D:/SoftwareEntwicklung/C++/HLC/Tools/SoftPixelEngine/repository/sources/Base/spDimensionMatrix4.hpp
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00001 /* 00002 * 4x4 matrix header 00003 * 00004 * This file is part of the "SoftPixel Engine" (Copyright (c) 2008 by Lukas Hermanns) 00005 * See "SoftPixelEngine.hpp" for license information. 00006 */ 00007 00008 #ifndef __SP_DIMENSION_MATRIX4_H__ 00009 #define __SP_DIMENSION_MATRIX4_H__ 00010 00011 00012 #include "Base/spStandard.hpp" 00013 #include "Base/spMath.hpp" 00014 #include "Base/spDimensionOBB.hpp" 00015 00016 #include <string.h> 00017 00018 00019 namespace sp 00020 { 00021 namespace dim 00022 { 00023 00024 00025 template <typename T> class matrix3; 00026 template <typename T> class matrix2; 00027 00028 enum EMatrixTypes 00029 { 00030 MATRIX_PROJECTION = 0, 00031 MATRIX_VIEW, 00032 MATRIX_WORLD, 00033 MATRIX_TEXTURE, 00034 MATRIX_COLOR, 00035 00036 MATRIX_COUNT 00037 }; 00038 00040 enum EMatrixCoordinateSystmes 00041 { 00042 MATRIX_LEFTHANDED, 00043 MATRIX_RIGHTHANDED 00044 }; 00045 00058 template <typename T> class matrix4 00059 { 00060 00061 public: 00062 00063 matrix4() 00064 { 00065 reset(); 00066 } 00067 matrix4(const T (&Other)[16]) 00068 { 00069 *this = Other; 00070 } 00071 matrix4(const matrix4<T> &Other) 00072 { 00073 *this = Other; 00074 } 00075 matrix4(const matrix3<T> &Other); 00076 matrix4(const obbox3d<T> &Box) 00077 { 00078 M[0] = Box.Axis.X.X * Box.HalfSize.X; 00079 M[1] = Box.Axis.X.Y * Box.HalfSize.X; 00080 M[2] = Box.Axis.X.Z * Box.HalfSize.X; 00081 M[3] = 0; 00082 00083 M[4] = Box.Axis.Y.X * Box.HalfSize.Y; 00084 M[5] = Box.Axis.Y.Y * Box.HalfSize.Y; 00085 M[6] = Box.Axis.Y.Z * Box.HalfSize.Y; 00086 M[7] = 0; 00087 00088 M[ 8] = Box.Axis.Z.X * Box.HalfSize.Z; 00089 M[ 9] = Box.Axis.Z.Y * Box.HalfSize.Z; 00090 M[10] = Box.Axis.Z.Z * Box.HalfSize.Z; 00091 M[11] = 0; 00092 00093 M[12] = Box.Center.X; 00094 M[13] = Box.Center.Y; 00095 M[14] = Box.Center.Z; 00096 M[15] = 1; 00097 } 00098 matrix4( 00099 T m1n1, T m2n1, T m3n1, T m4n1, 00100 T m1n2, T m2n2, T m3n2, T m4n2, 00101 T m1n3, T m2n3, T m3n3, T m4n3, 00102 T m1n4, T m2n4, T m3n4, T m4n4) 00103 { 00104 M[0] = m1n1; M[4] = m2n1; M[ 8] = m3n1; M[12] = m4n1; 00105 M[1] = m1n2; M[5] = m2n2; M[ 9] = m3n2; M[13] = m4n2; 00106 M[2] = m1n3; M[6] = m2n3; M[10] = m3n3; M[14] = m4n3; 00107 M[3] = m1n4; M[7] = m2n4; M[11] = m3n4; M[15] = m4n4; 00108 } 00109 matrix4( 00110 const vector4d<T> &XDirection, 00111 const vector4d<T> &YDirection, 00112 const vector4d<T> &ZDirection, 00113 const vector4d<T> &Position) 00114 { 00115 M[0] = XDirection.X; M[4] = YDirection.X; M[ 8] = ZDirection.X; M[12] = Position.X; 00116 M[1] = XDirection.Y; M[5] = YDirection.Y; M[ 9] = ZDirection.Y; M[13] = Position.Y; 00117 M[2] = XDirection.Z; M[6] = YDirection.Z; M[10] = ZDirection.Z; M[14] = Position.Z; 00118 M[3] = XDirection.W; M[7] = YDirection.W; M[11] = ZDirection.W; M[15] = Position.W; 00119 } 00120 ~matrix4() 00121 { 00122 } 00123 00124 /* === Operators === */ 00125 00131 inline const T operator () (u32 row, u32 col) const 00132 { 00133 return row < 4 && col < 4 ? M[(row << 2) + col] : (T)0; 00134 } 00135 inline T& operator () (u32 row, u32 col) 00136 { 00137 return M[(row << 2) + col]; 00138 } 00139 00141 inline const T operator [] (u32 i) const 00142 { 00143 return i < 16 ? M[i] : (T)0; 00144 } 00145 inline T& operator [] (u32 i) 00146 { 00147 return M[i]; 00148 } 00149 00150 inline bool operator == (const matrix4<T> &Other) 00151 { 00152 for (s32 i = 0; i < 16; ++i) 00153 { 00154 if (M[i] != Other.M[i]) 00155 return false; 00156 } 00157 return true; 00158 } 00159 inline bool operator != (const matrix4<T> &Other) 00160 { 00161 for (s32 i = 0; i < 16; ++i) 00162 { 00163 if (M[i] != Other.M[i]) 00164 return true; 00165 } 00166 return false; 00167 } 00168 00169 inline matrix4<T>& operator = (const T (&Other)[16]) 00170 { 00171 M[0] = Other[0]; M[4] = Other[4]; M[ 8] = Other[ 8]; M[12] = Other[12]; 00172 M[1] = Other[1]; M[5] = Other[5]; M[ 9] = Other[ 9]; M[13] = Other[13]; 00173 M[2] = Other[2]; M[6] = Other[6]; M[10] = Other[10]; M[14] = Other[14]; 00174 M[3] = Other[3]; M[7] = Other[7]; M[11] = Other[11]; M[15] = Other[15]; 00175 return *this; 00176 } 00177 inline matrix4<T>& operator = (const matrix4<T> &Other) 00178 { 00179 M[0] = Other[0]; M[4] = Other[4]; M[ 8] = Other[ 8]; M[12] = Other[12]; 00180 M[1] = Other[1]; M[5] = Other[5]; M[ 9] = Other[ 9]; M[13] = Other[13]; 00181 M[2] = Other[2]; M[6] = Other[6]; M[10] = Other[10]; M[14] = Other[14]; 00182 M[3] = Other[3]; M[7] = Other[7]; M[11] = Other[11]; M[15] = Other[15]; 00183 return *this; 00184 } 00185 inline matrix4<T>& operator = (T Scalar) 00186 { 00187 memset(M, Scalar, sizeof(M)); 00188 return *this; 00189 } 00190 00191 inline matrix4<T> operator + (const matrix4<T> &mltMatrix) const 00192 { 00193 matrix4<T> Other; 00194 00195 