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Paranoia2/game_shared/matrix.h

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//=======================================================================
// Copyright (C) XashXT Group 2011
//=======================================================================
#ifndef MATRIX_H
#define MATRIX_H
#include <vector.h>
#ifndef M_PI
#define M_PI 3.14159265358979323846 // matches value in gcc v2 math.h
#endif
class matrix3x4;
class matrix4x4;
struct mplane_s;
class matrix3x3
{
public:
matrix3x3();
matrix3x3( float m00, float m01, float m02, float m10, float m11, float m12, float m20, float m21, float m22 )
{
mat[0][0] = m00;
mat[0][1] = m01;
mat[0][2] = m02;
mat[1][0] = m10;
mat[1][1] = m11;
mat[1][2] = m12;
mat[2][0] = m20;
mat[2][1] = m21;
mat[2][2] = m22;
}
// init from quaternion
_forceinline matrix3x3( const Vector4D &quaternion )
{
mat[0][0] = 1.0f - 2.0f * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
mat[1][0] = 2.0f * (quaternion.x * quaternion.y - quaternion.z * quaternion.w);
mat[2][0] = 2.0f * (quaternion.x * quaternion.z + quaternion.y * quaternion.w);
mat[0][1] = 2.0f * (quaternion.x * quaternion.y + quaternion.z * quaternion.w);
mat[1][1] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.z * quaternion.z);
mat[2][1] = 2.0f * (quaternion.y * quaternion.z - quaternion.x * quaternion.w);
mat[0][2] = 2.0f * (quaternion.x * quaternion.z - quaternion.y * quaternion.w);
mat[1][2] = 2.0f * (quaternion.y * quaternion.z + quaternion.x * quaternion.w);
mat[2][2] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.y * quaternion.y);
}
// init from angles
_forceinline matrix3x3( const Vector &angles )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI*2 / 360);
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy);
mat[1][0] = (sr*sp*cy+cr*-sy);
mat[2][0] = (cr*sp*cy+-sr*-sy);
mat[0][1] = (cp*sy);
mat[1][1] = (sr*sp*sy+cr*cy);
mat[2][1] = (cr*sp*sy+-sr*cy);
mat[0][2] = (-sp);
mat[1][2] = (sr*cp);
mat[2][2] = (cr*cp);
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
mat[0][0] = (cp*cy);
mat[1][0] = (-sy);
mat[2][0] = (sp*cy);
mat[0][1] = (cp*sy);
mat[1][1] = (cy);
mat[2][1] = (sp*sy);
mat[0][2] = (-sp);
mat[1][2] = 0;
mat[2][2] = (cp);
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
mat[0][0] = (cy);
mat[1][0] = (-sy);
mat[2][0] = 0;
mat[0][1] = (sy);
mat[1][1] = (cy);
mat[2][1] = 0;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = 1;
}
else
{
mat[0][0] = 1;
mat[1][0] = 0;
mat[2][0] = 0;
mat[0][1] = 0;
mat[1][1] = 1;
mat[2][1] = 0;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = 1;
}
}
void Identity();
// array access
float* operator[]( int i ) { return mat[i]; }
float const* operator[]( int i ) const { return mat[i]; }
operator float *() { return (float *)&mat[0][0]; }
operator const float *() const { return (float *)&mat[0][0]; }
_forceinline int operator == ( const matrix3x3& mat2 ) const
{
if( mat[0][0] != mat2[0][0] || mat[0][1] != mat2[0][1] || mat[0][2] != mat2[0][2] )
return false;
if( mat[1][0] != mat2[1][0] || mat[1][1] != mat2[1][1] || mat[1][2] != mat2[1][2] )
return false;
if( mat[2][0] != mat2[2][0] || mat[2][1] != mat2[2][1] || mat[2][2] != mat2[2][2] )
return false;
return true;
}
_forceinline int operator != ( const matrix3x3& mat2 ) const { return !(*this == mat2 ); }
matrix3x3& operator=(const matrix3x4 &vOther);
matrix3x3& operator=(const matrix4x4 &vOther);
// Access the basis vectors.
