TF2-Source-Code/tf2_src/mathlib/vmatrix.cpp at master · sr2echa/TF2-Source-Code · GitHub

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// Purpose:

// $NoKeywords: $

//=============================================================================//

#if !defined(_STATIC_LINKED) || defined(_SHARED_LIB)

#include "basetypes.h"

#include "mathlib/vmatrix.h"

#include "mathlib/mathlib.h"

#include <string.h>

#include "mathlib/vector4d.h"

#include "tier0/dbg.h"

// memdbgon must be the last include file in a .cpp file!!!

#include "tier0/memdbgon.h"

#pragma warning (disable : 4700) // local variable 'x' used without having been initialized

// ------------------------------------------------------------------------------------------- //

// Helper functions.

// ------------------------------------------------------------------------------------------- //

#ifndef VECTOR_NO_SLOW_OPERATIONS

VMatrix SetupMatrixIdentity()

{

return VMatrix(

1.0f, 0.0f, 0.0f, 0.0f,

0.0f, 1.0f, 0.0f, 0.0f,

0.0f, 0.0f, 1.0f, 0.0f,

0.0f, 0.0f, 0.0f, 1.0f);

}

VMatrix SetupMatrixTranslation(const Vector &vTranslation)

{

return VMatrix(

1.0f, 0.0f, 0.0f, vTranslation.x,

0.0f, 1.0f, 0.0f, vTranslation.y,

0.0f, 0.0f, 1.0f, vTranslation.z,

0.0f, 0.0f, 0.0f, 1.0f

);

}

VMatrix SetupMatrixScale(const Vector &vScale)

{

return VMatrix(

vScale.x, 0.0f, 0.0f, 0.0f,

0.0f, vScale.y, 0.0f, 0.0f,

0.0f, 0.0f, vScale.z, 0.0f,

0.0f, 0.0f, 0.0f, 1.0f

);

}

VMatrix SetupMatrixReflection(const VPlane &thePlane)

{

VMatrix mReflect, mBack, mForward;

Vector vOrigin, N;

N = thePlane.m_Normal;

mReflect.Init(

-2.0f*N.x*N.x + 1.0f, -2.0f*N.x*N.y, -2.0f*N.x*N.z, 0.0f,

-2.0f*N.y*N.x, -2.0f*N.y*N.y + 1.0f, -2.0f*N.y*N.z, 0.0f,

-2.0f*N.z*N.x, -2.0f*N.z*N.y, -2.0f*N.z*N.z + 1.0f, 0.0f,

0.0f, 0.0f, 0.0f, 1.0f

);

vOrigin = thePlane.GetPointOnPlane();

mBack.Identity();

mBack.SetTranslation(-vOrigin);

mForward.Identity();

mForward.SetTranslation(vOrigin);

// (multiplied in reverse order, so it translates to the origin point,

// reflects, and translates back).

return mForward * mReflect * mBack;

}

VMatrix SetupMatrixProjection(const Vector &vOrigin, const VPlane &thePlane)

{

vec_t dot;

VMatrix mRet;

#define PN thePlane.m_Normal

#define PD thePlane.m_Dist;

dot = PN[0]*vOrigin.x + PN[1]*vOrigin.y + PN[2]*vOrigin.z - PD;

mRet.m[0][0] = dot - vOrigin.x * PN[0];

mRet.m[0][1] = -vOrigin.x * PN[1];

mRet.m[0][2] = -vOrigin.x * PN[2];

mRet.m[0][3] = -vOrigin.x * -PD;

mRet.m[1][0] = -vOrigin.y * PN[0];

mRet.m[1][1] = dot - vOrigin.y * PN[1];

mRet.m[1][2] = -vOrigin.y * PN[2];

mRet.m[1][3] = -vOrigin.y * -PD;

mRet.m[2][0] = -vOrigin.z * PN[0];

mRet.m[2][1] = -vOrigin.z * PN[1];

mRet.m[2][2] = dot - vOrigin.z * PN[2];

mRet.m[2][3] = -vOrigin.z * -PD;

mRet.m[3][0] = -PN[0];

mRet.m[3][1] = -PN[1];

mRet.m[3][2] = -PN[2];

mRet.m[3][3] = dot + PD;

#undef PN

#undef PD

return mRet;

}

VMatrix SetupMatrixAxisRot(const Vector &vAxis, vec_t fDegrees)

{

vec_t s, c, t;

vec_t tx, ty, tz;

vec_t sx, sy, sz;

vec_t fRadians;

fRadians = fDegrees * (M_PI / 180.0f);

s = (vec_t)sin(fRadians);

c = (vec_t)cos(fRadians);

t = 1.0f - c;

tx = t * vAxis.x; ty = t * vAxis.y; tz = t * vAxis.z;

sx = s * vAxis.x; sy = s * vAxis.y; sz = s * vAxis.z;

return VMatrix(

tx*vAxis.x + c, tx*vAxis.y - sz, tx*vAxis.z + sy, 0.0f,

tx*vAxis.y + sz, ty*vAxis.y + c, ty*vAxis.z - sx, 0.0f,

tx*vAxis.z - sy, ty*vAxis.z + sx, tz*vAxis.z + c, 0.0f,

0.0f, 0.0f, 0.0f, 1.0f);

