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Update matrix3x4_t
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@ -1,4 +1,4 @@
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//===== Copyright © 1996-2005, Valve Corporation, All rights reserved. ======//
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//===== Copyright <EFBFBD> 1996-2005, Valve Corporation, All rights reserved. ======//
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//
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// Purpose:
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//
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@ -92,12 +92,26 @@ void GeneratePerspectiveFrustum( const Vector& origin, const Vector &forward, co
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// bool R_CullBoxSkipNear( const Vector& mins, const Vector& maxs, const Frustum_t &frustum );
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void GenerateOrthoFrustum( const Vector &origin, const Vector &forward, const Vector &right, const Vector &up, float flLeft, float flRight, float flBottom, float flTop, float flZNear, float flZFar, VPlane *pPlanesOut );
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enum MatrixAxisType_t
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{
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FORWARD_AXIS = 0,
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LEFT_AXIS = 1,
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UP_AXIS = 2,
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X_AXIS = 0,
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Y_AXIS = 1,
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Z_AXIS = 2,
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ORIGIN = 3,
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PROJECTIVE = 3,
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};
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class matrix3x4a_t;
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struct matrix3x4_t
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{
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matrix3x4_t() {}
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matrix3x4_t(
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matrix3x4_t(
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float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23 )
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@ -111,28 +125,74 @@ struct matrix3x4_t
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// Creates a matrix where the X axis = forward
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// the Y axis = left, and the Z axis = up
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//-----------------------------------------------------------------------------
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void Init( const Vector& xAxis, const Vector& yAxis, const Vector& zAxis, const Vector &vecOrigin )
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{
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m_flMatVal[0][0] = xAxis.x; m_flMatVal[0][1] = yAxis.x; m_flMatVal[0][2] = zAxis.x; m_flMatVal[0][3] = vecOrigin.x;
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m_flMatVal[1][0] = xAxis.y; m_flMatVal[1][1] = yAxis.y; m_flMatVal[1][2] = zAxis.y; m_flMatVal[1][3] = vecOrigin.y;
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m_flMatVal[2][0] = xAxis.z; m_flMatVal[2][1] = yAxis.z; m_flMatVal[2][2] = zAxis.z; m_flMatVal[2][3] = vecOrigin.z;
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}
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inline void Init( const Vector &xAxis, const Vector &yAxis, const Vector &zAxis, const Vector &vecOrigin );
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inline void Init( const QAngle &angs, const Vector &pos );
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inline void Init( const QAngle &angs );
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inline void Init( const RadianEuler &angs, const Vector &pos );
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inline void Init( const RadianEuler &angs );
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inline void Init( const Quaternion &quat, const Vector &pos );
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inline void Init( const Quaternion &quat );
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inline void Init( const Vector &fwd );
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inline void Init( const Vector &fwd, const Vector &pos );
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inline void Init( const Vector &axis_of_rotation, float degrees );
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inline void Init( const Vector &axis_of_rotation, float degrees, const Vector &pos );
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//-----------------------------------------------------------------------------
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// Creates a matrix where the X axis = forward
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// the Y axis = left, and the Z axis = up
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//-----------------------------------------------------------------------------
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matrix3x4_t( const Vector& xAxis, const Vector& yAxis, const Vector& zAxis, const Vector &vecOrigin )
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matrix3x4_t( const Vector &xAxis, const Vector &yAxis, const Vector &zAxis, const Vector &vecOrigin )
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{
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Init( xAxis, yAxis, zAxis, vecOrigin );
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}
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inline void SetOrigin( Vector const & p )
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{
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m_flMatVal[0][3] = p.x;
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m_flMatVal[1][3] = p.y;
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m_flMatVal[2][3] = p.z;
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}
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inline void SetToIdentity();
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inline void ConcatRotations( const matrix3x4_t &other );
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inline void ConcatTransforms( const matrix3x4_t &other );
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inline void Multiply( const matrix3x4_t &other );
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inline void Transpose();
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inline QAngle ToQAngle() const;
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inline RadianEuler ToRadianEuler() const;
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inline Quaternion ToQuaternion() const;
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inline float RowDotProduct( int row, const Vector &in ) const;
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inline float ColumnDotProduct( MatrixAxisType_t column, const Vector &in ) const;
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inline Vector GetColumn( MatrixAxisType_t column ) const;
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inline void SetColumn( const Vector &in, MatrixAxisType_t column );
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inline void SetOrigin( const Vector &pos ) { SetColumn( pos, ORIGIN ); }
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inline Vector GetOrigin() const { return GetColumn( ORIGIN ); }
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inline Vector GetForward() const { return GetColumn( FORWARD_AXIS ); }
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inline Vector GetLeft() const { return GetColumn( LEFT_AXIS ); }
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inline Vector GetRight() const { return -GetColumn( LEFT_AXIS ); }
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inline Vector GetUp() const { return GetColumn( UP_AXIS ); }
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inline void GetVectors( Vector *fwd, Vector *right, Vector *up ) const;
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inline matrix3x4_t GetInverse() const;
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inline matrix3x4_t GetInverseTranspose() const;
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inline Vector Transform( const Vector &in ) const;
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inline Vector TransformByInverse( const Vector &in ) const;