Vector GetForward() const { return mat[0]; };
Vector GetRight() const { return mat[1]; };
Vector GetUp() const { return mat[2]; };
Vector GetRow( int i ) const { return mat[i]; }
void SetForward( const Vector &vForward ) { mat[0] = vForward; };
void SetRight( const Vector &vRight ) { mat[1] = vRight; };
void SetUp( const Vector &vUp ) { mat[2] = vUp; };
void FromVector( const Vector &forward );
Vector GetAngles( void )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
Vector angles;
// enough here to get angles?
if( xyDist > 0.001f )
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( mat[0][1], mat[0][0] ) );
angles[2] = RAD2DEG( atan2( mat[1][2], mat[2][2] ) );
}
else // forward is mostly Z, gimbal lock
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( -mat[1][0], mat[1][1] ) );
angles[2] = 0;
}
return angles;
}
void GetAngles( Vector &angles ) { angles = GetAngles(); }
void GetAngles( Radian &angles )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
// enough here to get angles?
if( xyDist > 0.001f )
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( mat[0][1], mat[0][0] );
angles.x = atan2( mat[1][2], mat[2][2] );
}
else // forward is mostly Z, gimbal lock
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( -mat[1][0], mat[1][1] );
angles.x = 0.0f;
}
}
Vector4D GetQuaternion( void );
void GetQuaternion( Vector4D &quat ) { quat = GetQuaternion(); }
// Transpose.
matrix3x3 Transpose() const
{
return matrix3x3(
mat[0][0], mat[1][0], mat[2][0],
mat[0][1], mat[1][1], mat[2][1],
mat[0][2], mat[1][2], mat[2][2] );
}
Vector VectorRotate( const Vector &v ) const;
Vector VectorIRotate( const Vector &v ) const;
// copy as OpenGl matrix
inline void CopyToArray( float *rgfl ) const
{
rgfl[ 0] = mat[0][0];
rgfl[ 1] = mat[0][1];
rgfl[ 2] = mat[0][2];
rgfl[ 3] = 0.0f;
rgfl[ 4] = mat[1][0];
rgfl[ 5] = mat[1][1];
rgfl[ 6] = mat[1][2];
rgfl[ 7] = 0.0f;
rgfl[ 8] = mat[2][0];
rgfl[ 9] = mat[2][1];
rgfl[10] = mat[2][2];
rgfl[11] = 0.0f;
rgfl[12] = 0.0f;
rgfl[13] = 0.0f;
rgfl[14] = 0.0f;
rgfl[15] = 1.0f;
}
matrix3x3 Concat( const matrix3x3 mat2 );
Vector mat[3];
};
class matrix3x4
{
public:
matrix3x4();
matrix3x4( float m00, float m01, float m02,
float m10, float m11, float m12,
float m20, float m21, float m22,
float m30, float m31, float m32 )
{
mat[0][0] = m00;
mat[0][1] = m01;
mat[0][2] = m02;
mat[1][0] = m10;
mat[1][1] = m11;
mat[1][2] = m12;
mat[2][0] = m20;
mat[2][1] = m21;
mat[2][2] = m22;
mat[3][0] = m30;
mat[3][1] = m31;
mat[3][2] = m32;
}
// init from entity
_forceinline matrix3x4( const Vector &origin, const Vector &angles, float scale = 1.0f )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI*2 / 360);
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy) * scale;
mat[1][0] = (sr*sp*cy+cr*-sy) * scale;
mat[2][0] = (cr*sp*cy+-sr*-sy) * scale;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale;
mat[1][1] = (sr*sp*sy+cr*cy) * scale;
mat[2][1] = (cr*sp*sy+-sr*cy) * scale;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale;
mat[1][2] = (sr*cp) * scale;
mat[2][2] = (cr*cp) * scale;
mat[3][2] = origin.z;
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
mat[0][0] = (cp*cy) * scale;
mat[1][0] = (-sy) * scale;
mat[2][0] = (sp*cy) * scale;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale;
mat[1][1] = (cy) * scale;
mat[2][1] = (sp*sy) * scale;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale;
mat[1][2] = 0;
mat[2][2] = (cp) * scale;
mat[3][2] = origin.z;
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