Other[0] = M[0] + mltMatrix[0]; Other[4] = M[4] + mltMatrix[4]; Other[ 8] = M[ 8] + mltMatrix[ 8]; Other[12] = M[12] + mltMatrix[12]; 00196 Other[1] = M[1] + mltMatrix[1]; Other[5] = M[5] + mltMatrix[5]; Other[ 9] = M[ 9] + mltMatrix[ 9]; Other[13] = M[13] + mltMatrix[13]; 00197 Other[2] = M[2] + mltMatrix[2]; Other[6] = M[6] + mltMatrix[6]; Other[10] = M[10] + mltMatrix[10]; Other[14] = M[14] + mltMatrix[14]; 00198 Other[3] = M[3] + mltMatrix[3]; Other[7] = M[7] + mltMatrix[7]; Other[11] = M[11] + mltMatrix[11]; Other[15] = M[15] + mltMatrix[15]; 00199 00200 return Other; 00201 } 00202 00203 inline matrix4<T>& operator += (const matrix4<T> &mltMatrix) 00204 { 00205 M[0] += mltMatrix[0]; M[4] += mltMatrix[4]; M[ 8] += mltMatrix[ 8]; M[12] += mltMatrix[12]; 00206 M[1] += mltMatrix[1]; M[5] += mltMatrix[5]; M[ 9] += mltMatrix[ 9]; M[13] += mltMatrix[13]; 00207 M[2] += mltMatrix[2]; M[6] += mltMatrix[6]; M[10] += mltMatrix[10]; M[14] += mltMatrix[14]; 00208 M[3] += mltMatrix[3]; M[7] += mltMatrix[7]; M[11] += mltMatrix[11]; M[15] += mltMatrix[15]; 00209 return *this; 00210 } 00211 00212 inline matrix4<T> operator - (const matrix4<T> &mltMatrix) const 00213 { 00214 matrix4<T> Other; 00215 Other[0] = M[0] - mltMatrix[0]; Other[4] = M[4] - mltMatrix[4]; Other[ 8] = M[ 8] - mltMatrix[ 8]; Other[12] = M[12] - mltMatrix[12]; 00216 Other[1] = M[1] - mltMatrix[1]; Other[5] = M[5] - mltMatrix[5]; Other[ 9] = M[ 9] - mltMatrix[ 9]; Other[13] = M[13] - mltMatrix[13]; 00217 Other[2] = M[2] - mltMatrix[2]; Other[6] = M[6] - mltMatrix[6]; Other[10] = M[10] - mltMatrix[10]; Other[14] = M[14] - mltMatrix[14]; 00218 Other[3] = M[3] - mltMatrix[3]; Other[7] = M[7] - mltMatrix[7]; Other[11] = M[11] - mltMatrix[11]; Other[15] = M[15] - mltMatrix[15]; 00219 return Other; 00220 } 00221 inline matrix4<T>& operator -= (const matrix4<T> &mltMatrix) 00222 { 00223 M[0] -= mltMatrix[0]; M[4] -= mltMatrix[4]; M[ 8] -= mltMatrix[ 8]; M[12] -= mltMatrix[12]; 00224 M[1] -= mltMatrix[1]; M[5] -= mltMatrix[5]; M[ 9] -= mltMatrix[ 9]; M[13] -= mltMatrix[13]; 00225 M[2] -= mltMatrix[2]; M[6] -= mltMatrix[6]; M[10] -= mltMatrix[10]; M[14] -= mltMatrix[14]; 00226 M[3] -= mltMatrix[3]; M[7] -= mltMatrix[7]; M[11] -= mltMatrix[11]; M[15] -= mltMatrix[15]; 00227 return *this; 00228 } 00229 00230 inline matrix4<T> operator * (const matrix4<T> &mltMatrix) const 00231 { 00232 matrix4<T> m3; 00233 const T* m1 = M; 00234 const T* m2 = mltMatrix.M; 00235 00236 m3[ 0] = m1[0]*m2[ 0] + m1[4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; 00237 m3[ 1] = m1[1]*m2[ 0] + m1[5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; 00238 m3[ 2] = m1[2]*m2[ 0] + m1[6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; 00239 m3[ 3] = m1[3]*m2[ 0] + m1[7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; 00240 00241 m3[ 4] = m1[0]*m2[ 4] + m1[4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; 00242 m3[ 5] = m1[1]*m2[ 4] + m1[5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; 00243 m3[ 6] = m1[2]*m2[ 4] + m1[6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; 00244 m3[ 7] = m1[3]*m2[ 4] + m1[7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; 00245 00246 m3[ 8] = m1[0]*m2[ 8] + m1[4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; 00247 m3[ 9] = m1[1]*m2[ 8] + m1[5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; 00248 m3[10] = m1[2]*m2[ 8] + m1[6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; 00249 m3[11] = m1[3]*m2[ 8] + m1[7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; 00250 00251 m3[12] = m1[0]*m2[12] + m1[4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; 00252 m3[13] = m1[1]*m2[12] + m1[5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; 00253 m3[14] = m1[2]*m2[12] + m1[6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; 00254 m3[15] = m1[3]*m2[12] + m1[7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; 00255 00256 return m3; 00257 } 00258 00259 inline matrix4<T> operator * (T Scalar) const 00260 { 00261 matrix4<T> Other; 00262 00263 Other[0] = M[0]*Scalar; Other[4] = M[4]*Scalar; Other[ 8] = M[ 8]*Scalar; Other[12] = M[12]*Scalar; 00264 Other[1] = M[1]*Scalar; Other[5] = M[5]*Scalar; Other[ 9] = M[ 9]*Scalar; Other[13] = M[13]*Scalar; 00265 Other[2] = M[2]*Scalar; Other[6] = M[6]*Scalar; Other[10] = M[10]*Scalar; Other[14] = M[14]*Scalar; 00266 Other[3] = M[3]*Scalar; Other[7] = M[7]*Scalar; Other[11] = M[11]*Scalar; Other[15] = M[15]*Scalar; 00267 00268 return Other; 00269 } 00270 00271 inline matrix4<T>& operator *= (const matrix4<T> &mltMatrix) 00272 { 00273 T m1[16]; 00274 memcpy(m1, M, sizeof(M)); 00275 const T* m2 = mltMatrix.M; 00276 00277 M[ 0] = m1[0]*m2[ 0] + m1[4]*m2[ 1] + m1[ 8]*m2[ 2] + m1[12]*m2[ 3]; 00278 M[ 1] = m1[1]*m2[ 0] + m1[5]*m2[ 1] + m1[ 9]*m2[ 2] + m1[13]*m2[ 3]; 00279 M[ 2] = m1[2]*m2[ 0] + m1[6]*m2[ 1] + m1[10]*m2[ 2] + m1[14]*m2[ 3]; 00280 M[ 3] = m1[3]*m2[ 0] + m1[7]*m2[ 1] + m1[11]*m2[ 