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mat3_t Class Reference

#include <math_matrix.h>

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Public Member Functions

void Clear (void)
void Clear (void)
void Identity (void)
void Identity (void)
mat3_t Inverse (void) const
mat3_t Inverse (void) const
 mat3_t (const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz)
 mat3_t (idVec3_t const &x, idVec3_t const &y, idVec3_t const &z)
 mat3_t (float src[3][3])
 mat3_t ()
 mat3_t (const float xx, const float xy, const float xz, const float yx, const float yy, const float yz, const float zx, const float zy, const float zz)
 mat3_t (idVec3_t const &x, idVec3_t const &y, idVec3_t const &z)
 mat3_t (float src[3][3])
 mat3_t ()
mat3_t operator * (float a) const
mat3_t operator * (const mat3_t &a) const
idVec3_t operator * (const idVec3_t &vec) const
mat3_t operator * (float a) const
mat3_t operator * (const mat3_t &a) const
idVec3_t operator * (const idVec3_t &vec) const
mat3_t & operator *= (float a)
mat3_t & operator *= (float a)
mat3_t operator+ (mat3_t const &a) const
mat3_t operator+ (mat3_t const &a) const
mat3_t & operator+= (mat3_t const &a)
mat3_t & operator+= (mat3_t const &a)
mat3_t operator- (mat3_t const &a) const
mat3_t operator- (mat3_t const &a) const
mat3_t & operator-= (mat3_t const &a)
mat3_t & operator-= (mat3_t const &a)
idVec3_t & operator[] (int index)
idVec3_t operator[] (int index) const
idVec3_t & operator[] (int index)
idVec3_t operator[] (int index) const
void OrthoNormalize (void)
void OrthoNormalize (void)
void ProjectVector (const idVec3_t &src, idVec3_t &dst) const
void ProjectVector (const idVec3_t &src, idVec3_t &dst) const
void Transpose (void)
void Transpose (mat3_t &matrix)
void Transpose (void)
void Transpose (mat3_t &matrix)
void UnprojectVector (const idVec3_t &src, idVec3_t &dst) const
void UnprojectVector (const idVec3_t &src, idVec3_t &dst) const

Data Fields

idVec3_t mat [3]

Friends

void InverseMultiply (const mat3_t &inv, const mat3_t &b, mat3_t &dst)
void InverseMultiply (const mat3_t &inv, const mat3_t &b, mat3_t &dst)
mat3_t operator * (float a, mat3_t const &b)
idVec3_t operator * (const idVec3_t &vec, const mat3_t &mat)
mat3_t operator * (float a, mat3_t const &b)
idVec3_t operator * (const idVec3_t &vec, const mat3_t &mat)
mat3_t SkewSymmetric (idVec3_t const &src)
mat3_t SkewSymmetric (idVec3_t const &src)
void toMatrix (idVec3_t const &src, mat3_t &dst)
void toMatrix (angles_t const &src, mat3_t &dst)
void toMatrix (quat_t const &src, mat3_t &dst)
void toMatrix (idVec3_t const &src, mat3_t &dst)
void toMatrix (angles_t const &src, mat3_t &dst)
void toMatrix (quat_t const &src, mat3_t &dst)

Constructor & Destructor Documentation

ID_INLINE mat3_t (   ) 
 

Definition at line 83 of file math_matrix.h.

References ID_INLINE.

Referenced by operator *(), operator+(), and operator-().

00083                          {
00084 }

ID_INLINE mat3_t (  float  src[3][3]  ) 
 

Definition at line 86 of file math_matrix.h.

References ID_INLINE, mat, memcpy(), and src.

00086                                               {
00087     memcpy( mat, src, sizeof( src ) );
00088 }

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ID_INLINE mat3_t (  idVec3_t const &  x,
idVec3_t const &  y,
idVec3_t const &  z
) 
 

Definition at line 90 of file math_matrix.h.

References ID_INLINE, mat, x, idVec3_t::x, y, idVec3_t::y, z, and idVec3_t::z.