mat[0][0] = (cy) * scale;
mat[1][0] = (-sy) * scale;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = (sy) * scale;
mat[1][1] = (cy) * scale;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale;
mat[3][2] = origin.z;
}
else
{
mat[0][0] = scale;
mat[1][0] = 0;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = 0;
mat[1][1] = scale;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale;
mat[3][2] = origin.z;
}
}
// init from entity
_forceinline matrix3x4( const Vector &origin, const Vector &angles, const Vector &scale )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI*2 / 360);
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy) * scale.x;
mat[1][0] = (sr*sp*cy+cr*-sy) * scale.y;
mat[2][0] = (cr*sp*cy+-sr*-sy) * scale.z;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale.x;
mat[1][1] = (sr*sp*sy+cr*cy) * scale.y;
mat[2][1] = (cr*sp*sy+-sr*cy) * scale.z;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale.x;
mat[1][2] = (sr*cp) * scale.y;
mat[2][2] = (cr*cp) * scale.z;
mat[3][2] = origin.z;
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
mat[0][0] = (cp*cy) * scale.x;
mat[1][0] = (-sy) * scale.y;
mat[2][0] = (sp*cy) * scale.z;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale.x;
mat[1][1] = (cy) * scale.y;
mat[2][1] = (sp*sy) * scale.z;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale.x;
mat[1][2] = 0;
mat[2][2] = (cp) * scale.z;
mat[3][2] = origin.z;
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
mat[0][0] = (cy) * scale.x;
mat[1][0] = (-sy) * scale.y;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = (sy) * scale.x;
mat[1][1] = (cy) * scale.y;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale.z;
mat[3][2] = origin.z;
}
else
{
mat[0][0] = scale.x;
mat[1][0] = 0;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = 0;
mat[1][1] = scale.y;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale.z;
mat[3][2] = origin.z;
}
}
_forceinline matrix3x4( const Vector &origin, const Radian &angles, const Vector &scale )
{
float angle, sr, sp, sy, cr, cp, cy;
angle = angles[ROLL]; // YAW -> ROLL
SinCos( angle, &sy, &cy );
angle = angles[YAW]; // PITCH -> YAW
SinCos( angle, &sp, &cp );
angle = angles[PITCH]; // ROLL -> PITCH
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy) * scale.x;
mat[0][1] = (cp*sy) * scale.x;
mat[0][2] = (-sp) * scale.x;
mat[1][0] = (sr*sp*cy+cr*-sy) * scale.y;
mat[1][1] = (sr*sp*sy+cr*cy) * scale.y;
mat[1][2] = (sr*cp) * scale.y;
mat[2][0] = (cr*sp*cy+-sr*-sy) * scale.z;
mat[2][1] = (cr*sp*sy+-sr*cy) * scale.z;
mat[2][2] = (cr*cp) * scale.z;
mat[3][0] = origin.x;
mat[3][1] = origin.y;
mat[3][2] = origin.z;
}
_forceinline matrix3x4( const Vector &origin, const Radian &angles )
{
float angle, sr, sp, sy, cr, cp, cy;
angle = angles[ROLL]; // YAW -> ROLL
SinCos( angle, &sy, &cy );
angle = angles[YAW]; // PITCH -> YAW
SinCos( angle, &sp, &cp );
angle = angles[PITCH]; // ROLL -> PITCH
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy);
mat[0][1] = (cp*sy);
mat[0][2] = (-sp);
mat[1][0] = (sr*sp*cy+cr*-sy);
mat[1][1] = (sr*sp*sy+cr*cy);
mat[1][2] = (sr*cp);
mat[2][0] = (cr*sp*cy+-sr*-sy);
mat[2][1] = (cr*sp*sy+-sr*cy);
mat[2][2] = (cr*cp);
mat[3][0] = origin.x;
mat[3][1] = origin.y;
mat[3][2] = origin.z;
}
// init from quaternion + origin
_forceinline matrix3x4( const Vector &origin, const Vector4D &quaternion )
{
mat[0][0] = 1.0f - 2.0f * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
mat[1][0] = 2.0f * (quaternion.x * quaternion.y - quaternion.z * quaternion.w);