}

VMatrix SetupMatrixAngles(const QAngle &vAngles)

{

VMatrix mRet;

MatrixFromAngles( vAngles, mRet );

return mRet;

}

VMatrix SetupMatrixOrgAngles(const Vector &origin, const QAngle &vAngles)

{

VMatrix mRet;

mRet.SetupMatrixOrgAngles( origin, vAngles );

return mRet;

}

#endif // VECTOR_NO_SLOW_OPERATIONS

bool PlaneIntersection( const VPlane &vp1, const VPlane &vp2, const VPlane &vp3, Vector &vOut )

{

VMatrix mMat, mInverse;

mMat.Init(

vp1.m_Normal.x, vp1.m_Normal.y, vp1.m_Normal.z, -vp1.m_Dist,

vp2.m_Normal.x, vp2.m_Normal.y, vp2.m_Normal.z, -vp2.m_Dist,

vp3.m_Normal.x, vp3.m_Normal.y, vp3.m_Normal.z, -vp3.m_Dist,

0.0f, 0.0f, 0.0f, 1.0f

);

if(mMat.InverseGeneral(mInverse))

{

//vOut = mInverse * Vector(0.0f, 0.0f, 0.0f);

mInverse.GetTranslation( vOut );

return true;

}

else

{

return false;

}

// ------------------------------------------------------------------------------------------- //

// VMatrix functions.

// ------------------------------------------------------------------------------------------- //

VMatrix& VMatrix::operator=(const VMatrix &mOther)

{

m[0][0] = mOther.m[0][0];

m[0][1] = mOther.m[0][1];

m[0][2] = mOther.m[0][2];

m[0][3] = mOther.m[0][3];

m[1][0] = mOther.m[1][0];

m[1][1] = mOther.m[1][1];

m[1][2] = mOther.m[1][2];

m[1][3] = mOther.m[1][3];

m[2][0] = mOther.m[2][0];

m[2][1] = mOther.m[2][1];

m[2][2] = mOther.m[2][2];

m[2][3] = mOther.m[2][3];

m[3][0] = mOther.m[3][0];

m[3][1] = mOther.m[3][1];

m[3][2] = mOther.m[3][2];

m[3][3] = mOther.m[3][3];

return *this;

}

bool VMatrix::operator==( const VMatrix& src ) const

{

return !memcmp( src.m, m, sizeof(m) );

}

void VMatrix::MatrixMul( const VMatrix &vm, VMatrix &out ) const

{

out.Init(

m[0][0]*vm.m[0][0] + m[0][1]*vm.m[1][0] + m[0][2]*vm.m[2][0] + m[0][3]*vm.m[3][0],

m[0][0]*vm.m[0][1] + m[0][1]*vm.m[1][1] + m[0][2]*vm.m[2][1] + m[0][3]*vm.m[3][1],

m[0][0]*vm.m[0][2] + m[0][1]*vm.m[1][2] + m[0][2]*vm.m[2][2] + m[0][3]*vm.m[3][2],

m[0][0]*vm.m[0][3] + m[0][1]*vm.m[1][3] + m[0][2]*vm.m[2][3] + m[0][3]*vm.m[3][3],

m[1][0]*vm.m[0][0] + m[1][1]*vm.m[1][0] + m[1][2]*vm.m[2][0] + m[1][3]*vm.m[3][0],

m[1][0]*vm.m[0][1] + m[1][1]*vm.m[1][1] + m[1][2]*vm.m[2][1] + m[1][3]*vm.m[3][1],

m[1][0]*vm.m[0][2] + m[1][1]*vm.m[1][2] + m[1][2]*vm.m[2][2] + m[1][3]*vm.m[3][2],

m[1][0]*vm.m[0][3] + m[1][1]*vm.m[1][3] + m[1][2]*vm.m[2][3] + m[1][3]*vm.m[3][3],

m[2][0]*vm.m[0][0] + m[2][1]*vm.m[1][0] + m[2][2]*vm.m[2][0] + m[2][3]*vm.m[3][0],

m[2][0]*vm.m[0][1] + m[2][1]*vm.m[1][1] + m[2][2]*vm.m[2][1] + m[2][3]*vm.m[3][1],

m[2][0]*vm.m[0][2] + m[2][1]*vm.m[1][2] + m[2][2]*vm.m[2][2] + m[2][3]*vm.m[3][2],

m[2][0]*vm.m[0][3] + m[2][1]*vm.m[1][3] + m[2][2]*vm.m[2][3] + m[2][3]*vm.m[3][3],

m[3][0]*vm.m[0][0] + m[3][1]*vm.m[1][0] + m[3][2]*vm.m[2][0] + m[3][3]*vm.m[3][0],

m[3][0]*vm.m[0][1] + m[3][1]*vm.m[1][1] + m[3][2]*vm.m[2][1] + m[3][3]*vm.m[3][1],

m[3][0]*vm.m[0][2] + m[3][1]*vm.m[1][2] + m[3][2]*vm.m[2][2] + m[3][3]*vm.m[3][2],

m[3][0]*vm.m[0][3] + m[3][1]*vm.m[1][3] + m[3][2]*vm.m[2][3] + m[3][3]*vm.m[3][3]

