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-/*
- * ***** BEGIN GPL 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.
- *
- * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, 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 LICENSE BLOCK *****
- */
-
-/** \file moto/include/MT_Matrix4x4.h
- * \ingroup moto
- */
-
-
-/**
-
- * 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(0.0f),MT_Scalar(0.0f),MT_Scalar(0.0f),MT_Scalar(1.0f)
- );
- }
-
- /**
- * 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;
- }
-
- /**
- * Scale the rows of this matrix with x, y, z, w respectively.
- */
- void tscale(MT_Scalar x, MT_Scalar y, MT_Scalar z, MT_Scalar w) {
- m_el[0][0] *= x; m_el[1][0] *= y; m_el[2][0] *= z; m_el[3][0] *= w;
- m_el[0][1] *= x; m_el[1][1] *= y; m_el[2][1] *= z; m_el[3][1] *= w;
- m_el[0][2] *= x; m_el[1][2] *= y; m_el[2][2] *= z; m_el[3][2] *= w;
- m_el[0][3] *= x; m_el[1][3] *= y; m_el[2][3] *= 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(1.0f), MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(0.0f),
- MT_Scalar(0.0f), MT_Scalar(1.0f), MT_Scalar(0.0f), MT_Scalar(0.0f),
- MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(1.0f), MT_Scalar(0.0f),
- MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(1.0f));
- }
-
- /**
- * Read the element from row i, column j.
- */
- float getElement(int i, int j) {
- return (float) m_el[i][j];
- }
-
- /**
- * Copy the contents to a contiguous block of 16 floats.
- */
- void getValue(float *m) const {
- *m++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0]; *m++ = (float) m_el[3][0];
- *m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1]; *m++ = (float) m_el[3][1];
- *m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2]; *m++ = (float) m_el[3][2];
- *m++ = (float) m_el[0][3]; *m++ = (float) m_el[1][3]; *m++ = (float) m_el[2][3]; *m = (float) 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();
-
- MT_Matrix4x4 inverse() const;
- 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
-
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