252 lines
8.3 KiB
C++
Executable File
252 lines
8.3 KiB
C++
Executable File
/**
|
|
* $Id$
|
|
* ***** BEGIN GPL/BL DUAL LICENSE BLOCK *****
|
|
*
|
|
* This program 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. The Blender
|
|
* Foundation also sells licenses for use in proprietary software under
|
|
* the Blender License. See http://www.blender.org/BL/ for information
|
|
* about this.
|
|
*
|
|
* This program 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 this program; if not, write to the Free Software Foundation,
|
|
* Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
|
|
*
|
|
* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
|
|
* All rights reserved.
|
|
*
|
|
* The Original Code is: all of this file.
|
|
*
|
|
* Contributor(s): none yet.
|
|
*
|
|
* ***** END GPL/BL DUAL LICENSE BLOCK *****
|
|
*/
|
|
|
|
/**
|
|
|
|
* $Id$
|
|
* Copyright (C) 2001 NaN Technologies B.V.
|
|
* A 4x4 matrix compatible with other stuff.
|
|
*/
|
|
|
|
#ifndef MT_MATRIX4X4_H
|
|
#define MT_MATRIX4X4_H
|
|
|
|
#include <MT_assert.h>
|
|
|
|
#include "MT_Vector4.h"
|
|
#include "MT_Transform.h"
|
|
|
|
// Row-major 4x4 matrix
|
|
|
|
class MT_Matrix4x4 {
|
|
public:
|
|
/**
|
|
* Empty contructor.
|
|
*/
|
|
MT_Matrix4x4() {}
|
|
/**
|
|
* Initialize all fields with the values pointed at by m. A
|
|
* contigous block of 16 values is read. */
|
|
MT_Matrix4x4(const float *m) { setValue(m); }
|
|
/**
|
|
* Initialize all fields with the values pointed at by m. A
|
|
* contigous block of 16 values is read. */
|
|
MT_Matrix4x4(const double *m) { setValue(m); }
|
|
|
|
/**
|
|
* Initialise with these 16 explicit values.
|
|
*/
|
|
MT_Matrix4x4(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw,
|
|
MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw,
|
|
MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw,
|
|
MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) {
|
|
setValue(xx, xy, xz, xw,
|
|
yx, yy, yz, yw,
|
|
zx, zy, zz, zw,
|
|
wx, wy, wz, ww);
|
|
}
|
|
|
|
/**
|
|
* Initialize from an MT_Transform.
|
|
*/
|
|
MT_Matrix4x4(const MT_Transform &t) {
|
|
|
|
const MT_Matrix3x3 &basis = t.getBasis();
|
|
const MT_Vector3 &origin = t.getOrigin();
|
|
|
|
setValue(
|
|
basis[0][0],basis[0][1],basis[0][2],origin[0],
|
|
basis[1][0],basis[1][1],basis[1][2],origin[1],
|
|
basis[2][0],basis[2][1],basis[2][2],origin[2],
|
|
MT_Scalar(0),MT_Scalar(0),MT_Scalar(0),MT_Scalar(1)
|
|
);
|
|
}
|
|
|
|
/**
|
|
* Get the i-th row.
|
|
*/
|
|
MT_Vector4& operator[](int i) { return m_el[i]; }
|
|
/**
|
|
* Get the i-th row.
|
|
*/
|
|
const MT_Vector4& operator[](int i) const { return m_el[i]; }
|
|
|
|
/**
|
|
* Set the matrix to the values pointer at by m. A contiguous
|
|
* block of 16 values is copied. */
|
|
void setValue(const float *m) {
|
|
m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++;
|
|
m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++;
|
|
m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++;
|
|
m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m;
|
|
}
|
|
|
|
/**
|
|
* Set the matrix to the values pointer at by m. A contiguous
|
|
* block of 16 values is copied.
|
|
*/
|
|
void setValue(const double *m) {
|
|
m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++;
|
|
m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++;
|
|
m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++;
|
|
m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m;
|
|
}
|
|
|
|
/**
|
|
* Set the matrix to these 16 explicit values.
|
|
*/
|
|
void setValue(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw,
|
|
MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw,
|
|
MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw,
|
|
MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) {
|
|
m_el[0][0] = xx; m_el[0][1] = xy; m_el[0][2] = xz; m_el[0][3] = xw;
|
|
m_el[1][0] = yx; m_el[1][1] = yy; m_el[1][2] = yz; m_el[1][3] = yw;
|
|
m_el[2][0] = zx; m_el[2][1] = zy; m_el[2][2] = zz; m_el[2][3] = zw;
|
|
m_el[3][0] = wx; m_el[3][1] = wy; m_el[3][2] = wz; m_el[3][3] = ww;
|
|
}
|
|
|
|
/**
|
|
* Scale the columns of this matrix with x, y, z, w respectively.