00090                                                                                   {
00091     mat[ 0 ].x = x.x; mat[ 0 ].y = x.y; mat[ 0 ].z = x.z;
00092     mat[ 1 ].x = y.x; mat[ 1 ].y = y.y; mat[ 1 ].z = y.z;
00093     mat[ 2 ].x = z.x; mat[ 2 ].y = z.y; mat[ 2 ].z = z.z;
00094 }

ID_INLINE mat3_t (  const float  xx,
const float  xy,
const float  xz,
const float  yx,
const float  yy,
const float  yz,
const float  zx,
const float  zy,
const float  zz
) 
 

Definition at line 96 of file math_matrix.h.

References ID_INLINE, mat, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00096                                                                                                                                                                          {
00097     mat[ 0 ].x = xx; mat[ 0 ].y = xy; mat[ 0 ].z = xz;
00098     mat[ 1 ].x = yx; mat[ 1 ].y = yy; mat[ 1 ].z = yz;
00099     mat[ 2 ].x = zx; mat[ 2 ].y = zy; mat[ 2 ].z = zz;
00100 }

mat3_t (   ) 
 

mat3_t (  float  src[3][3]  ) 
 

mat3_t (  idVec3_t const &  x,
idVec3_t const &  y,
idVec3_t const &  z
) 
 

mat3_t (  const float  xx,
const float  xy,
const float  xz,
const float  yx,
const float  yy,
const float  yz,
const float  zx,
const float  zy,
const float  zz
) 
 

Member Function Documentation

void Clear (  void   ) 
 

void Clear (  void   ) 
 

Definition at line 130 of file math_matrix.cpp.

References mat, and idVec3_t::set().

00130                          {
00131     mat[0].set( 1, 0, 0 );
00132     mat[1].set( 0, 1, 0 );
00133     mat[2].set( 0, 0, 1 );
00134 }

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void Identity (  void   ) 
 

ID_INLINE void Identity (  void   ) 
 

Definition at line 199 of file math_matrix.h.

References ID_INLINE, mat, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00199                                       {
00200     mat[ 0 ].x = 1.f; mat[ 0 ].y = 0.f; mat[ 0 ].z = 0.f;
00201     mat[ 1 ].x = 0.f; mat[ 1 ].y = 1.f; mat[ 1 ].z = 0.f;
00202     mat[ 2 ].x = 0.f; mat[ 2 ].y = 0.f; mat[ 2 ].z = 1.f;
00203 }

mat3_t Inverse (  void   )  const
 

mat3_t Inverse (  void   )  const
 

Definition at line 122 of file math_matrix.cpp.

References Transpose().

00122                                    {
00123     mat3_t inv( *this );
00124 
00125     inv.Transpose();
00126 
00127     return inv;
00128 }

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mat3_t operator * (  float  a  )  const
 

mat3_t operator * (  const mat3_t &  a  )  const
 

idVec3_t operator * (  const idVec3_t &  vec  )  const
 

ID_INLINE mat3_t operator * (  float  a  )  const
 

Definition at line 132 of file math_matrix.h.

References a, ID_INLINE, mat, mat3_t(), x, y, and z.

00132                                                   {
00133     return mat3_t( 
00134         mat[0].x * a, mat[0].y * a, mat[0].z * a, 
00135         mat[1].x * a, mat[1].y * a, mat[1].z * a, 
00136         mat[2].x * a, mat[2].y * a, mat[2].z * a );
00137 }

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ID_INLINE mat3_t operator * (  const mat3_t &  a  )  const
 

Definition at line 119 of file math_matrix.h.

References a, ID_INLINE, mat, mat3_t(), x, y, and z.

00119                                                           {
00120     return mat3_t( 
00121         mat[0].x * a[0].x + mat[0].y * a[1].x + mat[0].z * a[2].x,
00122         mat[0].x * a[0].y + mat[0].y * a[1].y + mat[0].z * a[2].y,
00123         mat[0].x * a[0].z + mat[0].y * a[1].z + mat[0].z * a[2].z,
00124         mat[1].x * a[0].x + mat[1].y * a[1].x + mat[1].z * a[2].x,
00125         mat[1].x * a[0].y + mat[1].y * a[1].y + mat[1].z * a[2].y,
00126         mat[1].x * a[0].z + mat[1].y * a[1].z + mat[1].z * a[2].z,
00127         mat[2].x * a[0].x + mat[2].y * a[1].x + mat[2].z * a[2].x,
00128         mat[2].x * a[0].y + mat[2].y * a[1].y + mat[2].z * a[2].y,
00129         mat[2].x * a[0].z + mat[2].y * a[1].z + mat[2].z * a[2].z );
00130 }

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ID_INLINE idVec3_t operator * (  const idVec3_t &  vec  )  const
 

Definition at line 112 of file math_matrix.h.