);

}

#ifndef VECTOR_NO_SLOW_OPERATIONS

VMatrix VMatrix::operator*(const VMatrix &vm) const

{

VMatrix ret;

MatrixMul( vm, ret );

return ret;

}

#endif

bool VMatrix::InverseGeneral(VMatrix &vInverse) const

{

return MatrixInverseGeneral( *this, vInverse );

}

bool MatrixInverseGeneral(const VMatrix& src, VMatrix& dst)

{

int iRow, i, j, iTemp, iTest;

vec_t mul, fTest, fLargest;

vec_t mat[4][8];

int rowMap[4], iLargest;

vec_t *pOut, *pRow, *pScaleRow;

// How it's done.

// AX = I

// A = this

// X = the matrix we're looking for

// I = identity

// Setup AI

for(i=0; i < 4; i++)

{

const vec_t *pIn = src[i];

pOut = mat[i];

for(j=0; j < 4; j++)

{

pOut[j] = pIn[j];

}

pOut[4] = 0.0f;

pOut[5] = 0.0f;

pOut[6] = 0.0f;

pOut[7] = 0.0f;

pOut[i+4] = 1.0f;

rowMap[i] = i;

}

// Use row operations to get to reduced row-echelon form using these rules:

// 1. Multiply or divide a row by a nonzero number.

// 2. Add a multiple of one row to another.

// 3. Interchange two rows.

for(iRow=0; iRow < 4; iRow++)

{

// Find the row with the largest element in this column.

fLargest = 0.00001f;

iLargest = -1;

for(iTest=iRow; iTest < 4; iTest++)

{

fTest = (vec_t)FloatMakePositive(mat[rowMap[iTest]][iRow]);

if(fTest > fLargest)

{

iLargest = iTest;

fLargest = fTest;

}

// They're all too small.. sorry.

if(iLargest == -1)

{

return false;

}

// Swap the rows.

iTemp = rowMap[iLargest];

rowMap[iLargest] = rowMap[iRow];

rowMap[iRow] = iTemp;

pRow = mat[rowMap[iRow]];

// Divide this row by the element.

mul = 1.0f / pRow[iRow];

for(j=0; j < 8; j++)

pRow[j] *= mul;

pRow[iRow] = 1.0f; // Preserve accuracy...

// Eliminate this element from the other rows using operation 2.

for(i=0; i < 4; i++)

{

if(i == iRow)

continue;

pScaleRow = mat[rowMap[i]];

// Multiply this row by -(iRow*the element).

mul = -pScaleRow[iRow];

for(j=0; j < 8; j++)

{

pScaleRow[j] += pRow[j] * mul;

}

pScaleRow[iRow] = 0.0f; // Preserve accuracy...

}

// The inverse is on the right side of AX now (the identity is on the left).

for(i=0; i < 4; i++)

{

const vec_t *pIn = mat[rowMap[i]] + 4;

pOut = dst.m[i];

for(j=0; j < 4; j++)

{

pOut[j] = pIn[j];

}

return true;

}

//-----------------------------------------------------------------------------

// Does a fast inverse, assuming the matrix only contains translation and rotation.

//-----------------------------------------------------------------------------

void MatrixInverseTR( const VMatrix& src, VMatrix &dst )

{

Vector vTrans, vNewTrans;

// Transpose the upper 3x3.

dst.m[0][0] = src.m[0][0]; dst.m[0][1] = src.m[1][0]; dst.m[0][2] = src.m[2][0];

dst.m[1][0] = src.m[0][1]; dst.m[1][1] = src.m[1][1]; dst.m[1][2] = src.m[2][1];

dst.m[2][0] = src.m[0][2]; dst.m[2][1] = src.m[1][2]; dst.m[2][2] = src.m[2][2];

// Transform the translation.

vTrans.Init( -src.m[0][3], -src.m[1][3], -src.m[2][3] );

Vector3DMultiply( dst, vTrans, vNewTrans );

MatrixSetColumn( dst, 3, vNewTrans );

// Fill in the bottom row.

dst.m[3][0] = dst.m[3][1] = dst.m[3][2] = 0.0f;

dst.m[3][3] = 1.0f;

}

void VMatrix::InverseTR( VMatrix &ret ) const

{

MatrixInverseTR( *this, ret );

}

void MatrixInverseTranspose( const VMatrix& src, VMatrix& dst )

{

src.InverseGeneral( dst );

MatrixTranspose( dst, dst );