2] + m1[15]*m2[ 3]; 00281 00282 M[ 4] = m1[0]*m2[ 4] + m1[4]*m2[ 5] + m1[ 8]*m2[ 6] + m1[12]*m2[ 7]; 00283 M[ 5] = m1[1]*m2[ 4] + m1[5]*m2[ 5] + m1[ 9]*m2[ 6] + m1[13]*m2[ 7]; 00284 M[ 6] = m1[2]*m2[ 4] + m1[6]*m2[ 5] + m1[10]*m2[ 6] + m1[14]*m2[ 7]; 00285 M[ 7] = m1[3]*m2[ 4] + m1[7]*m2[ 5] + m1[11]*m2[ 6] + m1[15]*m2[ 7]; 00286 00287 M[ 8] = m1[0]*m2[ 8] + m1[4]*m2[ 9] + m1[ 8]*m2[10] + m1[12]*m2[11]; 00288 M[ 9] = m1[1]*m2[ 8] + m1[5]*m2[ 9] + m1[ 9]*m2[10] + m1[13]*m2[11]; 00289 M[10] = m1[2]*m2[ 8] + m1[6]*m2[ 9] + m1[10]*m2[10] + m1[14]*m2[11]; 00290 M[11] = m1[3]*m2[ 8] + m1[7]*m2[ 9] + m1[11]*m2[10] + m1[15]*m2[11]; 00291 00292 M[12] = m1[0]*m2[12] + m1[4]*m2[13] + m1[ 8]*m2[14] + m1[12]*m2[15]; 00293 M[13] = m1[1]*m2[12] + m1[5]*m2[13] + m1[ 9]*m2[14] + m1[13]*m2[15]; 00294 M[14] = m1[2]*m2[12] + m1[6]*m2[13] + m1[10]*m2[14] + m1[14]*m2[15]; 00295 M[15] = m1[3]*m2[12] + m1[7]*m2[13] + m1[11]*m2[14] + m1[15]*m2[15]; 00296 00297 return *this; 00298 } 00299 00300 inline matrix4<T>& operator *= (T Scalar) 00301 { 00302 M[0] *= Scalar; M[4] *= Scalar; M[ 8] *= Scalar; M[12] *= Scalar; 00303 M[1] *= Scalar; M[5] *= Scalar; M[ 9] *= Scalar; M[13] *= Scalar; 00304 M[2] *= Scalar; M[6] *= Scalar; M[10] *= Scalar; M[14] *= Scalar; 00305 M[3] *= Scalar; M[7] *= Scalar; M[11] *= Scalar; M[15] *= Scalar; 00306 return *this; 00307 } 00308 00309 inline vector3d<T> operator * (const vector3d<T> &Vector) const 00310 { 00311 return vector3d<T>( 00312 Vector.X*M[0] + Vector.Y*M[4] + Vector.Z*M[ 8] + M[12], 00313 Vector.X*M[1] + Vector.Y*M[5] + Vector.Z*M[ 9] + M[13], 00314 Vector.X*M[2] + Vector.Y*M[6] + Vector.Z*M[10] + M[14] 00315 ); 00316 } 00317 00318 inline point2d<T> operator * (const point2d<T> &Vector) const 00319 { 00320 return point2d<T>( 00321 Vector.X*M[0] + Vector.Y*M[4] + M[12], 00322 Vector.X*M[1] + Vector.Y*M[5] + M[13] 00323 ); 00324 } 00325 00326 inline triangle3d<T> operator * (const triangle3d<T> &Triangle) const 00327 { 00328 return triangle3d<T>( 00329 *this * Triangle.PointA, 00330 *this * Triangle.PointB, 00331 *this * Triangle.PointC 00332 ); 00333 } 00334 00335 inline triangle3d<T> operator * (const triangle3d<T, vector3d<T>*> &Triangle) const 00336 { 00337 return triangle3d<T>( 00338 *this * (*Triangle.PointA), 00339 *this * (*Triangle.PointB), 00340 *this * (*Triangle.PointC) 00341 ); 00342 } 00343 00344 inline plane3d<T> operator * (const plane3d<T> &Plane) const 00345 { 00346 const vector3d<T> Member(*this * Plane.getMemberPoint()); 00347 const matrix4<T> TransposedInverse(getInverse().getTransposed()); 00348 const vector3d<T> Normal(TransposedInverse * Plane.Normal); 00349 00350 return plane3d<T>(Normal, Normal.dot(Member)); 00351 } 00352 00353 inline obbox3d<T> operator * (const obbox3d<T> &Box) const 00354 { 00355 return obbox3d<T>( 00356 *this * Box.Center, 00357 vecRotate(Box.Axis.X), vecRotate(Box.Axis.Y), vecRotate(Box.Axis.Z) 00358 ); 00359 } 00360 00361 inline line3d<T> operator * (const line3d<T> &Line) const 00362 { 00363 return line3d<T>(*this * Line.Start, *this * Line.End); 00364 } 00365 00366 /* === Transformation functions === */ 00367 00369 inline point2d<T> vecRotate(const point2d<T> &Vector) const 00370 { 00371 return point2d<T>( 00372 Vector.X*M[0] + Vector.Y*M[4], 00373 Vector.X*M[1] + Vector.Y*M[5] 00374 ); 00375 } 00376 00378 inline point2d<T> vecRotateInverse(const point2d<T> &Vector) const 00379 { 00380 return point2d<T>( 00381 Vector.X*M[0] + Vector.Y*M[1], 00382 Vector.X*M[4] + Vector.Y*M[5] 00383 ); 00384 } 00385 00387 inline vector3d<T> vecRotate(const vector3d<T> &Vector) const 00388 { 00389 return vector3d<T>( 00390 Vector.X*M[0] + Vector.Y*M[4] + Vector.Z*M[ 8], 00391 Vector.X*M[1] + Vector.Y*M[5] + Vector.Z*M[ 9], 00392 Vector.X*M[2] + Vector.Y*M[6] + Vector.Z*M[10] 00393 ); 00394 } 00395 00397 inline vector3d<T> vecRotateInverse(const vector3d<T> &Vector) const 00398 { 00399 return vector3d<T>( 00400 Vector.X*M[0] + Vector.Y*M[1] + Vector.Z*M[ 2], 00401 Vector.X*M[4] + Vector.Y*M[5] + Vector.Z*M[ 6], 00402 Vector.X*M[8] + Vector.Y*M[9] + Vector.Z*M[10] 00403 ); 00404 } 00405 00407 inline void clear() 00408 { 00409 memset(M, 0, sizeof(M)); 00410 } 00411 00421 inline matrix4<T>& reset() 00422 { 00423 M[0] = 1; M[4] = 0; M[ 8] = 0; M[12] = 0; 00424 M[1] = 0; M[5] = 1; M[ 9] = 0; M[13] = 0; 00425 M[2] = 0; M[6] = 0; M[10] = 1; M[14] = 0; 00426 M[3] = 0; M[7] = 0; M[11] = 0; M[15] = 1; 00427 return *this; 00428 } 00429 00439 inline matrix4<T>& reset(const vector3d<T> &InitPosition, const vector3d<T> &InitScale = T(1)) 00440 { 00441 M[0] = InitScale.X; M[4] = 0; M[ 8] = 0; M[12] = InitPosition.X; 00442 M[1] = 0; M[5] = InitScale.Y; M[ 9] = 0; M[13] = InitPosition.Y; 00443 M[2] = 0; M[6] = 0; M[10] = InitScale.Z; M[14] = InitPosition.Z; 00444 M[3] = 0; M[7] = 0; M[11] = 0; M[15] = 1; 00445 return *this; 00446 } 00447 00449 inline void multiplySingleMatrix(const T (&Other)[4]) 