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Diffstat (limited to 'shared/Matrices.h')
| -rw-r--r-- | shared/Matrices.h | 909 |
1 files changed, 0 insertions, 909 deletions
diff --git a/shared/Matrices.h b/shared/Matrices.h deleted file mode 100644 index 3515f54..0000000 --- a/shared/Matrices.h +++ /dev/null @@ -1,909 +0,0 @@ -/////////////////////////////////////////////////////////////////////////////// -// Matrice.h -// ========= -// NxN Matrix Math classes -// -// The elements of the matrix are stored as column major order. -// | 0 2 | | 0 3 6 | | 0 4 8 12 | -// | 1 3 | | 1 4 7 | | 1 5 9 13 | -// | 2 5 8 | | 2 6 10 14 | -// | 3 7 11 15 | -// -// AUTHOR: Song Ho Ahn (song.ahn@gmail.com) -// CREATED: 2005-06-24 -// UPDATED: 2013-09-30 -// -// Copyright (C) 2005 Song Ho Ahn -/////////////////////////////////////////////////////////////////////////////// - -#ifndef MATH_MATRICES_H -#define MATH_MATRICES_H - -#include <iostream> -#include <iomanip> -#include "Vectors.h" - -/////////////////////////////////////////////////////////////////////////// -// 2x2 matrix -/////////////////////////////////////////////////////////////////////////// -class Matrix2 -{ -public: - // constructors - Matrix2(); // init with identity - Matrix2(const float src[4]); - Matrix2(float m0, float m1, float m2, float m3); - - void set(const float src[4]); - void set(float m0, float m1, float m2, float m3); - void setRow(int index, const float row[2]); - void setRow(int index, const Vector2& v); - void setColumn(int index, const float col[2]); - void setColumn(int index, const Vector2& v); - - const float* get() const; - float getDeterminant(); - - Matrix2& identity(); - Matrix2& transpose(); // transpose itself and return reference - Matrix2& invert(); - - // operators - Matrix2 operator+(const Matrix2& rhs) const; // add rhs - Matrix2 operator-(const Matrix2& rhs) const; // subtract rhs - Matrix2& operator+=(const Matrix2& rhs); // add rhs and update this object - Matrix2& operator-=(const Matrix2& rhs); // subtract rhs and update this object - Vector2 operator*(const Vector2& rhs) const; // multiplication: v' = M * v - Matrix2 operator*(const Matrix2& rhs) const; // multiplication: M3 = M1 * M2 - Matrix2& operator*=(const Matrix2& rhs); // multiplication: M1' = M1 * M2 - bool operator==(const Matrix2& rhs) const; // exact compare, no epsilon - bool operator!=(const Matrix2& rhs) const; // exact compare, no epsilon - float operator[](int index) const; // subscript operator v[0], v[1] - float& operator[](int index); // subscript operator v[0], v[1] - - friend Matrix2 operator-(const Matrix2& m); // unary operator (-) - friend Matrix2 operator*(float scalar, const Matrix2& m); // pre-multiplication - friend Vector2 operator*(const Vector2& vec, const Matrix2& m); // pre-multiplication - friend std::ostream& operator<<(std::ostream& os, const Matrix2& m); - -protected: - -private: - float m[4]; - -}; - - - -/////////////////////////////////////////////////////////////////////////// -// 3x3 matrix -/////////////////////////////////////////////////////////////////////////// -class Matrix3 -{ -public: - // constructors - Matrix3(); // init with identity - Matrix3(const float src[9]); - Matrix3(float m0, float m1, float