}

//-----------------------------------------------------------------------------

// Computes the inverse transpose

//-----------------------------------------------------------------------------

void MatrixInverseTranspose( const matrix3x4_t& src, matrix3x4_t& dst )

{

VMatrix tmp, out;

tmp.CopyFrom3x4( src );

::MatrixInverseTranspose( tmp, out );

out.Set3x4( dst );

}

#ifndef VECTOR_NO_SLOW_OPERATIONS

VMatrix VMatrix::InverseTR() const

{

VMatrix ret;

MatrixInverseTR( *this, ret );

return ret;

}

Vector VMatrix::GetScale() const

{

Vector vecs[3];

GetBasisVectors(vecs[0], vecs[1], vecs[2]);

return Vector(

vecs[0].Length(),

vecs[1].Length(),

vecs[2].Length()

);

}

VMatrix VMatrix::Scale(const Vector &vScale)

{

return VMatrix(

m[0][0]*vScale.x, m[0][1]*vScale.y, m[0][2]*vScale.z, m[0][3],

m[1][0]*vScale.x, m[1][1]*vScale.y, m[1][2]*vScale.z, m[1][3],

m[2][0]*vScale.x, m[2][1]*vScale.y, m[2][2]*vScale.z, m[2][3],

m[3][0]*vScale.x, m[3][1]*vScale.y, m[3][2]*vScale.z, 1.0f

);

}

VMatrix VMatrix::NormalizeBasisVectors() const

{

Vector vecs[3];

VMatrix mRet;

GetBasisVectors(vecs[0], vecs[1], vecs[2]);

VectorNormalize( vecs[0] );

VectorNormalize( vecs[1] );

VectorNormalize( vecs[2] );

mRet.SetBasisVectors(vecs[0], vecs[1], vecs[2]);

// Set everything but basis vectors to identity.

mRet.m[3][0] = mRet.m[3][1] = mRet.m[3][2] = 0.0f;

mRet.m[3][3] = 1.0f;

return mRet;

}

VMatrix VMatrix::Transpose() const

{

return VMatrix(

m[0][0], m[1][0], m[2][0], m[3][0],

m[0][1], m[1][1], m[2][1], m[3][1],

m[0][2], m[1][2], m[2][2], m[3][2],

m[0][3], m[1][3], m[2][3], m[3][3]);

}

// Transpose upper-left 3x3.

VMatrix VMatrix::Transpose3x3() const

{

return VMatrix(

m[0][0], m[1][0], m[2][0], m[0][3],

m[0][1], m[1][1], m[2][1], m[1][3],

m[0][2], m[1][2], m[2][2], m[2][3],

m[3][0], m[3][1], m[3][2], m[3][3]);

}

#endif // VECTOR_NO_SLOW_OPERATIONS

bool VMatrix::IsRotationMatrix() const

{

Vector &v1 = (Vector&)m[0][0];

Vector &v2 = (Vector&)m[1][0];

Vector &v3 = (Vector&)m[2][0];

return

FloatMakePositive( 1 - v1.Length() ) < 0.01f &&

FloatMakePositive( 1 - v2.Length() ) < 0.01f &&

FloatMakePositive( 1 - v3.Length() ) < 0.01f &&

FloatMakePositive( v1.Dot(v2) ) < 0.01f &&

FloatMakePositive( v1.Dot(v3) ) < 0.01f &&

FloatMakePositive( v2.Dot(v3) ) < 0.01f;

}

static void SetupMatrixAnglesInternal( vec_t m[4][4], const QAngle & vAngles )

{

float sr, sp, sy, cr, cp, cy;

SinCos( DEG2RAD( vAngles[YAW] ), &sy, &cy );

SinCos( DEG2RAD( vAngles[PITCH] ), &sp, &cp );

SinCos( DEG2RAD( vAngles[ROLL] ), &sr, &cr );

// matrix = (YAW * PITCH) * ROLL

m[0][0] = cp*cy;

m[1][0] = cp*sy;

m[2][0] = -sp;

m[0][1] = sr*sp*cy+cr*-sy;

m[1][1] = sr*sp*sy+cr*cy;

m[2][1] = sr*cp;

m[0][2] = (cr*sp*cy+-sr*-sy);

m[1][2] = (cr*sp*sy+-sr*cy);

m[2][2] = cr*cp;

m[0][3] = 0.f;

m[1][3] = 0.f;

m[2][3] = 0.f;

}

void VMatrix::SetupMatrixOrgAngles( const Vector &origin, const QAngle &vAngles )

{

SetupMatrixAnglesInternal( m, vAngles );

// Add translation

m[0][3] = origin.x;

m[1][3] = origin.y;

m[2][3] = origin.z;

m[3][0] = 0.0f;

m[3][1] = 0.0f;

m[3][2] = 0.0f;

m[3][3] = 1.0f;

}

void VMatrix::SetupMatrixAngles( const QAngle &vAngles )

{

SetupMatrixAnglesInternal( m, vAngles );