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inline void TransformAABB( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const;
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inline void TransformAABBByInverse( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const;
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inline QAngle TransformToLocalSpace( const QAngle &angles ) const;
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inline QAngle TransformToWorldSpace( const QAngle &angles ) const;
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inline Vector Rotate( const Vector &in ) const;
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inline Vector RotateByInverse( const Vector &in ) const;
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inline void RotateAABB( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const;
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inline void RotateAABBByInverse( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const;
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inline bool IsEqualEnough( const matrix3x4_t &other, float flTolerance = 1e-5 ) const;
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inline void Invalidate( void )
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{
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@ -145,6 +205,8 @@ struct matrix3x4_t
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}
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}
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matrix3x4_t operator *( const matrix3x4_t &other ) { Multiply( other ); return *this; }
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float *operator[]( int i ) { Assert(( i >= 0 ) && ( i < 3 )); return m_flMatVal[i]; }
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const float *operator[]( int i ) const { Assert(( i >= 0 ) && ( i < 3 )); return m_flMatVal[i]; }
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float *Base() { return &m_flMatVal[0][0]; }
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@ -2197,7 +2259,7 @@ inline bool CloseEnough( const Vector &a, const Vector &b, float epsilon = EQUAL
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// Fast compare
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// maxUlps is the maximum error in terms of Units in the Last Place. This
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// specifies how big an error we are willing to accept in terms of the value
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// of the least significant digit of the floating point number’s
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// of the least significant digit of the floating point number<EFBFBD>s
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// representation. maxUlps can also be interpreted in terms of how many
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// representable floats we are willing to accept between A and B.
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// This function will allow maxUlps-1 floats between A and B.
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@ -2237,5 +2299,214 @@ inline float Approach( float target, float value, float speed )
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#endif
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}
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inline void matrix3x4_t::Init( const Vector &xAxis, const Vector &yAxis, const Vector &zAxis, const Vector &vecOrigin )
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{
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MatrixInitialize( *this, vecOrigin, xAxis, yAxis, zAxis );
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}
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inline void matrix3x4_t::Init( const QAngle &angs, const Vector &pos )
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{
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AngleMatrix( angs, pos, *this );
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}
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inline void matrix3x4_t::Init( const QAngle &angs )
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{
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AngleMatrix( angs, *this );
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}
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inline void matrix3x4_t::Init( const RadianEuler &angs, const Vector &pos )
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{
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AngleMatrix( angs, pos, *this );
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}
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inline void matrix3x4_t::Init( const RadianEuler &angs )
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{
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AngleMatrix( angs, *this );
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}
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inline void matrix3x4_t::Init( const Quaternion &quat, const Vector &pos )
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{
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QuaternionMatrix( quat, pos, *this );
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}
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inline void matrix3x4_t::Init( const Quaternion &quat )
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{
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QuaternionMatrix( quat, *this );
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}
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inline void matrix3x4_t::Init( const Vector &fwd )
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{
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VectorMatrix( fwd, *this );
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}
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inline void matrix3x4_t::Init( const Vector &fwd, const Vector &pos )
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{
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VectorMatrix( fwd, *this );
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SetOrigin( pos );
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}
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inline void matrix3x4_t::Init( const Vector &axis_of_rotation, float degrees )
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{
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MatrixBuildRotationAboutAxis( axis_of_rotation, degrees, *this );
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}
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inline void matrix3x4_t::Init( const Vector &axis_of_rotation, float degrees, const Vector &pos )
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{
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MatrixBuildRotationAboutAxis( axis_of_rotation, degrees, *this );
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SetOrigin( pos );
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}
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inline void matrix3x4_t::SetToIdentity()
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{
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SetIdentityMatrix( *this );
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}
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inline void matrix3x4_t::ConcatRotations( const matrix3x4_t &other )
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{
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matrix3x4_t out;
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::ConcatRotations( *this, other, out );
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*this = out;
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}
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inline void matrix3x4_t::ConcatTransforms( const matrix3x4_t &other )
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{
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::ConcatTransforms( *this, other, *this );
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}
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inline void matrix3x4_t::Multiply( const matrix3x4_t &other )
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{
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MatrixMultiply( *this, other, *this );
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}
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inline void matrix3x4_t::Transpose()
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{
