[162] | 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 | using namespace std;
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| 6 |
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| 7 | class Vector3;
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| 8 |
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| 9 |
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| 10 |
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| 11 | class Matrix4x4
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| 12 | {
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| 13 | public:
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| 14 | float x[4][4]; // first index is column [x], the second is row [y]
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| 15 |
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| 16 | Matrix4x4() { }
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| 17 |
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| 18 | // here xXY - 'X' is row, and 'Y' is column - classical mathematical notation
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| 19 | Matrix4x4(float x11, float x12, float x13, float x14,
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| 20 | float x21, float x22, float x23, float x24,
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| 21 | float x31, float x32, float x33, float x34,
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| 22 | float x41, float x42, float x43, float x44);
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| 23 |
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| 24 |
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| 25 | // Assignment operators
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| 26 | Matrix4x4& operator+= (const Matrix4x4 &A); // add-to
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| 27 | Matrix4x4& operator-= (const Matrix4x4 &A); // subtract-from
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| 28 | Matrix4x4& operator*= (const Matrix4x4 &A); // multiply by matrix
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| 29 | Matrix4x4& operator*= (float A); // scale by scalar
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| 30 |
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| 31 | // Fundamental operations
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| 32 | int Invert(); // Invert the matrix .. returns 0 = regular
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| 33 | void Transpose(); // Transpose the matrix
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| 34 | friend Matrix4x4 Invert(const Matrix4x4 &M); // Invert a given matrix
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| 35 | friend Matrix4x4 Transpose(const Matrix4x4 &M); // Transpose a given matrix
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| 36 |
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| 37 | // Create various types of matrix.
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| 38 | friend Matrix4x4 IdentityMatrix();
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| 39 | friend Matrix4x4 ZeroMatrix();
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| 40 | friend Matrix4x4 TranslationMatrix(const Vector3 &Location);
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| 41 | friend Matrix4x4 RotationXMatrix(float Angle);
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| 42 | friend Matrix4x4 RotationYMatrix(float Angle);
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| 43 | friend Matrix4x4 RotationZMatrix(float Angle);
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| 44 | friend Matrix4x4 RotationYPRMatrix(float Yaw, float Pitch, float Roll);
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| 45 | // about axis 'axis' by angle 'Angle'
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| 46 | friend Matrix4x4 RotationAxisMatrix(const Vector3 &axis, float Angle);
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| 47 | // create the rotation matrix that rotates 'vecFrom' to 'vecTo'
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| 48 | friend Matrix4x4 RotationVectorsMatrix(const Vector3 &vecFrom,
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[176] | 49 | const Vector3 &vecTo);
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[162] | 50 |
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| 51 | friend Matrix4x4 ScaleMatrix(float X, float Y, float Z);
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| 52 | friend Matrix4x4 GenRotation(const Vector3 &x, const Vector3 &y,
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| 53 | const Vector3 &z);
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| 54 | friend Matrix4x4 QuadricMatrix(float a, float b, float c, float d, float e,
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| 55 | float f, float g, float h, float j, float k);
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| 56 | // returns matrix for transforming normal
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| 57 | friend Matrix4x4 NormalTransformMatrix(const Matrix4x4 &M);
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| 58 |
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| 59 | friend Matrix4x4 MirrorX();
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| 60 | friend Matrix4x4 MirrorY();
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| 61 | friend Matrix4x4 MirrorZ();
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| 62 | friend Matrix4x4 RotationOnly(const Matrix4x4 &x);
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| 63 |
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| 64 | // Binary operators
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| 65 | friend Matrix4x4 operator+ (const Matrix4x4 &A, const Matrix4x4 &B);
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| 66 | friend Matrix4x4 operator- (const Matrix4x4 &A, const Matrix4x4 &B);
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| 67 | friend Matrix4x4 operator* (const Matrix4x4 &A, float B);
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| 68 | friend Matrix4x4 operator* (const Matrix4x4 &A, const Matrix4x4 &B);
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| 69 |
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| 70 | // friends returning Vector3
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| 71 | friend Vector3 operator*(const Matrix4x4 &M, const Vector3 &v);
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| 72 | friend Vector3 RotateOnly(const Matrix4x4 &M, const Vector3 &v);
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| 73 | friend Vector3 TransformNormal(const Matrix4x4 &M, const Vector3 &v);
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| 74 | friend Vector3 GetTranslation(const Matrix4x4 &M);
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| 75 |
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| 76 | // Construct rotation description according VRML'97 specification
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| 77 | // const CVector4D SFRotation(void) const;
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| 78 |
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| 79 | // Overloaded output operator.
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| 80 | friend ostream& operator<< (ostream &s, const Matrix4x4 &M);
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| 81 | };
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| 82 |
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| 83 |
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| 84 |
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| 85 | #endif
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