[2746] | 1 | #ifndef __MATRIX4x4_H
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| 2 | #define __MATRIX4x4_H
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| 3 |
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| 4 | #include <iostream>
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| 5 |
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| 6 |
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[2776] | 7 | namespace CHCDemoEngine
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[2751] | 8 | {
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[2746] | 9 |
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| 10 | class Vector3;
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| 11 |
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| 12 |
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| 13 | class Matrix4x4
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| 14 | {
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| 15 | public:
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[2751] | 16 | /** Default constructor initialising nothig.
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| 17 | */
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| 18 | Matrix4x4();
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| 19 | /** here xXY - 'X' is row, and 'Y' is column - classical mathematical notation
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| 20 | */
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[2746] | 21 | Matrix4x4(float x11, float x12, float x13, float x14,
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[2751] | 22 | float x21, float x22, float x23, float x24,
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| 23 | float x31, float x32, float x33, float x34,
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| 24 | float x41, float x42, float x43, float x44);
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| 25 | /** Constructor setting the columns of the 3x3 part of the matrix.
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| 26 | */
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[2746] | 27 | Matrix4x4(const Vector3 &a, const Vector3 &b, const Vector3 &c);
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| 28 |
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| 29 |
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[2751] | 30 | ////////////////
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| 31 | //-- Assignment operators
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| 32 |
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[2746] | 33 | Matrix4x4& operator+= (const Matrix4x4 &A); // add-to
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| 34 | Matrix4x4& operator-= (const Matrix4x4 &A); // subtract-from
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| 35 | Matrix4x4& operator*= (const Matrix4x4 &A); // multiply by matrix
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| 36 | Matrix4x4& operator*= (float A); // scale by scalar
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| 37 |
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[2751] | 38 |
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| 39 | ////////////////
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| 40 | //-- Fundamental operations
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| 41 |
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| 42 | /** Invert the matrix .. returns 0 = regular
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| 43 | */
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[2746] | 44 | int Invert();
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[2751] | 45 | /** Transpose the matrix
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| 46 | */
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[2746] | 47 | void Transpose();
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[2751] | 48 | /** Sets the columns of the 3x3 part of the matrix.
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| 49 | */
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| 50 | void SetColumns(const Vector3 &a, const Vector3 &b, const Vector3 &c);
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[2746] | 51 |
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[2751] | 52 | float Det3x3() const;
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[2746] | 53 |
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| 54 |
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[2751] | 55 | ////////////
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| 56 | //-- members
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[2746] | 57 |
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[2751] | 58 | float x[4][4]; // first index is column [x], the second is row [y]
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[2746] | 59 |
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[2751] | 60 |
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| 61 | ////////////////////
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| 62 |
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| 63 | // Invert a given matrix
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| 64 | friend Matrix4x4 Invert(const Matrix4x4 &M);
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| 65 | // Transpose a given matrix
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| 66 | friend Matrix4x4 Transpose(const Matrix4x4 &M);
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| 67 |
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| 68 |
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| 69 | ///////////
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| 70 | //-- Create various types of matrix.
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| 71 |
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[2746] | 72 | friend Matrix4x4 IdentityMatrix();
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| 73 | friend Matrix4x4 ZeroMatrix();
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| 74 | friend Matrix4x4 TranslationMatrix(const Vector3 &Location);
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| 75 | friend Matrix4x4 RotationXMatrix(float Angle);
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| 76 | friend Matrix4x4 RotationYMatrix(float Angle);
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| 77 | friend Matrix4x4 RotationZMatrix(float Angle);
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| 78 | friend Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
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| 79 | // about axis 'axis' by angle 'Angle'
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| 80 | friend Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
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| 81 | // create the rotation matrix that rotates 'vecFrom' to 'vecTo'
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| 82 | friend Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
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| 83 | const Vector3 &vecTo);
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| 84 |
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| 85 | friend Matrix4x4 ScaleMatrix(float X, float Y, float Z);
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| 86 | friend Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
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| 87 | const Vector3 &z);
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| 88 | friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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| 89 | float f, float g, float h, float j, float k);
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| 90 | // returns matrix for transforming normal
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| 91 | friend Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
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| 92 |
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| 93 | friend Matrix4x4 MirrorX();
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| 94 | friend Matrix4x4 MirrorY();
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| 95 | friend Matrix4x4 MirrorZ();
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| 96 | friend Matrix4x4 RotationOnly(const Matrix4x4 &x);
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| 97 |
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| 98 | // Binary operators
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| 99 | friend Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
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| 100 | friend Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
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| 101 | friend Matrix4x4 operator* (const Matrix4x4 &A, float B);
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| 102 | friend Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
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| 103 |
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| 104 | // friends returning Vector3
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| 105 | friend Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
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| 106 | friend Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
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| 107 | friend Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
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| 108 | friend Vector3 GetTranslation(const Matrix4x4 &M);
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| 109 |
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| 110 | // Overloaded output operator.
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| 111 | friend std::ostream& operator<< (std::ostream &s, const Matrix4x4 &M);
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| 112 | };
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| 113 |
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| 114 |
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[2751] | 115 | /////////
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| 116 | //-- forward declaration
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| 117 |
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| 118 |
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[2746] | 119 | Matrix4x4 IdentityMatrix();
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[2751] | 120 | Matrix4x4 Invert(const Matrix4x4 &M);
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| 121 | Matrix4x4 Transpose(const Matrix4x4 &M);
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| 122 | Matrix4x4 IdentityMatrix();
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[2746] | 123 | Matrix4x4 ZeroMatrix();
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| 124 | Matrix4x4 TranslationMatrix(const Vector3 &Location);
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| 125 | Matrix4x4 RotationXMatrix(float Angle);
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| 126 | Matrix4x4 RotationYMatrix(float Angle);
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| 127 | Matrix4x4 RotationZMatrix(float Angle);
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| 128 | Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
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| 129 | Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
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| 130 | Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
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| 131 | const Vector3 &vecTo);
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| 132 | Matrix4x4 ScaleMatrix(float X, float Y, float Z);
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| 133 | Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
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| 134 | const Vector3 &z);
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| 135 | Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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| 136 | float f, float g, float h, float j, float k);
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| 137 | Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
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| 138 | Matrix4x4 MirrorX();
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| 139 | Matrix4x4 MirrorY();
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| 140 | Matrix4x4 MirrorZ();
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| 141 | Matrix4x4 RotationOnly(const Matrix4x4 &x);
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| 142 | Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
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| 143 | Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
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| 144 | Matrix4x4 operator* (const Matrix4x4 &A, float B);
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| 145 | Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
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| 146 | Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
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| 147 | Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
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| 148 | Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
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| 149 | Vector3 GetTranslation(const Matrix4x4 &M);
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| 150 |
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| 151 |
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[2751] | 152 | }
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[2746] | 153 |
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| 154 |
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| 155 | #endif
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