aboutsummaryrefslogtreecommitdiff
path: root/shared/Matrices.h
diff options
context:
space:
mode:
Diffstat (limited to 'shared/Matrices.h')
-rw-r--r--shared/Matrices.h909
1 files changed, 909 insertions, 0 deletions
diff --git a/shared/Matrices.h b/shared/Matrices.h
new file mode 100644
index 0000000..3515f54
--- /dev/null
+++ b/shared/Matrices.h
@@ -0,0 +1,909 @@
+///////////////////////////////////////////////////////////////////////////////
+// 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
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-05 22:18:04 +0000