forked from bartvdbraak/blender
250 lines
8.2 KiB
C++
250 lines
8.2 KiB
C++
/**
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* $Id$
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* ***** BEGIN GPL LICENSE BLOCK *****
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*
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* This program is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2
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* of the License, or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
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* All rights reserved.
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*
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* The Original Code is: all of this file.
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*
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* Contributor(s): none yet.
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*
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* ***** END GPL LICENSE BLOCK *****
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*/
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/**
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* $Id$
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* Copyright (C) 2001 NaN Technologies B.V.
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* A 4x4 matrix compatible with other stuff.
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*/
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#ifndef MT_MATRIX4X4_H
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#define MT_MATRIX4X4_H
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#include <MT_assert.h>
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#include "MT_Vector4.h"
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#include "MT_Transform.h"
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// Row-major 4x4 matrix
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class MT_Matrix4x4 {
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public:
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/**
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* Empty contructor.
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*/
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MT_Matrix4x4() {}
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/**
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* Initialize all fields with the values pointed at by m. A
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* contigous block of 16 values is read. */
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MT_Matrix4x4(const float *m) { setValue(m); }
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/**
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* Initialize all fields with the values pointed at by m. A
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* contigous block of 16 values is read. */
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MT_Matrix4x4(const double *m) { setValue(m); }
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/**
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* Initialise with these 16 explicit values.
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*/
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MT_Matrix4x4(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw,
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MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw,
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MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw,
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MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) {
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setValue(xx, xy, xz, xw,
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yx, yy, yz, yw,
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zx, zy, zz, zw,
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wx, wy, wz, ww);
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}
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/**
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* Initialize from an MT_Transform.
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*/
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MT_Matrix4x4(const MT_Transform &t) {
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const MT_Matrix3x3 &basis = t.getBasis();
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const MT_Vector3 &origin = t.getOrigin();
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setValue(
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basis[0][0],basis[0][1],basis[0][2],origin[0],
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basis[1][0],basis[1][1],basis[1][2],origin[1],
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basis[2][0],basis[2][1],basis[2][2],origin[2],
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MT_Scalar(0),MT_Scalar(0),MT_Scalar(0),MT_Scalar(1)
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);
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}
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/**
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* Get the i-th row.
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*/
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MT_Vector4& operator[](int i) { return m_el[i]; }
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/**
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* Get the i-th row.
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*/
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const MT_Vector4& operator[](int i) const { return m_el[i]; }
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/**
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* Set the matrix to the values pointer at by m. A contiguous
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* block of 16 values is copied. */
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void setValue(const float *m) {
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m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++;
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m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++;
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m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++;
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m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m;
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}
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/**
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* Set the matrix to the values pointer at by m. A contiguous
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* block of 16 values is copied.
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*/
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void setValue(const double *m) {
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m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++;
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m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++;
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m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++;
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m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m;
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}
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/**
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* Set the matrix to these 16 explicit values.
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*/
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void setValue(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw,
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MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw,
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MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw,
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MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) {
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m_el[0][0] = xx; m_el[0][1] = xy; m_el[0][2] = xz; m_el[0][3] = xw;
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m_el[1][0] = yx; m_el[1][1] = yy; m_el[1][2] = yz; m_el[1][3] = yw;
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m_el[2][0] = zx; m_el[2][1] = zy; m_el[2][2] = zz; m_el[2][3] = zw;
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m_el[3][0] = wx; m_el[3][1] = wy; m_el[3][2] = wz; m_el[3][3] = ww;
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}
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/**
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* Scale the columns of this matrix with x, y, z, w respectively.
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*/
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void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) {
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m_el[0][0] *= x; m_el[0][1] *= y; m_el[0][2] *= z; m_el[0][3] *= w;
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m_el[1][0] *= x; m_el[1][1] *= y; m_el[1][2] *= z; m_el[1][3] *= w;
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m_el[2][0] *= x; m_el[2][1] *= y; m_el[2][2] *= z; m_el[2][3] *= w;
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m_el[3][0] *= x; m_el[3][1] *= y; m_el[3][2] *= z; m_el[3][3] *= w;
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}
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/**
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* Return a column-scaled version of this matrix.
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*/
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MT_Matrix4x4 scaled(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) const {
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return MT_Matrix4x4(m_el[0][0] * x, m_el[0][1] * y, m_el[0][2] * z, m_el[0][3] * w,
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m_el[1][0] * x, m_el[1][1] * y, m_el[1][2] * z, m_el[1][3] * w,
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m_el[2][0] * x, m_el[2][1] * y, m_el[2][2] * z, m_el[2][3] * w,
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m_el[3][0] * x, m_el[3][1] * y, m_el[3][2] * z, m_el[3][3] * w);
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}
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/**
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* Set this matrix to I.
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*/
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void setIdentity() {
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setValue(MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0),
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MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0),
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MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0),
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MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0));
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}
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/**
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* Read the element from row i, column j.
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*/
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float getElement(int i, int j) {
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return (float) m_el[i][j];
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}
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/**
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* Copy the contents to a contiguous block of 16 floats.
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*/
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void getValue(float *m) const {
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*m++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0]; *m++ = (float) m_el[3][0];
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*m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1]; *m++ = (float) m_el[3][1];
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*m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2]; *m++ = (float) m_el[3][2];
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*m++ = (float) m_el[0][3]; *m++ = (float) m_el[1][3]; *m++ = (float) m_el[2][3]; *m = (float) m_el[3][3];
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}
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/**
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* Copy the contents to a contiguous block of 16 doubles.
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*/
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void getValue(double *m) const {
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*m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0]; *m++ = m_el[3][0];
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*m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1]; *m++ = m_el[3][1];
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*m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2]; *m++ = m_el[3][2];
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*m++ = m_el[0][3]; *m++ = m_el[1][3]; *m++ = m_el[2][3]; *m = m_el[3][3];
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}
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/**
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* Left-multiply this matrix with the argument.
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*/
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MT_Matrix4x4& operator*=(const MT_Matrix4x4& m);
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/**
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* Left-multiply column c with row vector c.
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*/
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MT_Scalar tdot(int c, const MT_Vector4& v) const {
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return m_el[0][c] * v[0]
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+ m_el[1][c] * v[1]
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+ m_el[2][c] * v[2]
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+ m_el[3][c] * v[3];
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}
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/* I'll postpone this for now... - nzc*/
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/* MT_Scalar determinant() const; */
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/* MT_Matrix4x4 adjoint() const; */
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/* MT_Matrix4x4 inverse() const; */
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MT_Matrix4x4 absolute() const;
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MT_Matrix4x4 transposed() const;
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void transpose();
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MT_Matrix4x4 inverse() const;
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void invert();
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protected:
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/**
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* Access with [row index][column index]
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*/
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MT_Vector4 m_el[4];
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};
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/* These multiplicators do exactly what you ask from them: they
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* multiply in the indicated order. */
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MT_Vector4 operator*(const MT_Matrix4x4& m, const MT_Vector4& v);
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MT_Vector4 operator*(const MT_Vector4& v, const MT_Matrix4x4& m);
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MT_Matrix4x4 operator*(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2);
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/* MT_Matrix4x4 MT_multTransposeLeft(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */
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/* MT_Matrix4x4 MT_multTransposeRight(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */
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inline MT_OStream& operator<<(MT_OStream& os, const MT_Matrix4x4& m) {
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return os << m[0] << GEN_endl
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<< m[1] << GEN_endl
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<< m[2] << GEN_endl
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<< m[3] << GEN_endl;
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}
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#ifdef GEN_INLINED
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#include "MT_Matrix4x4.inl"
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#endif
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#endif
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