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 #ifndef __Matrix4__ 00026 #define __Matrix4__ 00027 00028 // Precompiler options 00029 #include "OgrePrerequisites.h" 00030 00031 #include "OgreVector3.h" 00032 #include "OgreMatrix3.h" 00033 00034 namespace Ogre 00035 { 00068 class _OgreExport Matrix4 00069 { 00070 protected: 00072 union { 00073 Real m[4][4]; 00074 Real _m[16]; 00075 }; 00076 public: 00081 inline Matrix4() 00082 { 00083 } 00084 00085 inline Matrix4( 00086 Real m00, Real m01, Real m02, Real m03, 00087 Real m10, Real m11, Real m12, Real m13, 00088 Real m20, Real m21, Real m22, Real m23, 00089 Real m30, Real m31, Real m32, Real m33 ) 00090 { 00091 m[0][0] = m00; 00092 m[0][1] = m01; 00093 m[0][2] = m02; 00094 m[0][3] = m03; 00095 m[1][0] = m10; 00096 m[1][1] = m11; 00097 m[1][2] = m12; 00098 m[1][3] = m13; 00099 m[2][0] = m20; 00100 m[2][1] = m21; 00101 m[2][2] = m22; 00102 m[2][3] = m23; 00103 m[3][0] = m30; 00104 m[3][1] = m31; 00105 m[3][2] = m32; 00106 m[3][3] = m33; 00107 } 00108 00109 inline Real* operator [] ( unsigned iRow ) 00110 { 00111 assert( iRow < 4 ); 00112 return m[iRow]; 00113 } 00114 00115 inline const Real *const operator [] ( unsigned iRow ) const 00116 { 00117 assert( iRow < 4 ); 00118 return m[iRow]; 00119 } 00120 00121 inline Matrix4 concatenate(const Matrix4 &m2) const 00122 { 00123 Matrix4 r; 00124 r.m[0][0] = m[0][0] * m2.m[0][0] + m[0][1] * m2.m[1][0] + m[0][2] * m2.m[2][0] + m[0][3] * m2.m[3][0]; 00125 r.m[0][1] = m[0][0] * m2.m[0][1] + m[0][1] * m2.m[1][1] + m[0][2] * m2.m[2][1] + m[0][3] * m2.m[3][1]; 00126 r.m[0][2] = m[0][0] * m2.m[0][2] + m[0][1] * m2.m[1][2] + m[0][2] * m2.m[2][2] + m[0][3] * m2.m[3][2]; 00127 r.m[0][3] = m[0][0] * m2.m[0][3] + m[0][1] * m2.m[1][3] + m[0][2] * m2.m[2][3] + m[0][3] * m2.m[3][3]; 00128 00129 r.m[1][0] = m[1][0] * m2.m[0][0] + m[1][1] * m2.m[1][0] + m[1][2] * m2.m[2][0] + m[1][3] * m2.m[3][0]; 00130 r.m[1][1] = m[1][0] * m2.m[0][1] + m[1][1] * m2.m[1][1] + m[1][2] * m2.m[2][1] + m[1][3] * m2.m[3][1]; 00131 r.m[1][2] = m[1][0] * m2.m[0][2] + m[1][1] * m2.m[1][2] + m[1][2] * m2.m[2][2] + m[1][3] * m2.m[3][2]; 00132 r.m[1][3] = m[1][0] * m2.m[0][3] + m[1][1] * m2.m[1][3] + m[1][2] * m2.m[2][3] + m[1][3] * m2.m[3][3]; 00133 00134 r.m[2][0] = m[2][0] * m2.m[0][0] + m[2][1] * m2.m[1][0] + m[2][2] * m2.m[2][0] + m[2][3] * m2.m[3][0]; 00135 r.m[2][1] = m[2][0] * m2.m[0][1] + m[2][1] * m2.m[1][1] + m[2][2] * m2.m[2][1] + m[2][3] * m2.m[3][1]; 00136 r.m[2][2] = m[2][0] * m2.m[0][2] + m[2][1] * m2.m[1][2] + m[2][2] * m2.m[2][2] + m[2][3] * m2.m[3][2]; 00137 r.m[2][3] = m[2][0] * m2.m[0][3] + m[2][1] * m2.m[1][3] + m[2][2] * m2.m[2][3] + m[2][3] * m2.m[3][3]; 00138 00139 r.m[3][0] = m[3][0] * m2.m[0][0] + m[3][1] * m2.m[1][0] + m[3][2] * m2.m[2][0] + m[3][3] * m2.m[3][0]; 00140 r.m[3][1] = m[3][0] * m2.m[0][1] + m[3][1] * m2.m[1][1] + m[3][2] * m2.m[2][1] + m[3][3] * m2.m[3][1]; 00141 r.m[3][2] = m[3][0] * m2.m[0][2] + m[3][1] * m2.m[1][2] + m[3][2] * m2.m[2][2] + m[3][3] * m2.m[3][2]; 00142 r.m[3][3] = m[3][0] * m2.m[0][3] + m[3][1] * m2.m[1][3] + m[3][2] * m2.m[2][3] + m[3][3] * m2.m[3][3]; 00143 00144 return r; 00145 } 00146 00149 inline Matrix4 operator * ( const Matrix4 &m2 ) const 00150 { 00151 return concatenate( m2 ); 00152 } 00153 00163 inline Vector3 operator * ( const Vector3 &v ) const 00164 { 00165 Vector3 r; 00166 00167 Real fInvW = 1.0 / ( m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] ); 00168 00169 r.x = ( m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] ) * fInvW; 00170 r.y = ( m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] ) * fInvW; 00171 r.z = ( m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] ) * fInvW; 00172 00173 return r; 00174 } 00175 00178 inline Matrix4 operator + ( const Matrix4 &m2 ) const 00179 { 00180 Matrix4 r; 00181 00182 r.m[0][0] = m[0][0] + m2.m[0][0]; 00183 r.m[0][1] = m[0][1] + m2.m[0][1]; 00184 r.m[0][2] = m[0][2] + m2.m[0][2]; 00185 r.m[0][3] = m[0][3] + m2.m[0][3]; 00186 00187 r.m[1][0] = m[1][0] + m2.m[1][0]; 00188 r.m[1][1] = m[1][1] + m2.m[1][1]; 00189 r.m[1][2] = m[1][2] + m2.m[1][2]; 00190 r.m[1][3] = m[1][3] + m2.m[1][3]; 00191 00192 r.m[2][0] = m[2][0] + m2.m[2][0]; 00193 r.m[2][1] = m[2][1] + m2.m[2][1]; 00194 r.m[2][2] = m[2][2] + m2.m[2][2]; 00195 r.m[2][3] = m[2][3] + m2.m[2][3]; 00196 00197 r.m[3][0] = m[3][0] + m2.m[3][0]; 00198 r.m[3][1] = m[3][1] + m2.m[3][1]; 00199 r.m[3][2] = m[3][2] + m2.m[3][2]; 00200 r.m[3][3] = m[3][3] + m2.m[3][3]; 00201 00202 return r; 00203 } 00204 00207 inline Matrix4 operator - ( const Matrix4 &m2 ) const 00208 { 00209 Matrix4 r; 00210 r.m[0][0] = m[0][0] - m2.m[0][0]; 00211 r.m[0][1] = m[0][1] - m2.m[0][1]; 00212 r.m[0][2] = m[0][2] - m2.m[0][2]; 00213 r.m[0][3] = m[0][3] - m2.m[0][3]; 00214 00215 r.m[1][0] = m[1][0] - m2.m[1][0]; 00216 r.m[1][1] = m[1][1] - m2.m[1][1]; 00217 r.m[1][2] = m[1][2] - m2.m[1][2]; 00218 r.m[1][3] = m[1][3] - m2.m[1][3]; 00219 00220 r.m[2][0] = m[2][0] - m2.m[2][0]; 00221 r.m[2][1] = m[2][1] - m2.m[2][1]; 00222 r.m[2][2] = m[2][2] - m2.m[2][2]; 00223 r.m[2][3] = m[2][3] - m2.m[2][3]; 00224 00225 r.m[3][0] = m[3][0] - m2.m[3][0]; 00226 r.m[3][1] = m[3][1] - m2.m[3][1]; 00227 r.m[3][2] = m[3][2] - m2.m[3][2]; 00228 r.m[3][3] = m[3][3] - m2.m[3][3]; 00229 00230 return r; 00231 } 00232 00235 inline bool operator == ( const Matrix4& m2 ) const 00236 { 00237 if( 00238 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00239 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00240 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00241 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00242 return false; 00243 return true; 00244 } 00245 00248 inline bool operator != ( Matrix4& m2 ) const 00249 { 00250 if( 00251 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00252 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00253 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00254 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00255 return true; 00256 return false; 00257 } 00258 00261 inline void operator = ( const Matrix3& mat3 ) 00262 { 00263 m[0][0] = mat3.m[0][0]; m[0][1] = mat3.m[0][1]; m[0][2] = mat3.m[0][2]; 00264 m[1][0] = mat3.m[1][0]; m[1][1] = mat3.m[1][1]; m[1][2] = mat3.m[1][2]; 00265 m[2][0] = mat3.m[2][0]; m[2][1] = mat3.m[2][1]; m[2][2] = mat3.m[2][2]; 00266 } 00267 00268 inline Matrix4 transpose(void) const 00269 { 00270 return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0], 00271 m[0][1], m[1][1], m[2][1], m[3][1], 00272 m[0][2], m[1][2], m[2][2], m[3][2], 00273 m[0][3], m[1][3], m[2][3], m[3][3]); 00274 } 00275 00276 /* 00277 ----------------------------------------------------------------------- 00278 Translation Transformation 00279 ----------------------------------------------------------------------- 00280 */ 00283 inline void setTrans( const Vector3& v ) 00284 { 00285 m[0][3] = v.x; 00286 m[1][3] = v.y; 00287 m[2][3] = v.z; 00288 } 00289 00292 inline void makeTrans( const Vector3& v ) 00293 { 00294 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = v.x; 00295 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = v.y; 00296 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = v.z; 00297 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00298 } 00299 00300 inline void