C++ idMat3::Transpose方法代码示例

/*
=================
idRenderModelDecal::CreateProjectionInfo
=================
*/
void idRenderModelDecal::GlobalProjectionInfoToLocal( decalProjectionInfo_t &localInfo, const decalProjectionInfo_t &info, const idVec3 &origin, const idMat3 &axis ) {
	float modelMatrix[16];

	R_AxisToModelMatrix( axis, origin, modelMatrix );

	for ( int j = 0; j < NUM_DECAL_BOUNDING_PLANES; j++ ) {
		R_GlobalPlaneToLocal( modelMatrix, info.boundingPlanes[j], localInfo.boundingPlanes[j] );
	}
	R_GlobalPlaneToLocal( modelMatrix, info.fadePlanes[0], localInfo.fadePlanes[0] );
	R_GlobalPlaneToLocal( modelMatrix, info.fadePlanes[1], localInfo.fadePlanes[1] );
	R_GlobalPlaneToLocal( modelMatrix, info.textureAxis[0], localInfo.textureAxis[0] );
	R_GlobalPlaneToLocal( modelMatrix, info.textureAxis[1], localInfo.textureAxis[1] );
	R_GlobalPointToLocal( modelMatrix, info.projectionOrigin, localInfo.projectionOrigin );
	localInfo.projectionBounds = info.projectionBounds;
	localInfo.projectionBounds.TranslateSelf( -origin );
	localInfo.projectionBounds.RotateSelf( axis.Transpose() );
	localInfo.material = info.material;
	localInfo.parallel = info.parallel;
	localInfo.fadeDepth = info.fadeDepth;
	localInfo.startTime = info.startTime;
	localInfo.force = info.force;
}

/*
================
idCollisionModelManagerLocal::DrawModel
================
*/
void idCollisionModelManagerLocal::DrawModel( cmHandle_t handle, const idVec3& modelOrigin, const idMat3& modelAxis,
		const idVec3& viewOrigin, const float radius )
{

	cm_model_t* model;
	idVec3 viewPos;
	
	if( handle < 0 && handle >= numModels )
	{
		return;
	}
	
	if( cm_drawColor.IsModified() )
	{
		sscanf( cm_drawColor.GetString(), "%f %f %f %f", &cm_color.x, &cm_color.y, &cm_color.z, &cm_color.w );
		cm_drawColor.ClearModified();
	}
	
	model = models[ handle ];
	viewPos = ( viewOrigin - modelOrigin ) * modelAxis.Transpose();
	checkCount++;
	DrawNodePolygons( model, model->node, modelOrigin, modelAxis, viewPos, radius );
}

/*
================
idCollisionModelManagerLocal::Rotation180
================
*/
void idCollisionModelManagerLocal::Rotation180( trace_t *results, const idVec3 &rorg, const idVec3 &axis,
										const float startAngle, const float endAngle, const idVec3 &start,
										const idTraceModel *trm, const idMat3 &trmAxis, int contentMask,
										cmHandle_t model, const idVec3 &modelOrigin, const idMat3 &modelAxis ) {
	int i, j, edgeNum;
	float d, maxErr, initialTan;
	bool model_rotated, trm_rotated;
	idVec3 dir, dir1, dir2, tmp, vr, vup, org, at, bt;
	idMat3 invModelAxis, endAxis, tmpAxis;
	idRotation startRotation, endRotation;
	idPluecker plaxis;
	cm_trmPolygon_t *poly;
	cm_trmEdge_t *edge;
	cm_trmVertex_t *vert;
	ALIGN16( static cm_traceWork_t tw );

	if ( model < 0 || model > MAX_SUBMODELS || model > idCollisionModelManagerLocal::maxModels ) {
		common->Printf("idCollisionModelManagerLocal::Rotation180: invalid model handle\n");
		return;
	}
	if ( !idCollisionModelManagerLocal::models[model] ) {
		common->Printf("idCollisionModelManagerLocal::Rotation180: invalid model\n");
		return;
	}

	idCollisionModelManagerLocal::checkCount++;