|
|
*/
|
|
void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) {
|
|
m_el[0][0] *= x; m_el[0][1] *= y; m_el[0][2] *= z; m_el[0][3] *= w;
|
|
m_el[1][0] *= x; m_el[1][1] *= y; m_el[1][2] *= z; m_el[1][3] *= w;
|
|
m_el[2][0] *= x; m_el[2][1] *= y; m_el[2][2] *= z; m_el[2][3] *= w;
|
|
m_el[3][0] *= x; m_el[3][1] *= y; m_el[3][2] *= z; m_el[3][3] *= w;
|
|
}
|
|
|
|
/**
|
|
* Return a column-scaled version of this matrix.
|
|
*/
|
|
MT_Matrix4x4 scaled(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) const {
|
|
return MT_Matrix4x4(m_el[0][0] * x, m_el[0][1] * y, m_el[0][2] * z, m_el[0][3] * w,
|
|
m_el[1][0] * x, m_el[1][1] * y, m_el[1][2] * z, m_el[1][3] * w,
|
|
m_el[2][0] * x, m_el[2][1] * y, m_el[2][2] * z, m_el[2][3] * w,
|
|
m_el[3][0] * x, m_el[3][1] * y, m_el[3][2] * z, m_el[3][3] * w);
|
|
}
|
|
|
|
/**
|
|
* Set this matrix to I.
|
|
*/
|
|
void setIdentity() {
|
|
setValue(MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0),
|
|
MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0),
|
|
MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0),
|
|
MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0));
|
|
}
|
|
|
|
/**
|
|
* Read the element from row i, column j.
|
|
*/
|
|
float getElement(int i, int j) {
|
|
return (float) m_el[i][j];
|
|
}
|
|
|
|
/**
|
|
* Copy the contents to a contiguous block of 16 floats.
|
|
*/
|
|
void getValue(float *m) const {
|
|
*m++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0]; *m++ = (float) m_el[3][0];
|
|
*m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1]; *m++ = (float) m_el[3][1];
|
|
*m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2]; *m++ = (float) m_el[3][2];
|
|
*m++ = (float) m_el[0][3]; *m++ = (float) m_el[1][3]; *m++ = (float) m_el[2][3]; *m = (float) m_el[3][3];
|
|
}
|
|
|
|
/**
|
|
* Copy the contents to a contiguous block of 16 doubles.
|
|
*/
|
|
void getValue(double *m) const {
|
|
*m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0]; *m++ = m_el[3][0];
|
|
*m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1]; *m++ = m_el[3][1];
|
|
*m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2]; *m++ = m_el[3][2];
|
|
*m++ = m_el[0][3]; *m++ = m_el[1][3]; *m++ = m_el[2][3]; *m = m_el[3][3];
|
|
}
|
|
|
|
/**
|
|
* Left-multiply this matrix with the argument.
|
|
*/
|
|
MT_Matrix4x4& operator*=(const MT_Matrix4x4& m);
|
|
|
|
/**
|
|
* Left-multiply column c with row vector c.
|
|
*/
|
|
MT_Scalar tdot(int c, const MT_Vector4& v) const {
|
|
return m_el[0][c] * v[0]
|
|
+ m_el[1][c] * v[1]
|
|
+ m_el[2][c] * v[2]
|
|
+ m_el[3][c] * v[3];
|
|
}
|
|
|
|
/* I'll postpone this for now... - nzc*/
|
|
/* MT_Scalar determinant() const; */
|
|
/* MT_Matrix4x4 adjoint() const; */
|
|
/* MT_Matrix4x4 inverse() const; */
|
|
|
|
MT_Matrix4x4 absolute() const;
|
|
|
|
MT_Matrix4x4 transposed() const;
|
|
void transpose();
|
|
|
|
void invert();
|
|
|
|
protected:
|
|
/**
|
|
* Access with [row index][column index]
|
|
*/
|
|
MT_Vector4 m_el[4];
|
|
};
|
|
|
|
/* These multiplicators do exactly what you ask from them: they
|
|
* multiply in the indicated order. */
|
|
MT_Vector4 operator*(const MT_Matrix4x4& m, const MT_Vector4& v);
|
|
MT_Vector4 operator*(const MT_Vector4& v, const MT_Matrix4x4& m);
|
|
MT_Matrix4x4 operator*(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2);
|
|
|
|
/* MT_Matrix4x4 MT_multTransposeLeft(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */
|
|
/* MT_Matrix4x4 MT_multTransposeRight(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */
|
|
|
|
inline MT_OStream& operator<<(MT_OStream& os, const MT_Matrix4x4& m) {
|
|
return os << m[0] << GEN_endl
|
|
<< m[1] << GEN_endl
|
|
<< m[2] << GEN_endl
|
|
<< m[3] << GEN_endl;
|
|
|
|
|
|
|
|
}
|
|
|
|
#ifdef GEN_INLINED
|
|
#include "MT_Matrix4x4.inl"
|
|
#endif
|
|
|
|
#endif
|
|
|