456 lines
21 KiB
C
456 lines
21 KiB
C
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Contains code for 4x4 matrices.
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* \file IceMatrix4x4.h
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* \author Pierre Terdiman
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* \date April, 4, 2000
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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// Include Guard
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#ifndef __ICEMATRIX4X4_H__
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#define __ICEMATRIX4X4_H__
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// Forward declarations
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class PRS;
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class PR;
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#define MATRIX4X4_EPSILON (1.0e-7f)
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class ICEMATHS_API Matrix4x4
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{
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// void LUBackwardSubstitution( sdword *indx, float* b );
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// void LUDecomposition( sdword* indx, float* d );
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public:
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//! Empty constructor.
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inline_ Matrix4x4() {}
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//! Constructor from 16 values
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inline_ Matrix4x4( float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23,
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float m30, float m31, float m32, float m33)
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{
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m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
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m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
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m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
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m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
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}
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//! Copy constructor
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inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); }
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//! Destructor.
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inline_ ~Matrix4x4() {}
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//! Assign values (rotation only)
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inline_ Matrix4x4& Set( float m00, float m01, float m02,
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float m10, float m11, float m12,
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float m20, float m21, float m22)
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{
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m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
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m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
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m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
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return *this;
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}
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//! Assign values
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inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03,
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float m10, float m11, float m12, float m13,
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float m20, float m21, float m22, float m23,
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float m30, float m31, float m32, float m33)
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{
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m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
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m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
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m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
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m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
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return *this;
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}
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//! Copy from a Matrix4x4
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inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); }
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// Row-column access
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//! Returns a row.
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inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; }
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//! Returns a row.
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inline_ void GetRow(const udword r, Point& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; }
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//! Returns a row.
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inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; }
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//! Returns a row.
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inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; }
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//! Sets a row.
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inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; }
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//! Sets a row.
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inline_ void SetRow(const udword r, const Point& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; }
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//! Returns a column.
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inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; }
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//! Returns a column.
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inline_ void GetCol(const udword c, Point& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; }
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//! Sets a column.
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inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; }
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//! Sets a column.
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inline_ void SetCol(const udword c, const Point& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; }
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// Translation
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//! Returns the translation part of the matrix.
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inline_ const HPoint& GetTrans() const { return GetRow(3); }
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//! Gets the translation part of the matrix
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inline_ void GetTrans(Point& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; }
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//! Sets the translation part of the matrix, from a Point.
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inline_ void SetTrans(const Point& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; }
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//! Sets the translation part of the matrix, from a HPoint.
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inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; }
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//! Sets the translation part of the matrix, from floats.
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inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; }
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// Scale
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//! Sets the scale from a Point. The point is put on the diagonal.
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inline_ void SetScale(const Point& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; }
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//! Sets the scale from floats. Values are put on the diagonal.
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inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; }
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//! Scales from a Point. Each row is multiplied by a component.
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void Scale(const Point& p)
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{
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m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z;
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m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z;
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m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z;
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}
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//! Scales from floats. Each row is multiplied by a value.
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void Scale(float sx, float sy, float sz)
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{
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m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz;
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m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz;
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m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz;
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}
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/*
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//! Returns a row.
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inline_ HPoint GetRow(const udword row) const { return mRow[row]; }
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//! Sets a row.
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inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; }
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//! Sets a row.
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Matrix4x4& SetRow(const udword row, const Point& p)
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{
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m[row][0] = p.x;
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m[row][1] = p.y;
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m[row][2] = p.z;
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m[row][3] = (row != 3) ? 0.0f : 1.0f;
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return *this;
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}
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//! Returns a column.
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HPoint GetCol(const udword col) const
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{
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HPoint Res;
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Res.x = m[0][col];
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Res.y = m[1][col];
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Res.z = m[2][col];
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Res.w = m[3][col];
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return Res;
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}
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//! Sets a column.
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Matrix4x4& SetCol(const udword col, const HPoint& p)
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{
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m[0][col] = p.x;
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m[1][col] = p.y;
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m[2][col] = p.z;
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m[3][col] = p.w;
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return *this;
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}
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//! Sets a column.
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Matrix4x4& SetCol(const udword col, const Point& p)
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{
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m[0][col] = p.x;
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m[1][col] = p.y;
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m[2][col] = p.z;
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m[3][col] = (col != 3) ? 0.0f : 1.0f;
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return *this;
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}
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*/
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//! Computes the trace. The trace is the sum of the 4 diagonal components.