00450 { 00451 T Result[4]; 00452 00453 Result[0] = M[0]*Other[0] + M[4]*Other[1] + M[ 8]*Other[2] + M[12]*Other[3]; 00454 Result[1] = M[1]*Other[0] + M[5]*Other[1] + M[ 9]*Other[2] + M[13]*Other[3]; 00455 Result[2] = M[2]*Other[0] + M[6]*Other[1] + M[10]*Other[2] + M[14]*Other[3]; 00456 Result[3] = M[3]*Other[0] + M[7]*Other[1] + M[11]*Other[2] + M[15]*Other[3]; 00457 00458 Other[0] = Result[0]; Other[1] = Result[1]; Other[2] = Result[2]; Other[3] = Result[3]; 00459 } 00460 00461 inline void matrixLookAt(const vector3d<T> &Position, const vector3d<T> &LookAt, const vector3d<T> &upVector) 00462 { 00463 vector3d<T> ZAxis = LookAt - Position; 00464 ZAxis.normalize(); 00465 00466 vector3d<T> XAxis = upVector.cross(ZAxis); 00467 XAxis.normalize(); 00468 00469 vector3d<T> YAxis = ZAxis.cross(XAxis); 00470 00471 M[0] = XAxis.X; M[4] = XAxis.Y; M[ 8] = XAxis.Z; M[12] = -XAxis.dot(Position); 00472 M[1] = YAxis.X; M[5] = YAxis.Y; M[ 9] = YAxis.Z; M[13] = -YAxis.dot(Position); 00473 M[2] = ZAxis.X; M[6] = ZAxis.Y; M[10] = ZAxis.Z; M[14] = -ZAxis.dot(Position); 00474 M[3] = 0; M[7] = 0; M[11] = 0; M[15] = 1; 00475 } 00476 00477 inline bool getInverse(matrix4<T> &InverseMat) const 00478 { 00479 const matrix4<T> &m = *this; 00480 00481 T d = ( 00482 (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0)) * (m(2, 2) * m(3, 3) - m(2, 3) * m(3, 2)) - 00483 (m(0, 0) * m(1, 2) - m(0, 2) * m(1, 0)) * (m(2, 1) * m(3, 3) - m(2, 3) * m(3, 1)) + 00484 (m(0, 0) * m(1, 3) - m(0, 3) * m(1, 0)) * (m(2, 1) * m(3, 2) - m(2, 2) * m(3, 1)) + 00485 (m(0, 1) * m(1, 2) - m(0, 2) * m(1, 1)) * (m(2, 0) * m(3, 3) - m(2, 3) * m(3, 0)) - 00486 (m(0, 1) * m(1, 3) - m(0, 3) * m(1, 1)) * (m(2, 0) * m(3, 2) - m(2, 2) * m(3, 0)) + 00487 (m(0, 2) * m(1, 3) - m(0, 3) * m(1, 2)) * (m(2, 0) * m(3, 1) - m(2, 1) * m(3, 0)) 00488 ); 00489 00490 if (d == T(0)) 00491 return false; 00492 00493 d = T(1) / d; 00494 00495 InverseMat(0, 0) = d * ( m(1, 1) * (m(2, 2) * m(3, 3) - m(2, 3) * m(3, 2)) + m(1, 2) * (m(2, 3) * m(3, 1) - m(2, 1) * m(3, 3)) + m(1, 3) * (m(2, 1) * m(3, 2) - m(2, 2) * m(3, 1)) ); 00496 InverseMat(0, 1) = d * ( m(2, 1) * (m(0, 2) * m(3, 3) - m(0, 3) * m(3, 2)) + m(2, 2) * (m(0, 3) * m(3, 1) - m(0, 1) * m(3, 3)) + m(2, 3) * (m(0, 1) * m(3, 2) - m(0, 2) * m(3, 1)) ); 00497 InverseMat(0, 2) = d * ( m(3, 1) * (m(0, 2) * m(1, 3) - m(0, 3) * m(1, 2)) + m(3, 2) * (m(0, 3) * m(1, 1) - m(0, 1) * m(1, 3)) + m(3, 3) * (m(0, 1) * m(1, 2) - m(0, 2) * m(1, 1)) ); 00498 InverseMat(0, 3) = d * ( m(0, 1) * (m(1, 3) * m(2, 2) - m(1, 2) * m(2, 3)) + m(0, 2) * (m(1, 1) * m(2, 3) - m(1, 3) * m(2, 1)) + m(0, 3) * (m(1, 2) * m(2, 1) - m(1, 1) * m(2, 2)) ); 00499 InverseMat(1, 0) = d * ( m(1, 2) * (m(2, 0) * m(3, 3) - m(2, 3) * m(3, 0)) + m(1, 3) * (m(2, 2) * m(3, 0) - m(2, 0) * m(3, 2)) + m(1, 0) * (m(2, 3) * m(3, 2) - m(2, 2) * m(3, 3)) ); 00500 InverseMat(1, 1) = d * ( m(2, 2) * (m(0, 0) * m(3, 3) - m(0, 3) * m(3, 0)) + m(2, 3) * (m(0, 2) * m(3, 0) - m(0, 0) * m(3, 2)) + m(2, 0) * (m(0, 3) * m(3, 2) - m(0, 2) * m(3, 3)) ); 00501 InverseMat(1, 2) = d * ( m(3, 2) * (m(0, 0) * m(1, 3) - m(0, 3) * m(1, 0)) + m(3, 3) * (m(0, 2) * m(1, 0) - m(0, 0) * m(1, 2)) + m(3, 0) * (m(0, 3) * m(1, 2) - m(0, 2) * m(1, 3)) ); 00502 InverseMat(1, 3) = d * ( m(0, 2) * (m(1, 3) * m(2, 0) - m(1, 0) * m(2, 3)) + m(0, 3) * (m(1, 0) * m(2, 2) - m(1, 2) * m(2, 0)) + m(0, 0) * (m(1, 2) * m(2, 3) - m(1, 3) * m(2, 2)) ); 00503 InverseMat(2, 0) = d * ( m(1, 3) * (m(2, 0) * m(3, 1) - m(2, 1) * m(3, 0)) + m(1, 0) * (m(2, 1) * m(3, 3) - m(2, 3) * m(3, 1)) + m(1, 1) * (m(2, 3) * m(3, 0) - m(2, 0) * m(3, 3)) ); 00504 InverseMat(2, 1) = d * ( m(2, 3) * (m(0, 0) * m(3, 1) - m(0, 1) * m(3, 0)) + m(2, 0) * (m(0, 1) * m(3, 3) - m(0, 3) * m(3, 1)) + m(2, 1) * (m(0, 3) * m(3, 0) - m(0, 0) * m(3, 3)) ); 00505 InverseMat(2, 2) = d * ( m(3, 3) * (m(0, 0) * m(1, 1) - m(0, 1) * m(1, 0)) + m(3, 0) * (m(0, 1) * m(1, 3) - m(0, 3) * m(1, 1)) + m(3, 1) * (m(0, 3) * m(1, 0) - m(0, 0) * m(1, 3)) ); 00506 InverseMat(2, 3) = d * ( m(0, 3) * (m(1, 1) * m(2, 0) - m(1, 0) * m(2, 1)) + m(0, 0) * (m(1, 3) * m(2, 1) - m(1, 1) * m(2, 3)) + m(0, 1) * (m(1, 0) * m(2, 3) - m(1, 3) * m(2, 0)) ); 00507 InverseMat(3, 0) = d * ( m(1, 0) * (m(2, 2) * m(3, 1) - m(2, 1) * m(3, 2)) + m(1, 1) * (m(2, 0) * m(3, 2) - m(2, 2) * m(3, 0)) + m(1, 2) * (m(2, 1) * m(3, 0) - m(2, 0) * m(3, 1)) ); 00508 InverseMat(3, 1) = d * ( m(2, 0) * (m(0, 2) * m(3, 1) - m(0, 1) * m(3, 2)) + m(2, 1) * (m(0, 0) * m(3, 2) - m(0, 2) * m(3, 0)) + m(2, 2) * (m(0, 1) * m(3, 0) - m(0, 0) * m(3, 1)) ); 00509 InverseMat(3, 2) = d * ( m(3, 0) * (m(0, 2) * m(1, 1) - m(0, 1) * m(1, 2)) + m(3, 1) * (m(0, 0) * m(1, 2) - m(0, 2) * m(1, 0)) + m(3, 2) * (m(0, 1) * m(1, 0) - m(0, 0) * m(1, 1)) ); 00510 InverseMat(3, 3) = d * ( m(0, 0) * (m(1, 1) * m(2, 2) - m(1, 2) * m(2, 1)) + m(0, 1) * (m(1, 2) * m(2, 0) - m(1, 0) * m(2, 2)) + m(0, 2) * (m(1, 0) * m(2, 1) - m(1, 1) * m(2, 0)) ); 00511 