0 * 4 + 2] * a.mat[0 * 4 + 1] + mat[1 * 4 + 2] * a.mat[1 * 4 + 1] + mat[2 * 4 + 2] * a.mat[2 * 4 + 1];
182  dst[2] = mat[0 * 4 + 2] * a.mat[0 * 4 + 2] + mat[1 * 4 + 2] * a.mat[1 * 4 + 2] + mat[2 * 4 + 2] * a.mat[2 * 4 + 2];
183  mat[0 * 4 + 2] = dst[0];
184  mat[1 * 4 + 2] = dst[1];
185  mat[2 * 4 + 2] = dst[2];
186 
187  dst[0] = mat[0 * 4 + 3] * a.mat[0 * 4 + 0] + mat[1 * 4 + 3] * a.mat[1 * 4 + 0] + mat[2 * 4 + 3] * a.mat[2 * 4 + 0];
188  dst[1] = mat[0 * 4 + 3] * a.mat[0 * 4 + 1] + mat[1 * 4 + 3] * a.mat[1 * 4 + 1] + mat[2 * 4 + 3] * a.mat[2 * 4 + 1];
189  dst[2] = mat[0 * 4 + 3] * a.mat[0 * 4 + 2] + mat[1 * 4 + 3] * a.mat[1 * 4 + 2] + mat[2 * 4 + 3] * a.mat[2 * 4 + 2];
190  mat[0 * 4 + 3] = dst[0];
191  mat[1 * 4 + 3] = dst[1];
192  mat[2 * 4 + 3] = dst[2];
193 
194  return *this;
195 }
196 
197 ID_INLINE bool idJointMat::Compare( const idJointMat &a ) const {
198  int i;
199 
200  for ( i = 0; i < 12; i++ ) {
201  if ( mat[i] != a.mat[i] ) {
202  return false;
203  }
204  }
205  return true;
206 }
207 
208 ID_INLINE bool idJointMat::Compare( const idJointMat &a, const float epsilon ) const {
209  int i;
210 
211  for ( i = 0; i < 12; i++ ) {
212  if ( idMath::Fabs( mat[i] - a.mat[i] ) > epsilon ) {
213  return false;
214  }
215  }
216  return true;
217 }
218 
219 ID_INLINE bool idJointMat::operator==( const idJointMat &a ) const {
220  return Compare( a );
221 }
222 
223 ID_INLINE bool idJointMat::operator!=( const idJointMat &a ) const {
224  return !Compare( a );
225 }
226 
227 ID_INLINE idMat3 idJointMat::ToMat3( void ) const {
228  return idMat3( mat[0 * 4 + 0], mat[1 * 4 + 0], mat[2 * 4 + 0],
229  mat[0 * 4 + 1], mat[1 * 4 + 1], mat[2 * 4 + 1],
230  mat[0 * 4 + 2], mat[1 * 4 + 2], mat[2 * 4 + 2] );
231 }
232 
233 ID_INLINE idVec3 idJointMat::ToVec3( void ) const {
234  return idVec3( mat[0 * 4 + 3], mat[1 * 4 + 3], mat[2 * 4 + 3] );
235 }
236 
237 ID_INLINE const float *idJointMat::ToFloatPtr( void ) const {
238  return mat;
239 }
240 
241 ID_INLINE float *idJointMat::ToFloatPtr( void ) {
242  return mat;
243 }
244 
245 #endif /* !__JOINTTRANSFORM_H__ */
idJointMat::operator/=
idJointMat & operator/=(const idJointMat &a)
Definition: JointTransform.h:159
idJointMat::operator==
bool operator==(const idJointMat &a) const
Definition: JointTransform.h:219
v
const GLdouble * v
Definition: glext.h:2936
idJointMat::Compare
bool Compare(const idJointMat &a) const
Definition: JointTransform.h:197
idVec3
Definition: Vector.h:316
process.i
int i
Definition: process.py:33
idJointMat::SetTranslation
void SetTranslation(const idVec3 &t)
Definition: JointTransform.h:103
idJointMat::SetRotation
void SetRotation(const idMat3 &m)
Definition: JointTransform.h:90
dst
GLuint dst
Definition: glext.h:5285
idJointMat::mat
float mat[3 *4]
Definition: JointTransform.h:87
idVec4
Definition: Vector.h:808
idJointMat::ToVec3
idVec3 ToVec3(void) const
Definition: JointTransform.h:233
idMath::Fabs
static float Fabs(float f)
Definition: Math.h:779
idJointMat::ToFloatPtr
const float * ToFloatPtr(void) const
Definition: JointTransform.h:237
idJointMat::ToJointQuat
idJointQuat ToJointQuat(void) const
Definition: JointTransform.cpp:38
a
GLubyte GLubyte GLubyte a
Definition: glext.h:4662
idQuat
Definition: Quat.h:48
idJointMat::ToMat3
idMat3 ToMat3(void) const
Definition: JointTransform.h:227
idMat3
Definition: Matrix.h:333
idJointMat::operator*
idVec3 operator*(const idVec3 &v) const
Definition: JointTransform.h:109
idJointMat::operator!=
bool operator!=(const idJointMat &a) const
Definition: JointTransform.h:223
t
GLdouble GLdouble t
Definition: glext.h:2943
idJointMat::operator*=
idJointMat & operator*=(const idJointMat &a)
Definition: JointTransform.h:121
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