csgeom/matrix4.h
Go to the documentation of this file.00001 /* 00002 Copyright (C) 1998,1999,2000 by Jorrit Tyberghein 00003 Largely rewritten by Ivan Avramovic <ivan@avramovic.com> 00004 00005 This library is free software; you can redistribute it and/or 00006 modify it under the terms of the GNU Library General Public 00007 License as published by the Free Software Foundation; either 00008 version 2 of the License, or (at your option) any later version. 00009 00010 This library is distributed in the hope that it will be useful, 00011 but WITHOUT ANY WARRANTY; without even the implied warranty of 00012 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00013 Library General Public License for more details. 00014 00015 You should have received a copy of the GNU Library General Public 00016 License along with this library; if not, write to the Free 00017 Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. 00018 */ 00019 00020 #ifndef __CS_MATRIX4_H__ 00021 #define __CS_MATRIX4_H__ 00022 00030 #include "csextern.h" 00031 #include "csgeom/math.h" 00032 #include "csgeom/transfrm.h" 00033 #include "csgeom/vector4.h" 00034 #include "csutil/csstring.h" 00035 00036 namespace CS 00037 { 00038 namespace Math 00039 { 00043 class CS_CRYSTALSPACE_EXPORT Matrix4 00044 { 00045 public: 00046 float m11, m12, m13, m14; 00047 float m21, m22, m23, m24; 00048 float m31, m32, m33, m34; 00049 float m41, m42, m43, m44; 00050 00051 public: 00053 Matrix4 () 00054 : m11(1), m12(0), m13(0), m14(0), 00055 m21(0), m22(1), m23(0), m24(0), 00056 m31(0), m32(0), m33(1), m34(0), 00057 m41(0), m42(0), m43(0), m44(1) 00058 {} 00059 00061 Matrix4 (float am11, float am12, float am13, float am14, 00062 float am21, float am22, float am23, float am24, 00063 float am31, float am32, float am33, float am34, 00064 float am41, float am42, float am43, float am44) 00065 : m11(am11), m12(am12), m13(am13), m14(am14), 00066 m21(am21), m22(am22), m23(am23), m24(am24), 00067 m31(am31), m32(am32), m33(am33), m34(am34), 00068 m41(am41), m42(am42), m43(am43), m44(am44) 00069 {} 00070 00072 Matrix4 (Matrix4 const& o) 00073 : m11(o.m11), m12(o.m12), m13(o.m13), m14(o.m14), 00074 m21(o.m21), m22(o.m22), m23(o.m23), m24(o.m24), 00075 m31(o.m31), m32(o.m32), m33(o.m33), m34(o.m34), 00076 m41(o.m41), m42(o.m42), m43(o.m43), m44(o.m44) 00077 { 00078 } 00079 00081 Matrix4 (csTransform const& o) 00082 : m11(o.GetO2T().m11), m12(o.GetO2T().m12), m13(o.GetO2T().m13), 00083 m21(o.GetO2T().m21), m22(o.GetO2T().m22), m23(o.GetO2T().m23), 00084 m31(o.GetO2T().m31), m32(o.GetO2T().m32), m33(o.GetO2T().m33), 00085 m41(0), m42(0), m43(0), m44(1) 00086 { 00087 csVector3 o_t2o = -o.GetO2T()*o.GetO2TTranslation(); 00088 m14 = o_t2o.x; 00089 m24 = o_t2o.y; 00090 m34 = o_t2o.z; 00091 } 00092 00094 Matrix4 (csMatrix3 const& m) 00095 : m11(m.m11), m12(m.m12), m13(m.m13), m14 (0), 00096 m21(m.m21), m22(m.m22), m23(m.m23), m24 (0), 00097 m31(m.m31), m32(m.m32), m33(m.m33), m34 (0), 00098 m41(0), m42(0), m43(0), m44(1) 00099 { 00100 } 00101 00103 csString Description() const; 00104 00106 csTransform GetTransform() const; 00107 00109 inline csVector4 Row1() const { return csVector4 (m11,m12,m13,m14); } 00110 00112 inline csVector4 Row2() const { return csVector4 (m21,m22,m23,m24); } 00113 00115 inline csVector4 Row3() const { return csVector4 (m31,m32,m33,m34); } 00116 00118 inline csVector4 Row4() const { return csVector4 (m41,m42,m43,m44); } 00119 00121 inline csVector4 Row(size_t n) const 00122 { 00123 switch (n) 00124 { 00125 case 0: return Row1(); 00126 case 1: return Row2(); 00127 case 2: return Row3(); 00128 default: 00129 case 3: return Row4(); 00130 } 00131 } 00132 00134 inline csVector4 Col1() const { return csVector4 (m11,m21,m31,m41); } 00135 00137 inline csVector4 Col2() const { return csVector4 (m12,m22,m32,m42); } 00138 00140 inline csVector4 Col3() const { return csVector4 (m13,m23,m33,m43); } 00141 00143 inline csVector4 Col4() const { return csVector4 (m14,m24,m34,m44); } 00144 00146 inline csVector4 Col(size_t n) const 00147 { 00148 switch (n) 