References ID_INLINE, mat, idVec3_t::x, x, idVec3_t::y, and idVec3_t::z.

00112                                                                 {
00113     return idVec3_t( 
00114         mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
00115         mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
00116         mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
00117 }

mat3_t& operator *= (  float  a  ) 
 

ID_INLINE mat3_t & operator *= (  float  a  ) 
 

Definition at line 167 of file math_matrix.h.

References ID_INLINE, mat, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00167                                               {
00168     mat[0].x *= a; mat[0].y *= a; mat[0].z *= a;
00169     mat[1].x *= a; mat[1].y *= a; mat[1].z *= a; 
00170     mat[2].x *= a; mat[2].y *= a; mat[2].z *= a;
00171 
00172     return *this;
00173 }

mat3_t operator+ (  mat3_t const &  a  )  const
 

ID_INLINE mat3_t operator+ (  mat3_t const &  a  )  const
 

Definition at line 139 of file math_matrix.h.

References a, ID_INLINE, mat, mat3_t(), x, y, and z.

00139                                                           {
00140     return mat3_t( 
00141         mat[0].x + a[0].x, mat[0].y + a[0].y, mat[0].z + a[0].z, 
00142         mat[1].x + a[1].x, mat[1].y + a[1].y, mat[1].z + a[1].z, 
00143         mat[2].x + a[2].x, mat[2].y + a[2].y, mat[2].z + a[2].z );
00144 }

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mat3_t& operator+= (  mat3_t const &  a  ) 
 

ID_INLINE mat3_t & operator+= (  mat3_t const &  a  ) 
 

Definition at line 175 of file math_matrix.h.

References a, ID_INLINE, mat, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00175                                                       {
00176     mat[0].x += a[0].x; mat[0].y += a[0].y; mat[0].z += a[0].z;
00177     mat[1].x += a[1].x; mat[1].y += a[1].y; mat[1].z += a[1].z;
00178     mat[2].x += a[2].x; mat[2].y += a[2].y; mat[2].z += a[2].z;
00179 
00180     return *this;
00181 }

mat3_t operator- (  mat3_t const &  a  )  const
 

ID_INLINE mat3_t operator- (  mat3_t const &  a  )  const
 

Definition at line 146 of file math_matrix.h.

References a, ID_INLINE, mat, mat3_t(), x, y, and z.

00146                                                           {
00147     return mat3_t( 
00148         mat[0].x - a[0].x, mat[0].y - a[0].y, mat[0].z - a[0].z, 
00149         mat[1].x - a[1].x, mat[1].y - a[1].y, mat[1].z - a[1].z, 
00150         mat[2].x - a[2].x, mat[2].y - a[2].y, mat[2].z - a[2].z );
00151 }

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mat3_t& operator-= (  mat3_t const &  a  ) 
 

ID_INLINE mat3_t & operator-= (  mat3_t const &  a  ) 
 

Definition at line 183 of file math_matrix.h.

References a, ID_INLINE, mat, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00183                                                       {
00184     mat[0].x -= a[0].x; mat[0].y -= a[0].y; mat[0].z -= a[0].z;
00185     mat[1].x -= a[1].x; mat[1].y -= a[1].y; mat[1].z -= a[1].z;
00186     mat[2].x -= a[2].x; mat[2].y -= a[2].y; mat[2].z -= a[2].z;
00187 
00188     return *this;
00189 }

idVec3_t& operator[] (  int  index  ) 
 

idVec3_t operator[] (  int  index  )  const
 

ID_INLINE idVec3_t & operator[] (  int  index  ) 
 

Definition at line 107 of file math_matrix.h.

References assert, ID_INLINE, and mat.

00107                                                   {
00108     assert( ( index >= 0 ) && ( index < 3 ) );
00109     return mat[ index ];
00110 }

ID_INLINE idVec3_t operator[] (  int  index  )  const
 

Definition at line 102 of file math_matrix.h.