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inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; }
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//! Computes the trace of the upper 3x3 matrix.
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inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; }
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//! Clears the matrix.
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inline_ void Zero() { ZeroMemory(&m, sizeof(m)); }
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//! Sets the identity matrix.
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inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; }
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//! Checks for identity
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inline_ bool IsIdentity() const
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{
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if(IR(m[0][0])!=IEEE_1_0) return false;
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if(IR(m[0][1])!=0) return false;
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if(IR(m[0][2])!=0) return false;
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if(IR(m[0][3])!=0) return false;
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if(IR(m[1][0])!=0) return false;
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if(IR(m[1][1])!=IEEE_1_0) return false;
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if(IR(m[1][2])!=0) return false;
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if(IR(m[1][3])!=0) return false;
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if(IR(m[2][0])!=0) return false;
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if(IR(m[2][1])!=0) return false;
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if(IR(m[2][2])!=IEEE_1_0) return false;
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if(IR(m[2][3])!=0) return false;
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if(IR(m[3][0])!=0) return false;
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if(IR(m[3][1])!=0) return false;
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if(IR(m[3][2])!=0) return false;
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if(IR(m[3][3])!=IEEE_1_0) return false;
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return true;
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}
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//! Checks matrix validity
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inline_ BOOL IsValid() const
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{
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for(udword j=0;j<4;j++)
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{
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for(udword i=0;i<4;i++)
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{
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if(!IsValidFloat(m[j][i])) return FALSE;
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}
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}
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return TRUE;
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}
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//! Sets a rotation matrix around the X axis.
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void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; }
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//! Sets a rotation matrix around the Y axis.
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void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; }
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//! Sets a rotation matrix around the Z axis.
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void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; }
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//! Makes a rotation matrix about an arbitrary axis
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Matrix4x4& Rot(float angle, Point& p1, Point& p2);
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//! Transposes the matrix.
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void Transpose()
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{
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IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
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IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
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IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]);
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IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]);
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IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]);
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IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]);
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}
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//! Computes a cofactor. Used for matrix inversion.
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float CoFactor(udword row, udword col) const;
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//! Computes the determinant of the matrix.
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float Determinant() const;
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//! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted.
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Matrix4x4& Invert();
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// Matrix& ComputeAxisMatrix(Point& axis, float angle);
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// Cast operators
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//! Casts a Matrix4x4 to a Matrix3x3.
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inline_ operator Matrix3x3() const
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{
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return Matrix3x3(
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m[0][0], m[0][1], m[0][2],
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m[1][0], m[1][1], m[1][2],
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m[2][0], m[2][1], m[2][2]);
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}
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//! Casts a Matrix4x4 to a Quat.
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operator Quat() const;
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//! Casts a Matrix4x4 to a PR.
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operator PR() const;
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// Arithmetic operators
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//! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4;
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inline_ Matrix4x4 operator+(const Matrix4x4& mat) const
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{
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return Matrix4x4(
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m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3],
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m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3],
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m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3],
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m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]);
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}
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//! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4;
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inline_ Matrix4x4 operator-(const Matrix4x4& mat) const
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{
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return Matrix4x4(
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m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3],
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m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3],
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m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3],
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m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]);
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}
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//! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4;
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inline_ Matrix4x4 operator*(const Matrix4x4& mat) const
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{
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return Matrix4x4(
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m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0],
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m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1],
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m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2],
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m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3],
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m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0],
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m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1],
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m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2],
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m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3],
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m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0],
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m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1],
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m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2],
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m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3],
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m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0],
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m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1],
