source: golgotha/src/i4/math/transform.cc @ 80

Last change on this file since 80 was 80, checked in by Sam Hocevar, 12 years ago
  • Adding the Golgotha source code. Not sure what's going to be interesting in there, but since it's all public domain, there's certainly stuff to pick up.
File size: 4.7 KB
RevLine 
[80]1/********************************************************************** <BR>
2  This file is part of Crack dot Com's free source code release of
3  Golgotha. <a href="http://www.crack.com/golgotha_release"> <BR> for
4  information about compiling & licensing issues visit this URL</a>
5  <PRE> If that doesn't help, contact Jonathan Clark at
6  golgotha_source@usa.net (Subject should have "GOLG" in it)
7***********************************************************************/
8
9#include "math/transform.hh"
10
11i4_transform_class& i4_transform_class::multiply(const i4_transform_class &a, const i4_transform_class &b)
12{
13  // expanded transform multiply
14  x.x = a.x.x*b.x.x + a.y.x*b.x.y + a.z.x*b.x.z;
15  x.y = a.x.y*b.x.x + a.y.y*b.x.y + a.z.y*b.x.z;
16  x.z = a.x.z*b.x.x + a.y.z*b.x.y + a.z.z*b.x.z;
17  y.x = a.x.x*b.y.x + a.y.x*b.y.y + a.z.x*b.y.z;
18  y.y = a.x.y*b.y.x + a.y.y*b.y.y + a.z.y*b.y.z;
19  y.z = a.x.z*b.y.x + a.y.z*b.y.y + a.z.z*b.y.z;
20  z.x = a.x.x*b.z.x + a.y.x*b.z.y + a.z.x*b.z.z;
21  z.y = a.x.y*b.z.x + a.y.y*b.z.y + a.z.y*b.z.z;
22  z.z = a.x.z*b.z.x + a.y.z*b.z.y + a.z.z*b.z.z;
23  t.x = a.x.x*b.t.x + a.y.x*b.t.y + a.z.x*b.t.z + a.t.x;
24  t.y = a.x.y*b.t.x + a.y.y*b.t.y + a.z.y*b.t.z + a.t.y;
25  t.z = a.x.z*b.t.x + a.y.z*b.t.y + a.z.z*b.t.z + a.t.z;
26  /*
27    _asm
28    {
29      mov     eax,this
30      mov     ecx,a
31      mov     edx,b
32
33      fld dword ptr   [ecx+0]
34      fld             st
35      fmul dword ptr  [edx+0]
36      fld dword ptr   [ecx+4]
37      fld             st
38      fmul dword ptr  [edx+0]
39      fld dword ptr   [ecx+8]
40      fld             st
41      fmul dword ptr  [edx+0]
42    }
43
44*/
45  return *this;
46}
47
48i4_transform_class& i4_transform_class::translate(const i4_3d_vector& offset)
49{
50  x.set(i4_float(1),i4_float(0),i4_float(0));
51  y.set(i4_float(0),i4_float(1),i4_float(0));
52  z.set(i4_float(0),i4_float(0),i4_float(1));
53  t = offset;
54
55  return *this;
56}
57
58
59i4_transform_class& i4_transform_class::mult_translate(const i4_3d_vector& offset)
60{
61  t.x += x.x*offset.x + y.x*offset.y + z.x*offset.z;
62  t.y += x.y*offset.x + y.y*offset.y + z.y*offset.z;
63  t.z += x.z*offset.x + y.z*offset.y + z.z*offset.z;
64
65  return *this;
66}
67
68i4_transform_class& i4_transform_class::rotate_z(i4_angle th)
69{
70  i4_float cos_th=cos(th);
71  i4_float sin_th=sin(th);
72
73  x.set( cos_th,      sin_th,      i4_float(0));
74  y.set( -sin_th,     cos_th,      i4_float(0));
75  z.set( i4_float(0), i4_float(0), i4_float(1));
76  t.set( i4_float(0), i4_float(0), i4_float(0));
77  return *this;
78}
79
80i4_transform_class& i4_transform_class::mult_rotate_z(i4_angle th)
81{
82  i4_float cos_th=cos(th);
83  i4_float sin_th=sin(th);
84  i4_float xx, xy, xz, yx, yy, yz;
85
86  xx = y.x*sin_th + x.x*cos_th;
87  xy = y.y*sin_th + x.y*cos_th;
88  xz = y.z*sin_th + x.z*cos_th;
89  yx = y.x*cos_th - x.x*sin_th;
90  yy = y.y*cos_th - x.y*sin_th;
91  yz = y.z*cos_th - x.z*sin_th;
92
93  x.set(xx,xy,xz);
94  y.set(yx,yy,yz);
95  return *this;
96}
97
98i4_transform_class& i4_transform_class::rotate_y(i4_angle th)
99{
100  i4_float cos_th=cos(th);
101  i4_float sin_th=sin(th);
102
103  x.set( cos_th,      i4_float(0), -sin_th     );
104  y.set( i4_float(0), i4_float(1), i4_float(0) );
105  z.set( sin_th,      i4_float(0), cos_th      );
106  t.set( i4_float(0), i4_float(0), i4_float(0) );
107  return *this;
108}
109
110
111i4_transform_class& i4_transform_class::mult_rotate_y(i4_angle th)
112{
113  i4_float cos_th=cos(th);
114  i4_float sin_th=sin(th);
115  i4_float xx, xy, xz, zx, zy, zz;
116
117  xx = x.x*cos_th - z.x*sin_th;
118  xy = x.y*cos_th - z.y*sin_th;
119  xz = x.z*cos_th - z.z*sin_th;
120  zx = x.x*sin_th + z.x*cos_th;
121  zy = x.y*sin_th + z.y*cos_th;
122  zz = x.z*sin_th + z.z*cos_th;
123
124  x.set(xx,xy,xz);
125  z.set(zx,zy,zz);
126  return *this;
127}
128
129i4_transform_class& i4_transform_class::rotate_x(i4_angle th)
130{
131  i4_float cos_th=cos(th);
132  i4_float sin_th=sin(th);
133
134  x.set( i4_float(1), i4_float(0), i4_float(0) );
135  y.set( i4_float(0), cos_th,      sin_th      );
136  z.set( i4_float(0), -sin_th,     cos_th      );
137  t.set( i4_float(0), i4_float(0), i4_float(0) );
138  return *this;
139}
140
141i4_transform_class& i4_transform_class::mult_rotate_x(i4_angle th)
142{
143  i4_float cos_th=cos(th);
144  i4_float sin_th=sin(th);
145  i4_float yx, yy, yz, zx, zy, zz;
146
147  yx = z.x*sin_th + y.x*cos_th;
148  yy = z.y*sin_th + y.y*cos_th;
149  yz = z.z*sin_th + y.z*cos_th;
150  zx = z.x*cos_th - y.x*sin_th;
151  zy = z.y*cos_th - y.y*sin_th;
152  zz = z.z*cos_th - y.z*sin_th;
153
154  y.set(yx,yy,yz);
155  z.set(zx,zy,zz);
156  return *this;
157}
158
159i4_transform_class& i4_transform_class::scale(const i4_3d_vector& scale)
160{
161  x.set( scale.x,     i4_float(0), i4_float(0) );
162  y.set( i4_float(0), scale.y,     i4_float(0) );
163  z.set( i4_float(0), i4_float(0), scale.z     );
164  t.set( i4_float(0), i4_float(0), i4_float(0) );
165
166  return *this;
167}
Note: See TracBrowser for help on using the repository browser.