References assert, ID_INLINE, and mat.

00102                                                        {
00103     assert( ( index >= 0 ) && ( index < 3 ) );
00104     return mat[ index ];
00105 }

void OrthoNormalize (  void   ) 
 

ID_INLINE void OrthoNormalize (  void   ) 
 

Definition at line 191 of file math_matrix.h.

References idVec3_t::Cross(), ID_INLINE, mat, and idVec3_t::Normalize().

00191                                             {
00192     mat[ 0 ].Normalize();
00193     mat[ 2 ].Cross( mat[ 0 ], mat[ 1 ] );
00194     mat[ 2 ].Normalize();
00195     mat[ 1 ].Cross( mat[ 2 ], mat[ 0 ] );
00196     mat[ 1 ].Normalize();
00197 }

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void ProjectVector (  const idVec3_t &  src,
idVec3_t &  dst
)  const
 

void ProjectVector (  const idVec3_t &  src,
idVec3_t &  dst
)  const
 

Definition at line 87 of file math_matrix.cpp.

References mat, src, idVec3_t::x, idVec3_t::y, and idVec3_t::z.

00087                                                                      {
00088     dst.x = src * mat[ 0 ];
00089     dst.y = src * mat[ 1 ];
00090     dst.z = src * mat[ 2 ];
00091 }

void Transpose (  void   ) 
 

void Transpose (  mat3_t &  matrix  ) 
 

void Transpose (  void   ) 
 

Definition at line 108 of file math_matrix.cpp.

References i, j, and mat.

00108                              {
00109     float   temp;
00110     int     i;
00111     int     j;
00112    
00113     for( i = 0; i < 3; i++ ) {
00114         for( j = i + 1; j < 3; j++ ) {
00115             temp = mat[ i ][ j ];
00116             mat[ i ][ j ] = mat[ j ][ i ];
00117             mat[ j ][ i ] = temp;
00118         }
00119     }
00120 }

void Transpose (  mat3_t &  matrix  ) 
 

Definition at line 97 of file math_matrix.cpp.

References i, j, and mat.

Referenced by Inverse().

00097                                        {
00098     int i;
00099     int j;
00100    
00101     for( i = 0; i < 3; i++ ) {
00102         for( j = 0; j < 3; j++ ) {
00103             matrix[ i ][ j ] = mat[ j ][ i ];
00104         }
00105     }
00106 }

void UnprojectVector (  const idVec3_t &  src,
idVec3_t &  dst
)  const
 

void UnprojectVector (  const idVec3_t &  src,
idVec3_t &  dst
)  const
 

Definition at line 93 of file math_matrix.cpp.

References mat, src, coord::x, and coord::y.

00093                                                                        {
00094     dst = mat[ 0 ] * src.x + mat[ 1 ] * src.y + mat[ 2 ] * src.z;
00095 }

Friends And Related Function Documentation

void InverseMultiply (  const mat3_t &  inv,
const mat3_t &  b,
mat3_t &  dst
)  [friend]
 

Definition at line 205 of file math_matrix.h.

00205                                                                                   {
00206     dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x;
00207     dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y;
00208     dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z;
00209     dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x;
00210     dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y;
00211     dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z;
00212     dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x;
00213     dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y;
00214     dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z;
00215 }

void InverseMultiply (  const mat3_t &  inv,
const mat3_t &  b,
mat3_t &  dst
)  [friend]
 

Definition at line 205 of file math_matrix.h.

00205                                                                                   {
00206     dst[0].x = inv[0].x * b[0].x + inv[1].x * b[1].x + inv[2].x * b[2].x;
00207     dst[0].y = inv[0].x * b[0].y + inv[1].x * b[1].y + inv[2].x * b[2].y;
00208     dst[0].z = inv[0].x * b[0].z + inv[1].x * b[1].z + inv[2].x * b[2].z;
00209     dst[1].x = inv[0].y * b[0].x + inv[1].y * b[1].x + inv[2].y * b[2].x;
00210     dst[1].y = inv[0].y * b[0].y + inv[1].y * b[1].y + inv[2].y * b[2].y;
00211     dst[1].z = inv[0].y * b[0].z + inv[1].y * b[1].z + inv[2].y * b[2].z;
00212     dst[2].x = inv[0].z * b[0].x + inv[1].z * b[1].x + inv[2].z * b[2].x;
00213     dst[2].y = inv[0].z * b[0].y + inv[1].z * b[1].y + inv[2].z * b[2].y;
00214     dst[2].z = inv[0].z * b[0].z + inv[1].z * b[1].z + inv[2].z * b[2].z;
00215 }

mat3_t operator * (  float  a,
mat3_t const &  b
)  [friend]
 