mat[2][0] = 2.0f * (quaternion.x * quaternion.z + quaternion.y * quaternion.w);
mat[3][0] = origin[0];
mat[0][1] = 2.0f * (quaternion.x * quaternion.y + quaternion.z * quaternion.w);
mat[1][1] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.z * quaternion.z);
mat[2][1] = 2.0f * (quaternion.y * quaternion.z - quaternion.x * quaternion.w);
mat[3][1] = origin[1];
mat[0][2] = 2.0f * (quaternion.x * quaternion.z - quaternion.y * quaternion.w);
mat[1][2] = 2.0f * (quaternion.y * quaternion.z + quaternion.x * quaternion.w);
mat[2][2] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.y * quaternion.y);
mat[3][2] = origin[2];
}
// init from rotational matrix
_forceinline matrix3x4( const matrix3x3 &in )
{
mat[0][0] = in[0][0];
mat[0][1] = in[0][1];
mat[0][2] = in[0][2];
mat[1][0] = in[1][0];
mat[1][1] = in[1][1];
mat[1][2] = in[1][2];
mat[2][0] = in[2][0];
mat[2][1] = in[2][1];
mat[2][2] = in[2][2];
mat[3][0] = 0;
mat[3][1] = 0;
mat[3][2] = 0;
}
void Identity();
// array access
float* operator[]( int i ) { return mat[i]; }
float const* operator[]( int i ) const { return mat[i]; }
operator float *() { return (float *)&mat[0][0]; }
operator const float *() const { return (float *)&mat[0][0]; }
_forceinline int operator == ( const matrix3x4& mat2 ) const
{
if( mat[0][0] != mat2[0][0] || mat[0][1] != mat2[0][1] || mat[0][2] != mat2[0][2] )
return false;
if( mat[1][0] != mat2[1][0] || mat[1][1] != mat2[1][1] || mat[1][2] != mat2[1][2] )
return false;
if( mat[2][0] != mat2[2][0] || mat[2][1] != mat2[2][1] || mat[2][2] != mat2[2][2] )
return false;
if( mat[3][0] != mat2[3][0] || mat[3][1] != mat2[3][1] || mat[3][2] != mat2[3][2] )
return false;
return true;
}
_forceinline int operator != ( const matrix3x4& mat2 ) const { return !(*this == mat2 ); }
matrix3x4& operator=( const matrix3x3 &vOther );
matrix3x4& operator=( const matrix4x4 &vOther );
// Access the basis vectors.
Vector GetForward() const { return mat[0]; };
Vector GetRight() const { return mat[1]; };
Vector GetUp() const { return mat[2]; };
Vector GetRow( int i ) const { return mat[i]; }
Vector GetOrigin() const { return mat[3]; };
void SetForward( const Vector &vForward ) { mat[0] = vForward; };
void SetRight( const Vector &vRight ) { mat[1] = vRight; };
void SetUp( const Vector &vUp ) { mat[2] = vUp; };
void SetOrigin( const Vector &vOrigin ) { mat[3] = vOrigin; };
void GetOrigin( Vector &vOrigin ) { vOrigin = mat[3]; };
Vector GetAngles( void )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
Vector angles;
// enough here to get angles?
if( xyDist > 0.001f )
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( mat[0][1], mat[0][0] ) );
angles[2] = RAD2DEG( atan2( mat[1][2], mat[2][2] ) );
}
else // forward is mostly Z, gimbal lock
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( -mat[1][0], mat[1][1] ) );
angles[2] = 0.0f;
}
return angles;
}
void GetStudioTransform( Vector &position, Radian &angles )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
// enough here to get angles?
if( xyDist > 0.001f )
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( mat[0][1], mat[0][0] );
angles.x = atan2( mat[1][2], mat[2][2] );
}
else // forward is mostly Z, gimbal lock
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( -mat[1][0], mat[1][1] );
angles.x = 0.0f;
}
position = mat[3];
}
void GetAngles( Vector &angles ) { angles = GetAngles(); }
void GetAngles( Radian &angles )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
// enough here to get angles?
