source: GTP/trunk/App/Demos/Vis/FriendlyCulling/src/Matrix4x4.h @ 3062

Revision 3062, 6.0 KB checked in by mattausch, 16 years ago (diff)

updating camera system: debug version

Line 
1#ifndef __MATRIX4x4_H
2#define __MATRIX4x4_H
3
4#include <iostream>
5
6
7namespace CHCDemoEngine
8{
9
10class Vector3;
11class AxisAlignedBox3;
12
13
14class Matrix4x4
15{
16public:
17        /** Default constructor initialising nothig.
18        */
19        Matrix4x4();
20        /** here xXY - 'X' is row, and 'Y' is column - classical mathematical notation
21        */
22        Matrix4x4(float x11, float x12, float x13, float x14,
23                      float x21, float x22, float x23, float x24,
24                          float x31, float x32, float x33, float x34,
25                          float x41, float x42, float x43, float x44);
26        /** Constructor setting the columns of the 3x3 part of the matrix.
27        */
28        Matrix4x4(const Vector3 &a, const Vector3 &b, const Vector3 &c);
29
30
31        ////////////////
32        //-- Assignment operators
33
34        Matrix4x4& operator+= (const Matrix4x4 &A);     // add-to
35        Matrix4x4& operator-= (const Matrix4x4 &A);     // subtract-from
36        Matrix4x4& operator*= (const Matrix4x4 &A);     // multiply by matrix
37        Matrix4x4& operator*= (float A);                // scale by scalar
38
39
40        ////////////////
41        //-- Fundamental operations
42
43        /** Invert the matrix .. returns 0 = regular
44        */
45        int Invert();           
46        /** Transpose the matrix
47        */
48        void Transpose();       
49        /** Sets the columns of the 3x3 part of the matrix.
50        */
51        void SetColumns(const Vector3 &a, const Vector3 &b, const Vector3 &c);
52
53        float Det3x3() const;
54
55        /** multiply with homogen vector form, where the 4 coordinat is in h,
56                the resulting homogen coordinate returned in w
57        */
58        Vector3 Transform(float &w, const Vector3 &v, float h) const;
59
60
61        ////////////
62        //-- members
63
64        float x[4][4]; // first index is column [x], the second is row [y]
65
66
67        ////////////////////
68
69        // Invert a given matrix
70        friend Matrix4x4 Invert(const Matrix4x4 &M);
71        // Transpose a given matrix
72        friend Matrix4x4 Transpose(const Matrix4x4 &M);
73
74
75        ///////////
76        //-- Create various types of matrix.
77
78        friend Matrix4x4 IdentityMatrix();
79        friend Matrix4x4 ZeroMatrix();
80        friend Matrix4x4 TranslationMatrix(const Vector3 &Location);
81        friend Matrix4x4 RotationXMatrix(float Angle);
82        friend Matrix4x4 RotationYMatrix(float Angle);
83        friend Matrix4x4 RotationZMatrix(float Angle);
84        friend Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
85        // about axis 'axis' by angle 'Angle'
86        friend Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
87        // create the rotation matrix that rotates 'vecFrom' to 'vecTo'
88        friend Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
89                                                   const Vector3 &vecTo);
90
91        friend Matrix4x4 ScaleMatrix(float X, float Y, float Z);
92        friend Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
93                                        const Vector3 &z);
94        friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
95                                           float f, float g, float h, float j, float k);
96        // returns matrix for transforming normal
97        friend Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
98
99        friend Matrix4x4 MirrorX();
100        friend Matrix4x4 MirrorY();
101        friend Matrix4x4 MirrorZ();
102        friend Matrix4x4 RotationOnly(const Matrix4x4 &x);
103
104        // Binary operators
105        friend Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
106        friend Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
107        friend Matrix4x4 operator* (const Matrix4x4 &A, float B);
108        friend Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
109
110        // friends returning Vector3
111        friend Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
112        friend Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
113        friend Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
114        friend Vector3 GetTranslation(const Matrix4x4 &M);
115
116        friend Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
117
118        //output is initialized with the same result as glFrustum
119        friend Matrix4x4 GetFrustum(float left, float right, float bottom, float top, float near, float far);
120
121        // look from position into given direction with given up vector
122        friend Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
123
124        // Overloaded output operator.
125        friend std::ostream& operator<< (std::ostream &s, const Matrix4x4 &M);
126};
127
128
129/////////
130//-- forward declaration
131
132
133Matrix4x4 IdentityMatrix();
134Matrix4x4 Invert(const Matrix4x4 &M);   
135Matrix4x4 Transpose(const Matrix4x4 &M);       
136Matrix4x4 IdentityMatrix();
137Matrix4x4 ZeroMatrix();
138Matrix4x4 TranslationMatrix(const Vector3 &Location);
139Matrix4x4 RotationXMatrix(float Angle);
140Matrix4x4 RotationYMatrix(float Angle);
141Matrix4x4 RotationZMatrix(float Angle);
142Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
143Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
144Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
145                                                                const Vector3 &vecTo);
146Matrix4x4 ScaleMatrix(float X, float Y, float Z);
147Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
148                                          const Vector3 &z);
149Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
150                                                float f, float g, float h, float j, float k);
151Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
152Matrix4x4 MirrorX();
153Matrix4x4 MirrorY();
154Matrix4x4 MirrorZ();
155Matrix4x4 RotationOnly(const Matrix4x4 &x);
156Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
157Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
158Matrix4x4 operator* (const Matrix4x4 &A, float B);
159Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
160Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
161Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
162Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
163Vector3 GetTranslation(const Matrix4x4 &M);
164Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
165Matrix4x4 GetFrustum(float left, float right, float bottom, float top, float near, float far);
166Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
167Matrix4x4 GetOrtho(float fov, float aspect, float near, float far);
168Matrix4x4 GetPerspective(float fov, float aspect, float near, float far);
169
170}
171
172
173#endif
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