m2, // 1st column - float m3, float m4, float m5, // 2nd column - float m6, float m7, float m8); // 3rd column - - void set(const float src[9]); - void set(float m0, float m1, float m2, // 1st column - float m3, float m4, float m5, // 2nd column - float m6, float m7, float m8); // 3rd column - void setRow(int index, const float row[3]); - void setRow(int index, const Vector3& v); - void setColumn(int index, const float col[3]); - void setColumn(int index, const Vector3& v); - - const float* get() const; - float getDeterminant(); - - Matrix3& identity(); - Matrix3& transpose(); // transpose itself and return reference - Matrix3& invert(); - - // operators - Matrix3 operator+(const Matrix3& rhs) const; // add rhs - Matrix3 operator-(const Matrix3& rhs) const; // subtract rhs - Matrix3& operator+=(const Matrix3& rhs); // add rhs and update this object - Matrix3& operator-=(const Matrix3& rhs); // subtract rhs and update this object - Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v - Matrix3 operator*(const Matrix3& rhs) const; // multiplication: M3 = M1 * M2 - Matrix3& operator*=(const Matrix3& rhs); // multiplication: M1' = M1 * M2 - bool operator==(const Matrix3& rhs) const; // exact compare, no epsilon - bool operator!=(const Matrix3& rhs) const; // exact compare, no epsilon - float operator[](int index) const; // subscript operator v[0], v[1] - float& operator[](int index); // subscript operator v[0], v[1] - - friend Matrix3 operator-(const Matrix3& m); // unary operator (-) - friend Matrix3 operator*(float scalar, const Matrix3& m); // pre-multiplication - friend Vector3 operator*(const Vector3& vec, const Matrix3& m); // pre-multiplication - friend std::ostream& operator<<(std::ostream& os, const Matrix3& m); - -protected: - -private: - float m[9]; - -}; - - - -/////////////////////////////////////////////////////////////////////////// -// 4x4 matrix -/////////////////////////////////////////////////////////////////////////// -class Matrix4 -{ -public: - // constructors - Matrix4(); // init with identity - Matrix4(const float src[16]); - Matrix4(float m00, float m01, float m02, float m03, // 1st column - float m04, float m05, float m06, float m07, // 2nd column - float m08, float m09, float m10, float m11, // 3rd column - float m12, float m13, float m14, float m15);// 4th column - - void set(const float src[16]); - void set(float m00, float m01, float m02, float m03, // 1st column - float m04, float m05, float m06, float m07, // 2nd column - float m08, float m09, float m10, float m11, // 3rd column - float m12, float m13, float m14, float m15);// 4th column - void setRow(int index, const float row[4]); - void setRow(int index, const Vector4& v); - void setRow(int index, const Vector3& v); - void setColumn(int index, const float col[4]); - void setColumn(int index, const Vector4& v); - void setColumn(int index, const Vector3& v); - - const float* get() const; - const float* getTranspose(); // return transposed matrix - float getDeterminant(); - - Matrix4& identity(); - Matrix4& transpose(); // transpose itself and return reference - Matrix4& invert(); // check best inverse method before inverse - Matrix4& invertEuclidean(); // inverse of Euclidean transform matrix - Matrix4& invertAffine(); // inverse