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pluginsupport.cpp
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pluginsupport.cpp
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#include "pluginshare.h"
#include <math.h>
#include <algorithm>
#ifdef _NOESIS_INTERNAL
#include "../maintypes.h"
#define MATH_PREFIX //math functions are local internally
#else
#define MATH_PREFIX g_mfn->
#endif
//======================================================
//Math utility classes
//======================================================
//===========================================
//RichAngles implementation
//===========================================
RichAngles::RichAngles(void)
{
a[0] = 0.0f;
a[1] = 0.0f;
a[2] = 0.0f;
}
RichAngles::RichAngles(const float pitch, const float yaw, const float roll)
{
a[0] = pitch;
a[1] = yaw;
a[2] = roll;
}
RichAngles::RichAngles(const float *angles)
{
a[0] = angles[0];
a[1] = angles[1];
a[2] = angles[2];
}
RichAngles::RichAngles(const float *radians, bool scaleToDegrees)
{
a[0] = radians[0];
a[1] = radians[1];
a[2] = radians[2];
if (scaleToDegrees)
{
a[0] *= g_flRadToDeg;
a[1] *= g_flRadToDeg;
a[2] *= g_flRadToDeg;
}
}
float &RichAngles::operator[](int idx)
{
assert(idx >= 0 && idx < 3);
return a[idx];
}
float RichAngles::operator[](int idx) const
{
assert(idx >= 0 && idx < 3);
return a[idx];
}
RichAngles &RichAngles::operator=(const RichAngles &angles)
{
a[0] = angles.a[0];
a[1] = angles.a[1];
a[2] = angles.a[2];
return *this;
}
bool RichAngles::operator==(const RichAngles &angles) const
{
return (a[0] == angles.a[0] && a[1] == angles.a[1] && a[2] == angles.a[2]);
}
bool RichAngles::operator!=(const RichAngles &angles) const
{
return (a[0] != angles.a[0] || a[1] != angles.a[1] || a[2] != angles.a[2]);
}
RichAngles RichAngles::operator+(const RichAngles &angles) const
{
return RichAngles(a[0]+angles.a[0], a[1]+angles.a[1], a[2]+angles.a[2]);
}
RichAngles &RichAngles::operator+=(const RichAngles &angles)
{
a[0] += angles.a[0];
a[1] += angles.a[1];
a[2] += angles.a[2];
return *this;
}
RichAngles RichAngles::operator-(void) const
{
return RichAngles(-a[0], -a[1], -a[2]);
}
RichAngles RichAngles::operator-(const RichAngles &angles) const
{
return RichAngles(a[0]-angles.a[0], a[1]-angles.a[1], a[2]-angles.a[2]);
}
RichAngles &RichAngles::operator-=(const RichAngles &angles)
{
a[0] -= angles.a[0];
a[1] -= angles.a[1];
a[2] -= angles.a[2];
return *this;
}
RichAngles RichAngles::operator*(const RichAngles &angles) const
{
return RichAngles(a[0]*angles.a[0], a[1]*angles.a[1], a[2]*angles.a[2]);
}
RichAngles &RichAngles::operator*=(const RichAngles &angles)
{
a[0] *= angles.a[0];
a[1] *= angles.a[1];
a[2] *= angles.a[2];
return *this;
}
RichAngles RichAngles::operator*(const float &f) const
{
return RichAngles(a[0]*f, a[1]*f, a[2]*f);
}
RichAngles &RichAngles::operator*=(const float &f)
{
a[0] *= f;
a[1] *= f;
a[2] *= f;
return *this;
}
RichAngles RichAngles::operator/(const RichAngles &angles) const
{
return RichAngles(a[0]/angles.a[0], a[1]/angles.a[1], a[2]/angles.a[2]);
}
