[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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[2913] | 11 | class AxisAlignedBox3;
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[2746] | 12 |
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| 13 |
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| 14 | class Matrix4x4
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| 15 | {
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| 16 | public:
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[2751] | 17 | /** Default constructor initialising nothig.
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| 18 | */
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| 19 | Matrix4x4();
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| 20 | /** here xXY - 'X' is row, and 'Y' is column - classical mathematical notation
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| 21 | */
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[2746] | 22 | Matrix4x4(float x11, float x12, float x13, float x14,
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[2751] | 23 | float x21, float x22, float x23, float x24,
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| 24 | float x31, float x32, float x33, float x34,
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| 25 | float x41, float x42, float x43, float x44);
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| 26 | /** Constructor setting the columns of the 3x3 part of the matrix.
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| 27 | */
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[2746] | 28 | Matrix4x4(const Vector3 &a, const Vector3 &b, const Vector3 &c);
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| 29 |
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| 30 |
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[2751] | 31 | ////////////////
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| 32 | //-- Assignment operators
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| 33 |
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[2746] | 34 | Matrix4x4& operator+= (const Matrix4x4 &A); // add-to
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| 35 | Matrix4x4& operator-= (const Matrix4x4 &A); // subtract-from
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| 36 | Matrix4x4& operator*= (const Matrix4x4 &A); // multiply by matrix
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| 37 | Matrix4x4& operator*= (float A); // scale by scalar
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| 38 |
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[2751] | 39 |
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| 40 | ////////////////
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| 41 | //-- Fundamental operations
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| 42 |
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| 43 | /** Invert the matrix .. returns 0 = regular
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| 44 | */
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[2746] | 45 | int Invert();
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[2751] | 46 | /** Transpose the matrix
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| 47 | */
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[2746] | 48 | void Transpose();
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[2751] | 49 | /** Sets the columns of the 3x3 part of the matrix.
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| 50 | */
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| 51 | void SetColumns(const Vector3 &a, const Vector3 &b, const Vector3 &c);
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[2746] | 52 |
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[2751] | 53 | float Det3x3() const;
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[2746] | 54 |
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[2944] | 55 | /** multiply with homogen vector form, where the 4 coordinat is in h,
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| 56 | the resulting homogen coordinate returned in w
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| 57 | */
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| 58 | Vector3 Transform(float &w, const Vector3 &v, float h) const;
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[2746] | 59 |
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[2944] | 60 |
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[2751] | 61 | ////////////
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| 62 | //-- members
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[2746] | 63 |
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[2751] | 64 | float x[4][4]; // first index is column [x], the second is row [y]
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[2746] | 65 |
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[2751] | 66 |
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| 67 | ////////////////////
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| 68 |
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| 69 | // Invert a given matrix
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| 70 | friend Matrix4x4 Invert(const Matrix4x4 &M);
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| 71 | // Transpose a given matrix
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| 72 | friend Matrix4x4 Transpose(const Matrix4x4 &M);
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| 73 |
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| 74 |
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| 75 | ///////////
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| 76 | //-- Create various types of matrix.
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| 77 |
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[2746] | 78 | friend Matrix4x4 IdentityMatrix();
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| 79 | friend Matrix4x4 ZeroMatrix();
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| 80 | friend Matrix4x4 TranslationMatrix(const Vector3 &Location);
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| 81 | friend Matrix4x4 RotationXMatrix(float Angle);
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| 82 | friend Matrix4x4 RotationYMatrix(float Angle);
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| 83 | friend Matrix4x4 RotationZMatrix(float Angle);
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| 84 | friend Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
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| 85 | // about axis 'axis' by angle 'Angle'
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| 86 | friend Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
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| 87 | // create the rotation matrix that rotates 'vecFrom' to 'vecTo'
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| 88 | friend Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
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[2919] | 89 | const Vector3 &vecTo);
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[2746] | 90 |
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| 91 | friend Matrix4x4 ScaleMatrix(float X, float Y, float Z);
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| 92 | friend Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
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[2919] | 93 | const Vector3 &z);
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[2746] | 94 | friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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[2919] | 95 | float f, float g, float h, float j, float k);
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[2746] | 96 | // returns matrix for transforming normal
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| 97 | friend Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
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| 98 |
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| 99 | friend Matrix4x4 MirrorX();
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| 100 | friend Matrix4x4 MirrorY();
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| 101 | friend Matrix4x4 MirrorZ();
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| 102 | friend Matrix4x4 RotationOnly(const Matrix4x4 &x);
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| 103 |
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| 104 | // Binary operators
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| 105 | friend Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
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| 106 | friend Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
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| 107 | friend Matrix4x4 operator* (const Matrix4x4 &A, float B);
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| 108 | friend Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
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| 109 |
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| 110 | // friends returning Vector3
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| 111 | friend Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
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| 112 | friend Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
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| 113 | friend Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
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| 114 | friend Vector3 GetTranslation(const Matrix4x4 &M);
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| 115 |
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[2913] | 116 | friend Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
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| 117 |
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[2915] | 118 | //output is initialized with the same result as glFrustum
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| 119 | friend Matrix4x4 GetFrustum(float left, float right, float bottom, float top, float near, float far);
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| 120 |
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[2917] | 121 | // look from position into given direction with given up vector
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[2919] | 122 | friend Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
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[2917] | 123 |
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[2746] | 124 | // Overloaded output operator.
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| 125 | friend std::ostream& operator<< (std::ostream &s, const Matrix4x4 &M);
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| 126 | };
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| 127 |
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| 128 |
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[2751] | 129 | /////////
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| 130 | //-- forward declaration
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| 131 |
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| 132 |
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[2746] | 133 | Matrix4x4 IdentityMatrix();
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[2751] | 134 | Matrix4x4 Invert(const Matrix4x4 &M);
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| 135 | Matrix4x4 Transpose(const Matrix4x4 &M);
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| 136 | Matrix4x4 IdentityMatrix();
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[2746] | 137 | Matrix4x4 ZeroMatrix();
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| 138 | Matrix4x4 TranslationMatrix(const Vector3 &Location);
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| 139 | Matrix4x4 RotationXMatrix(float Angle);
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| 140 | Matrix4x4 RotationYMatrix(float Angle);
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| 141 | Matrix4x4 RotationZMatrix(float Angle);
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| 142 | Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
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| 143 | Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
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| 144 | Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
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| 145 | const Vector3 &vecTo);
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| 146 | Matrix4x4 ScaleMatrix(float X, float Y, float Z);
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| 147 | Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
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| 148 | const Vector3 &z);
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| 149 | Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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| 150 | float f, float g, float h, float j, float k);
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| 151 | Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
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| 152 | Matrix4x4 MirrorX();
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| 153 | Matrix4x4 MirrorY();
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| 154 | Matrix4x4 MirrorZ();
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| 155 | Matrix4x4 RotationOnly(const Matrix4x4 &x);
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| 156 | Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
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| 157 | Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
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| 158 | Matrix4x4 operator* (const Matrix4x4 &A, float B);
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| 159 | Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
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| 160 | Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
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| 161 | Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
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| 162 | Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
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| 163 | Vector3 GetTranslation(const Matrix4x4 &M);
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[2913] | 164 | Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
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[2916] | 165 | Matrix4x4 GetFrustum(float left, float right, float bottom, float top, float near, float far);
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[2917] | 166 | Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
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[2919] | 167 |
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| 168 |
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[2751] | 169 | }
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[2746] | 170 |
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| 171 |
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| 172 | #endif
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