00512 return true; 00513 } 00514 00515 inline bool setInverse() 00516 { 00517 matrix4<T> Matrix; 00518 00519 if (getInverse(Matrix)) 00520 { 00521 *this = Matrix; 00522 return true; 00523 } 00524 00525 return false; 00526 } 00527 00528 inline matrix4<T> getInverse() const 00529 { 00530 matrix4<T> Mat; 00531 getInverse(Mat); 00532 return Mat; 00533 } 00534 00535 /* 00536 ( 1 0 0 x ) 00537 | 0 1 0 y | 00538 | 0 0 1 z | 00539 ( 0 0 0 1 ) 00540 */ 00541 inline matrix4<T>& translate(const vector3d<T> &Vector) 00542 { 00543 matrix4<T> Other; 00544 00545 Other[12] = Vector.X; 00546 Other[13] = Vector.Y; 00547 Other[14] = Vector.Z; 00548 00549 return *this *= Other; 00550 } 00551 00552 /* 00553 ( x 0 0 0 ) 00554 | 0 y 0 0 | 00555 | 0 0 z 0 | 00556 ( 0 0 0 1 ) 00557 */ 00558 inline matrix4<T>& scale(const vector3d<T> &Vector) 00559 { 00560 matrix4<T> Other; 00561 00562 Other[ 0] = Vector.X; 00563 Other[ 5] = Vector.Y; 00564 Other[10] = Vector.Z; 00565 00566 return *this *= Other; 00567 } 00568 00569 /* 00570 ( xx(1-c)+c xy(1-c)-zs xz(1-c)+ys 0 ) 00571 | yx(1-c)+zs yy(1-c)+c yz(1-c)-xs 0 | 00572 | xz(1-c)-ys yz(1-c)+xs zz(1-c)+c 0 | 00573 ( 0 0 0 1 ) 00574 */ 00575 inline matrix4<T>& rotate(const T Angle, vector3d<T> Rotation) 00576 { 00577 matrix4<T> Other; 00578 00579 /* Normalize the vector */ 00580 Rotation.normalize(); 00581 00582 /* Setup rotation degrees */ 00583 T x = Rotation.X; 00584 T y = Rotation.Y; 00585 T z = Rotation.Z; 00586 T c = math::Cos(Angle); 00587 T s = math::Sin(Angle); 00588 T cc = static_cast<T>(1) - c; 00589 00590 /* Rotation */ 00591 Other[0] = x*x*cc + c; Other[4] = x*y*cc - z*s; Other[ 8] = x*z*cc + y*s; Other[12] = 0; 00592 Other[1] = y*x*cc + z*s; Other[5] = y*y*cc + c; Other[ 9] = y*z*cc - x*s; Other[13] = 0; 00593 Other[2] = x*z*cc - y*s; Other[6] = y*z*cc + x*s; Other[10] = z*z*cc + c; Other[14] = 0; 00594 Other[3] = 0; Other[7] = 0; Other[11] = 0; Other[15] = 1; 00595 00596 return *this *= Other; 00597 } 00598 00599 inline matrix4<T>& rotateX(const T Angle) 00600 { 00601 matrix4<T> Other; 00602 00603 const T c = math::Cos(Angle); 00604 const T s = math::Sin(Angle); 00605 00606 /* Rotation */ 00607 Other[0] = 1; Other[4] = 0; Other[ 8] = 0; Other[12] = 0; 00608 Other[1] = 0; Other[5] = c; Other[ 9] = -s; Other[13] = 0; 00609 Other[2] = 0; Other[6] = s; Other[10] = c; Other[14] = 0; 00610 Other[3] = 0; Other[7] = 0; Other[11] = 0; Other[15] = 1; 00611 00612 return *this *= Other; 00613 } 00614 00615 inline matrix4<T>& rotateY(const T Angle) 00616 { 00617 matrix4<T> Other; 00618 00619 const T c = math::Cos(Angle); 00620 const T s = math::Sin(Angle); 00621 00622 /* Rotation */ 00623 Other[0] = c; Other[4] = 0; Other[ 8] = s; Other[12] = 0; 00624 Other[1] = 0; Other[5] = 1; Other[ 9] = 0; Other[13] = 0; 00625 Other[2] = -s; Other[6] = 0; Other[10] = c; Other[14] = 0; 00626 Other[3] = 0; Other[7] = 0; Other[11] = 0; Other[15] = 1; 00627 00628 return *this *= Other; 00629 } 00630 00631 inline matrix4<T>& rotateZ(const T Angle) 00632 { 00633 matrix4<T> Other; 00634 00635 const T c = math::Cos(Angle); 00636 const T s = math::Sin(Angle); 00637 00638 /* Rotation */ 00639 Other[0] = c; Other[4] = -s; Other[ 8] = 0; Other[12] = 0; 00640 Other[1] = s; Other[5] = c; Other[ 9] = 0; Other[13] = 0; 00641 Other[2] = 0; Other[6] = 0; Other[10] = 1; Other[14] = 0; 00642 Other[3] = 0; Other[7] = 0; Other[11] = 0; Other[15] = 1; 00643 00644 return *this *= Other; 00645 } 00646 00647 inline void rotateYXZ(const vector3df &Rotation) 00648 { 00649 rotateY(Rotation.Y); 00650 rotateX(Rotation.X); 00651 rotateZ(Rotation.Z); 00652 } 00653 00654 inline void rotateZXY(const vector3df &Rotation) 00655 { 00656 rotateZ(Rotation.Z); 00657 rotateX(Rotation.X); 00658 rotateY(Rotation.Y); 00659 } 00660 00661 inline void setRotation(vector3d<T> Rotation, bool UseDegrees = true) 00662 { 00663 if (UseDegrees) 00664 Rotation = Rotation * math::DEG; 00665 00666 /* Setup rotation degrees */ 00667 const T cx = cos(Rotation.X); 00668 const T sx = sin(Rotation.X); 00669 const T cy = cos(Rotation.Y); 00670 const T sy = sin(Rotation.Y); 00671 const T cz = cos(Rotation.Z); 00672 const T sz = sin(Rotation.Z); 00673 00674 const T sxy = sx*sy; 00675 const T cxy = cx*sy; 00676 00677 /* Rotation */ 00678 M[ 0] = cy*cz; 00679 M[ 1] = cy*sz; 00680 M[ 2] = -sy; 00681 00682 M[ 4] = sxy*cz - cx*sz; 00683 M[ 5] = sxy*sz + cx*cz; 00684 M[ 6] = sx*cy; 00685 00686 M[ 8] = cxy*cz + sx*sz; 00687 M[ 9] = cxy*sz - sx*cz; 00688 M[10] = cx*cy; 00689 } 00690 00691 inline void setInverseRotation(vector3df Rotation, bool UseDegrees = true) 00692 { 00693 if (UseDegrees) 00694 Rotation = Rotation * static_cast<T>(M_PI / 180.0); 00695 00696 /* Setup rotation degrees */ 00697 const T cx = cos(Rotation.X); 00698 const T sx = sin(Rotation.X); 00699 const T cy = cos(Rotation.Y); 00700 const T sy = sin(Rotation.Y); 00701 const T cz = cos(Rotation.Z); 00702 const T sz = sin(Rotation.Z); 00703 00704 const T sxy = sx*sy; 00705 const T cxy = cx*sy; 00706 00707 /* Rotation */ 00708 M[ 0] = cy*cz; 00709 M[ 4] = cy*sz; 00710 M[ 8] = -sy; 00711 00712 M[ 1] = sxy*cz - cx*sz; 00713 M[ 5] = sxy*sz + cx*cz; 00714 M[ 9] = sx*cy; 00715 00716 M[ 2] = cxy*cz + sx*sz; 00717 M[ 6] = cxy*sz - sx*cz; 00718 M[10] = cx*cy; 00719 } 00720 00721 inline void setTextureRotation(const T &Degree) 00722 { 00723 /* Setup rotation degrees */ 00724 const T c = math::Cos(Degree); 00725 const T s = math::Sin(Degree); 00726 00727 M[0] = c; 00728 M[1] = s; 00729 M[2] = static_cast<T>(-0.5 * ( c + s) + 0.5); 00730 00731 M[4] = -s; 00732 M[5] = c; 00733 M[6] = static_cast<T>(-0.5 * (-s + c) + 0.5); 00734 } 00735 00736 /* === Projection functions === */ 00737 00738 // makePerspectiveLH / RH 00739 // makeOrthoLH / RH 00740 00741 inline void setPerspectiveLH(T FieldOfView, T Aspect, T Near, T Far) 00742 { 00743 const T h = static_cast<T>(1.0 / tan((FieldOfView * math::DEG64) / T(2))); 00744 const T w = h / Aspect; 00745 00746 const T dif = Far - Near; 00747 00748 M[ 0] = w; 00749 M[ 1] = 0; 00750 M[ 2] = 0; 00751 M[ 3] = 0; 00752 00753 M[ 4] = 0; 00754 M[ 5] = h; 00755 M[ 6] = 0; 00756 M[ 7] = 0; 00757 00758 M[ 8] = 0; 00759 M[ 9] = 0; 00760 M[10] = Far/dif; // DirectX version 00761 //M[10] = (Far + Near)/dif; // OpenGL version 00762 M[11] = 1; 00763 00764 M[12] = 0; 00765 M[13] = 0; 00766 M[14] = (-Near*Far)/dif; // DirectX version 00767 //M[14] = (-Near*Far*2)/dif; // OpenGL version 00768 M[15] = 0; 00769 } 00770 00771 inline void setPerspectiveRH(T FieldOfView, T Aspect, T Near, T Far) 00772 { 00773 const T h = static_cast<T>(1.0 / tan((FieldOfView * math::DEG64) / T(2))); 00774 const T w = h / Aspect; 00775 00776 const T dif = Near - Far; 00777 00778 M[ 0] = w; 00779 M[ 1] = 0; 00780 M[ 2] = 0; 00781 M[ 3] = 0; 00782 00783 M[ 4] = 0; 00784 M[ 5] = h; 00785 M[ 6] = 0; 00786 M[ 7] = 0; 00787 00788 M[ 8] = 0; 00789 M[ 9] = 0; 00790 M[10] = Far/dif; // DirectX version 00791 //M[10] = (Far + Near)/dif; // OpenGL version 00792 M[11] = -1; 00793 00794 M[12] = 0; 00795 M[13] = 0; 00796 M[14] = Near*Far/dif; // DirectX version 00797 //M[14] = (Near*Far*2)/dif; // OpenGL version 00798 M[15] = 0; 00799 } 00800 00801 inline void setOrthoLH(T Left, T Right, T Top, T Bottom, T Near, T Far) 00802 { 00803 M[ 0] = T(2)/(Right - Left); 00804 M[ 1] = 0; 00805 M[ 2] = 0; 00806 M[ 3] = 0; 00807 00808 M[ 4] = 0; 00809 M[ 5] = T(2)/(Bottom - Top); 00810 M[ 6] = 0; 00811 M[ 7] = 0; 00812 00813 M[ 8] = 0; 00814 M[ 9] = 0; 00815 M[10] = T(1)/(Far - Near); 00816 M[11] = 0; 00817 00818 M[12] = 0; 00819 M[13] = 0; 00820 M[14] = -Near/(Far - Near); // DirectX version 00821 //M[14] = -(Far + Near)/(Far - Near); // OpenGL version 00822 M[15] = 1; 00823 } 00824 00825 inline void setOrthoRH(T Left, T Right, T Top, T Bottom, T Near, T Far) 00826 { 00827 M[ 0] = T(2)/(Right - Left); 00828 M[ 1] = 0; 00829 M[ 2] = 0; 00830 M[ 3] = 0; 00831 00832 M[ 4] = 0; 00833 M[ 5] = T(2)/(Bottom - Top); 00834 M[ 6] = 0; 00835 M[ 7] = 0; 00836 00837 M[ 8] = 0; 00838 M[ 9] = 0; 00839 M[10] = T(1)/(Near - Far); 00840 M[11] = 0; 00841 00842 M[12] = 0; 00843 M[13] = 0; 00844 M[14] = Near/(Near - Far); // DirectX version 00845 //M[14] = (Far + Near)/(Near - Far); // OpenGL version 00846 M[15] = 1; 00847 } 00848 00849 inline void make2Dimensional(s32 Width, s32 Height, s32 ScreenWidth, s32 ScreenHeight) 00850 { 00851 reset(); 00852 scale( 00853 vector3d<T>(static_cast<T>(1.0 / (Width/2)), static_cast<T>(1.0 / (Height/2)), 1) 00854 ); 00855 translate( 00856 vector3d<T>(static_cast<T>(-ScreenWidth/2), static_cast<T>(-ScreenHeight/2), 0) 00857 ); 00858 } 00859 00860 inline void makeViewport(const rect2di &Viewport, const f32 DepthScale = 1.0f) 00861 { 00862 const T Width = static_cast<T>( ( Viewport.Right - Viewport.Left - 0.75 ) / 2 ); 00863 const T Height = static_cast<T>( ( Viewport.Bottom - Viewport.Top - 0.75 ) / 2 ); 00864 00865 const T PosX = static_cast<T>( -0.5f + ( Viewport.Left + Viewport.Right ) / 2 ); 00866 const T PosY = static_cast<T>( -0.5f + ( Viewport.Top + Viewport.Bottom ) / 2 ); 00867 00868 M[ 0] = Width; 00869 M[ 1] = 0; 00870 M[ 2] = 0; 00871 M[ 3] = 0; 00872 00873 M[ 4] = 0; 00874 M[ 5] = -Height; 00875 M[ 6] = 0; 00876 M[ 7] = 0; 00877 00878 M[ 8] = 0; 00879 M[ 9] = 0; 00880 M[10] = DepthScale; 00881 M[11] = 0; 00882 00883 M[12] = PosX; 00884 M[13] = PosY; 00885 M[14] = 0; 00886 M[15] = 0; 00887 } 00888 00889 /* === Row & columns === */ 00890 00891 vector4d<T> getRow(s32 Position) const 00892 { 00893 switch (Position) 00894 { 00895 case 0: 00896 return vector4d<T>(M[0], M[4], M[ 8], M[12]); 00897 case 1: 00898 return vector4d<T>(M[1], M[5], M[ 9], M[13]); 00899 case 2: 00900 return vector4d<T>(M[2], M[6], M[10], M[14]); 00901 case 3: 00902 return vector4d<T>(M[3], M[7], M[11], M[15]); 00903 } 00904 return vector4d<T>(); 00905 } 00906 00907 void setRow(s32 