source: OGRE/trunk/ogrenew/OgreMain/src/OgreMatrix4.cpp @ 692

Revision 692, 5.4 KB checked in by mattausch, 19 years ago (diff)

adding ogre 1.2 and dependencies

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    //-----------------------------------------------------------------------
53    inline static Real
54        MINOR(const Matrix4& m, const size_t r0, const size_t r1, const size_t r2,
55                                                                const size_t c0, const size_t c1, const size_t c2)
56    {
57        return m[r0][c0] * (m[r1][c1] * m[r2][c2] - m[r2][c1] * m[r1][c2]) -
58            m[r0][c1] * (m[r1][c0] * m[r2][c2] - m[r2][c0] * m[r1][c2]) +
59            m[r0][c2] * (m[r1][c0] * m[r2][c1] - m[r2][c0] * m[r1][c1]);
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    Real Matrix4::determinant() const
86    {
87        return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
88            m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
89            m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
90            m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
91    }
92    //-----------------------------------------------------------------------
93    Matrix4 Matrix4::inverse() const
94    {
95        return adjoint() * (1.0f / determinant());
96    }
97    //-----------------------------------------------------------------------
98    void Matrix4::makeTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation)
99    {
100        // Ordering:
101        //    1. Scale
102        //    2. Rotate
103        //    3. Translate
104
105        Matrix3 rot3x3, scale3x3;
106        orientation.ToRotationMatrix(rot3x3);
107        scale3x3 = Matrix3::ZERO;
108        scale3x3[0][0] = scale.x;
109        scale3x3[1][1] = scale.y;
110        scale3x3[2][2] = scale.z;
111
112        // Set up final matrix with scale, rotation and translation
113        *this = rot3x3 * scale3x3;
114        this->setTrans(position);
115
116        // No projection term
117        m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
118    }
119    //-----------------------------------------------------------------------
120    void Matrix4::makeInverseTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation)
121    {
122        // Invert the parameters
123        Vector3 invTranslate = -position;
124        Vector3 invScale(1 / scale.x, 1 / scale.y, 1 / scale.z);
125        Quaternion invRot = orientation.Inverse();
126
127        // Because we're inverting, order is translation, rotation, scale
128        // So make translation relative to scale & rotation
129        invTranslate *= invScale; // scale
130        invTranslate = invRot * invTranslate; // rotate
131
132        // Next, make a 3x3 rotation matrix and apply inverse scale
133        Matrix3 rot3x3, scale3x3;
134        invRot.ToRotationMatrix(rot3x3);
135        scale3x3 = Matrix3::ZERO;
136        scale3x3[0][0] = invScale.x;
137        scale3x3[1][1] = invScale.y;
138        scale3x3[2][2] = invScale.z;
139
140        // Set up final matrix with scale, rotation and translation
141        *this = scale3x3 * rot3x3;
142        this->setTrans(invTranslate);
143
144        // No projection term
145        m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
146    }
147
148}
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