if( xyDist > 0.001f )
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( mat[0][1], mat[0][0] );
angles.x = atan2( mat[1][2], mat[2][2] );
}
else // forward is mostly Z, gimbal lock
{
angles.y = atan2( -mat[0][2], xyDist );
angles.z = atan2( -mat[1][0], mat[1][1] );
angles.x = 0.0f;
}
}
Vector4D GetQuaternion( void );
void GetQuaternion( Vector4D &quat ) { quat = GetQuaternion(); }
// transform point and normal
Vector VectorTransform( const Vector &v ) const;
Vector VectorITransform( const Vector &v ) const;
Vector VectorRotate( const Vector &v ) const;
Vector VectorIRotate( const Vector &v ) const;
// copy as OpenGl matrix
inline void CopyToArray( float *rgfl ) const
{
rgfl[ 0] = mat[0][0];
rgfl[ 1] = mat[0][1];
rgfl[ 2] = mat[0][2];
rgfl[ 3] = 0.0f;
rgfl[ 4] = mat[1][0];
rgfl[ 5] = mat[1][1];
rgfl[ 6] = mat[1][2];
rgfl[ 7] = 0.0f;
rgfl[ 8] = mat[2][0];
rgfl[ 9] = mat[2][1];
rgfl[10] = mat[2][2];
rgfl[11] = 0.0f;
rgfl[12] = mat[3][0];
rgfl[13] = mat[3][1];
rgfl[14] = mat[3][2];
rgfl[15] = 1.0f;
}
// copy as Vector4D array
inline void CopyToArray4x3( Vector4D array[] ) const
{
array[0] = Vector4D( mat[0][0], mat[0][1], mat[0][2], mat[3][0] );
array[1] = Vector4D( mat[1][0], mat[1][1], mat[1][2], mat[3][1] );
array[2] = Vector4D( mat[2][0], mat[2][1], mat[2][2], mat[3][2] );
}
// Transpose.
matrix3x4 Transpose() const
{
return matrix3x4( // transpose 3x3, position is unchanged
mat[0][0], mat[1][0], mat[2][0],
mat[0][1], mat[1][1], mat[2][1],
mat[0][2], mat[1][2], mat[2][2],
mat[3][0], mat[3][1], mat[3][2] );
}
matrix3x4 Invert( void ) const; // basic orthonormal invert
matrix3x4 ConcatTransforms( const matrix3x4 mat2 );
matrix3x4 ConcatTransforms( const matrix3x4 mat2 ) const;
Vector mat[4];
};
class matrix4x4
{
public:
matrix4x4();
matrix4x4( float m00, float m01, float m02, float m03,
float m10, float m11, float m12, float m13,
float m20, float m21, float m22, float m23,
float m30, float m31, float m32, float m33 )
{
mat[0][0] = m00;
mat[0][1] = m01;
mat[0][2] = m02;
mat[0][3] = m03;
mat[1][0] = m10;
mat[1][1] = m11;
mat[1][2] = m12;
mat[1][3] = m13;
mat[2][0] = m20;
mat[2][1] = m21;
mat[2][2] = m22;
mat[2][3] = m23;
mat[3][0] = m30;
mat[3][1] = m31;
mat[3][2] = m32;
mat[3][3] = m33;
}
// init from OpenGl matrix
matrix4x4( float *opengl_matrix )
{
mat[0][0] = opengl_matrix[0];
mat[0][1] = opengl_matrix[1];
mat[0][2] = opengl_matrix[2];
mat[0][3] = opengl_matrix[3];
mat[1][0] = opengl_matrix[4];
mat[1][1] = opengl_matrix[5];
mat[1][2] = opengl_matrix[6];
mat[1][3] = opengl_matrix[7];
mat[2][0] = opengl_matrix[8];
mat[2][1] = opengl_matrix[9];
mat[2][2] = opengl_matrix[10];
mat[2][3] = opengl_matrix[11];
mat[3][0] = opengl_matrix[12];
mat[3][1] = opengl_matrix[13];
mat[3][2] = opengl_matrix[14];
mat[3][3] = opengl_matrix[15];
}
// init from entity
_forceinline matrix4x4( const Vector &origin, const Vector &angles, float scale = 1.0f )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI*2 / 360);
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy) * scale;
mat[1][0] = (sr*sp*cy+cr*-sy) * scale;