00149 { 00150 case 0: return Col1(); 00151 case 1: return Col2(); 00152 case 2: return Col3(); 00153 default: 00154 case 3: return Col4(); 00155 } 00156 } 00157 00158 inline void Set (Matrix4 const &o) 00159 { 00160 m11 = o.m11; m12 = o.m12; m13 = o.m13; m14 = o.m14; 00161 m21 = o.m21; m22 = o.m22; m23 = o.m23; m24 = o.m24; 00162 m31 = o.m31; m32 = o.m32; m33 = o.m33; m34 = o.m34; 00163 m41 = o.m41; m42 = o.m42; m43 = o.m43; m44 = o.m44; 00164 } 00165 00167 Matrix4& operator= (const Matrix4& o) { Set(o); return *this; } 00168 00170 Matrix4& operator*= (float f) 00171 { 00172 m11 *= f; m12 *= f; m13 *= f; m14 *= f; 00173 m21 *= f; m22 *= f; m23 *= f; m24 *= f; 00174 m31 *= f; m32 *= f; m33 *= f; m34 *= f; 00175 m41 *= f; m42 *= f; m43 *= f; m44 *= f; 00176 return *this; 00177 } 00178 00180 Matrix4& operator/= (float f) 00181 { 00182 *this *= 1.0f/f; 00183 return *this; 00184 } 00185 00187 friend CS_CRYSTALSPACE_EXPORT Matrix4 operator* (const Matrix4& m1, 00188 const Matrix4& m2); 00189 00191 csVector4 operator* (const csVector4& v) const 00192 { 00193 return csVector4 ( 00194 m11*v.x + m12*v.y + m13*v.z + m14*v.w, 00195 m21*v.x + m22*v.y + m23*v.z + m24*v.w, 00196 m31*v.x + m32*v.y + m33*v.z + m34*v.w, 00197 m41*v.x + m42*v.y + m43*v.z + m44*v.w); 00198 } 00199 00201 float Determinant() const 00202 { 00203 return m14 * m23 * m32 * m41-m13 * m24 * m32 * m41-m14 * m22 * m33 * m41+m12 * m24 * m33 * m41 00204 + m13 * m22 * m34 * m41-m12 * m23 * m34 * m41-m14 * m23 * m31 * m42+m13 * m24 * m31 * m42 00205 + m14 * m21 * m33 * m42-m11 * m24 * m33 * m42-m13 * m21 * m34 * m42+m11 * m23 * m34 * m42 00206 + m14 * m22 * m31 * m43-m12 * m24 * m31 * m43-m14 * m21 * m32 * m43+m11 * m24 * m32 * m43 00207 + m12 * m21 * m34 * m43-m11 * m22 * m34 * m43-m13 * m22 * m31 * m44+m12 * m23 * m31 * m44 00208 + m13 * m21 * m32 * m44-m11 * m23 * m32 * m44-m12 * m21 * m33 * m44+m11 * m22 * m33 * m44; 00209 } 00210 00212 Matrix4 GetInverse() const 00213 { 00214 Matrix4 m ( 00215 m23*m34*m42 - m24*m33*m42 + m24*m32*m43 - m22*m34*m43 - m23*m32*m44 + m22*m33*m44, 00216 m14*m33*m42 - m13*m34*m42 - m14*m32*m43 + m12*m34*m43 + m13*m32*m44 - m12*m33*m44, 00217 m13*m24*m42 - m14*m23*m42 + m14*m22*m43 - m12*m24*m43 - m13*m22*m44 + m12*m23*m44, 00218 m14*m23*m32 - m13*m24*m32 - m14*m22*m33 + m12*m24*m33 + m13*m22*m34 - m12*m23*m34, 00219 00220 m24*m33*m41 - m23*m34*m41 - m24*m31*m43 + m21*m34*m43 + m23*m31*m44 - m21*m33*m44, 00221 m13*m34*m41 - m14*m33*m41 + m14*m31*m43 - m11*m34*m43 - m13*m31*m44 + m11*m33*m44, 00222 m14*m23*m41 - m13*m24*m41 - m14*m21*m43 + m11*m24*m43 + m13*m21*m44 - m11*m23*m44, 00223 m13*m24*m31 - m14*m23*m31 + m14*m21*m33 - m11*m24*m33 - m13*m21*m34 + m11*m23*m34, 00224 00225 m22*m34*m41 - m24*m32*m41 + m24*m31*m42 - m21*m34*m42 - m22*m31*m44 + m21*m32*m44, 00226 m14*m32*m41 - m12*m34*m41 - m14*m31*m42 + m11*m34*m42 + m12*m31*m44 - m11*m32*m44, 00227 m12*m24*m41 - m14*m22*m41 + m14*m21*m42 - m11*m24*m42 - m12*m21*m44 + m11*m22*m44, 00228 m14*m22*m31 - m12*m24*m31 - m14*m21*m32 + m11*m24*m32 + m12*m21*m34 - m11*m22*m34, 00229 00230 m23*m32*m41 - m22*m33*m41 - m23*m31*m42 + m21*m33*m42 + m22*m31*m43 - m21*m32*m43, 00231 m12*m33*m41 - m13*m32*m41 + m13*m31*m42 - m11*m33*m42 - m12*m31*m43 + m11*m32*m43, 00232 m13*m22*m41 - m12*m23*m41 - m13*m21*m42 + m11*m23*m42 + m12*m21*m43 - m11*m22*m43, 00233 m12*m23*m31 - m13*m22*m31 + m13*m21*m32 - m11*m23*m32 - m12*m21*m33 + m11*m22*m33); 00234 m /= Determinant(); 00235 return m; 00236 } 00237 00239 void Invert() { *this = GetInverse(); } 00240 00242 inline void Transpose () 00243 { 00244 CS::Swap (m12, m21); CS::Swap (m13, m31); CS::Swap (m14, m41); 00245 CS::Swap (m23, m32); CS::Swap (m24, m42); 00246 CS::Swap (m34, m43); 00247 } 00248 00250 Matrix4 GetTranspose () const 00251 { 00252 return Matrix4 ( 00253 m11, m21, m31, m41, 00254 m12, m22, m32, m42, 00255 m13, m23, m33, m43, 00256 m14, m24, m34, m44); 00257 } 00258 }; 00259 00260 } // namespace Math 00261 } // namespace CS 00262 00265 #endif // __CS_MATRIX4_H__
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