RichAngles &RichAngles::operator/=(const RichAngles &angles)
{
a[0] /= angles.a[0];
a[1] /= angles.a[1];
a[2] /= angles.a[2];
return *this;
}
void RichAngles::ChangeEndian(void)
{
LITTLE_BIG_SWAP(a[0]);
LITTLE_BIG_SWAP(a[1]);
LITTLE_BIG_SWAP(a[2]);
}
void RichAngles::Mod(float f)
{
a[0] = fmodf(a[0], f);
a[1] = fmodf(a[1], f);
a[2] = fmodf(a[2], f);
}
void RichAngles::Normalize360(void)
{
Mod(360.0f);
for (int i = 0; i < 3; i++)
{
if (a[i] < 0.0f)
{
a[i] += 360.0f;
}
}
}
void RichAngles::Normalize180(void)
{
Normalize360();
for (int i = 0; i < 3; i++)
{
if (a[i] > 180.0f)
{
a[i] -= 360.0f;
}
}
}
void RichAngles::AngleVectors(RichVec3 *fwd, RichVec3 *right, RichVec3 *up) const
{
float *v1 = (fwd) ? fwd->v : NULL;
float *v2 = (right) ? right->v : NULL;
float *v3 = (up) ? up->v : NULL;
MATH_PREFIX Math_AngleVectors((float *)a, v1, v2, v3);
}
void RichAngles::Lerp(const RichAngles &angles, const float frac)
{
a[0] = MATH_PREFIX Math_LinearLerp(a[0], angles.a[0], frac);
a[1] = MATH_PREFIX Math_LinearLerp(a[1], angles.a[1], frac);
a[2] = MATH_PREFIX Math_LinearLerp(a[2], angles.a[2], frac);
}
void RichAngles::Lerp(const RichAngles &anglesA, const RichAngles &anglesB, const float frac)
{
a[0] = MATH_PREFIX Math_LinearLerp(anglesA.a[0], anglesB.a[0], frac);
a[1] = MATH_PREFIX Math_LinearLerp(anglesA.a[1], anglesB.a[1], frac);
a[2] = MATH_PREFIX Math_LinearLerp(anglesA.a[2], anglesB.a[2], frac);
}
void RichAngles::ALerp(const RichAngles &angles, const float degrees)
{
a[0] = MATH_PREFIX Math_BlendAngleLinear(a[0], angles.a[0], degrees);
a[1] = MATH_PREFIX Math_BlendAngleLinear(a[1], angles.a[1], degrees);
a[2] = MATH_PREFIX Math_BlendAngleLinear(a[2], angles.a[2], degrees);
}
void RichAngles::ALerp(const RichAngles &anglesA, const RichAngles &anglesB, const float degrees)
{
a[0] = MATH_PREFIX Math_BlendAngleLinear(anglesA.a[0], anglesB.a[0], degrees);
a[1] = MATH_PREFIX Math_BlendAngleLinear(anglesA.a[1], anglesB.a[1], degrees);
a[2] = MATH_PREFIX Math_BlendAngleLinear(anglesA.a[2], anglesB.a[2], degrees);
}
RichVec3 RichAngles::ToVec3(void) const
{
float t[3];
MATH_PREFIX Math_AngleVectors((float *)a, t, NULL, NULL);
return RichVec3(t);
}
RichMat43 RichAngles::ToMat43(void) const
{
modelMatrix_t m;
MATH_PREFIX Math_AnglesToMat(a, &m);
return RichMat43(m);
}
RichMat43 RichAngles::ToMat43_XYZ(bool yFlip) const
{
RichMat43 m;
m.Rotate(a[2], 0.0f, 0.0f, 1.0f);
float y = (yFlip) ? -a[1] : a[1];
m.Rotate(y, 0.0f, 1.0f, 0.0f);
m.Rotate(a[0], 1.0f, 0.0f, 0.0f);
return m;
}
RichQuat RichAngles::ToQuat(void) const
{
return ToMat43().ToQuat();
}
//===========================================
//RichMat43 implementation
//===========================================
RichMat43::RichMat43(void)
{
m = g_identityMatrix;
}
RichMat43::RichMat43(const RichVec3 &r0, const RichVec3 &r1, const RichVec3 &r2, const RichVec3 &trans)
{
RichVec3 *mv = (RichVec3 *)&m;
mv[0] = r0;
mv[1] = r1;
mv[2] = r2;
mv[3] = trans;
}
RichMat43::RichMat43(const modelMatrix_t &mat)
{
m = mat;
}
RichMat43::RichMat43(const float *mat)
{
const modelMatrix_t *t = (const modelMatrix_t *)mat;
