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OgreMatrix4.cpp

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00001 /*
00002 -----------------------------------------------------------------------------
00003 This source file is part of OGRE
00004 (Object-oriented Graphics Rendering Engine)
00005 For the latest info, see http://www.ogre3d.org/
00006 
00007 Copyright © 2000-2002 The OGRE Team
00008 Also see acknowledgements in Readme.html
00009 
00010 This program is free software; you can redistribute it and/or modify it under
00011 the terms of the GNU Lesser General Public License as published by the Free Software
00012 Foundation; either version 2 of the License, or (at your option) any later
00013 version.
00014 
00015 This program is distributed in the hope that it will be useful, but WITHOUT
00016 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
00017 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
00018 
00019 You should have received a copy of the GNU Lesser General Public License along with
00020 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
00021 Place - Suite 330, Boston, MA 02111-1307, USA, or go to
00022 http://www.gnu.org/copyleft/lesser.txt.
00023 -----------------------------------------------------------------------------
00024 */
00025 #include "OgreStableHeaders.h"
00026 #include "OgreMatrix4.h"
00027 
00028 #include "OgreVector3.h"
00029 #include "OgreMatrix3.h"
00030 
00031 namespace Ogre
00032 {
00033 
00034     const Matrix4 Matrix4::ZERO(
00035         0, 0, 0, 0,
00036         0, 0, 0, 0,
00037         0, 0, 0, 0,
00038         0, 0, 0, 0 );
00039 
00040     const Matrix4 Matrix4::IDENTITY(
00041         1, 0, 0, 0,
00042         0, 1, 0, 0,
00043         0, 0, 1, 0,
00044         0, 0, 0, 1 );
00045 
00046 
00047     inline Real
00048         MINOR(const Matrix4& m, const int r0, const int r1, const int r2, const int c0, const int c1, const int c2)
00049     {
00050         return m[r0][c0] * (m[r1][c1] * m[r2][c2] - m[r2][c1] * m[r1][c2]) -
00051             m[r0][c1] * (m[r1][c0] * m[r2][c2] - m[r2][c0] * m[r1][c2]) +
00052             m[r0][c2] * (m[r1][c0] * m[r2][c1] - m[r2][c0] * m[r1][c1]);
00053     }
00054 
00055 
00056     Matrix4 Matrix4::adjoint() const
00057     {
00058         return Matrix4( MINOR(*this, 1, 2, 3, 1, 2, 3),
00059             -MINOR(*this, 0, 2, 3, 1, 2, 3),
00060             MINOR(*this, 0, 1, 3, 1, 2, 3),
00061             -MINOR(*this, 0, 1, 2, 1, 2, 3),
00062 
00063             -MINOR(*this, 1, 2, 3, 0, 2, 3),
00064             MINOR(*this, 0, 2, 3, 0, 2, 3),
00065             -MINOR(*this, 0, 1, 3, 0, 2, 3),
00066             MINOR(*this, 0, 1, 2, 0, 2, 3),
00067 
00068             MINOR(*this, 1, 2, 3, 0, 1, 3),
00069             -MINOR(*this, 0, 2, 3, 0, 1, 3),
00070             MINOR(*this, 0, 1, 3, 0, 1, 3),
00071             -MINOR(*this, 0, 1, 2, 0, 1, 3),
00072 
00073             -MINOR(*this, 1, 2, 3, 0, 1, 2),
00074             MINOR(*this, 0, 2, 3, 0, 1, 2),
00075             -MINOR(*this, 0, 1, 3, 0, 1, 2),
00076             MINOR(*this, 0, 1, 2, 0, 1, 2));
00077     }
00078 
00079 
00080     Real Matrix4::determinant() const
00081     {
00082         return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
00083             m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
00084             m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
00085             m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
00086     }
00087 
00088     Matrix4 Matrix4::inverse() const
00089     {
00090         return adjoint() * (1.0f / determinant());
00091     }
00092 
00093 }

Copyright © 2002-2003 by The OGRE Team
Last modified Wed Jan 21 00:10:17 2004