Position, const vector4d<T> &Vec) 00908 { 00909 switch (Position) 00910 { 00911 case 0: 00912 M[0] = Vec.X, M[4] = Vec.Y, M[ 8] = Vec.Z, M[12] = Vec.W; 00913 break; 00914 case 1: 00915 M[1] = Vec.X, M[5] = Vec.Y, M[ 9] = Vec.Z, M[13] = Vec.W; 00916 break; 00917 case 2: 00918 M[2] = Vec.X, M[6] = Vec.Y, M[10] = Vec.Z, M[14] = Vec.W; 00919 break; 00920 case 3: 00921 M[3] = Vec.X, M[7] = Vec.Y, M[11] = Vec.Z, M[15] = Vec.W; 00922 break; 00923 } 00924 } 00925 00926 vector4d<T> getColumn(s32 Position) const 00927 { 00928 switch (Position) 00929 { 00930 case 0: 00931 return vector4d<T>(M[ 0], M[ 1], M[ 2], M[ 3]); 00932 case 1: 00933 return vector4d<T>(M[ 4], M[ 5], M[ 6], M[ 7]); 00934 case 2: 00935 return vector4d<T>(M[ 8], M[ 9], M[10], M[11]); 00936 case 3: 00937 return vector4d<T>(M[12], M[13], M[14], M[15]); 00938 } 00939 return vector4d<T>(); 00940 } 00941 00942 void setColumn(s32 Position, const vector4d<T> &Vec) 00943 { 00944 switch (Position) 00945 { 00946 case 0: 00947 M[ 0] = Vec.X, M[ 1] = Vec.Y, M[ 2] = Vec.Z, M[ 3] = Vec.W; 00948 break; 00949 case 1: 00950 M[ 4] = Vec.X, M[ 5] = Vec.Y, M[ 6] = Vec.Z, M[ 7] = Vec.W; 00951 break; 00952 case 2: 00953 M[ 8] = Vec.X, M[ 9] = Vec.Y, M[10] = Vec.Z, M[11] = Vec.W; 00954 break; 00955 case 3: 00956 M[12] = Vec.X, M[13] = Vec.Y, M[14] = Vec.Z, M[15] = Vec.W; 00957 break; 00958 } 00959 } 00960 00961 inline void setPosition(const vector3d<T> &Position) 00962 { 00963 M[12] = Position.X; M[13] = Position.Y; M[14] = Position.Z; 00964 } 00965 inline vector3d<T> getPosition() const 00966 { 00967 return vector3d<T>(M[12], M[13], M[14]); 00968 } 00969 00970 // Sets the matrix scaling vector. 00971 void setScale(const vector3d<T> &Scale) 00972 { 00973 vector3d<T> XAxis(M[0], M[1], M[ 2]); 00974 vector3d<T> YAxis(M[4], M[5], M[ 6]); 00975 vector3d<T> ZAxis(M[8], M[9], M[10]); 00976 00977 XAxis.setLength(Scale.X); 00978 YAxis.setLength(Scale.Y); 00979 ZAxis.setLength(Scale.Z); 00980 00981 M[0] = XAxis.X, M[1] = XAxis.Y, M[ 2] = XAxis.Z; 00982 M[4] = YAxis.X, M[5] = YAxis.Y, M[ 6] = YAxis.Z; 00983 M[8] = ZAxis.X, M[9] = ZAxis.Y, M[10] = ZAxis.Z; 00984 } 00986 vector3d<T> getScale() const 00987 { 00988 if (math::Equal(M[1], 0.0f) && math::Equal(M[2], 0.0f) && 00989 math::Equal(M[4], 0.0f) && math::Equal(M[6], 0.0f) && 00990 math::Equal(M[8], 0.0f) && math::Equal(M[9], 0.0f)) 00991 { 00992 return vector3d<T>(M[0], M[5], M[10]); 00993 } 00994 00995 return vector3d<T>( 00996 sqrtf(M[0]*M[0] + M[1]*M[1] + M[ 2]*M[ 2]), 00997 sqrtf(M[4]*M[4] + M[5]*M[5] + M[ 6]*M[ 6]), 00998 sqrtf(M[8]*M[8] + M[9]*M[9] + M[10]*M[10]) 00999 ); 01000 } 01001 01002 vector3d<T> getRotation() const 01003 { 01004 const matrix4<T> &Mat = *this; 01005 const vector3d<T> Scale = getScale(); 01006 const vector3d<T> InvScale = vector3d<T>(T(1)/Scale.X, T(1)/Scale.Y, T(1)/Scale.Z); 01007 01008 T X, Y, Z, rotx, roty, C; 01009 01010 Y = -asin(Mat[2]*InvScale.X); 01011 C = cos(Y); 01012 Y *= static_cast<T>(math::RAD64); 01013 01014 if (!math::Equal(C, T(0))) 01015 { 01016 C = T(1) / C; 01017 rotx = Mat[10] * C * InvScale.Z; 01018 roty = Mat[6] * C * InvScale.Y; 01019 X = atan2(roty, rotx) * static_cast<T>(math::RAD64); 01020 rotx = Mat[0] * C * InvScale.X; 01021 roty = Mat[1] * C * InvScale.X; 01022 Z = atan2(roty, rotx) * static_cast<T>(math::RAD64); 01023 } 01024 else 01025 { 01026 X = T(0); 01027 rotx = Mat[5] * InvScale.Y; 01028 roty = -Mat[4] * InvScale.Y; 01029 Z = atan2(roty, rotx) * static_cast<T>(math::RAD64); 01030 } 01031 01032 if (X < 0) X += 360; 01033 if (Y < 0) Y += 360; 01034 if (Z < 0) Z += 360; 01035 01036 return vector3d<T>(X, Y, Z); 01037 } 01038 01039 matrix4<T> getRotationMatrix() const 01040 { 01041 matrix4<T> Matrix( 01042 M[0], M[4], M[ 8], 0, 01043 M[1], M[5], M[ 9], 0, 01044 M[2], M[6], M[10], 0, 01045 0, 0, 0, 1 01046 ); 01047 01048 const vector3d<T> Scale(getScale()); 01049 Matrix.scale(dim::vector3d<T>(1) / Scale); 01050 01051 return Matrix; 01052 } 01053 01054 matrix4<T> getPositionMatrix() const 01055 { 01056 return matrix4<T>( 01057 1, 0, 0, M[12], 01058 0, 1, 0, M[13], 01059 0, 0, 1, M[14], 01060 0, 0, 0, 1 01061 ); 01062 } 01063 01064 inline matrix4<T> getPositionScaleMatrix() const 01065 { 01066 const vector3d<T> Scale(getScale()); 01067 return matrix4<T>( 01068 Scale.X, 0, 0, M[12], 01069 0, Scale.Y, 0, M[13], 01070 0, 0, Scale.Z, M[14], 01071 0, 0, 0, 1 01072 ); 01073 } 01074 01075 inline matrix4<T> getPositionRotationMatrix() const 01076 { 01077 const dim::vector3d<T> Scale(getScale()); 01078 01079 matrix4<T> Matrix(*this); 01080 Matrix.scale(dim::vector3d<T>(1) / Scale); 01081 01082 return Matrix; 01083 } 01084 01085 inline matrix4<T> getTransposed() const 01086 { 01087 matrix4<T> Mat; 01088 getTransposed(Mat); 01089 return Mat; 01090 } 01091 01092 inline void getTransposed(matrix4<T> &Other) const 01093 { 01094 Other[0] = M[ 0]; Other[4] = M[ 1]; Other[ 8] = M[ 2]; Other[12] = M[ 