diff options
author | Hans Lambermont <hans@lambermont.dyndns.org> | 2002-10-12 15:37:38 +0400 |
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committer | Hans Lambermont <hans@lambermont.dyndns.org> | 2002-10-12 15:37:38 +0400 |
commit | 12315f4d0e0ae993805f141f64cb8c73c5297311 (patch) | |
tree | 59b45827cd8293cfb727758989c7a74b40183974 /intern/moto/include/MT_Matrix4x4.h |
Initial revisionv2.25
Diffstat (limited to 'intern/moto/include/MT_Matrix4x4.h')
-rwxr-xr-x | intern/moto/include/MT_Matrix4x4.h | 250 |
1 files changed, 250 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Matrix4x4.h b/intern/moto/include/MT_Matrix4x4.h new file mode 100755 index 00000000000..0376db9e122 --- /dev/null +++ b/intern/moto/include/MT_Matrix4x4.h @@ -0,0 +1,250 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL LICENSE BLOCK ***** + * + * This program is free software; you can redistribute it and/or + * modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 + * of the License, or (at your option) any later version. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software Foundation, + * Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV. + * All rights reserved. + * + * The Original Code is: all of this file. + * + * Contributor(s): none yet. + * + * ***** END GPL/BL DUAL LICENSE BLOCK ***** + */ + +/** + + * $Id$ + * Copyright (C) 2001 NaN Technologies B.V. + * A 4x4 matrix compatible with other stuff. + */ + +#ifndef MT_MATRIX4X4_H +#define MT_MATRIX4X4_H + +#include <MT_assert.h> + +#include "MT_Vector4.h" +#include "MT_Transform.h" + +// Row-major 4x4 matrix + +class MT_Matrix4x4 { +public: + /** + * Empty contructor. + */ + MT_Matrix4x4() {} + /** + * Initialize all fields with the values pointed at by m. A + * contigous block of 16 values is read. */ + MT_Matrix4x4(const float *m) { setValue(m); } + /** + * Initialize all fields with the values pointed at by m. A + * contigous block of 16 values is read. */ + MT_Matrix4x4(const double *m) { setValue(m); } + + /** + * Initialise with these 16 explicit values. + */ + MT_Matrix4x4(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw, + MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw, + MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw, + MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) { + setValue(xx, xy, xz, xw, + yx, yy, yz, yw, + zx, zy, zz, zw, + wx, wy, wz, ww); + } + + /** + * Initialize from an MT_Transform. + */ + MT_Matrix4x4(const MT_Transform &t) { + + const MT_Matrix3x3 &basis = t.getBasis(); + const MT_Vector3 &origin = t.getOrigin(); + + setValue( + basis[0][0],basis[0][1],basis[0][2],origin[0], + basis[1][0],basis[1][1],basis[1][2],origin[1], + basis[2][0],basis[2][1],basis[2][2],origin[2], + MT_Scalar(0),MT_Scalar(0),MT_Scalar(0),MT_Scalar(1) + ); + } + + /** + * Get the i-th row. + */ + MT_Vector4& operator[](int i) { return m_el[i]; } + /** + * Get the i-th row. + */ + const MT_Vector4& operator[](int i) const { return m_el[i]; } + + /** + * Set the matrix to the values pointer at by m. A contiguous + * block of 16 values is copied. */ + void setValue(const float *m) { + m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++; + m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++; + m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++; + m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m; + } + + /** + * Set the matrix to the values pointer at by m. A contiguous + * block of 16 values is copied. + */ + void setValue(const double *m) { + m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m_el[3][0] = *m++; + m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m_el[3][1] = *m++; + m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m++; m_el[3][2] = *m++; + m_el[0][3] = *m++; m_el[1][3] = *m++; m_el[2][3] = *m++; m_el[3][3] = *m; + } + + /** + * Set the matrix to these 16 explicit values. + */ + void setValue(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz, MT_Scalar xw, + MT_Scalar yx, MT_Scalar yy, MT_Scalar yz, MT_Scalar