m = *t;
}
RichVec3 &RichMat43::operator[](int idx)
{
assert(idx >= 0 && idx < 4);
RichVec3 *mv = (RichVec3 *)&m;
return mv[idx];
}
const RichVec3 &RichMat43::operator[](int idx) const
{
assert(idx >= 0 && idx < 4);
const RichVec3 *mv = (const RichVec3 *)&m;
return mv[idx];
}
RichMat43 &RichMat43::operator=(const RichMat43 &mat)
{
m = mat.m;
return *this;
}
RichMat43 &RichMat43::operator=(const modelMatrix_t &mat)
{
m = mat;
return *this;
}
bool RichMat43::operator==(const RichMat43 &mat) const
{
const RichVec3 *mvA = (const RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
return (mvA[0] == mvB[0] && mvA[1] == mvB[1] && mvA[2] == mvB[2] && mvA[3] == mvB[3]);
}
bool RichMat43::operator!=(const RichMat43 &mat) const
{
const RichVec3 *mvA = (const RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
return (mvA[0] != mvB[0] || mvA[1] != mvB[1] || mvA[2] != mvB[2] || mvA[3] != mvB[3]);
}
RichMat43 RichMat43::operator+(const RichMat43 &mat) const
{
const RichVec3 *mvA = (const RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
return RichMat43(mvA[0]+mvB[0], mvA[1]+mvB[1], mvA[2]+mvB[2], mvA[3]+mvB[3]);
}
RichMat43 &RichMat43::operator+=(const RichMat43 &mat)
{
RichVec3 *mvA = (RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
mvA[0] += mvB[0];
mvA[1] += mvB[1];
mvA[2] += mvB[2];
mvA[3] += mvB[3];
return *this;
}
RichMat43 RichMat43::operator-(void) const
{
const RichVec3 *mv = (const RichVec3 *)&m;
return RichMat43(-mv[0], -mv[1], -mv[2], -mv[3]);
}
RichMat43 RichMat43::operator-(const RichMat43 &mat) const
{
const RichVec3 *mvA = (const RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
return RichMat43(mvA[0]-mvB[0], mvA[1]-mvB[1], mvA[2]-mvB[2], mvA[3]-mvB[3]);
}
RichMat43 &RichMat43::operator-=(const RichMat43 &mat)
{
RichVec3 *mvA = (RichVec3 *)&m;
const RichVec3 *mvB = (const RichVec3 *)&mat.m;
mvA[0] -= mvB[0];
mvA[1] -= mvB[1];
mvA[2] -= mvB[2];
mvA[3] -= mvB[3];
return *this;
}
RichMat43 RichMat43::operator*(const RichMat43 &mat) const
{
modelMatrix_t t;
MATH_PREFIX Math_MatrixMultiply((modelMatrix_t *)&mat.m, (modelMatrix_t *)&m, &t);
return RichMat43(t);
}
RichMat43 &RichMat43::operator*=(const RichMat43 &mat)
{
modelMatrix_t t = m;
MATH_PREFIX Math_MatrixMultiply((modelMatrix_t *)&mat.m, &t, &m);
return *this;
}
RichVec3 RichMat43::operator*(const RichVec3 &vec) const
{
return TransformPoint(vec);
}
RichVec4 RichMat43::operator*(const RichVec4 &vec) const
{
return TransformVec4(vec);
}
void RichMat43::ChangeEndian(void)
{
RichVec3 *mv = (RichVec3 *)&m;
mv[0].ChangeEndian();
mv[1].ChangeEndian();
mv[2].ChangeEndian();
mv[3].ChangeEndian();
}
RichVec3 RichMat43::TransformPoint(const RichVec3 &vec) const
{
float t[3];
MATH_PREFIX Math_TransformPointByMatrix((modelMatrix_t *)&m, (float *)vec.v, t);
return RichVec3(t);
}
RichVec3 RichMat43::TransformNormal(const RichVec3 &vec) const
{
float t[3];
MATH_PREFIX Math_TransformPointByMatrixNoTrans((modelMatrix_t *)&m, (float *)vec.v, t);
return RichVec3(t);
}
RichVec4 RichMat43::TransformVec4(const RichVec4 &vec) const
