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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7 | namespace CHCDemoEngine
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8 | {
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9 |
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10 | class Vector3;
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11 | class AxisAlignedBox3;
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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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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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22 | Matrix4x4(float x11, float x12, float x13, float x14,
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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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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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31 | ////////////////
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32 | //-- Assignment operators
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33 |
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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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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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45 | int Invert();
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46 | /** Transpose the matrix
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47 | */
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48 | void Transpose();
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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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52 |
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53 | float Det3x3() const;
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54 |
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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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59 |
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60 |
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61 | ////////////
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62 | //-- members
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63 |
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64 | float x[4][4]; // first index is column [x], the second is row [y]
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65 |
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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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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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89 | const Vector3 &vecTo);
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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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93 | const Vector3 &z);
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94 | friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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95 | float f, float g, float h, float j, float k);
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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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116 | friend Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
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117 |
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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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121 | // look from position into given direction with given up vector
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122 | friend Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
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123 |
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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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129 | /////////
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130 | //-- forward declaration
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131 |
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132 |
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133 | Matrix4x4 IdentityMatrix();
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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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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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164 | Matrix4x4 GetFittingProjectionMatrix(const AxisAlignedBox3 &box);
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165 | Matrix4x4 GetFrustum(float left, float right, float bottom, float top, float near, float far);
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166 | Matrix4x4 LookAt(const Vector3 &pos, const Vector3 &dir, const Vector3& up);
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167 | Matrix4x4 GetOrtho(float fov, float aspect, float near, float far);
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168 | Matrix4x4 GetPerspective(float fov, float aspect, float near, float far);
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169 |
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170 | }
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171 |
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172 |
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173 | #endif
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