of affine transform matrix - Matrix4& invertProjective(); // inverse of projective matrix using partitioning - Matrix4& invertGeneral(); // inverse of generic matrix - - // transform matrix - Matrix4& translate(float x, float y, float z); // translation by (x,y,z) - Matrix4& translate(const Vector3& v); // - Matrix4& rotate(float angle, const Vector3& axis); // rotate angle(degree) along the given axix - Matrix4& rotate(float angle, float x, float y, float z); - Matrix4& rotateX(float angle); // rotate on X-axis with degree - Matrix4& rotateY(float angle); // rotate on Y-axis with degree - Matrix4& rotateZ(float angle); // rotate on Z-axis with degree - Matrix4& scale(float scale); // uniform scale - Matrix4& scale(float sx, float sy, float sz); // scale by (sx, sy, sz) on each axis - - // operators - Matrix4 operator+(const Matrix4& rhs) const; // add rhs - Matrix4 operator-(const Matrix4& rhs) const; // subtract rhs - Matrix4& operator+=(const Matrix4& rhs); // add rhs and update this object - Matrix4& operator-=(const Matrix4& rhs); // subtract rhs and update this object - Vector4 operator*(const Vector4& rhs) const; // multiplication: v' = M * v - Vector3 operator*(const Vector3& rhs) const; // multiplication: v' = M * v - Matrix4 operator*(const Matrix4& rhs) const; // multiplication: M3 = M1 * M2 - Matrix4& operator*=(const Matrix4& rhs); // multiplication: M1' = M1 * M2 - bool operator==(const Matrix4& rhs) const; // exact compare, no epsilon - bool operator!=(const Matrix4& rhs) const; // exact compare, no epsilon - float operator[](int index) const; // subscript operator v[0], v[1] - float& operator[](int index); // subscript operator v[0], v[1] - - friend Matrix4 operator-(const Matrix4& m); // unary operator (-) - friend Matrix4 operator*(float scalar, const Matrix4& m); // pre-multiplication - friend Vector3 operator*(const Vector3& vec, const Matrix4& m); // pre-multiplication - friend Vector4 operator*(const Vector4& vec, const Matrix4& m); // pre-multiplication - friend std::ostream& operator<<(std::ostream& os, const Matrix4& m); - -protected: - -private: - float getCofactor(float m0, float m1, float m2, - float m3, float m4, float m5, - float m6, float m7, float m8); - - float m[16]; - float tm[16]; // transpose m - -}; - - - -/////////////////////////////////////////////////////////////////////////// -// inline functions for Matrix2 -/////////////////////////////////////////////////////////////////////////// -inline Matrix2::Matrix2() -{ - // initially identity matrix - identity(); -} - - - -inline Matrix2::Matrix2(const float src[4]) -{ - set(src); -} - - - -inline Matrix2::Matrix2(float m0, float m1, float m2, float m3) -{ - set(m0, m1, m2, m3); -} - - - -inline void Matrix2::set(const float src[4]) -{ - m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3]; -} - - - -inline void Matrix2::set(float m0, float m1, float m2, float m3) -{ - m[0]= m0; m[1] = m1; m[2] = m2; m[3]= m3; -} - - - -inline void Matrix2::setRow(int index, const float row[2]) -{ - m[index] = row[0]; m[index + 2] = row[1]; -} - - - -inline void Matrix2::setRow(int index, const Vector2& v) -{ - m[index] = v.x; m[index + 2] = v.y; -} - - - -inline void Matrix2::setColumn(int index, const float col[2]) -{ - m[index*2] = col[0]; m[index*2 + 1] = col[1]; -} - - - -inline void Matrix2::setColumn(int index, const Vector2& v) -{ - m[index*2] = v.x; m[index*2 + 1] = v.y; -} - - - -inline const float* Matrix2::get() const -{ - return m; -} - - - -inline Matrix2& Matrix2::identity() -{ - m[0] = m[3] = 1.0f; - m[1] = m[2] = 0.0f; - return *this; -} - - - -inline Matrix2 Matrix2::operator+(const Matrix2& rhs) const -{ - return Matrix2(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3]); -} - - - -inline Matrix2 Matrix2::operator-(const Matrix2& rhs) const -{ - return Matrix2(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3]); -} - - - -inline Matrix2& Matrix2::operator+=(const Matrix2& rhs) -{ - m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3]; - return *this; -} - - - -inline Matrix2& Matrix2::operator-=(const Matrix2& rhs) -{ - m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3]; - return *this; -} - - - -inline Vector2 Matrix2::operator*(const Vector2& rhs) const -{ - return Vector2(m[0]*rhs.x + m[2]*rhs.y, m[1]*rhs.x + m[3]*rhs.y); -} - - - -inline Matrix2 Matrix2::operator*(const Matrix2& rhs) const -{ - return Matrix2(m[0]*rhs[0] + m[2]*rhs[1], m[1]*rhs[0] + m[3]*rhs[1], - m[0]*rhs[2] + m[2]*rhs[3], m[1]*rhs[2] + m[3]*rhs[3]); -} - - - -inline Matrix2& Matrix2::operator*=(const Matrix2& rhs) -{ - *this = *this * rhs; - return *this; -} - - - -inline bool Matrix2::operator==(const Matrix2& rhs) const -{ - return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) && (m[3] == rhs[3]); -} - - - -inline bool Matrix2::operator!=(const Matrix2& rhs) const -{ - return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) || (m[3] != rhs[3]); -} - - - -inline float Matrix2::operator[](int index) const -{ - return m[index]; -} - - - -inline float& Matrix2::operator[](int index) -{ - return m[index]; -} - - - -inline Matrix2 operator-(const Matrix2& rhs) -{ - return Matrix2(-rhs[0], -rhs[1], -rhs[2], -rhs[3]); -} - - - -inline Matrix2 operator*(float s, const Matrix2& rhs) -{ - return Matrix2(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3]); -} - - - -inline Vector2 operator*(const Vector2& v, const Matrix2& rhs) -{ - return Vector2(v.x*rhs[0] + v.y*rhs[1], v.x*rhs[2] + v.y*rhs[3]); -} - - - -inline std::ostream& operator<<(std::ostream& os, const Matrix2& m) -{ - os << std::fixed << std::setprecision(5); - os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[2] << "]\n" - << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[3] << "]\n"; - os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); - return os; -} -// END OF MATRIX2 INLINE ////////////////////////////////////////////////////// - - - - -/////////////////////////////////////////////////////////////////////////// -// inline functions for Matrix3 -/////////////////////////////////////////////////////////////////////////// -inline Matrix3::Matrix3() -{ - // initially identity matrix - identity(); -} - - - -inline Matrix3::Matrix3(const float src[9]) -{ - set(src); -} - - - -inline Matrix3::Matrix3(float m0, float m1, float m2, - float m3, float m4, float m5, - float m6, float m7, float m8) -{ - set(m0, m1, m2, m3, m4, m5, m6, m7, m8); -} - - - -inline void Matrix3::set(const float src[9]) -{ - m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; - m[3] = src[3]; m[4] = src[4]; m[5] = src[5]; - m[6] = src[6]; m[7] = src[7]; m[8] = src[8]; -} - - - -inline void Matrix3::set(float m0, float m1, float m2, - float m3, float m4, float m5, - float m6, float m7, float m8) -{ - m[0] = m0; m[1] = m1; m[2] = m2; - m[3] = m3; m[4] = m4; m[5] = m5; - m[6] = m6; m[7] = m7; m[8] = m8; -} - - - -inline void Matrix3::setRow(int index, const float row[3]) -{ - m[index] = row[0]; m[index + 3] = row[1]; m[index + 6] = row[2]; -} - - - -inline void Matrix3::setRow(int index, const Vector3& v) -{ - m[index] = v.x; m[index + 3] = v.y; m[index + 6] = v.z; -} - - - -inline void Matrix3::setColumn(int index, const float col[3]) -{ - m[index*3] = col[0]; m[index*3 + 1] = col[1]; m[index*3 + 2] = col[2]; -} - - - -inline void Matrix3::setColumn(int index, const Vector3& v) -{ - m[index*3] = v.x; m[index*3 + 1] = v.y; m[index*3 + 2] = v.z; -} - - - -inline const float* Matrix3::get() const -{ - return m; -} - - - -inline Matrix3& Matrix3::identity() -{ - m[0] = m[4] = m[8] = 1.0f; - m[1] = m[2] = m[3] = m[5] = m[6] = m[7] = 0.0f; - return *this; -} - - - -inline Matrix3 Matrix3::operator+(const Matrix3& rhs) const -{ - return Matrix3(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], - m[3]+rhs[3], m[4]+rhs[4], m[5]+rhs[5], - m[6]+rhs[6], m[7]+rhs[7], m[8]+rhs[8]); -} - - - -inline Matrix3 Matrix3::operator-(const Matrix3& rhs) const -{ - return Matrix3(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], - m[3]-rhs[3], m[4]-rhs[4], m[5]-rhs[5], - m[6]-rhs[6], m[7]-rhs[7], m[8]-rhs[8]); -} - - - -inline Matrix3& Matrix3::operator+=(const Matrix3& rhs) -{ - m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; - m[3] += rhs[3]; m[4] += rhs[4]; m[5] += rhs[5]; - m[6] += rhs[6]; m[7] += rhs[7]; m[8] += rhs[8]; - return *this; -} - - - -inline Matrix3& Matrix3::operator-=(const Matrix3& rhs) -{ - m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; - m[3] -= rhs[3]; m[4] -= rhs[4]; m[5] -= rhs[5]; - m[6] -= rhs[6]; m[7] -= rhs[7]; m[8] -= rhs[8]; - return *this; -} - - - -inline Vector3 Matrix3::operator*(const Vector3& rhs) const -{ - return Vector3(m[0]*rhs.x + m[3]*rhs.y + m[6]*rhs.z, - m[1]*rhs.x + m[4]*rhs.y + m[7]*rhs.z, - m[2]*rhs.x + m[5]*rhs.y + m[8]*rhs.z); -} - - - -inline Matrix3 Matrix3::operator*(const Matrix3& rhs) const -{ - return Matrix3(m[0]*rhs[0] + m[3]*rhs[1] + m[6]*rhs[2], m[1]*rhs[0] + m[4]*rhs[1] + m[7]*rhs[2], m[2]*rhs[0] + m[5]*rhs[1] + m[8]*rhs[2], - m[0]*rhs[3] + m[3]*rhs[4] + m[6]*rhs[5], m[1]*rhs[3] + m[4]*rhs[4] + m[7]*rhs[5], m[2]*rhs[3] + m[5]*rhs[4] + m[8]*rhs[5], - m[0]*rhs[6] + m[3]*rhs[7] + m[6]*rhs[8], m[1]*rhs[6] + m[4]*rhs[7] + m[7]*rhs[8], m[2]*rhs[6] + m[5]*rhs[7] + m[8]*rhs[8]); -} - - - -inline Matrix3& Matrix3::operator*=(const Matrix3& rhs) -{ - *this = *this * rhs; - return *this; -} - - - -inline bool Matrix3::operator==(const Matrix3& rhs) const -{ - return (m[0] == rhs[0]) && (m[1] == rhs[1]) && (m[2] == rhs[2]) && - (m[3] == rhs[3]) && (m[4] == rhs[4]) && (m[5] == rhs[5]) && - (m[6] == rhs[6]) && (m[7] == rhs[7]) && (m[8] == rhs[8]); -} - - - -inline bool Matrix3::operator!