{
return ToMat44().TransformVec4(vec);
}
RichMat43 RichMat43::GetTranspose(void) const
{
modelMatrix_t t;
MATH_PREFIX Math_TransposeMat((modelMatrix_t *)&m, &t);
return RichMat43(t);
}
void RichMat43::Transpose(void)
{
modelMatrix_t t;
MATH_PREFIX Math_TransposeMat(&m, &t);
m = t;
}
RichMat43 RichMat43::GetInverse(void) const
{
modelMatrix_t t;
MATH_PREFIX Math_MatrixInverse((modelMatrix_t *)&m, &t);
return RichMat43(t);
}
void RichMat43::Inverse(void)
{
modelMatrix_t t;
MATH_PREFIX Math_MatrixInverse(&m, &t);
m = t;
}
RichMat43 RichMat43::GetOrthogonalize(bool keepScale, bool keepFlip, bool straightCross) const
{
modelMatrix_t t = m;
MATH_PREFIX Math_OrthogonalizeMatrix(&t, keepScale, keepFlip, straightCross);
return RichMat43(t);
}
void RichMat43::Orthogonalize(bool keepScale, bool keepFlip, bool straightCross)
{
MATH_PREFIX Math_OrthogonalizeMatrix(&m, keepScale, keepFlip, straightCross);
}
bool RichMat43::IsSkewed(void)
{
return MATH_PREFIX Math_MatrixIsSkewed(&m);
}
void RichMat43::Rotate(float degrees, float x, float y, float z, bool transposeRot)
{
if (transposeRot)
{
MATH_PREFIX Math_RotateMatrix(&m, degrees, x, y, z);
}
else
{
MATH_PREFIX Math_RotateMatrixTP(&m, degrees, x, y, z);
}
}
void RichMat43::Rotate(float degrees, float *xyz, bool transposeRot)
{
if (transposeRot)
{
MATH_PREFIX Math_RotateMatrix(&m, degrees, xyz[0], xyz[1], xyz[2]);
}
else
{
MATH_PREFIX Math_RotateMatrixTP(&m, degrees, xyz[0], xyz[1], xyz[2]);
}
}
void RichMat43::Translate(float x, float y, float z)
{
float xyz[3] = {x, y, z};
MATH_PREFIX Math_TranslateMatrix(&m, xyz);
}
void RichMat43::Translate(float *xyz)
{
MATH_PREFIX Math_TranslateMatrix(&m, xyz);
}
void RichMat43::Lerp(const RichMat43 &postMat, float lerpFrac, bool nonUniform, bool orthogonalize)
{
modelMatrix_t mout;
MATH_PREFIX Math_LerpMatrices((modelMatrix_t &)m, (modelMatrix_t &)postMat.m, 1.0f-lerpFrac, mout, nonUniform, orthogonalize);
m = mout;
}
void RichMat43::Lerp(const RichMat43 &preMat, const RichMat43 &postMat, float lerpFrac, bool nonUniform, bool orthogonalize)
{
MATH_PREFIX Math_LerpMatrices((modelMatrix_t &)preMat.m, (modelMatrix_t &)postMat.m, 1.0f-lerpFrac, m, nonUniform, orthogonalize);
}
void RichMat43::SLerp(const RichMat43 &postMat, float lerpFrac, bool nonUniform)
{
modelMatrix_t mout;
MATH_PREFIX Math_LerpMatricesQ((modelMatrix_t &)m, (modelMatrix_t &)postMat.m, 1.0f-lerpFrac, mout, nonUniform);
m = mout;
}
void RichMat43::SLerp(const RichMat43 &preMat, const RichMat43 &postMat, float lerpFrac, bool nonUniform)
{
MATH_PREFIX Math_LerpMatricesQ((modelMatrix_t &)preMat.m, (modelMatrix_t &)postMat.m, 1.0f-lerpFrac, m, nonUniform);
}
void RichMat43::TransformQST(const RichVec3 *pScalingCenter, const RichQuat *pScalingRotation,
const RichVec3 *pScaling, const RichVec3 *pRotationCenter, const RichQuat *pRotation,
const RichVec3 *pTranslation)
{
MATH_PREFIX Math_TransformQST(&m, (const float *)pScalingCenter, (const float *)pScalingRotation, (const float *)pScaling,
(const float *)pRotationCenter, (const float *)pRotation, (const float *)pTranslation);