mat[2][0] = (cr*sp*cy+-sr*-sy) * scale;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale;
mat[1][1] = (sr*sp*sy+cr*cy) * scale;
mat[2][1] = (cr*sp*sy+-sr*cy) * scale;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale;
mat[1][2] = (sr*cp) * scale;
mat[2][2] = (cr*cp) * scale;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
mat[0][0] = (cp*cy) * scale;
mat[1][0] = (-sy) * scale;
mat[2][0] = (sp*cy) * scale;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale;
mat[1][1] = (cy) * scale;
mat[2][1] = (sp*sy) * scale;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale;
mat[1][2] = 0;
mat[2][2] = (cp) * scale;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
mat[0][0] = (cy) * scale;
mat[1][0] = (-sy) * scale;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = (sy) * scale;
mat[1][1] = (cy) * scale;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else
{
mat[0][0] = scale;
mat[1][0] = 0;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = 0;
mat[1][1] = scale;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
}
// init from entity
_forceinline matrix4x4( const Vector &origin, const Vector &angles, const Vector &scale )
{
float angle, sr, sp, sy, cr, cp, cy;
if( angles[ROLL] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
angle = angles[ROLL] * (M_PI*2 / 360);
SinCos( angle, &sr, &cr );
mat[0][0] = (cp*cy) * scale.x;
mat[1][0] = (sr*sp*cy+cr*-sy) * scale.y;
mat[2][0] = (cr*sp*cy+-sr*-sy) * scale.z;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale.x;
mat[1][1] = (sr*sp*sy+cr*cy) * scale.y;
mat[2][1] = (cr*sp*sy+-sr*cy) * scale.z;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale.x;
mat[1][2] = (sr*cp) * scale.y;
mat[2][2] = (cr*cp) * scale.z;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else if( angles[PITCH] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
angle = angles[PITCH] * (M_PI*2 / 360);
SinCos( angle, &sp, &cp );
mat[0][0] = (cp*cy) * scale.x;
mat[1][0] = (-sy) * scale.y;
mat[2][0] = (sp*cy) * scale.z;
mat[3][0] = origin.x;
mat[0][1] = (cp*sy) * scale.x;
mat[1][1] = (cy) * scale.y;
mat[2][1] = (sp*sy) * scale.z;
mat[3][1] = origin.y;
mat[0][2] = (-sp) * scale.x;
mat[1][2] = 0;
mat[2][2] = (cp) * scale.z;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else if( angles[YAW] )
{
angle = angles[YAW] * (M_PI*2 / 360);
SinCos( angle, &sy, &cy );
mat[0][0] = (cy) * scale.x;
mat[1][0] = (-sy) * scale.y;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = (sy) * scale.x;
mat[1][1] = (cy) * scale.y;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale.z;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
else
{
mat[0][0] = scale.x;
mat[1][0] = 0;
mat[2][0] = 0;
mat[3][0] = origin.x;
mat[0][1] = 0;
mat[1][1] = scale.y;
mat[2][1] = 0;
mat[3][1] = origin.y;
mat[0][2] = 0;
mat[1][2] = 0;
mat[2][2] = scale.z;
mat[3][2] = origin.z;
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
}
// init from quaternion + origin
_forceinline matrix4x4( const Vector &origin, const Vector4D &quaternion )
{
mat[0][0] = 1.0f - 2.0f * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
