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 #include "OgreVector4.h" 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 [] ( size_t iRow ) 00110 { 00111 assert( iRow < 4 ); 00112 return m[iRow]; 00113 } 00114 00115 inline const Real *const operator [] ( size_t 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 inline Vector4 operator * (const Vector4& v) const 00176 { 00177 return Vector4( 00178 m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w, 00179 m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w, 00180 m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w, 00181 m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w 00182 ); 00183 } 00184 00185 00188 inline Matrix4 operator + ( const Matrix4 &m2 ) const 00189 { 00190 Matrix4 r; 00191 00192 r.m[0][0] = m[0][0] + m2.m[0][0]; 00193 r.m[0][1] = m[0][1] + m2.m[0][1]; 00194 r.m[0][2] = m[0][2] + m2.m[0][2]; 00195 r.m[0][3] = m[0][3] + m2.m[0][3]; 00196 00197 r.m[1][0] = m[1][0] + m2.m[1][0]; 00198 r.m[1][1] = m[1][1] + m2.m[1][1]; 00199 r.m[1][2] = m[1][2] + m2.m[1][2]; 00200 r.m[1][3] = m[1][3] + m2.m[1][3]; 00201 00202 r.m[2][0] = m[2][0] + m2.m[2][0]; 00203 r.m[2][1] = m[2][1] + m2.m[2][1]; 00204 r.m[2][2] = m[2][2] + m2.m[2][2]; 00205 r.m[2][3] = m[2][3] + m2.m[2][3]; 00206 00207 r.m[3][0] = m[3][0] + m2.m[3][0]; 00208 r.m[3][1] = m[3][1] + m2.m[3][1]; 00209 r.m[3][2] = m[3][2] + m2.m[3][2]; 00210 r.m[3][3] = m[3][3] + m2.m[3][3]; 00211 00212 return r; 00213 } 00214 00217 inline Matrix4 operator - ( const Matrix4 &m2 ) const 00218 { 00219 Matrix4 r; 00220 r.m[0][0] = m[0][0] - m2.m[0][0]; 00221 r.m[0][1] = m[0][1] - m2.m[0][1]; 00222 r.m[0][2] = m[0][2] - m2.m[0][2]; 00223 r.m[0][3] = m[0][3] - m2.m[0][3]; 00224 00225 r.m[1][0] = m[1][0] - m2.m[1][0]; 00226 r.m[1][1] = m[1][1] - m2.m[1][1]; 00227 r.m[1][2] = m[1][2] - m2.m[1][2]; 00228 r.m[1][3] = m[1][3] - m2.m[1][3]; 00229 00230 r.m[2][0] = m[2][0] - m2.m[2][0]; 00231 r.m[2][1] = m[2][1] - m2.m[2][1]; 00232 r.m[2][2] = m[2][2] - m2.m[2][2]; 00233 r.m[2][3] = m[2][3] - m2.m[2][3]; 00234 00235 r.m[3][0] = m[3][0] - m2.m[3][0]; 00236 r.m[3][1] = m[3][1] - m2.m[3][1]; 00237 r.m[3][2] = m[3][2] - m2.m[3][2]; 00238 r.m[3][3] = m[3][3] - m2.m[3][3]; 00239 00240 return r; 00241 } 00242 00245 inline bool operator == ( const Matrix4& m2 ) const 00246 { 00247 if( 00248 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] || 00249 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] || 00250 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] || 00251 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] ) 00252 return false; 00253 return true; 00254 } 00255 00258 inline bool operator != ( Matrix4& m2 ) const 00259 { 00260 if( 00261 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] || 00262 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] || 00263 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] || 00264 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] ) 00265 return true; 00266 return false; 00267 } 00268 00271 inline void operator = ( const Matrix3& mat3 ) 00272 { 00273 m[0][0] = mat3.m[0][0]; m[0][1] = mat3.m[0][1]; m[0][2] = mat3.m[0][2]; 00274 m[1][0] = mat3.m[1][0]; m[1][1] = mat3.m[1][1]; m[1][2] = mat3.m[1][2]; 00275 m[2][0] = mat3.m[2][0]; m[2][1] = mat3.m[2][1]; m[2][2] = mat3.m[2][2]; 00276 } 00277 00278 inline Matrix4 transpose(void) const 00279 { 00280 return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0], 00281 m[0][1], m[1][1], m[2][1], m[3][1], 00282 m[0][2], m[1][2], m[2][2], m[3][2], 00283 m[0][3], m[1][3], m[2][3], m[3][3]); 00284 } 00285 00286 /* 00287 ----------------------------------------------------------------------- 00288 Translation Transformation 00289 ----------------------------------------------------------------------- 00290 */ 00293 inline void setTrans( const Vector3& v ) 00294 { 00295 m[0][3] = v.x; 00296 m[1][3] = v.y; 00297 m[2][3] = v.z; 00298 } 00299 00302 inline void makeTrans( const Vector3& v ) 00303 { 00304 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = v.x; 00305 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = v.y; 00306 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = v.z; 00307 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00308 } 00309 00310 inline void makeTrans( Real tx, Real