=(const Matrix3& rhs) const -{ - return (m[0] != rhs[0]) || (m[1] != rhs[1]) || (m[2] != rhs[2]) || - (m[3] != rhs[3]) || (m[4] != rhs[4]) || (m[5] != rhs[5]) || - (m[6] != rhs[6]) || (m[7] != rhs[7]) || (m[8] != rhs[8]); -} - - - -inline float Matrix3::operator[](int index) const -{ - return m[index]; -} - - - -inline float& Matrix3::operator[](int index) -{ - return m[index]; -} - - - -inline Matrix3 operator-(const Matrix3& rhs) -{ - return Matrix3(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8]); -} - - - -inline Matrix3 operator*(float s, const Matrix3& rhs) -{ - return Matrix3(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8]); -} - - - -inline Vector3 operator*(const Vector3& v, const Matrix3& m) -{ - return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[3] + v.y*m[4] + v.z*m[5], v.x*m[6] + v.y*m[7] + v.z*m[8]); -} - - - -inline std::ostream& operator<<(std::ostream& os, const Matrix3& m) -{ - os << std::fixed << std::setprecision(5); - os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[3] << " " << std::setw(10) << m[6] << "]\n" - << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[7] << "]\n" - << "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[8] << "]\n"; - os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); - return os; -} -// END OF MATRIX3 INLINE ////////////////////////////////////////////////////// - - - - -/////////////////////////////////////////////////////////////////////////// -// inline functions for Matrix4 -/////////////////////////////////////////////////////////////////////////// -inline Matrix4::Matrix4() -{ - // initially identity matrix - identity(); -} - - - -inline Matrix4::Matrix4(const float src[16]) -{ - set(src); -} - - - -inline Matrix4::Matrix4(float m00, float m01, float m02, float m03, - float m04, float m05, float m06, float m07, - float m08, float m09, float m10, float m11, - float m12, float m13, float m14, float m15) -{ - set(m00, m01, m02, m03, m04, m05, m06, m07, m08, m09, m10, m11, m12, m13, m14, m15); -} - - - -inline void Matrix4::set(const float src[16]) -{ - m[0] = src[0]; m[1] = src[1]; m[2] = src[2]; m[3] = src[3]; - m[4] = src[4]; m[5] = src[5]; m[6] = src[6]; m[7] = src[7]; - m[8] = src[8]; m[9] = src[9]; m[10]= src[10]; m[11]= src[11]; - m[12]= src[12]; m[13]= src[13]; m[14]= src[14]; m[15]= src[15]; -} - - - -inline void Matrix4::set(float m00, float m01, float m02, float m03, - float m04, float m05, float m06, float m07, - float m08, float m09, float m10, float m11, - float m12, float m13, float m14, float m15) -{ - m[0] = m00; m[1] = m01; m[2] = m02; m[3] = m03; - m[4] = m04; m[5] = m05; m[6] = m06; m[7] = m07; - m[8] = m08; m[9] = m09; m[10]= m10; m[11]= m11; - m[12]= m12; m[13]= m13; m[14]= m14; m[15]= m15; -} - - - -inline void Matrix4::setRow(int index, const float row[4]) -{ - m[index] = row[0]; m[index + 4] = row[1]; m[index + 8] = row[2]; m[index + 12] = row[3]; -} - - - -inline void Matrix4::setRow(int index, const Vector4& v) -{ - m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z; m[index + 12] = v.w; -} - - - -inline void Matrix4::setRow(int index, const Vector3& v) -{ - m[index] = v.x; m[index + 4] = v.y; m[index + 8] = v.z; -} - - - -inline void Matrix4::setColumn(int index, const float col[4]) -{ - m[index*4] = col[0]; m[index*4 + 1] = col[1]; m[index*4 + 2] = col[2]; m[index*4 + 