// Zero everything else

m[0][3] = 0.0f;

m[1][3] = 0.0f;

m[2][3] = 0.0f;

m[3][0] = 0.0f;

m[3][1] = 0.0f;

m[3][2] = 0.0f;

m[3][3] = 1.0f;

}

//-----------------------------------------------------------------------------

// Sets matrix to identity

//-----------------------------------------------------------------------------

void MatrixSetIdentity( VMatrix &dst )

{

dst[0][0] = 1.0f; dst[0][1] = 0.0f; dst[0][2] = 0.0f; dst[0][3] = 0.0f;

dst[1][0] = 0.0f; dst[1][1] = 1.0f; dst[1][2] = 0.0f; dst[1][3] = 0.0f;

dst[2][0] = 0.0f; dst[2][1] = 0.0f; dst[2][2] = 1.0f; dst[2][3] = 0.0f;

dst[3][0] = 0.0f; dst[3][1] = 0.0f; dst[3][2] = 0.0f; dst[3][3] = 1.0f;

}

//-----------------------------------------------------------------------------

// Setup a matrix from euler angles.

//-----------------------------------------------------------------------------

void MatrixFromAngles( const QAngle& vAngles, VMatrix& dst )

{

dst.SetupMatrixOrgAngles( vec3_origin, vAngles );

}

//-----------------------------------------------------------------------------

// Creates euler angles from a matrix

//-----------------------------------------------------------------------------

void MatrixToAngles( const VMatrix& src, QAngle& vAngles )

{

float forward[3];

float left[3];

float up[3];

// Extract the basis vectors from the matrix. Since we only need the Z

// component of the up vector, we don't get X and Y.

forward[0] = src[0][0];

forward[1] = src[1][0];

forward[2] = src[2][0];

left[0] = src[0][1];

left[1] = src[1][1];

left[2] = src[2][1];

up[2] = src[2][2];

float xyDist = sqrtf( forward[0] * forward[0] + forward[1] * forward[1] );

// enough here to get angles?

if ( xyDist > 0.001f )

{

// (yaw) y = ATAN( forward.y, forward.x ); -- in our space, forward is the X axis

vAngles[1] = RAD2DEG( atan2f( forward[1], forward[0] ) );

// The engine does pitch inverted from this, but we always end up negating it in the DLL

// UNDONE: Fix the engine to make it consistent

// (pitch) x = ATAN( -forward.z, sqrt(forward.x*forward.x+forward.y*forward.y) );

vAngles[0] = RAD2DEG( atan2f( -forward[2], xyDist ) );

// (roll) z = ATAN( left.z, up.z );

vAngles[2] = RAD2DEG( atan2f( left[2], up[2] ) );

}

else // forward is mostly Z, gimbal lock-

{

// (yaw) y = ATAN( -left.x, left.y ); -- forward is mostly z, so use right for yaw

vAngles[1] = RAD2DEG( atan2f( -left[0], left[1] ) );

// The engine does pitch inverted from this, but we always end up negating it in the DLL

// UNDONE: Fix the engine to make it consistent

// (pitch) x = ATAN( -forward.z, sqrt(forward.x*forward.x+forward.y*forward.y) );

vAngles[0] = RAD2DEG( atan2f( -forward[2], xyDist ) );

// Assume no roll in this case as one degree of freedom has been lost (i.e. yaw == roll)

vAngles[2] = 0;

}

//-----------------------------------------------------------------------------

// Transpose

//-----------------------------------------------------------------------------

inline void Swap( float& a, float& b )

{

float tmp = a;

a = b;

b = tmp;

}

void MatrixTranspose( const VMatrix& src, VMatrix& dst )

{

if (&src == &dst)

{

Swap( dst[0][1], dst[1][0] );

Swap( dst[0][2], dst[2][0] );

Swap( dst[0][3], dst[3][0] );

Swap( dst[1][2], dst[2][1] );

Swap( dst[1][3], dst[3][1] );

Swap( dst[2][3], dst[3][2] );

}

else

{

dst[0][0] = src[0][0]; dst[0][1] = src[1][0]; dst[0][2] = src[2][0]; dst[0][3] = src[3][0];

dst[1][0] = src[0][1]; dst[1][1] = src[1][1]; dst[1][2] = src[2][1]; dst[1][3] = src[3][1];

dst[2][0] = src[0][2]; dst[2][1] = src[1][2]; dst[2][2] = src[2][2]; dst[2][3] = src[3][2];

dst[3][0] = src[0][3]; dst[3][1] = src[1][3]; dst[3][2] = src[2][3]; dst[3][3] = src[3][3];

}

//-----------------------------------------------------------------------------

// Matrix copy

//-----------------------------------------------------------------------------

void MatrixCopy( const VMatrix& src, VMatrix& dst )

{

if (&src != &dst)

{

memcpy( dst.m, src.m, 16 * sizeof(float) );

}

//-----------------------------------------------------------------------------

// Matrix multiply

//-----------------------------------------------------------------------------

typedef float VMatrixRaw_t[4];

void MatrixMultiply( const VMatrix& src1, const VMatrix& src2, VMatrix& dst )