mat[1][0] = 2.0f * (quaternion.x * quaternion.y - quaternion.z * quaternion.w);
mat[2][0] = 2.0f * (quaternion.x * quaternion.z + quaternion.y * quaternion.w);
mat[3][0] = origin[0];
mat[0][1] = 2.0f * (quaternion.x * quaternion.y + quaternion.z * quaternion.w);
mat[1][1] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.z * quaternion.z);
mat[2][1] = 2.0f * (quaternion.y * quaternion.z - quaternion.x * quaternion.w);
mat[3][1] = origin[1];
mat[0][2] = 2.0f * (quaternion.x * quaternion.z - quaternion.y * quaternion.w);
mat[1][2] = 2.0f * (quaternion.y * quaternion.z + quaternion.x * quaternion.w);
mat[2][2] = 1.0f - 2.0f * (quaternion.x * quaternion.x + quaternion.y * quaternion.y);
mat[3][2] = origin[2];
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
// init from matrix3x4
_forceinline matrix4x4( const matrix3x4 &in )
{
mat[0][0] = in[0][0];
mat[0][1] = in[0][1];
mat[0][2] = in[0][2];
mat[1][0] = in[1][0];
mat[1][1] = in[1][1];
mat[1][2] = in[1][2];
mat[2][0] = in[2][0];
mat[2][1] = in[2][1];
mat[2][2] = in[2][2];
mat[3][0] = in[3][0];
mat[3][1] = in[3][1];
mat[3][2] = in[3][2];
mat[0][3] = 0;
mat[1][3] = 0;
mat[2][3] = 0;
mat[3][3] = 1;
}
void Identity();
// creates some non-identity states
void CreateModelview( void );
void CreateTexture( void );
void Crop( const Vector &mins, const Vector &maxs );
void LookAt( const Vector &eye, const Vector &dir, const Vector &up ); // like gluLookAt
void CreateProjection( float fov_x, float fov_y, float zNear, float zFar );
void CreateProjection( float xMax, float xMin, float yMax, float yMin, float zNear, float zFar );
void CreateOrtho( float xLeft, float xRight, float yBottom, float yTop, float zNear, float zFar );
void CreateOrthoRH( float xLeft, float xRight, float yBottom, float yTop, float zNear, float zFar );
void CreateTranslate( float x, float y, float z );
void CreateRotate( float angle, float x, float y, float z );
void CreateScale( float scale );
void CreateScale( float x, float y, float z );
// array access
float* operator[]( int i ) { return mat[i]; }
float const* operator[]( int i ) const { return mat[i]; }
operator float *() { return (float *)&mat[0][0]; }
operator const float *() const { return (float *)&mat[0][0]; }
_forceinline int operator == ( const matrix4x4& mat2 ) const
{
if( mat[0][0] != mat2[0][0] || mat[0][1] != mat2[0][1] || mat[0][2] != mat2[0][2] || mat[0][3] != mat2[0][3] )
return false;
if( mat[1][0] != mat2[1][0] || mat[1][1] != mat2[1][1] || mat[1][2] != mat2[1][2] || mat[1][3] != mat2[1][3] )
return false;
if( mat[2][0] != mat2[2][0] || mat[2][1] != mat2[2][1] || mat[2][2] != mat2[2][2] || mat[2][3] != mat2[2][3] )
return false;
if( mat[3][0] != mat2[3][0] || mat[3][1] != mat2[3][1] || mat[3][2] != mat2[3][2] || mat[3][3] != mat2[3][3] )
return false;
return true;
}
_forceinline int operator != ( const matrix4x4& mat2 ) const { return !(*this == mat2 ); }
matrix4x4& operator=( const matrix3x3 &vOther );
matrix4x4& operator=( const matrix3x4 &vOther );
matrix4x4& operator=( const matrix4x4 &vOther );
// Access the basis vectors.