}
RichQuat RichMat43::ToQuat(void) const
{
float t[4];
MATH_PREFIX Math_MatToQuat((modelMatrix_t *)&m, t, false);
return RichQuat(t);
}
RichAngles RichMat43::ToAngles(void) const
{
float t[3];
MATH_PREFIX Math_MatToAngles(t, &m);
RichAngles ang(t);
ang.Normalize360();
return ang;
}
RichAngles RichMat43::ToAngles_Axis(int *axOrder) const
{
RichAngles angles;
MATH_PREFIX Math_AnglesToMatAxis(angles.a, &m, axOrder);
return angles;
}
RichMat44 RichMat43::ToMat44(void) const
{
fourxMatrix_t mat;
MATH_PREFIX Math_ModelMatToGL((modelMatrix_t *)&m, (float *)&mat);
return RichMat44(mat);
}
//===========================================
//RichMat44 implementation
//===========================================
RichMat44::RichMat44(void)
{
m = g_identityMatrix4x4;
}
RichMat44::RichMat44(const RichVec4 &r0, const RichVec4 &r1, const RichVec4 &r2, const RichVec4 &r3)
{
RichVec4 *mv = (RichVec4 *)&m;
mv[0] = r0;
mv[1] = r1;
mv[2] = r2;
mv[3] = r3;
}
RichMat44::RichMat44(const fourxMatrix_t &mat)
{
m = mat;
}
RichMat44::RichMat44(const float *mat)
{
const fourxMatrix_t *t = (const fourxMatrix_t *)mat;
m = *t;
}
RichVec4 &RichMat44::operator[](int idx)
{
assert(idx >= 0 && idx < 4);
RichVec4 *mv = (RichVec4 *)&m;
return mv[idx];
}
const RichVec4 &RichMat44::operator[](int idx) const
{
assert(idx >= 0 && idx < 4);
const RichVec4 *mv = (const RichVec4 *)&m;
return mv[idx];
}
RichMat44 &RichMat44::operator=(const RichMat44 &mat)
{
m = mat.m;
return *this;
}
RichMat44 &RichMat44::operator=(const fourxMatrix_t &mat)
{
m = mat;
return *this;
}
bool RichMat44::operator==(const RichMat44 &mat) const
{
const RichVec4 *mvA = (const RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
return (mvA[0] == mvB[0] && mvA[1] == mvB[1] && mvA[2] == mvB[2] && mvA[3] == mvB[3]);
}
bool RichMat44::operator!=(const RichMat44 &mat) const
{
const RichVec4 *mvA = (const RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
return (mvA[0] != mvB[0] || mvA[1] != mvB[1] || mvA[2] != mvB[2] || mvA[3] != mvB[3]);
}
RichMat44 RichMat44::operator+(const RichMat44 &mat) const
{
const RichVec4 *mvA = (const RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
return RichMat44(mvA[0]+mvB[0], mvA[1]+mvB[1], mvA[2]+mvB[2], mvA[3]+mvB[3]);
}
RichMat44 &RichMat44::operator+=(const RichMat44 &mat)
{
RichVec4 *mvA = (RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
mvA[0] += mvB[0];
mvA[1] += mvB[1];
mvA[2] += mvB[2];
mvA[3] += mvB[3];
return *this;
}
RichMat44 RichMat44::operator-(void) const
{
const RichVec4 *mv = (const RichVec4 *)&m;
return RichMat44(-mv[0], -mv[1], -mv[2], -mv[3]);
}
RichMat44 RichMat44::operator-(const RichMat44 &mat) const
{
const RichVec4 *mvA = (const RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
return RichMat44(mvA[0]-mvB[0], mvA[1]-mvB[1], mvA[2]-mvB[2], mvA[3]-mvB[3]);
}
RichMat44 &RichMat44::operator-=(const RichMat44 &mat)
{
RichVec4 *mvA = (RichVec4 *)&m;
const RichVec4 *mvB = (const RichVec4 *)&mat.m;
mvA[0] -= mvB[0];
mvA[1] -= mvB[1];
mvA[2] -= mvB[2];
mvA[3] -= mvB[3];
return *this;
}