makeTrans( Real tx, Real ty, Real tz ) 00301 { 00302 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx; 00303 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = ty; 00304 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = tz; 00305 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00306 } 00307 00310 inline static Matrix4 getTrans( const Vector3& v ) 00311 { 00312 Matrix4 r; 00313 00314 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = v.x; 00315 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = v.y; 00316 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = v.z; 00317 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00318 00319 return r; 00320 } 00321 00324 inline static Matrix4 getTrans( Real t_x, Real t_y, Real t_z ) 00325 { 00326 Matrix4 r; 00327 00328 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = t_x; 00329 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = t_y; 00330 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = t_z; 00331 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00332 00333 return r; 00334 } 00335 00336 /* 00337 ----------------------------------------------------------------------- 00338 Scale Transformation 00339 ----------------------------------------------------------------------- 00340 */ 00343 inline void setScale( const Vector3& v ) 00344 { 00345 m[0][0] = v.x; 00346 m[1][1] = v.y; 00347 m[2][2] = v.z; 00348 } 00349 00352 inline static Matrix4 getScale( const Vector3& v ) 00353 { 00354 Matrix4 r; 00355 r.m[0][0] = v.x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00356 r.m[1][0] = 0.0; r.m[1][1] = v.y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00357 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = v.z; r.m[2][3] = 0.0; 00358 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00359 00360 return r; 00361 } 00362 00365 inline static Matrix4 getScale( Real s_x, Real s_y, Real s_z ) 00366 { 00367 Matrix4 r; 00368 r.m[0][0] = s_x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00369 r.m[1][0] = 0.0; r.m[1][1] = s_y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00370 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = s_z; r.m[2][3] = 0.0; 00371 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00372 00373 return r; 00374 } 00375 00379 inline void extract3x3Matrix(Matrix3& m3x3) const 00380 { 00381 m3x3.m[0][0] = m[0][0]; 00382 m3x3.m[0][1] = m[0][1]; 00383 m3x3.m[0][2] = m[0][2]; 00384 m3x3.m[1][0] = m[1][0]; 00385 m3x3.m[1][1] = m[1][1]; 00386 m3x3.m[1][2] = m[1][2]; 00387 m3x3.m[2][0] = m[2][0]; 00388 m3x3.m[2][1] = m[2][1]; 00389 m3x3.m[2][2] = m[2][2]; 00390 00391 } 00392 00393 static const Matrix4 ZERO; 00394 static const Matrix4 IDENTITY; 00395 00396 inline Matrix4 operator*(Real scalar) 00397 { 00398 return Matrix4( 00399 scalar*m[0][0], scalar*m[0][1], scalar*m[0][2], scalar*m[0][3], 00400 scalar*m[1][0], scalar*m[1][1], scalar*m[1][2], scalar*m[1][3], 00401 scalar*m[2][0], scalar*m[2][1], scalar*m[2][2], scalar*m[2][3], 00402 scalar*m[3][0], scalar*m[3][1], scalar*m[3][2], scalar*m[3][3]); 00403 } 00404 00407 inline _OgreExport friend std::ostream& operator << 00408 ( std::ostream& o, const Matrix4& m ) 00409 { 00410 o << "Matrix4("; 00411 for (int i = 0; i < 4; ++i) 00412 { 00413 o << " row" << i << "{"; 00414 for(int j = 0; j < 4; ++j) 00415 { 00416 o << m[i][j] << " "; 00417 } 00418 o << "}"; 00419 } 00420 o << ")"; 00421 return o; 00422 } 00423 00424 Matrix4 adjoint() const; 00425 Real determinant() const; 00426 Matrix4 inverse() const; 00427 00428 }; 00429 } 00430 #endif
Copyright © 2002-2003 by The OGRE Team
Last modified Wed Jan 21 00:10:17 2004