Vector GetForward() const { return mat[0]; };
Vector GetRight() const { return mat[1]; };
Vector GetUp() const { return mat[2]; };
Vector GetRow( int i ) const { return mat[i]; }
Vector GetOrigin() const { return mat[3]; };
void SetForward( const Vector4D &vForward ) { mat[0] = vForward; };
void SetRight( const Vector4D &vRight ) { mat[1] = vRight; };
void SetUp( const Vector4D &vUp ) { mat[2] = vUp; };
void SetForward( const Vector &vForward ) { mat[0] = Vector4D( vForward.x, vForward.y, vForward.z, 1.0f ); };
void SetRight( const Vector &vRight ) { mat[1] = Vector4D( vRight.x, vRight.y, vRight.z, 1.0f ); };
void SetUp( const Vector &vUp ) { mat[2] = Vector4D( vUp.x, vUp.y, vUp.z, 1.0f ); };
void SetOrigin( const Vector &vOrigin ) { mat[3] = Vector4D( vOrigin.x, vOrigin.y, vOrigin.z, 1.0f ); };
void GetOrigin( Vector &vOrigin ) { vOrigin = mat[3]; };
Vector GetAngles( void )
{
float xyDist = sqrt( mat[0][0] * mat[0][0] + mat[0][1] * mat[0][1] );
Vector angles;
// enough here to get angles?
if( xyDist > 0.001f )
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( mat[0][1], mat[0][0] ) );
angles[2] = RAD2DEG( atan2( mat[1][2], mat[2][2] ) );
}
else // forward is mostly Z, gimbal lock
{
angles[0] = RAD2DEG( atan2( -mat[0][2], xyDist ) );
angles[1] = RAD2DEG( atan2( -mat[1][0], mat[1][1] ) );
angles[2] = 0;
}
return angles;
}
void GetAngles( Vector &angles ) { angles = GetAngles(); }
Vector4D GetQuaternion( void );
void GetQuaternion( Vector4D &quat ) { quat = GetQuaternion(); }
// transform point and normal
Vector VectorTransform( const Vector &v ) const;
Vector4D VectorTransform( const Vector4D &v ) const;
Vector VectorITransform( const Vector &v ) const;
Vector VectorRotate( const Vector &v ) const;
Vector VectorIRotate( const Vector &v ) const;
// transform plane
void TransformPositivePlane( const struct mplane_s &in, struct mplane_s &out );
void TransformPositivePlane( const struct plane_s &in, struct plane_s &out );
void TransformStandardPlane( const struct mplane_s &in, struct mplane_s &out );
void TransformStandardPlane( const struct plane_s &in, struct plane_s &out );
// copy as OpenGl matrix
inline void CopyToArray( float *rgfl ) const
{
rgfl[ 0] = mat[0][0];
rgfl[ 1] = mat[0][1];
rgfl[ 2] = mat[0][2];
rgfl[ 3] = mat[0][3];
rgfl[ 4] = mat[1][0];
rgfl[ 5] = mat[1][1];
rgfl[ 6] = mat[1][2];
rgfl[ 7] = mat[1][3];
rgfl[ 8] = mat[2][0];
rgfl[ 9] = mat[2][1];
rgfl[10] = mat[2][2];
rgfl[11] = mat[2][3];
rgfl[12] = mat[3][0];
rgfl[13] = mat[3][1];
rgfl[14] = mat[3][2];
rgfl[15] = mat[3][3];
}
// Transpose.
matrix4x4 Transpose() const
{
return matrix4x4(
mat[0][0], mat[1][0], mat[2][0], mat[3][0],
mat[0][1], mat[1][1], mat[2][1], mat[3][1],
mat[0][2], mat[1][2], mat[2][2], mat[3][2],
mat[0][3], mat[1][3], mat[2][3], mat[3][3] );
}
matrix4x4 Invert( void ) const; // basic orthonormal invert
matrix4x4 InvertFull( void ) const; // full invert
matrix4x4 ConcatTransforms( const matrix4x4 mat2 );
matrix4x4 Concat( const matrix4x4 mat2 );
void ConcatTranslate( float x, float y, float z )
{
matrix4x4 temp;
temp.CreateTranslate( x, y, z );
*this = Concat( temp );
}
void ConcatRotate( float angle, float x, float y, float z )
{
matrix4x4 temp;
temp.CreateRotate( angle, x, y, z );
*this = Concat( temp );
}
void ConcatScale( float scale )
{
matrix4x4 temp;
temp.CreateScale( scale );
*this = Concat( temp );
}
void ConcatScale( float x, float y, float z )
{
matrix4x4 temp;
temp.CreateScale( x, y, z );
*this = Concat( temp );
}
Vector4D mat[4];
};
#endif//MATRIX_H
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