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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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