	tw.trace.fraction = 1.0f;
	tw.trace.c.contents = 0;
	tw.trace.c.type = CONTACT_NONE;
	tw.contents = contentMask;
	tw.isConvex = true;
	tw.rotation = true;
	tw.positionTest = false;
	tw.axisIntersectsTrm = false;
	tw.quickExit = false;
	tw.angle = endAngle - startAngle;
	assert( tw.angle > -180.0f && tw.angle < 180.0f );
	tw.maxTan = initialTan = idMath::Fabs( tan( ( idMath::PI / 360.0f ) * tw.angle ) );
	tw.model = idCollisionModelManagerLocal::models[model];
	tw.start = start - modelOrigin;
	// rotation axis, axis is assumed to be normalized
	tw.axis = axis;
//	assert( tw.axis[0] * tw.axis[0] + tw.axis[1] * tw.axis[1] + tw.axis[2] * tw.axis[2] > 0.99f );
	// rotation origin projected into rotation plane through tw.start
	tw.origin = rorg - modelOrigin;
	d = (tw.axis * tw.origin) - ( tw.axis * tw.start );
	tw.origin = tw.origin - d * tw.axis;
	// radius of rotation
	tw.radius = ( tw.start - tw.origin ).Length();
	// maximum error of the circle approximation traced through the axial BSP tree
	d = tw.radius * tw.radius - (CIRCLE_APPROXIMATION_LENGTH*CIRCLE_APPROXIMATION_LENGTH*0.25f);
	if ( d > 0.0f ) {
		maxErr = tw.radius - idMath::Sqrt( d );
	} else {
		maxErr = tw.radius;
	}

	model_rotated = modelAxis.IsRotated();
	if ( model_rotated ) {
		invModelAxis = modelAxis.Transpose();
		tw.axis *= invModelAxis;
		tw.origin *= invModelAxis;
	}

	startRotation.Set( tw.origin, tw.axis, startAngle );
	endRotation.Set( tw.origin, tw.axis, endAngle );

	// create matrix which rotates the rotation axis to the z-axis
	tw.axis.NormalVectors( vr, vup );
	tw.matrix[0][0] = vr[0];
	tw.matrix[1][0] = vr[1];
	tw.matrix[2][0] = vr[2];
	tw.matrix[0][1] = -vup[0];
	tw.matrix[1][1] = -vup[1];
	tw.matrix[2][1] = -vup[2];
	tw.matrix[0][2] = tw.axis[0];
	tw.matrix[1][2] = tw.axis[1];
	tw.matrix[2][2] = tw.axis[2];

	// if optimized point trace
	if ( !trm || ( trm->bounds[1][0] - trm->bounds[0][0] <= 0.0f &&
					trm->bounds[1][1] - trm->bounds[0][1] <= 0.0f &&
					trm->bounds[1][2] - trm->bounds[0][2] <= 0.0f ) ) {

		if ( model_rotated ) {
			// rotate trace instead of model
			tw.start *= invModelAxis;
		}
		tw.end = tw.start;
		// if we start at a specific angle
		if ( startAngle != 0.0f ) {
			startRotation.RotatePoint( tw.start );
		}
		// calculate end position of rotation
//.........这里部分代码省略.........

/*
============
idPush::ClipPush

  Try to push other entities by moving the given entity.
============
*/
float idPush::ClipPush( trace_t& results, idEntity* pusher, const int flags,
						const idVec3& oldOrigin, const idMat3& oldAxis,
						idVec3& newOrigin, idMat3& newAxis )
{
	idVec3 translation;
	idRotation rotation;
	float mass;
	
	mass = 0.0f;
	
	results.fraction = 1.0f;
	results.endpos = newOrigin;
	results.endAxis = newAxis;
	memset( &results.c, 0, sizeof( results.c ) );
	
	// translational push
	translation = newOrigin - oldOrigin;
	
	// if the pusher translates
	if( translation != vec3_origin )
	{
	
		mass += ClipTranslationalPush( results, pusher, flags, newOrigin, translation );
		if( results.fraction < 1.0f )
		{
			newOrigin = oldOrigin;
			newAxis = oldAxis;
			return mass;
		}
	}
	else
	{
		newOrigin = oldOrigin;
	}
	
	// rotational push
	rotation = ( oldAxis.Transpose() * newAxis ).ToRotation();
	rotation.SetOrigin( newOrigin );
	rotation.Normalize180();
	rotation.ReCalculateMatrix();		// recalculate the rotation matrix to avoid accumulating rounding errors
	
	// if the pusher rotates
	if( rotation.GetAngle() != 0.0f )
	{
	
		// recalculate new axis to avoid floating point rounding problems
		newAxis = oldAxis * rotation.ToMat3();
		newAxis.OrthoNormalizeSelf();
		newAxis.FixDenormals();
		newAxis.FixDegeneracies();
		
		pusher->GetPhysics()->GetClipModel()->SetPosition( newOrigin, oldAxis );
		
		mass += ClipRotationalPush( results, pusher, flags, newAxis, rotation );
		if( results.fraction < 1.0f )
		{
			newOrigin = oldOrigin;
			newAxis = oldAxis;
			return mass;
		}
	}
	else
	{
		newAxis = oldAxis;
	}
	
	return mass;
}