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+/**
+ * $Id$
+ * ***** 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
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