RichMat44 RichMat44::operator*(const RichMat44 &mat) const
{
fourxMatrix_t t;
MATH_PREFIX Math_MatrixMultiply4x4((fourxMatrix_t *)&m, (fourxMatrix_t *)&mat.m, &t);
return RichMat44(t);
}
RichMat44 &RichMat44::operator*=(const RichMat44 &mat)
{
fourxMatrix_t t = m;
MATH_PREFIX Math_MatrixMultiply4x4(&t, (fourxMatrix_t *)&mat.m, &m);
return *this;
}
RichVec4 RichMat44::operator*(const RichVec4 &vec) const
{
return TransformVec4(vec);
}
void RichMat44::ChangeEndian(void)
{
RichVec4 *mv = (RichVec4 *)&m;
mv[0].ChangeEndian();
mv[1].ChangeEndian();
mv[2].ChangeEndian();
mv[3].ChangeEndian();
}
RichVec4 RichMat44::TransformVec4(const RichVec4 &vec) const
{
float out[4];
const float *matrix = (float *)&m;
const float *in = vec.v;
out[0] = matrix[0]*in[0] + matrix[4+0]*in[1] + matrix[8+0]*in[2] + matrix[12+0]*in[3];
out[1] = matrix[1]*in[0] + matrix[4+1]*in[1] + matrix[8+1]*in[2] + matrix[12+1]*in[3];
out[2] = matrix[2]*in[0] + matrix[4+2]*in[1] + matrix[8+2]*in[2] + matrix[12+2]*in[3];
out[3] = matrix[3]*in[0] + matrix[4+3]*in[1] + matrix[8+3]*in[2] + matrix[12+3]*in[3];
return RichVec4(out);
}
RichVec3 RichMat44::TransformNormal(const RichVec3 &vec) const
{
float out[3];
const float *matrix = (float *)&m;
const float *in = vec.v;
out[0] = matrix[0]*in[0] + matrix[4+0]*in[1] + matrix[8+0]*in[2];
out[1] = matrix[1]*in[0] + matrix[4+1]*in[1] + matrix[8+1]*in[2];
out[2] = matrix[2]*in[0] + matrix[4+2]*in[1] + matrix[8+2]*in[2];
return RichVec3(out);
}
RichMat44 RichMat44::GetTranspose(void) const
{
RichMat44 dst;
const RichMat44 &src = *this;
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
{ //swap rows/columns
dst[i][j] = src[j][i];
}
}
return dst;
}
void RichMat44::Transpose(void)
{
*this = GetTranspose();
}
RichMat44 RichMat44::GetInverse(void) const
{
fourxMatrix_t t;
MATH_PREFIX Math_MatrixInverse4x4((float *)&m, (float *)&t);
return RichMat44(t);
}
void RichMat44::Inverse(void)
{
fourxMatrix_t t = m;
MATH_PREFIX Math_MatrixInverse4x4((float *)&t, (float *)&m);
}
void RichMat44::Rotate(float degrees, float x, float y, float z)
{
MATH_PREFIX Math_RotateMatrix4x4(&m, degrees, x, y, z);
}
void RichMat44::Rotate(float degrees, float *xyz)
{
MATH_PREFIX Math_RotateMatrix4x4(&m, degrees, xyz[0], xyz[1], xyz[2]);
}
void RichMat44::Translate(float x, float y, float z)
{
float xyz[3] = {x, y, z};
MATH_PREFIX Math_TranslateMatrix4x4(&m, xyz);
}
void RichMat44::Translate(float *xyz)
{
MATH_PREFIX Math_TranslateMatrix4x4(&m, xyz);
}
RichMat43 RichMat44::ToMat43(void) const
{
modelMatrix_t mat;
MATH_PREFIX Math_ModelMatFromGL(&mat, (float *)&m);
return RichMat43(mat);
}
//===========================================
//RichQuat implementation
//===========================================
RichQuat::RichQuat(void)
{
q[0] = 0.0f;
q[1] = 0.0f;
q[2] = 0.0f;
q[3] = 0.0f;
}
RichQuat::RichQuat(const float x, const float y, const float z, const float w)
{
q[0] = x;
q[1] = y;
q[2] = z;
q[3] = w;
}
RichQuat::RichQuat(const float *xyzw)
{
q[0] = xyzw[0];
q[1] = xyzw[1];
q[2] = xyzw[2];
q[3] = xyzw[3];
}
RichQuat::RichQuat(const float *xyz, const bool noW)