Definition at line 160 of file math_matrix.h.

00160                                                        {
00161     return mat3_t( 
00162         b[0].x * a, b[0].y * a, b[0].z * a, 
00163         b[1].x * a, b[1].y * a, b[1].z * a, 
00164         b[2].x * a, b[2].y * a, b[2].z * a );
00165 }

idVec3_t operator * (  const idVec3_t &  vec,
const mat3_t &  mat
)  [friend]
 

Definition at line 153 of file math_matrix.h.

00153                                                                        {
00154     return idVec3_t( 
00155         mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
00156         mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
00157         mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
00158 }

mat3_t operator * (  float  a,
mat3_t const &  b
)  [friend]
 

Definition at line 160 of file math_matrix.h.

00160                                                        {
00161     return mat3_t( 
00162         b[0].x * a, b[0].y * a, b[0].z * a, 
00163         b[1].x * a, b[1].y * a, b[1].z * a, 
00164         b[2].x * a, b[2].y * a, b[2].z * a );
00165 }

idVec3_t operator * (  const idVec3_t &  vec,
const mat3_t &  mat
)  [friend]
 

Definition at line 153 of file math_matrix.h.

00153                                                                        {
00154     return idVec3_t( 
00155         mat[ 0 ].x * vec.x + mat[ 1 ].x * vec.y + mat[ 2 ].x * vec.z,
00156         mat[ 0 ].y * vec.x + mat[ 1 ].y * vec.y + mat[ 2 ].y * vec.z,
00157         mat[ 0 ].z * vec.x + mat[ 1 ].z * vec.y + mat[ 2 ].z * vec.z );
00158 }

mat3_t SkewSymmetric (  idVec3_t const &  src  )  [friend]
 

Definition at line 217 of file math_matrix.h.

00217                                                       {
00218     return mat3_t( 0.0f, -src.z,  src.y, src.z,   0.0f, -src.x, -src.y,  src.x,   0.0f );
00219 }

mat3_t SkewSymmetric (  idVec3_t const &  src  )  [friend]
 

Definition at line 217 of file math_matrix.h.

00217                                                       {
00218     return mat3_t( 0.0f, -src.z,  src.y, src.z,   0.0f, -src.x, -src.y,  src.x,   0.0f );
00219 }

void toMatrix (  idVec3_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 82 of file math_matrix.cpp.

00082                                                   {
00083         angles_t sup = src;
00084         toMatrix(sup, dst);
00085 }

void toMatrix (  angles_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 61 of file math_matrix.cpp.

00061                                                   {
00062     float           angle;
00063     static float    sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
00064         
00065     angle = src.yaw * ( M_PI * 2.0f / 360.0f );
00066     sy = sin( angle );
00067     cy = cos( angle );
00068 
00069     angle = src.pitch * ( M_PI * 2.0f / 360.0f );
00070     sp = sin( angle );
00071     cp = cos( angle );
00072 
00073     angle = src.roll * ( M_PI * 2.0f / 360.0f );
00074     sr = sin( angle );
00075     cr = cos( angle );
00076 
00077     dst[ 0 ].set( cp * cy, cp * sy, -sp );
00078     dst[ 1 ].set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
00079     dst[ 2 ].set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
00080 }

void toMatrix (  quat_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 26 of file math_matrix.cpp.