yw, + MT_Scalar zx, MT_Scalar zy, MT_Scalar zz, MT_Scalar zw, + MT_Scalar wx, MT_Scalar wy, MT_Scalar wz, MT_Scalar ww) { + m_el[0][0] = xx; m_el[0][1] = xy; m_el[0][2] = xz; m_el[0][3] = xw; + m_el[1][0] = yx; m_el[1][1] = yy; m_el[1][2] = yz; m_el[1][3] = yw; + m_el[2][0] = zx; m_el[2][1] = zy; m_el[2][2] = zz; m_el[2][3] = zw; + m_el[3][0] = wx; m_el[3][1] = wy; m_el[3][2] = wz; m_el[3][3] = ww; + } + + /** + * Scale the columns of this matrix with x, y, z, w respectively. + */ + void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) { + m_el[0][0] *= x; m_el[0][1] *= y; m_el[0][2] *= z; m_el[0][3] *= w; + m_el[1][0] *= x; m_el[1][1] *= y; m_el[1][2] *= z; m_el[1][3] *= w; + m_el[2][0] *= x; m_el[2][1] *= y; m_el[2][2] *= z; m_el[2][3] *= w; + m_el[3][0] *= x; m_el[3][1] *= y; m_el[3][2] *= z; m_el[3][3] *= w; + } + + /** + * Return a column-scaled version of this matrix. + */ + MT_Matrix4x4 scaled(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) const { + return MT_Matrix4x4(m_el[0][0] * x, m_el[0][1] * y, m_el[0][2] * z, m_el[0][3] * w, + m_el[1][0] * x, m_el[1][1] * y, m_el[1][2] * z, m_el[1][3] * w, + m_el[2][0] * x, m_el[2][1] * y, m_el[2][2] * z, m_el[2][3] * w, + m_el[3][0] * x, m_el[3][1] * y, m_el[3][2] * z, m_el[3][3] * w); + } + + /** + * Set this matrix to I. + */ + void setIdentity() { + setValue(MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0), + MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0), MT_Scalar(0.0), + MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0), + MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0)); + } + + /** + * Read the element from row i, column j. + */ + float getElement(int i, int j) { + return m_el[i][j]; + } + + /** + * Copy the contents to a contiguous block of 16 floats. + */ + void getValue(float *m) const { + *m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0]; *m++ = m_el[3][0]; + *m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1]; *m++ = m_el[3][1]; + *m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2]; *m++ = m_el[3][2]; + *m++ = m_el[0][3]; *m++ = m_el[1][3]; *m++ = m_el[2][3]; *m = m_el[3][3]; + } + + /** + * Copy the contents to a contiguous block of 16 doubles. + */ + void getValue(double *m) const { + *m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0]; *m++ = m_el[3][0]; + *m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1]; *m++ = m_el[3][1]; + *m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2]; *m++ = m_el[3][2]; + *m++ = m_el[0][3]; *m++ = m_el[1][3]; *m++ = m_el[2][3]; *m = m_el[3][3]; + } + + /** + * Left-multiply this matrix with the argument. + */ + MT_Matrix4x4& operator*=(const MT_Matrix4x4& m); + + /** + * Left-multiply column c with row vector c. + */ + MT_Scalar tdot(int c, const MT_Vector4& v) const { + return m_el[0][c] * v[0] + + m_el[1][c] * v[1] + + m_el[2][c] * v[2] + + m_el[3][c] * v[3]; + } + + /* I'll postpone this for now... - nzc*/ +/* MT_Scalar determinant() const; */ +/* MT_Matrix4x4 adjoint() const; */ +/* MT_Matrix4x4 inverse() const; */ + + MT_Matrix4x4 absolute() const; + + MT_Matrix4x4 transposed() const; + void transpose(); + + void invert(); + +protected: + /** + * Access with [row index][column index] + */ + MT_Vector4 m_el[4]; +}; + +/* These multiplicators do exactly what you ask from them: they + * multiply in the indicated order. */ +MT_Vector4 operator*(const MT_Matrix4x4& m, const MT_Vector4& v); +MT_Vector4 operator*(const MT_Vector4& v, const MT_Matrix4x4& m); +MT_Matrix4x4 operator*(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); + +/* MT_Matrix4x4 MT_multTransposeLeft(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */ +/* MT_Matrix4x4 MT_multTransposeRight(const MT_Matrix4x4& m1, const MT_Matrix4x4& m2); */ + +inline MT_OStream& operator<<(MT_OStream& os, const MT_Matrix4x4& m) { + return os << m[0] << GEN_endl + << m[1] << GEN_endl + << m[2] << GEN_endl + << m[3] << GEN_endl; + + + +} + +#ifdef GEN_INLINED +#include "MT_Matrix4x4.inl" +#endif + +#endif |