[657] | 1 | /*
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| 2 | -----------------------------------------------------------------------------
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| 3 | This source file is part of OGRE
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| 4 | (Object-oriented Graphics Rendering Engine)
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| 5 | For the latest info, see http://www.ogre3d.org/
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| 6 |
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| 7 | Copyright (c) 2000-2005 The OGRE Team
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| 8 | Also see acknowledgements in Readme.html
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| 9 |
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| 10 | This program is free software; you can redistribute it and/or modify it under
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| 11 | the terms of the GNU Lesser General Public License as published by the Free Software
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| 12 | Foundation; either version 2 of the License, or (at your option) any later
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| 13 | version.
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| 14 |
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| 15 | This program is distributed in the hope that it will be useful, but WITHOUT
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| 16 | ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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| 17 | FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
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| 18 |
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| 19 | You should have received a copy of the GNU Lesser General Public License along with
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| 20 | this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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| 21 | Place - Suite 330, Boston, MA 02111-1307, USA, or go to
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| 22 | http://www.gnu.org/copyleft/lesser.txt.
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| 23 | -----------------------------------------------------------------------------
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| 24 | */
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| 25 | #include "OgreStableHeaders.h"
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| 26 | #include "OgreMatrix4.h"
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| 27 |
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| 28 | #include "OgreVector3.h"
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| 29 | #include "OgreMatrix3.h"
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| 30 |
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| 31 | namespace Ogre
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| 32 | {
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| 33 |
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| 34 | const Matrix4 Matrix4::ZERO(
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| 35 | 0, 0, 0, 0,
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| 36 | 0, 0, 0, 0,
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| 37 | 0, 0, 0, 0,
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| 38 | 0, 0, 0, 0 );
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| 39 |
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| 40 | const Matrix4 Matrix4::IDENTITY(
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| 41 | 1, 0, 0, 0,
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| 42 | 0, 1, 0, 0,
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| 43 | 0, 0, 1, 0,
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| 44 | 0, 0, 0, 1 );
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| 45 |
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| 46 | const Matrix4 Matrix4::CLIPSPACE2DTOIMAGESPACE(
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| 47 | 0.5, 0, 0, 0.5,
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| 48 | 0, -0.5, 0, 0.5,
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| 49 | 0, 0, 1, 0,
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| 50 | 0, 0, 0, 1);
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| 51 |
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| 52 | inline Real
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| 53 | MINOR(const Matrix4& m, const size_t r0, const size_t r1, const size_t r2,
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| 54 | const size_t c0, const size_t c1, const size_t c2)
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| 55 | {
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| 56 | return m[r0][c0] * (m[r1][c1] * m[r2][c2] - m[r2][c1] * m[r1][c2]) -
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| 57 | m[r0][c1] * (m[r1][c0] * m[r2][c2] - m[r2][c0] * m[r1][c2]) +
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| 58 | m[r0][c2] * (m[r1][c0] * m[r2][c1] - m[r2][c0] * m[r1][c1]);
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| 59 | }
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| 60 |
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| 61 |
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| 62 | Matrix4 Matrix4::adjoint() const
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| 63 | {
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| 64 | return Matrix4( MINOR(*this, 1, 2, 3, 1, 2, 3),
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| 65 | -MINOR(*this, 0, 2, 3, 1, 2, 3),
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| 66 | MINOR(*this, 0, 1, 3, 1, 2, 3),
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| 67 | -MINOR(*this, 0, 1, 2, 1, 2, 3),
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| 68 |
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| 69 | -MINOR(*this, 1, 2, 3, 0, 2, 3),
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| 70 | MINOR(*this, 0, 2, 3, 0, 2, 3),
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| 71 | -MINOR(*this, 0, 1, 3, 0, 2, 3),
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| 72 | MINOR(*this, 0, 1, 2, 0, 2, 3),
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| 73 |
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| 74 | MINOR(*this, 1, 2, 3, 0, 1, 3),
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| 75 | -MINOR(*this, 0, 2, 3, 0, 1, 3),
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| 76 | MINOR(*this, 0, 1, 3, 0, 1, 3),
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| 77 | -MINOR(*this, 0, 1, 2, 0, 1, 3),
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| 78 |
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| 79 | -MINOR(*this, 1, 2, 3, 0, 1, 2),
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| 80 | MINOR(*this, 0, 2, 3, 0, 1, 2),
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| 81 | -MINOR(*this, 0, 1, 3, 0, 1, 2),
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| 82 | MINOR(*this, 0, 1, 2, 0, 1, 2));
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| 83 | }
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| 84 |
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| 85 |
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| 86 | Real Matrix4::determinant() const
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| 87 | {
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| 88 | return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
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| 89 | m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
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| 90 | m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
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| 91 | m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
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| 92 | }
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| 93 |
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| 94 | Matrix4 Matrix4::inverse() const
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| 95 | {
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| 96 | return adjoint() * (1.0f / determinant());
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| 97 | }
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| 98 |
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| 99 | }
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