{

// Make sure it works if src1 == dst or src2 == dst

VMatrix tmp1, tmp2;

const VMatrixRaw_t* s1 = (&src1 == &dst) ? tmp1.m : src1.m;

const VMatrixRaw_t* s2 = (&src2 == &dst) ? tmp2.m : src2.m;

if (&src1 == &dst)

{

MatrixCopy( src1, tmp1 );

}

if (&src2 == &dst)

{

MatrixCopy( src2, tmp2 );

}

dst[0][0] = s1[0][0] * s2[0][0] + s1[0][1] * s2[1][0] + s1[0][2] * s2[2][0] + s1[0][3] * s2[3][0];

dst[0][1] = s1[0][0] * s2[0][1] + s1[0][1] * s2[1][1] + s1[0][2] * s2[2][1] + s1[0][3] * s2[3][1];

dst[0][2] = s1[0][0] * s2[0][2] + s1[0][1] * s2[1][2] + s1[0][2] * s2[2][2] + s1[0][3] * s2[3][2];

dst[0][3] = s1[0][0] * s2[0][3] + s1[0][1] * s2[1][3] + s1[0][2] * s2[2][3] + s1[0][3] * s2[3][3];

dst[1][0] = s1[1][0] * s2[0][0] + s1[1][1] * s2[1][0] + s1[1][2] * s2[2][0] + s1[1][3] * s2[3][0];

dst[1][1] = s1[1][0] * s2[0][1] + s1[1][1] * s2[1][1] + s1[1][2] * s2[2][1] + s1[1][3] * s2[3][1];

dst[1][2] = s1[1][0] * s2[0][2] + s1[1][1] * s2[1][2] + s1[1][2] * s2[2][2] + s1[1][3] * s2[3][2];

dst[1][3] = s1[1][0] * s2[0][3] + s1[1][1] * s2[1][3] + s1[1][2] * s2[2][3] + s1[1][3] * s2[3][3];

dst[2][0] = s1[2][0] * s2[0][0] + s1[2][1] * s2[1][0] + s1[2][2] * s2[2][0] + s1[2][3] * s2[3][0];

dst[2][1] = s1[2][0] * s2[0][1] + s1[2][1] * s2[1][1] + s1[2][2] * s2[2][1] + s1[2][3] * s2[3][1];

dst[2][2] = s1[2][0] * s2[0][2] + s1[2][1] * s2[1][2] + s1[2][2] * s2[2][2] + s1[2][3] * s2[3][2];

dst[2][3] = s1[2][0] * s2[0][3] + s1[2][1] * s2[1][3] + s1[2][2] * s2[2][3] + s1[2][3] * s2[3][3];

dst[3][0] = s1[3][0] * s2[0][0] + s1[3][1] * s2[1][0] + s1[3][2] * s2[2][0] + s1[3][3] * s2[3][0];

dst[3][1] = s1[3][0] * s2[0][1] + s1[3][1] * s2[1][1] + s1[3][2] * s2[2][1] + s1[3][3] * s2[3][1];

dst[3][2] = s1[3][0] * s2[0][2] + s1[3][1] * s2[1][2] + s1[3][2] * s2[2][2] + s1[3][3] * s2[3][2];

dst[3][3] = s1[3][0] * s2[0][3] + s1[3][1] * s2[1][3] + s1[3][2] * s2[2][3] + s1[3][3] * s2[3][3];

}

//-----------------------------------------------------------------------------

// Matrix/vector multiply

//-----------------------------------------------------------------------------

void Vector4DMultiply( const VMatrix& src1, Vector4D const& src2, Vector4D& dst )

{

// Make sure it works if src2 == dst

Vector4D tmp;

Vector4D const&v = (&src2 == &dst) ? tmp : src2;

if (&src2 == &dst)

{

Vector4DCopy( src2, tmp );

}

dst[0] = src1[0][0] * v[0] + src1[0][1] * v[1] + src1[0][2] * v[2] + src1[0][3] * v[3];

dst[1] = src1[1][0] * v[0] + src1[1][1] * v[1] + src1[1][2] * v[2] + src1[1][3] * v[3];

dst[2] = src1[2][0] * v[0] + src1[2][1] * v[1] + src1[2][2] * v[2] + src1[2][3] * v[3];

dst[3] = src1[3][0] * v[0] + src1[3][1] * v[1] + src1[3][2] * v[2] + src1[3][3] * v[3];

}

//-----------------------------------------------------------------------------

// Matrix/vector multiply

//-----------------------------------------------------------------------------

void Vector4DMultiplyPosition( const VMatrix& src1, Vector const& src2, Vector4D& dst )

{

// Make sure it works if src2 == dst

Vector tmp;

Vector const&v = ( &src2 == &dst.AsVector3D() ) ? static_cast<const Vector&>(tmp) : src2;

if (&src2 == &dst.AsVector3D())

{

VectorCopy( src2, tmp );