3] = col[3]; -} - - - -inline void Matrix4::setColumn(int index, const Vector4& v) -{ - m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z; m[index*4 + 3] = v.w; -} - - - -inline void Matrix4::setColumn(int index, const Vector3& v) -{ - m[index*4] = v.x; m[index*4 + 1] = v.y; m[index*4 + 2] = v.z; -} - - - -inline const float* Matrix4::get() const -{ - return m; -} - - - -inline const float* Matrix4::getTranspose() -{ - tm[0] = m[0]; tm[1] = m[4]; tm[2] = m[8]; tm[3] = m[12]; - tm[4] = m[1]; tm[5] = m[5]; tm[6] = m[9]; tm[7] = m[13]; - tm[8] = m[2]; tm[9] = m[6]; tm[10]= m[10]; tm[11]= m[14]; - tm[12]= m[3]; tm[13]= m[7]; tm[14]= m[11]; tm[15]= m[15]; - return tm; -} - - - -inline Matrix4& Matrix4::identity() -{ - m[0] = m[5] = m[10] = m[15] = 1.0f; - m[1] = m[2] = m[3] = m[4] = m[6] = m[7] = m[8] = m[9] = m[11] = m[12] = m[13] = m[14] = 0.0f; - return *this; -} - - - -inline Matrix4 Matrix4::operator+(const Matrix4& rhs) const -{ - return Matrix4(m[0]+rhs[0], m[1]+rhs[1], m[2]+rhs[2], m[3]+rhs[3], - m[4]+rhs[4], m[5]+rhs[5], m[6]+rhs[6], m[7]+rhs[7], - m[8]+rhs[8], m[9]+rhs[9], m[10]+rhs[10], m[11]+rhs[11], - m[12]+rhs[12], m[13]+rhs[13], m[14]+rhs[14], m[15]+rhs[15]); -} - - - -inline Matrix4 Matrix4::operator-(const Matrix4& rhs) const -{ - return Matrix4(m[0]-rhs[0], m[1]-rhs[1], m[2]-rhs[2], m[3]-rhs[3], - m[4]-rhs[4], m[5]-rhs[5], m[6]-rhs[6], m[7]-rhs[7], - m[8]-rhs[8], m[9]-rhs[9], m[10]-rhs[10], m[11]-rhs[11], - m[12]-rhs[12], m[13]-rhs[13], m[14]-rhs[14], m[15]-rhs[15]); -} - - - -inline Matrix4& Matrix4::operator+=(const Matrix4& rhs) -{ - m[0] += rhs[0]; m[1] += rhs[1]; m[2] += rhs[2]; m[3] += rhs[3]; - m[4] += rhs[4]; m[5] += rhs[5]; m[6] += rhs[6]; m[7] += rhs[7]; - m[8] += rhs[8]; m[9] += rhs[9]; m[10]+= rhs[10]; m[11]+= rhs[11]; - m[12]+= rhs[12]; m[13]+= rhs[13]; m[14]+= rhs[14]; m[15]+= rhs[15]; - return *this; -} - - - -inline Matrix4& Matrix4::operator-=(const Matrix4& rhs) -{ - m[0] -= rhs[0]; m[1] -= rhs[1]; m[2] -= rhs[2]; m[3] -= rhs[3]; - m[4] -= rhs[4]; m[5] -= rhs[5]; m[6] -= rhs[6]; m[7] -= rhs[7]; - m[8] -= rhs[8]; m[9] -= rhs[9]; m[10]-= rhs[10]; m[11]-= rhs[11]; - m[12]-= rhs[12]; m[13]-= rhs[13]; m[14]-= rhs[14]; m[15]-= rhs[15]; - return *this; -} - - - -inline Vector4 Matrix4::operator*(const Vector4& rhs) const -{ - return Vector4(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z + m[12]*rhs.w, - m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z + m[13]*rhs.w, - m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z + m[14]*rhs.w, - m[3]*rhs.x + m[7]*rhs.y + m[11]*rhs.z + m[15]*rhs.w); -} - - - -inline Vector3 Matrix4::operator*(const Vector3& rhs) const -{ - return Vector3(m[0]*rhs.x + m[4]*rhs.y + m[8]*rhs.z, - m[1]*rhs.x + m[5]*rhs.y + m[9]*rhs.z, - m[2]*rhs.x + m[6]*rhs.y + m[10]*rhs.z); -} - - - -inline Matrix4 Matrix4::operator*(const Matrix4& n) const -{ - return