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m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2],
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m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]);
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}
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//! Operator for HPoint Mul = Matrix4x4 * HPoint;
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inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); }
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//! Operator for Point Mul = Matrix4x4 * Point;
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inline_ Point operator*(const Point& v) const
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{
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return Point( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3],
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|
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m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3],
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|
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m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] );
|
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}
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//! Operator for Matrix4x4 Scale = Matrix4x4 * float;
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|
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inline_ Matrix4x4 operator*(float s) const
|
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{
|
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|
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return Matrix4x4(
|
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|
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m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
|
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m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
|
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m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
|
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|
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m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
|
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|
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}
|
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|
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//! Operator for Matrix4x4 Scale = float * Matrix4x4;
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inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat)
|
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|
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{
|
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|
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return Matrix4x4(
|
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|
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s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3],
|
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|
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s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3],
|
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|
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s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3],
|
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|
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s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]);
|
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|
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}
|
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|
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|
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|
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//! Operator for Matrix4x4 Div = Matrix4x4 / float;
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|
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inline_ Matrix4x4 operator/(float s) const
|
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|
|
{
|
||
|
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if(s) s = 1.0f / s;
|
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|
|
|
||
|
|
return Matrix4x4(
|
||
|
|
m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
|
||
|
|
m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
|
||
|
|
m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
|
||
|
|
m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
|
||
|
|
}
|
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|
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|
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|
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//! Operator for Matrix4x4 Div = float / Matrix4x4;
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|
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inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat)
|
||
|
|
{
|
||
|
|
return Matrix4x4(
|
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|
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s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3],
|
||
|
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s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3],
|
||
|
|
s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3],
|
||
|
|
s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]);
|
||
|
|
}
|
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|
|
|
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|
|
//! Operator for Matrix4x4 += Matrix4x4;
|
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|
|
inline_ Matrix4x4& operator+=(const Matrix4x4& mat)
|
||
|
|
{
|
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|
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m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3];
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|
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m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3];
|
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|
|
m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3];
|
||
|
|
m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3];
|
||
|
|
return *this;
|
||
|
|
}
|
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|
|
|
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|
|
//! Operator for Matrix4x4 -= Matrix4x4;
|
||
|
|
inline_ Matrix4x4& operator-=(const Matrix4x4& mat)
|
||
|
|
{
|
||
|
|
m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3];
|
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|
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m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3];
|
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|
|
m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3];
|
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|
|
m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3];
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Operator for Matrix4x4 *= Matrix4x4;
|
||
|
|
Matrix4x4& operator*=(const Matrix4x4& mat)
|
||
|
|
{
|
||
|
|
HPoint TempRow;
|
||
|
|
|
||
|
|
GetRow(0, TempRow);
|
||
|
|
m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
|
||
|
|
m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
|
||
|
|
m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
|
||
|
|
m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
|
||
|
|
|
||
|
|
GetRow(1, TempRow);
|
||
|
|
m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
|
||
|
|
m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
|
||
|
|
m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
|
||
|
|
m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
|
||
|
|
|
||
|
|
GetRow(2, TempRow);
|
||
|
|
m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
|
||
|
|
m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
|
||
|
|
m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
|
||
|
|
m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
|
||
|
|
|
||
|
|
GetRow(3, TempRow);
|
||
|
|
m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
|
||
|
|
m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
|
||
|
|
m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
|
||
|
|
m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
|
||
|
|
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Operator for Matrix4x4 *= float;
|
||
|
|
inline_ Matrix4x4& operator*=(float s)
|
||
|
|
{
|
||
|
|
m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
|
||
|
|
m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
|
||
|
|
m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
|
||
|
|
m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Operator for Matrix4x4 /= float;
|
||
|
|
inline_ Matrix4x4& operator/=(float s)
|
||
|
|
{
|
||
|
|
if(s) s = 1.0f / s;
|
||
|
|
m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
|
||
|
|
m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
|
||
|
|
m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
|
||
|
|
m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
|
||
|
|
return *this;
|
||
|
|
}
|
||
|
|
|
||
|
|
inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; }
|
||
|
|
inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; }
|
||
|
|
|
||
|
|
public:
|
||
|
|
|
||
|
|
float m[4][4];
|
||
|
|
};
|
||
|
|
|
||
|
|
//! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix
|
||
|
|
inline_ void TransformPoint4x3(Point& dest, const Point& source, const Matrix4x4& rot)
|
||
|
|
{
|
||
|
|
dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
|
||
|
|
dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
|
||
|
|
dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
|
||
|
|
}
|
||
|
|
|
||
|
|
//! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix
|
||
|
|
inline_ void TransformPoint3x3(Point& dest, const Point& source, const Matrix4x4& rot)
|
||
|
|
{
|
||
|
|
dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
|
||
|
|
dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
|
||
|
|
dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
|
||
|
|
}
|
||
|
|
|
||
|
|
ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src);
|
||
|
|
|
||
|
|
#endif // __ICEMATRIX4X4_H__
|
||
|
|
|