}

dst[0] = src1[0][0] * v[0] + src1[0][1] * v[1] + src1[0][2] * v[2] + src1[0][3];

dst[1] = src1[1][0] * v[0] + src1[1][1] * v[1] + src1[1][2] * v[2] + src1[1][3];

dst[2] = src1[2][0] * v[0] + src1[2][1] * v[1] + src1[2][2] * v[2] + src1[2][3];

dst[3] = src1[3][0] * v[0] + src1[3][1] * v[1] + src1[3][2] * v[2] + src1[3][3];

}

//-----------------------------------------------------------------------------

// Matrix/vector multiply

//-----------------------------------------------------------------------------

void Vector3DMultiply( const VMatrix &src1, const Vector &src2, Vector &dst )

{

// Make sure it works if src2 == dst

Vector tmp;

const Vector &v = (&src2 == &dst) ? static_cast<const Vector&>(tmp) : src2;

if( &src2 == &dst )

{

VectorCopy( src2, tmp );

}

dst[0] = src1[0][0] * v[0] + src1[0][1] * v[1] + src1[0][2] * v[2];

dst[1] = src1[1][0] * v[0] + src1[1][1] * v[1] + src1[1][2] * v[2];

dst[2] = src1[2][0] * v[0] + src1[2][1] * v[1] + src1[2][2] * v[2];

}

//-----------------------------------------------------------------------------

// Vector3DMultiplyPositionProjective treats src2 as if it's a point

// and does the perspective divide at the end

//-----------------------------------------------------------------------------

void Vector3DMultiplyPositionProjective( const VMatrix& src1, const Vector &src2, Vector& dst )

{

// Make sure it works if src2 == dst

Vector tmp;

const Vector &v = (&src2 == &dst) ? static_cast<const Vector&>(tmp): src2;

if( &src2 == &dst )

{

VectorCopy( src2, tmp );

}

float w = src1[3][0] * v[0] + src1[3][1] * v[1] + src1[3][2] * v[2] + src1[3][3];

if ( w != 0.0f )

{

w = 1.0f / w;

}

dst[0] = src1[0][0] * v[0] + src1[0][1] * v[1] + src1[0][2] * v[2] + src1[0][3];

dst[1] = src1[1][0] * v[0] + src1[1][1] * v[1] + src1[1][2] * v[2] + src1[1][3];

dst[2] = src1[2][0] * v[0] + src1[2][1] * v[1] + src1[2][2] * v[2] + src1[2][3];

dst *= w;

}

//-----------------------------------------------------------------------------

// Vector3DMultiplyProjective treats src2 as if it's a direction

// and does the perspective divide at the end

//-----------------------------------------------------------------------------

void Vector3DMultiplyProjective( const VMatrix& src1, const Vector &src2, Vector& dst )

{

// Make sure it works if src2 == dst

Vector tmp;

const Vector &v = (&src2 == &dst) ? static_cast<const Vector&>(tmp) : src2;

if( &src2 == &dst )

{

VectorCopy( src2, tmp );

}

float w;

dst[0] = src1[0][0] * v[0] + src1[0][1] * v[1] + src1[0][2] * v[2];

dst[1] = src1[1][0] * v[0] + src1[1][1] * v[1] + src1[1][2] * v[2];

dst[2] = src1[2][0] * v[0] + src1[2][1] * v[1] + src1[2][2] * v[2];

w = src1[3][0] * v[0] + src1[3][1] * v[1] + src1[3][2] * v[2];

if (w != 0.0f)

{

dst /= w;

}

else

{

dst = vec3_origin;

}

//-----------------------------------------------------------------------------

// Multiplies the vector by the transpose of the matrix

//-----------------------------------------------------------------------------

void Vector4DMultiplyTranspose( const VMatrix& src1, Vector4D const& src2, Vector4D& dst )

{

// Make sure it works if src2 == dst

bool srcEqualsDst = (&src2 == &dst);

Vector4D tmp;

Vector4D const&v = srcEqualsDst ? tmp : src2;

if (srcEqualsDst)

{

Vector4DCopy( src2, tmp );

}

dst[0] = src1[0][0] * v[0] + src1[1][0] * v[1] + src1[2][0] * v[2] + src1[3][0] * v[3];

dst[1] = src1[0][1] * v[0] + src1[1][1] * v[1] + src1[2][1] * v[2] + src1[3][1] * v[3];

dst[2] = src1[0][2] * v[0] + src1[1][2] * v[1] + src1[2][2] * v[2] + src1[3][2] * v[3];

dst[3] = src1[0][3] * v[0] + src1[1][3] * v[1] + src1[2][3] * v[2] + src1[3][3] * v[3];

}

//-----------------------------------------------------------------------------

// Multiplies the vector by the transpose of the matrix

//-----------------------------------------------------------------------------

void Vector3DMultiplyTranspose( const VMatrix& src1, const Vector& src2, Vector& dst )

{

// Make sure it works if src2 == dst

bool srcEqualsDst = (&src2 == &dst);

Vector tmp;

const Vector&v = srcEqualsDst ? static_cast<const Vector&>(tmp) : src2;

if (srcEqualsDst)

{

VectorCopy( src2, tmp );

}

dst[0] = src1[0][0] * v[0] + src1[1][0] * v[1] + src1[2][0] * v[2];

dst[1] = src1[0][1] * v[0] + src1[1][1] * v[1] + src1[2][1] * v[2];

dst[2] = src1[0][2] * v[0] + src1[1][2] * v[1] + src1[2][2] * v[2];

}

//-----------------------------------------------------------------------------

// Transform a plane

//-----------------------------------------------------------------------------

void MatrixTransformPlane( const VMatrix &src, const cplane_t &inPlane, cplane_t &outPlane )

{

// What we want to do is the following:

// 1) transform the normal into the new space.

