source: GTP/trunk/App/Demos/Vis/CHC_revisited/Matrix4x4.h @ 2756

#ifndef __MATRIX4x4_H
#define __MATRIX4x4_H

#include <iostream>


namespace CHCDemo 
{

class Vector3;


class Matrix4x4
{
public:
        /** Default constructor initialising nothig.
        */
        Matrix4x4();
        /** here xXY - 'X' is row, and 'Y' is column - classical mathematical notation
        */
        Matrix4x4(float x11, float x12, float x13, float x14,
                      float x21, float x22, float x23, float x24,
                          float x31, float x32, float x33, float x34,
                          float x41, float x42, float x43, float x44);
        /** Constructor setting the columns of the 3x3 part of the matrix.
        */
        Matrix4x4(const Vector3 &a, const Vector3 &b, const Vector3 &c);


        ////////////////
        //-- Assignment operators

        Matrix4x4& operator+= (const Matrix4x4 &A);     // add-to
        Matrix4x4& operator-= (const Matrix4x4 &A);     // subtract-from
        Matrix4x4& operator*= (const Matrix4x4 &A);     // multiply by matrix
        Matrix4x4& operator*= (float A);                // scale by scalar


        ////////////////
        //-- Fundamental operations

        /** Invert the matrix .. returns 0 = regular
        */
        int Invert();           
        /** Transpose the matrix
        */
        void Transpose();       
        /** Sets the columns of the 3x3 part of the matrix.
        */
        void SetColumns(const Vector3 &a, const Vector3 &b, const Vector3 &c);

        float Det3x3() const;


        ////////////
        //-- members

        float x[4][4]; // first index is column [x], the second is row [y]


        ////////////////////

        // Invert a given matrix
        friend Matrix4x4 Invert(const Matrix4x4 &M);
        // Transpose a given matrix
        friend Matrix4x4 Transpose(const Matrix4x4 &M); 


        ///////////
        //-- Create various types of matrix.

        friend Matrix4x4 IdentityMatrix();
        friend Matrix4x4 ZeroMatrix();
        friend Matrix4x4 TranslationMatrix(const Vector3 &Location);
        friend Matrix4x4 RotationXMatrix(float Angle);
        friend Matrix4x4 RotationYMatrix(float Angle);
        friend Matrix4x4 RotationZMatrix(float Angle);
        friend Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
        // about axis 'axis' by angle 'Angle'
        friend Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
        // create the rotation matrix that rotates 'vecFrom' to 'vecTo'
        friend Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
                const Vector3 &vecTo);

        friend Matrix4x4 ScaleMatrix(float X, float Y, float Z);
        friend Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
                const Vector3 &z);
        friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
                float f, float g, float h, float j, float k);
        // returns matrix for transforming normal
        friend Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);

        friend Matrix4x4 MirrorX();
        friend Matrix4x4 MirrorY();
        friend Matrix4x4 MirrorZ();
        friend Matrix4x4 RotationOnly(const Matrix4x4 &x);

        // Binary operators
        friend Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
        friend Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
        friend Matrix4x4 operator* (const Matrix4x4 &A, float B);
        friend Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);

        // friends returning Vector3
        friend Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
        friend Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
        friend Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
        friend Vector3 GetTranslation(const Matrix4x4 &M);

        // Overloaded output operator.
        friend std::ostream& operator<< (std::ostream &s, const Matrix4x4 &M);
};


/////////
//-- forward declaration


Matrix4x4 IdentityMatrix();
Matrix4x4 Invert(const Matrix4x4 &M);   
Matrix4x4 Transpose(const Matrix4x4 &M);        
Matrix4x4 IdentityMatrix();
Matrix4x4 ZeroMatrix();
Matrix4x4 TranslationMatrix(const Vector3 &Location);
Matrix4x4 RotationXMatrix(float Angle);
Matrix4x4 RotationYMatrix(float Angle);
Matrix4x4 RotationZMatrix(float Angle);
Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
                                                                const Vector3 &vecTo);
Matrix4x4 ScaleMatrix(float X, float Y, float Z);
Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
                                          const Vector3 &z);
Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
                                                float f, float g, float h, float j, float k);
Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
Matrix4x4 MirrorX();
Matrix4x4 MirrorY();
Matrix4x4 MirrorZ();
Matrix4x4 RotationOnly(const Matrix4x4 &x);
Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
Matrix4x4 operator* (const Matrix4x4 &A, float B);
Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
Vector3 GetTranslation(const Matrix4x4 &M);


}


#endif