openmohaa/code/skeletor/SkelMat3.h

/*
===========================================================================
Copyright (C) 2023 the OpenMoHAA team

This file is part of OpenMoHAA source code.

OpenMoHAA source code is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.

OpenMoHAA source code is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with OpenMoHAA source code; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
===========================================================================
*/

// SkelMat3.h : Skeletor

#pragma once

#ifdef __cplusplus

class SkelMat3
{
public:
    float val[3][3];

protected:
    void copy(const SkelMat3& m);

public:
    void MakeZero();
    void MakeIdentity();

    SkelMat3(const SkelVec3& x, const SkelVec3& y, const SkelVec3& z);
    SkelMat3(const float *mat[3]);
    SkelMat3();

    SkelVec3 *XAxis();
    SkelVec3 *YAxis();
    SkelVec3 *ZAxis();

    operator float *();
    operator float *() const;

    float *operator[](int index);
    float *operator[](int index) const;

    void GetEulerAngles(float *vec) const;
    void GetScale(float *vec) const;
    bool IsOrthonormal() const;
    bool IsValid() const;

    void     Multiply(const float mat1[3][3], const float mat2[3][3]);
    float    det() const;
    float    trace() const;
    SkelVec3 TransformVector(const SkelVec3 *skel);
    void     Transpose();
};

inline SkelMat3::SkelMat3(const SkelVec3& x, const SkelVec3& y, const SkelVec3& z)
{
    VectorCopy(x, val[0]);
    VectorCopy(y, val[1]);
    VectorCopy(z, val[2]);
}

inline SkelMat3::SkelMat3(const float *mat[3])
{
    memcpy(&val, mat, sizeof(val));
}

inline SkelMat3::SkelMat3()
{
    MakeIdentity();
}

inline void SkelMat3::copy(const SkelMat3& m)
{
    AxisCopy(m.val, val);
}

inline void SkelMat3::MakeZero()
{
    AxisClear(val);
}

inline void SkelMat3::MakeIdentity()
{
    MakeZero();
    val[0][0] = 1.0f;
    val[1][1] = 1.0f;
    val[2][2] = 1.0f;
}

inline SkelVec3 *SkelMat3::XAxis()
{
    return (SkelVec3 *)&val[0];
}

inline SkelVec3 *SkelMat3::YAxis()
{
    return (SkelVec3 *)&val[1];
}

inline SkelVec3 *SkelMat3::ZAxis()
{
    return (SkelVec3 *)&val[2];
}

inline SkelMat3::operator float *()
{
    return &val[0][0];
}

inline SkelMat3::operator float *() const
{
    return (float *)&val[0][0];
}

inline float *SkelMat3::operator[](int index)
{
    return val[index];
}

inline float *SkelMat3::operator[](int index) const
{
    return (float *)val[index];
}

inline void SkelMat3::GetEulerAngles(float *vec) const
{
    MatrixToEulerAngles(val, vec);
}

inline void SkelMat3::GetScale(float *vec) const
{
    // FIXME: stub
}

inline bool SkelMat3::IsOrthonormal() const
{
    // FIXME: stub
    return false;
}

inline bool SkelMat3::IsValid() const
{
    // FIXME: stub
    return false;
}

inline void SkelMat3::Multiply(const float mat1[3][3], const float mat2[3][3])
{
    MatrixMultiply(mat1, mat2, val);
}

inline float SkelMat3::det() const
{
    return (val[2][1] * val[1][0] - val[2][0] * val[1][1]) * val[0][2]
         + (val[1][1] * val[2][2] - val[1][2] * val[2][1]) * val[0][0]
         - (val[2][2] * val[1][0] - val[1][2] * val[2][0]) * val[0][1];
}

inline float SkelMat3::trace() const
{
    return val[0][0] + val[1][1] + val[2][2];
}

inline SkelVec3 SkelMat3::TransformVector(const SkelVec3 *skel)
{
    SkelVec3 out;
    MatrixTransformVector(*skel, val, out);
    return out;
}

inline void SkelMat3::Transpose()
{
    SkelMat3 out;
    TransposeMatrix(val, out.val);
    memcpy(val, out, sizeof(SkelMat3));
}

#else

typedef struct {
    float val[3][3];
} SkelMat3;

#endif