{
if (noW)
{
FromQuat3(xyz);
}
else
{
q[0] = xyz[0];
q[1] = xyz[1];
q[2] = xyz[2];
q[3] = xyz[3];
}
}
float &RichQuat::operator[](int idx)
{
assert(idx >= 0 && idx < 4);
return q[idx];
}
float RichQuat::operator[](int idx) const
{
assert(idx >= 0 && idx < 4);
return q[idx];
}
RichQuat &RichQuat::operator=(const RichQuat &quat)
{
q[0] = quat.q[0];
q[1] = quat.q[1];
q[2] = quat.q[2];
q[3] = quat.q[3];
return *this;
}
bool RichQuat::operator==(const RichQuat &quat) const
{
return (q[0] == quat.q[0] && q[1] == quat.q[1] && q[2] == quat.q[2] && q[3] == quat.q[3]);
}
bool RichQuat::operator!=(const RichQuat &quat) const
{
return (q[0] != quat.q[0] || q[1] != quat.q[1] || q[2] != quat.q[2] || q[3] != quat.q[3]);
}
RichQuat RichQuat::operator+(const RichQuat &quat) const
{
return RichQuat(q[0]+quat.q[0], q[1]+quat.q[1], q[2]+quat.q[2], q[3]+quat.q[3]);
}
RichQuat &RichQuat::operator+=(const RichQuat &quat)
{
q[0] += quat.q[0];
q[1] += quat.q[1];
q[2] += quat.q[2];
q[3] += quat.q[3];
return *this;
}
RichQuat RichQuat::operator-(void) const
{
return RichQuat(-q[0], -q[1], -q[2], -q[3]);
}
RichQuat RichQuat::operator-(const RichQuat &quat) const
{
return RichQuat(q[0]-quat.q[0], q[1]-quat.q[1], q[2]-quat.q[2], q[3]-quat.q[3]);
}
RichQuat &RichQuat::operator-=(const RichQuat &quat)
{
q[0] -= quat.q[0];
q[1] -= quat.q[1];
q[2] -= quat.q[2];
q[3] -= quat.q[3];
return *this;
}
RichQuat RichQuat::operator*(const RichQuat &quat) const
{
float t[4];
t[0] = q[3]*quat.q[0] + q[0]*quat.q[3] + q[1]*quat.q[2] - q[2]*quat.q[1];
t[1] = q[3]*quat.q[1] + q[1]*quat.q[3] + q[2]*quat.q[0] - q[0]*quat.q[2];
t[2] = q[3]*quat.q[2] + q[2]*quat.q[3] + q[0]*quat.q[1] - q[1]*quat.q[0];
t[3] = q[3]*quat.q[3] - q[0]*quat.q[0] - q[1]*quat.q[1] - q[2]*quat.q[2];
return RichQuat(t);
}
RichQuat &RichQuat::operator*=(const RichQuat &quat)
{
float t[4];
t[0] = q[3]*quat.q[0] + q[0]*quat.q[3] + q[1]*quat.q[2] - q[2]*quat.q[1];
t[1] = q[3]*quat.q[1] + q[1]*quat.q[3] + q[2]*quat.q[0] - q[0]*quat.q[2];
t[2] = q[3]*quat.q[2] + q[2]*quat.q[3] + q[0]*quat.q[1] - q[1]*quat.q[0];
t[3] = q[3]*quat.q[3] - q[0]*quat.q[0] - q[1]*quat.q[1] - q[2]*quat.q[2];
q[0] = t[0];
q[1] = t[1];
q[2] = t[2];
q[3] = t[3];
return *this;
}
RichVec3 RichQuat::operator*(const RichVec3 &vec) const
{
return TransformPoint(vec);
}
RichQuat RichQuat::operator*(const float &f) const
{
return RichQuat(q[0]*f, q[1]*f, q[2]*f, q[3]*f);
}
RichQuat &RichQuat::operator*=(const float &f)
{
q[0] *= f;
q[1] *= f;
q[2] *= f;
q[3] *= f;
return *this;
}
void RichQuat::ChangeEndian(void)
{
LITTLE_BIG_SWAP(q[0]);
LITTLE_BIG_SWAP(q[1]);
LITTLE_BIG_SWAP(q[2]);
LITTLE_BIG_SWAP(q[3]);
}
RichVec3 RichQuat::TransformPoint(const RichVec3 &vec) const
{
return ToMat43()*vec;
}
RichQuat RichQuat::GetTranspose(void)
{
RichMat43 m = ToMat43(true);
return m.ToQuat();
}
void RichQuat::Transpose(void)
{
RichMat43 m = ToMat43(true);
*this = m.ToQuat();
}
float RichQuat::Length(void) const
{
return sqrtf(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
}
float RichQuat::Normalize(void)
{
float l = Length();
