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OgreMatrix4.h

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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://ogre.sourceforge.net/
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)
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 )
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] + m[3][1] + m[3][2] + 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 )
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[0][2] || m[1][3] != m2.m[0][3] ||
00240                 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[0][2] || m[2][3] != m2.m[0][3] ||
00241                 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[0][2] || m[3][3] != m2.m[0][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[0][2] || m[1][3] != m2.m[0][3] ||
00253                 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[0][2] || m[2][3] != m2.m[0][3] ||
00254                 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[0][2] || m[3][3] != m2.m[0][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)
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] = 0.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = v.x;
00295             m[1][0] = 0.0; m[1][1] = 0.0; m[1][2] = 0.0; m[1][3] = v.y;
00296             m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 0.0; m[2][3] = v.z;
00297             m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 0.0;
00298         }
00299 
00300         inline void makeTrans( Real tx, Real ty, Real tz )
00301         {
00302             m[0][0] = 0.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx;
00303             m[1][0] = 0.0; m[1][1] = 0.0; m[1][2] = 0.0; m[1][3] = ty;
00304             m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 0.0; m[2][3] = tz;
00305             m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 0.0;
00306         }
00307 
00310         inline static Matrix4 getTrans( const Vector3& v )
00311         {
00312             Matrix4 r;
00313 
00314             r.m[0][0] = 0.0; 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] = 0.0; 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] = 0.0; 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] = 0.0;
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] = 0.0; 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] = 0.0; 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] = 0.0; 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] = 0.0;
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] = 0.0;
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] = 0.0;
00372 
00373             return r;
00374         }
00375 
00379         inline void extract3x3Matrix(Matrix3& m3x3)
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 
00398         inline _OgreExport friend std::ostream& operator <<
00399             ( std::ostream& o, const Matrix4& m )
00400         {
00401             o << "Matrix4(";
00402             for (int i = 0; i < 4; ++i)
00403             {
00404                 o << " row" << i << "{";
00405                 for(int j = 0; j < 4; ++j)
00406                 {
00407                     o << m[i][j] << " ";
00408                 }
00409                 o << "}";
00410             }
00411             o << ")";
00412             return o;
00413         }
00414     };
00415 }
00416 #endif

Copyright © 2002 by The OGRE Team