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MatrixTranspose( *this );
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}
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inline QAngle matrix3x4_t::ToQAngle() const
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{
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QAngle out;
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MatrixAngles( *this, out );
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return out;
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}
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inline RadianEuler matrix3x4_t::ToRadianEuler() const
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{
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RadianEuler out;
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MatrixAngles( *this, out );
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return out;
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}
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inline Quaternion matrix3x4_t::ToQuaternion() const
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{
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Quaternion out;
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MatrixQuaternion( *this, out );
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return out;
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}
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inline float matrix3x4_t::RowDotProduct( int row, const Vector &in ) const
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{
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return MatrixRowDotProduct( *this, row, in );
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}
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inline float matrix3x4_t::ColumnDotProduct( MatrixAxisType_t column, const Vector &in ) const
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{
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return MatrixColumnDotProduct( *this, column, in );
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}
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inline Vector matrix3x4_t::GetColumn( MatrixAxisType_t column ) const
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{
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Vector out;
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MatrixGetColumn( *this, column, out );
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return out;
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}
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inline void matrix3x4_t::SetColumn( const Vector &in, MatrixAxisType_t column )
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{
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MatrixSetColumn( in, column, *this );
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}
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inline void matrix3x4_t::GetVectors( Vector *fwd, Vector *right, Vector *up ) const
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{
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MatrixVectors( *this, fwd, right, up );
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}
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inline matrix3x4_t matrix3x4_t::GetInverse() const
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{
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matrix3x4_t out;
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MatrixInvert( *this, out );
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return out;
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}
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inline matrix3x4_t matrix3x4_t::GetInverseTranspose() const
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{
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matrix3x4_t out;
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MatrixInverseTranspose( *this, out );
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return out;
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}
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inline Vector matrix3x4_t::Transform( const Vector &in ) const
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{
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Vector out;
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VectorTransform( in, *this, out );
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return out;
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}
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inline Vector matrix3x4_t::TransformByInverse( const Vector &in ) const
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{
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Vector out;
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VectorITransform( in, *this, out );
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return out;
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}
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inline void matrix3x4_t::TransformAABB( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const
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{
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::TransformAABB( *this, vecMinsIn, vecMaxsIn, vecMinsOut, vecMaxsOut );
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}
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inline void matrix3x4_t::TransformAABBByInverse( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const
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{
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::ITransformAABB( *this, vecMinsIn, vecMaxsIn, vecMinsOut, vecMaxsOut );
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}
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inline QAngle matrix3x4_t::TransformToLocalSpace( const QAngle &angles ) const
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{
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return TransformAnglesToLocalSpace( angles, *this );
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}
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inline QAngle matrix3x4_t::TransformToWorldSpace( const QAngle &angles ) const
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{
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return TransformAnglesToWorldSpace( angles, *this );
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}
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inline Vector matrix3x4_t::Rotate( const Vector &in ) const
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{
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Vector out;
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VectorRotate( in, *this, out );
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return out;
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}
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inline Vector matrix3x4_t::RotateByInverse( const Vector &in ) const
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{
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Vector out;
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VectorIRotate( in, *this, out );
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return out;
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}
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inline void matrix3x4_t::RotateAABB( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const
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{
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::RotateAABB( *this, vecMinsIn, vecMaxsIn, vecMinsOut, vecMaxsOut );
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}
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inline void matrix3x4_t::RotateAABBByInverse( const Vector &vecMinsIn, const Vector &vecMaxsIn, Vector &vecMinsOut, Vector &vecMaxsOut ) const
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{
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::IRotateAABB( *this, vecMinsIn, vecMaxsIn, vecMinsOut, vecMaxsOut );
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}
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inline bool matrix3x4_t::IsEqualEnough( const matrix3x4_t &other, float flTolerance ) const
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{
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return MatricesAreEqual( *this, other, flTolerance );
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}
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#endif // MATH_BASE_H
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