ty, Real tz ) 00311 { 00312 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx; 00313 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = ty; 00314 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = tz; 00315 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00316 } 00317 00320 inline static Matrix4 getTrans( const Vector3& v ) 00321 { 00322 Matrix4 r; 00323 00324 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = v.x; 00325 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = v.y; 00326 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = v.z; 00327 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00328 00329 return r; 00330 } 00331 00334 inline static Matrix4 getTrans( Real t_x, Real t_y, Real t_z ) 00335 { 00336 Matrix4 r; 00337 00338 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = t_x; 00339 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = t_y; 00340 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = t_z; 00341 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00342 00343 return r; 00344 } 00345 00346 /* 00347 ----------------------------------------------------------------------- 00348 Scale Transformation 00349 ----------------------------------------------------------------------- 00350 */ 00353 inline void setScale( const Vector3& v ) 00354 { 00355 m[0][0] = v.x; 00356 m[1][1] = v.y; 00357 m[2][2] = v.z; 00358 } 00359 00362 inline static Matrix4 getScale( const Vector3& v ) 00363 { 00364 Matrix4 r; 00365 r.m[0][0] = v.x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00366 r.m[1][0] = 0.0; r.m[1][1] = v.y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00367 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = v.z; r.m[2][3] = 0.0; 00368 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00369 00370 return r; 00371 } 00372 00375 inline static Matrix4 getScale( Real s_x, Real s_y, Real s_z ) 00376 { 00377 Matrix4 r; 00378 r.m[0][0] = s_x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00379 r.m[1][0] = 0.0; r.m[1][1] = s_y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00380 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = s_z; r.m[2][3] = 0.0; 00381 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00382 00383 return r; 00384 } 00385 00389 inline void extract3x3Matrix(Matrix3& m3x3) const 00390 { 00391 m3x3.m[0][0] = m[0][0]; 00392 m3x3.m[0][1] = m[0][1]; 00393 m3x3.m[0][2] = m[0][2]; 00394 m3x3.m[1][0] = m[1][0]; 00395 m3x3.m[1][1] = m[1][1]; 00396 m3x3.m[1][2] = m[1][2]; 00397 m3x3.m[2][0] = m[2][0]; 00398 m3x3.m[2][1] = m[2][1]; 00399 m3x3.m[2][2] = m[2][2]; 00400 00401 } 00402 00403 static const Matrix4 ZERO; 00404 static const Matrix4 IDENTITY; 00407 static const Matrix4 CLIPSPACE2DTOIMAGESPACE; 00408 00409 inline Matrix4 operator*(Real scalar) 00410 { 00411 return Matrix4( 00412 scalar*m[0][0], scalar*m[0][1], scalar*m[0][2], scalar*m[0][3], 00413 scalar*m[1][0], scalar*m[1][1], scalar*m[1][2], scalar*m[1][3], 00414 scalar*m[2][0], scalar*m[2][1], scalar*m[2][2], scalar*m[2][3], 00415 scalar*m[3][0], scalar*m[3][1], scalar*m[3][2], scalar*m[3][3]); 00416 } 00417 00420 inline _OgreExport friend std::ostream& operator << 00421 ( std::ostream& o, const Matrix4& m ) 00422 { 00423 o << "Matrix4("; 00424 for (size_t i = 0; i < 4; ++i) 00425 { 00426 o << " row" << (unsigned)i << "{"; 00427 for(size_t j = 0; j < 4; ++j) 00428 { 00429 o << m[i][j] << " "; 00430 } 00431 o << "}"; 00432 } 00433 o << ")"; 00434 return o; 00435 } 00436 00437 Matrix4 adjoint() const; 00438 Real determinant() const; 00439 Matrix4 inverse() const; 00440 00441 }; 00442 00443 /* Removed from Vector4 and made a non-member here because otherwise 00444 OgreMatrix4.h and OgreVector4.h have to try to include and inline each 00445 other, which frankly doesn't work ;) 00446 */ 00447 inline Vector4 operator * (const Vector4& v, const Matrix4& mat) 00448 { 00449 return Vector4( 00450 v.x*mat[0][0] + v.y*mat[1][0] + v.z*mat[2][0] + v.w*mat[3][0], 00451 v.x*mat[0][1] + v.y*mat[1][1] + v.z*mat[2][1] + v.w*mat[3][1], 00452 v.x*mat[0][2] + v.y*mat[1][2] + v.z*mat[2][2] + v.w*mat[3][2], 00453 v.x*mat[0][3] + v.y*mat[1][3] + v.z*mat[2][3] + v.w*mat[3][3] 00454 ); 00455 } 00456 00457 } 00458 #endif
Copyright © 2002-2003 by The OGRE Team
Last modified Fri May 14 23:22:24 2004