source: OGRE/trunk/ogrenew/OgreMain/src/OgreMatrix4.cpp @ 657

Revision 657, 3.2 KB checked in by mattausch, 19 years ago (diff)

added ogre dependencies and patched ogre sources

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