Matrix4(m[0]*n[0] + m[4]*n[1] + m[8]*n[2] + m[12]*n[3], m[1]*n[0] + m[5]*n[1] + m[9]*n[2] + m[13]*n[3], m[2]*n[0] + m[6]*n[1] + m[10]*n[2] + m[14]*n[3], m[3]*n[0] + m[7]*n[1] + m[11]*n[2] + m[15]*n[3], - m[0]*n[4] + m[4]*n[5] + m[8]*n[6] + m[12]*n[7], m[1]*n[4] + m[5]*n[5] + m[9]*n[6] + m[13]*n[7], m[2]*n[4] + m[6]*n[5] + m[10]*n[6] + m[14]*n[7], m[3]*n[4] + m[7]*n[5] + m[11]*n[6] + m[15]*n[7], - m[0]*n[8] + m[4]*n[9] + m[8]*n[10] + m[12]*n[11], m[1]*n[8] + m[5]*n[9] + m[9]*n[10] + m[13]*n[11], m[2]*n[8] + m[6]*n[9] + m[10]*n[10] + m[14]*n[11], m[3]*n[8] + m[7]*n[9] + m[11]*n[10] + m[15]*n[11], - m[0]*n[12] + m[4]*n[13] + m[8]*n[14] + m[12]*n[15], m[1]*n[12] + m[5]*n[13] + m[9]*n[14] + m[13]*n[15], m[2]*n[12] + m[6]*n[13] + m[10]*n[14] + m[14]*n[15], m[3]*n[12] + m[7]*n[13] + m[11]*n[14] + m[15]*n[15]); -} - - - -inline Matrix4& Matrix4::operator*=(const Matrix4& rhs) -{ - *this = *this * rhs; - return *this; -} - - - -inline bool Matrix4::operator==(const Matrix4& n) const -{ - return (m[0] == n[0]) && (m[1] == n[1]) && (m[2] == n[2]) && (m[3] == n[3]) && - (m[4] == n[4]) && (m[5] == n[5]) && (m[6] == n[6]) && (m[7] == n[7]) && - (m[8] == n[8]) && (m[9] == n[9]) && (m[10]== n[10]) && (m[11]== n[11]) && - (m[12]== n[12]) && (m[13]== n[13]) && (m[14]== n[14]) && (m[15]== n[15]); -} - - - -inline bool Matrix4::operator!=(const Matrix4& n) const -{ - return (m[0] != n[0]) || (m[1] != n[1]) || (m[2] != n[2]) || (m[3] != n[3]) || - (m[4] != n[4]) || (m[5] != n[5]) || (m[6] != n[6]) || (m[7] != n[7]) || - (m[8] != n[8]) || (m[9] != n[9]) || (m[10]!= n[10]) || (m[11]!= n[11]) || - (m[12]!= n[12]) || (m[13]!= n[13]) || (m[14]!= n[14]) || (m[15]!= n[15]); -} - - - -inline float Matrix4::operator[](int index) const -{ - return m[index]; -} - - - -inline float& Matrix4::operator[](int index) -{ - return m[index]; -} - - - -inline Matrix4 operator-(const Matrix4& rhs) -{ - return Matrix4(-rhs[0], -rhs[1], -rhs[2], -rhs[3], -rhs[4], -rhs[5], -rhs[6], -rhs[7], -rhs[8], -rhs[9], -rhs[10], -rhs[11], -rhs[12], -rhs[13], -rhs[14], -rhs[15]); -} - - - -inline Matrix4 operator*(float s, const Matrix4& rhs) -{ - return Matrix4(s*rhs[0], s*rhs[1], s*rhs[2], s*rhs[3], s*rhs[4], s*rhs[5], s*rhs[6], s*rhs[7], s*rhs[8], s*rhs[9], s*rhs[10], s*rhs[11], s*rhs[12], s*rhs[13], s*rhs[14], s*rhs[15]); -} - - - -inline Vector4 operator*(const Vector4& v, const Matrix4& m) -{ - return Vector4(v.x*m[0] + v.y*m[1] + v.z*m[2] + v.w*m[3], v.x*m[4] + v.y*m[5] + v.z*m[6] + v.w*m[7], v.x*m[8] + v.y*m[9] + v.z*m[10] + v.w*m[11], v.x*m[12] + v.y*m[13] + v.z*m[14] + v.w*m[15]); -} - - - -inline Vector3 operator*(const Vector3& v, const Matrix4& m) -{ - return Vector3(v.x*m[0] + v.y*m[1] + v.z*m[2], v.x*m[4] + v.y*m[5] + v.z*m[6], v.x*m[8] + v.y*m[9] + v.z*m[10]); -} - - - -inline std::ostream& operator<<(std::ostream& os, const Matrix4& m) -{ - os << std::fixed << std::setprecision(5); - os << "[" << std::setw(10) << m[0] << " " << std::setw(10) << m[4] << " " << std::setw(10) << m[8] << " " << std::setw(10) << m[12] << "]\n" - << "[" << std::setw(10) << m[1] << " " << std::setw(10) << m[5] << " " << std::setw(10) << m[9] << " " << std::setw(10) << m[13] << "]\n" - << "[" << std::setw(10) << m[2] << " " << std::setw(10) << m[6] << " " << std::setw(10) << m[10] << " " << std::setw(10) << m[14] << "]\n" - << "[" << std::setw(10) << m[3] << " " << std::setw(10) << m[7] << " " << std::setw(10) << m[11] << " " << std::setw(10) << m[15] << "]\n"; - os << std::resetiosflags(std::ios_base::fixed | std::ios_base::floatfield); - return os; -} -// END OF MATRIX4 INLINE ////////////////////////////////////////////////////// -#endif |