// 2) Determine a point on the old plane given by plane dist * plane normal

// 3) Transform that point into the new space

// 4) Plane dist = DotProduct( new normal, new point )

// An optimized version, which works if the plane is orthogonal.

// 1) Transform the normal into the new space

// 2) Realize that transforming the old plane point into the new space

// is given by [ d * n'x + Tx, d * n'y + Ty, d * n'z + Tz ]

// where d = old plane dist, n' = transformed normal, Tn = translational component of transform

// 3) Compute the new plane dist using the dot product of the normal result of #2

// For a correct result, this should be an inverse-transpose matrix

// but that only matters if there are nonuniform scale or skew factors in this matrix.

Vector vTrans;

Vector3DMultiply( src, inPlane.normal, outPlane.normal );

outPlane.dist = inPlane.dist * DotProduct( outPlane.normal, outPlane.normal );

outPlane.dist += DotProduct( outPlane.normal, src.GetTranslation(vTrans) );

}

#ifndef VECTOR_NO_SLOW_OPERATIONS

VPlane VMatrix::operator*(const VPlane &thePlane) const

{

VPlane ret;

TransformPlane( thePlane, ret );

return ret;

}

#endif

//-----------------------------------------------------------------------------

// Builds a rotation matrix that rotates one direction vector into another

//-----------------------------------------------------------------------------

void MatrixBuildTranslation( VMatrix& dst, float x, float y, float z )

{

MatrixSetIdentity( dst );

dst[0][3] = x;

dst[1][3] = y;

dst[2][3] = z;

}

void MatrixBuildTranslation( VMatrix& dst, const Vector &translation )

{

MatrixSetIdentity( dst );

dst[0][3] = translation[0];

dst[1][3] = translation[1];

dst[2][3] = translation[2];

}

//-----------------------------------------------------------------------------

// Purpose: Builds the matrix for a counterclockwise rotation about an arbitrary axis.

// | ax2 + (1 - ax2)cosQ axay(1 - cosQ) - azsinQ azax(1 - cosQ) + aysinQ |

// Ra(Q) = | axay(1 - cosQ) + azsinQ ay2 + (1 - ay2)cosQ ayaz(1 - cosQ) - axsinQ |

// | azax(1 - cosQ) - aysinQ ayaz(1 - cosQ) + axsinQ az2 + (1 - az2)cosQ |

// Input : mat -

// vAxisOrRot -

// angle -

//-----------------------------------------------------------------------------

void MatrixBuildRotationAboutAxis( VMatrix &dst, const Vector &vAxisOfRot, float angleDegrees )

{

MatrixBuildRotationAboutAxis( vAxisOfRot, angleDegrees, const_cast< matrix3x4_t &> ( dst.As3x4() ) );

dst[3][0] = 0;

dst[3][1] = 0;

dst[3][2] = 0;

dst[3][3] = 1;

}

//-----------------------------------------------------------------------------

// Builds a rotation matrix that rotates one direction vector into another

//-----------------------------------------------------------------------------

void MatrixBuildRotation( VMatrix &dst, const Vector& initialDirection, const Vector& finalDirection )

{

float angle = DotProduct( initialDirection, finalDirection );

Assert( IsFinite(angle) );

Vector axis;

// No rotation required

if (angle - 1.0 > -1e-3)

{

// parallel case

MatrixSetIdentity(dst);

return;

}

else if (angle + 1.0 < 1e-3)

{

// antiparallel case, pick any axis in the plane

// perpendicular to the final direction. Choose the direction (x,y,z)

// which has the minimum component of the final direction, use that

// as an initial guess, then subtract out the component which is

// parallel to the final direction

int idx = 0;

if (FloatMakePositive(finalDirection[1]) < FloatMakePositive(finalDirection[idx]))

idx = 1;

if (FloatMakePositive(finalDirection[2]) < FloatMakePositive(finalDirection[idx]))

idx = 2;

axis.Init( 0, 0, 0 );

axis[idx] = 1.0f;

VectorMA( axis, -DotProduct( axis, finalDirection ), finalDirection, axis );

VectorNormalize(axis);

angle = 180.0f;

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TF2-Source-Code/tf2_src/mathlib/vmatrix.cpp at master · sr2echa/TF2-Source-Code · GitHub

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