00026                                                 {
00027     float   wx, wy, wz;
00028     float   xx, yy, yz;
00029     float   xy, xz, zz;
00030     float   x2, y2, z2;
00031 
00032     x2 = src.x + src.x;
00033     y2 = src.y + src.y;
00034     z2 = src.z + src.z;
00035 
00036     xx = src.x * x2;
00037     xy = src.x * y2;
00038     xz = src.x * z2;
00039 
00040     yy = src.y * y2;
00041     yz = src.y * z2;
00042     zz = src.z * z2;
00043 
00044     wx = src.w * x2;
00045     wy = src.w * y2;
00046     wz = src.w * z2;
00047 
00048     dst[ 0 ][ 0 ] = 1.0f - ( yy + zz );
00049     dst[ 0 ][ 1 ] = xy - wz;
00050     dst[ 0 ][ 2 ] = xz + wy;
00051 
00052     dst[ 1 ][ 0 ] = xy + wz;
00053     dst[ 1 ][ 1 ] = 1.0f - ( xx + zz );
00054     dst[ 1 ][ 2 ] = yz - wx;
00055 
00056     dst[ 2 ][ 0 ] = xz - wy;
00057     dst[ 2 ][ 1 ] = yz + wx;
00058     dst[ 2 ][ 2 ] = 1.0f - ( xx + yy );
00059 }

void toMatrix (  idVec3_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 82 of file math_matrix.cpp.

00082                                                   {
00083         angles_t sup = src;
00084         toMatrix(sup, dst);
00085 }

void toMatrix (  angles_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 61 of file math_matrix.cpp.

00061                                                   {
00062     float           angle;
00063     static float    sr, sp, sy, cr, cp, cy; // static to help MS compiler fp bugs
00064         
00065     angle = src.yaw * ( M_PI * 2.0f / 360.0f );
00066     sy = sin( angle );
00067     cy = cos( angle );
00068 
00069     angle = src.pitch * ( M_PI * 2.0f / 360.0f );
00070     sp = sin( angle );
00071     cp = cos( angle );
00072 
00073     angle = src.roll * ( M_PI * 2.0f / 360.0f );
00074     sr = sin( angle );
00075     cr = cos( angle );
00076 
00077     dst[ 0 ].set( cp * cy, cp * sy, -sp );
00078     dst[ 1 ].set( sr * sp * cy + cr * -sy, sr * sp * sy + cr * cy, sr * cp );
00079     dst[ 2 ].set( cr * sp * cy + -sr * -sy, cr * sp * sy + -sr * cy, cr * cp );
00080 }

void toMatrix (  quat_t const &  src,
mat3_t &  dst
)  [friend]
 

Definition at line 26 of file math_matrix.cpp.

00026                                                 {
00027     float   wx, wy, wz;
00028     float   xx, yy, yz;
00029     float   xy, xz, zz;
00030     float   x2, y2, z2;
00031 
00032     x2 = src.x + src.x;
00033     y2 = src.y + src.y;
00034     z2 = src.z + src.z;
00035 
00036     xx = src.x * x2;
00037     xy = src.x * y2;
00038     xz = src.x * z2;
00039 
00040     yy = src.y * y2;
00041     yz = src.y * z2;
00042     zz = src.z * z2;
00043 
00044     wx = src.w * x2;
00045     wy = src.w * y2;
00046     wz = src.w * z2;
00047 
00048     dst[ 0 ][ 0 ] = 1.0f - ( yy + zz );
00049     dst[ 0 ][ 1 ] = xy - wz;
00050     dst[ 0 ][ 2 ] = xz + wy;
00051 
00052     dst[ 1 ][ 0 ] = xy + wz;
00053     dst[ 1 ][ 1 ] = 1.0f - ( xx + zz );
00054     dst[ 1 ][ 2 ] = yz - wx;
00055 
00056     dst[ 2 ][ 0 ] = xz - wy;
00057     dst[ 2 ][ 1 ] = yz + wx;
00058     dst[ 2 ][ 2 ] = 1.0f - ( xx + yy );
00059 }

Field Documentation

idVec3_t mat
 

Definition at line 41 of file math_matrix.h.

Referenced by Clear(), Identity(), mat3_t(), operator *(), operator *=(), operator+(), operator+=(), operator-(), operator-=(), operator[](), OrthoNormalize(), ProjectVector(), Transpose(), and UnprojectVector().

The documentation for this class was generated from the following files:
Generated on Thu Aug 25 19:56:23 2005 for Quake III Arena by  doxygen 1.3.9.1