3]; 01095 Other[1] = M[ 4]; Other[5] = M[ 5]; Other[ 9] = M[ 6]; Other[13] = M[ 7]; 01096 Other[2] = M[ 8]; Other[6] = M[ 9]; Other[10] = M[10]; Other[14] = M[11]; 01097 Other[3] = M[12]; Other[7] = M[13]; Other[11] = M[14]; Other[15] = M[15]; 01098 } 01099 01100 inline matrix4<T> getTextureMatrix() const 01101 { 01102 matrix4<T> Mat; 01103 01104 Mat[ 0] = M[ 0]; Mat[ 1] = M[ 1]; Mat[ 2] = M[ 3]; 01105 Mat[ 4] = M[ 4]; Mat[ 5] = M[ 5]; Mat[ 6] = M[ 7]; 01106 Mat[ 8] = M[12]; Mat[ 9] = M[13]; Mat[10] = M[15]; 01107 01108 return Mat; 01109 } 01110 01111 inline matrix4<T> interpolate(const matrix4<T> &Other, f32 seek) const 01112 { 01113 matrix4<T> Mat; 01114 01115 for (s32 i = 0; i < 16; ++i) 01116 Mat.M[i] = M[i] + (Other.M[i] - M[i]) * seek; 01117 01118 return Mat; 01119 } 01120 01121 inline bool isIdentity() const 01122 { 01123 for (s32 i = 0, j; i < 4; ++i) 01124 { 01125 for (j = 0; j < 4; ++j) 01126 { 01127 if ( ( i != j && !math::Equal((*this)(i, j), 0.0f) ) || 01128 ( i == j && !math::Equal((*this)(i, j), 1.0f) ) ) 01129 { 01130 return false; 01131 } 01132 } 01133 } 01134 01135 return true; 01136 } 01137 01138 inline bool equal(const matrix4<T> &Other) const 01139 { 01140 for (s32 i = 0; i < 16; ++i) 01141 { 01142 if (math::Equal(M[i], Other.M[i])) 01143 return false; 01144 } 01145 return true; 01146 } 01147 01148 inline const T* getArray() const 01149 { 01150 return M; 01151 } 01152 inline T* getArray() 01153 { 01154 return M; 01155 } 01156 01157 inline matrix3<T> get3x3() const 01158 { 01159 return matrix3<T>( 01160 M[0], M[4], M[ 8], 01161 M[1], M[5], M[ 9], 01162 M[2], M[6], M[10] 01163 ); 01164 } 01165 inline matrix2<T> get2x2() const 01166 { 01167 return matrix2<T>( 01168 M[0], M[4], 01169 M[1], M[5] 01170 ); 01171 } 01172 01173 template <typename B> inline matrix4<B> cast() const 01174 { 01175 matrix4<B> Other; 01176 01177 for (u32 i = 0; i < 16; ++i) 01178 Other[i] = static_cast<B>(M[i]); 01179 01180 return Other; 01181 } 01182 01183 /* === Static functions === */ 01184 01185 static vector3d<T> getProjection( 01186 const vector3d<T> ObjectPosition, const rect2di &Viewport, 01187 const matrix4<T> &ProjectionMatrix, const matrix4<T> &ModelviewMatrix) 01188 { 01189 T v[4] = { ObjectPosition.X, ObjectPosition.Y, ObjectPosition.Z, 1 }; 01190 01191 matrix4<T>(ProjectionMatrix * ModelviewMatrix).multiplySingleMatrix(v); 01192 01193 return vector3d<T>( 01194 Viewport.Left + Viewport.Right * (v[0] + 1) / 2, 01195 Viewport.Top + Viewport.Bottom * (v[1] + 1) / 2, 01196 (v[2] + 1) / 2 01197 ); 01198 } 01199 01200 /* === Member === */ 01201 01203 T M[16]; 01204 01205 /* === Macros === */ 01206 01207 static const matrix4<T> IDENTITY; 01208 01209 }; 01210 01211 typedef matrix4<f32> matrix4f; 01212 typedef matrix4<f64> matrix4d; 01213 01214 template <typename T> const matrix4<T> matrix4<T>::IDENTITY; 01215 01216 01217 /* 01218 * Templates 01219 */ 01220 01221 template <typename T> inline matrix4<T> getRotationMatrix(const matrix4<T> &Mat) 01222 { 01223 return matrix4<T>( 01224 Mat[0], Mat[4], Mat[ 8], 0, 01225 Mat[1], Mat[5], Mat[ 9], 0, 01226 Mat[2], Mat[6], Mat[10], 0, 01227 0, 0, 0, 1 01228 ); 01229 } 01230 template <typename T> inline matrix4<T> getScaleMatrix(matrix4<T> Mat) 01231 { 01232 Mat.setPosition(0); 01233 01234 vector3df Rot(Mat.getRotation()); 01235 Mat.matrixRotateYXZ(-Rot); 01236 01237 return Mat; 01238 } 01239 01240 template <typename T> inline matrix4<T> getRotationMatrix(const vector3d<T> &Rotation) 01241 { 01242 matrix4<T> Mat; 01243 Mat.setRotation(Rotation); 01244 return Mat; 01245 } 01246 01247 template <typename T> inline matrix4<T> getPositionMatrix(const vector3d<T> &Position) 01248 { 01249 matrix4<T> Mat; 01250 Mat.setPosition(Position); 01251 return Mat; 01252 } 01253 01254 template <typename T> inline matrix4<T> getScaleMatrix(const vector3d<T> &Scale) 01255 { 01256 matrix4<T> Mat; 01257 Mat.setScale(Scale); 01258 return Mat; 01259 } 01260 01261 template <typename T> inline matrix4<T> getDirectionMatrix(const vector3d<T> From, const vector3d<T> To) 01262 { 01263 /* Temporary variables */ 01264 T w = To.X - From.X; 01265 T h = To.Y - From.Y; 01266 T dx = math::getDistance(From, To); 01267 T dy = math::getDistance(dim::point2df(From.X, From.Z), dim::point2df(To.X, To.Z)); 01268 T rx = 0; 01269 T ry = 0; 01270 01271 /* Compute rotation */ 01272 if (!math::Equal(From.Y, To.Y)) 01273 rx = math::ASin(h/dx); 01274 01275 if (!math::Equal(From.X, To.X)) 01276 ry = -math::ASin(w/dy); 01277 01278 if (From.Z < To.Z) 01279 ry = T(180) - ry; 01280 01281 /* Process rotation */ 01282 matrix4<T> Mat; 01283 Mat.translate(From); 01284 Mat.rotateY(ry); 01285 Mat.rotateX(rx); 01286 01287 return Mat; 01288 } 01289 01290 01291 } // /namespace dim 01292 01293 } // /namespace sp 01294 01295 01296 #endif 01297 01298 01299 01300 // ================================================================================