if (l != 0.0f)
{
float lm = 1.0f/l;
*this *= lm;
}
return l;
}
void RichQuat::Lerp(const RichQuat &quat, const float frac)
{
q[0] = MATH_PREFIX Math_LinearLerp(q[0], quat.q[0], frac);
q[1] = MATH_PREFIX Math_LinearLerp(q[1], quat.q[1], frac);
q[2] = MATH_PREFIX Math_LinearLerp(q[2], quat.q[2], frac);
q[3] = MATH_PREFIX Math_LinearLerp(q[3], quat.q[3], frac);
}
void RichQuat::Lerp(const RichQuat &quatA, const RichQuat &quatB, const float frac)
{
q[0] = MATH_PREFIX Math_LinearLerp(quatA.q[0], quatB.q[0], frac);
q[1] = MATH_PREFIX Math_LinearLerp(quatA.q[1], quatB.q[1], frac);
q[2] = MATH_PREFIX Math_LinearLerp(quatA.q[2], quatB.q[2], frac);
q[3] = MATH_PREFIX Math_LinearLerp(quatA.q[3], quatB.q[3], frac);
}
void RichQuat::SLerp(const RichQuat &quat, const float frac)
{
float t[4];
MATH_PREFIX Math_QuatSlerp(q, (float *)quat.q, frac, t);
q[0] = t[0];
q[1] = t[1];
q[2] = t[2];
q[3] = t[3];
}
void RichQuat::SLerp(const RichQuat &quatA, const RichQuat &quatB, const float frac)
{
MATH_PREFIX Math_QuatSlerp((float *)quatA.q, (float *)quatB.q, frac, q);
}
void RichQuat::FromQuat3(const float *quat)
{
q[0] = quat[0];
q[1] = quat[1];
q[2] = quat[2];
q[3] = sqrtf(fabsf(1.0f - (quat[0]*quat[0] + quat[1]*quat[1] + quat[2]*quat[2])));
}
void RichQuat::ToQuat3(float *quat) const
{
if (q[3] < 0.0f)
{
quat[0] = -q[0];
quat[1] = -q[1];
quat[2] = -q[2];
}
else
{
quat[0] = q[0];
quat[1] = q[1];
quat[2] = q[2];
}
}
RichMat43 RichQuat::ToMat43(bool transposed) const
{
modelMatrix_t m;
MATH_PREFIX Math_QuatToMat((float *)q, &m, false, transposed);
m.o[0] = 0.0f;
m.o[1] = 0.0f;
m.o[2] = 0.0f;
return RichMat43(m);
}
RichAngles RichQuat::ToAngles(void) const
{
return ToMat43().ToAngles();
}
//===========================================
//RichVec3 implementation
//===========================================
RichVec3::RichVec3(void)
{
v[0] = 0.0f;
v[1] = 0.0f;
v[2] = 0.0f;
}
RichVec3::RichVec3(const float x, const float y, const float z)
{
v[0] = x;
v[1] = y;
v[2] = z;
}
RichVec3::RichVec3(const float *xyz)
{
v[0] = xyz[0];
v[1] = xyz[1];
v[2] = xyz[2];
}
float &RichVec3::operator[](int idx)
{
assert(idx >= 0 && idx < 3);
return v[idx];
}
float RichVec3::operator[](int idx) const
{
assert(idx >= 0 && idx < 3);
return v[idx];
}
RichVec3 &RichVec3::operator=(const RichVec3 &vec)
{
v[0] = vec.v[0];
v[1] = vec.v[1];
v[2] = vec.v[2];
return *this;
}
bool RichVec3::operator==(const RichVec3 &vec) const
{
return (v[0] == vec.v[0] && v[1] == vec.v[1] && v[2] == vec.v[2]);
}
bool RichVec3::operator!=(const RichVec3 &vec) const
{
return (v[0] != vec.v[0] || v[1] != vec.v[1] || v[2] != vec.v[2]);
}
RichVec3 RichVec3::operator+(const RichVec3 &vec) const
{
return RichVec3(v[0]+vec.v[0], v[1]+vec.v[1], v[2]+vec.v[2]);
}
RichVec3 &RichVec3::operator+=(const RichVec3 &vec)
{
v[0] += vec.v[0];
v[1] += vec.v[1];
v[2] += vec.v[2];
return *this;
}
RichVec3 RichVec3::operator-(void) const
{
return RichVec3(-v[0], -v[1], -v[2]);
}
RichVec3 RichVec3::operator-(const RichVec3 &vec) const
{
return RichVec3(v[0]-vec.v[0], v[1]-vec.v[1], v[2]-vec.v[2]);
}