This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Mar 12 14:37:44 2006
00001 /* 00002 ----------------------------------------------------------------------------- 00003 This source file is part of OGRE 00004 (Object-oriented Graphics Rendering Engine) 00005 For the latest info, see http://www.ogre3d.org/ 00006 00007 Copyright (c) 2000-2005 The OGRE Team 00008 Also see acknowledgements in Readme.html 00009 00010 This program is free software; you can redistribute it and/or modify it under 00011 the terms of the GNU Lesser General Public License as published by the Free Software 00012 Foundation; either version 2 of the License, or (at your option) any later 00013 version. 00014 00015 This program is distributed in the hope that it will be useful, but WITHOUT 00016 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS 00017 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. 00018 00019 You should have received a copy of the GNU Lesser General Public License along with 00020 this program; if not, write to the Free Software Foundation, Inc., 59 Temple 00021 Place - Suite 330, Boston, MA 02111-1307, USA, or go to 00022 http://www.gnu.org/copyleft/lesser.txt. 00023 ----------------------------------------------------------------------------- 00024 */ 00025 #ifndef __Matrix4__ 00026 #define __Matrix4__ 00027 00028 // Precompiler options 00029 #include "OgrePrerequisites.h" 00030 00031 #include "OgreVector3.h" 00032 #include "OgreMatrix3.h" 00033 #include "OgreVector4.h" 00034 #include "OgrePlane.h" 00035 namespace Ogre 00036 { 00069 class _OgreExport Matrix4 00070 { 00071 protected: 00073 union { 00074 Real m[4][4]; 00075 Real _m[16]; 00076 }; 00077 public: 00082 inline Matrix4() 00083 { 00084 } 00085 00086 inline Matrix4( 00087 Real m00, Real m01, Real m02, Real m03, 00088 Real m10, Real m11, Real m12, Real m13, 00089 Real m20, Real m21, Real m22, Real m23, 00090 Real m30, Real m31, Real m32, Real m33 ) 00091 { 00092 m[0][0] = m00; 00093 m[0][1] = m01; 00094 m[0][2] = m02; 00095 m[0][3] = m03; 00096 m[1][0] = m10; 00097 m[1][1] = m11; 00098 m[1][2] = m12; 00099 m[1][3] = m13; 00100 m[2][0] = m20; 00101 m[2][1] = m21; 00102 m[2][2] = m22; 00103 m[2][3] = m23; 00104 m[3][0] = m30; 00105 m[3][1] = m31; 00106 m[3][2] = m32; 00107 m[3][3] = m33; 00108 } 00109 00113 inline Matrix4(const Matrix3& m3x3) 00114 { 00115 operator=(IDENTITY); 00116 operator=(m3x3); 00117 } 00118 00122 inline Matrix4(const Quaternion& rot) 00123 { 00124 Matrix3 m3x3; 00125 rot.ToRotationMatrix(m3x3); 00126 operator=(IDENTITY); 00127 operator=(m3x3); 00128 } 00129 00130 00131 inline Real* operator [] ( size_t iRow ) 00132 { 00133 assert( iRow < 4 ); 00134 return m[iRow]; 00135 } 00136 00137 inline const Real *const operator [] ( size_t iRow ) const 00138 { 00139 assert( iRow < 4 ); 00140 return m[iRow]; 00141 } 00142 00143 inline Matrix4 concatenate(const Matrix4 &m2) const 00144 { 00145 Matrix4 r; 00146 r.m[0][0] = m[0][0] * m2.m[0][0] + m[0][1] * m2.m[1][0] + m[0][2] * m2.m[2][0] + m[0][3] * m2.m[3][0]; 00147 r.m[0][1] = m[0][0] * m2.m[0][1] + m[0][1] * m2.m[1][1] + m[0][2] * m2.m[2][1] + m[0][3] * m2.m[3][1]; 00148 r.m[0][2] = m[0][0] * m2.m[0][2] + m[0][1] * m2.m[1][2] + m[0][2] * m2.m[2][2] + m[0][3] * m2.m[3][2]; 00149 r.m[0][3] = m[0][0] * m2.m[0][3] + m[0][1] * m2.m[1][3] + m[0][2] * m2.m[2][3] + m[0][3] * m2.m[3][3]; 00150 00151 r.m[1][0] = m[1][0] * m2.m[0][0] + m[1][1] * m2.m[1][0] + m[1][2] * m2.m[2][0] + m[1][3] * m2.m[3][0]; 00152 r.m[1][1] = m[1][0] * m2.m[0][1] + m[1][1] * m2.m[1][1] + m[1][2] * m2.m[2][1] + m[1][3] * m2.m[3][1]; 00153 r.m[1][2] = m[1][0] * m2.m[0][2] + m[1][1] * m2.m[1][2] + m[1][2] * m2.m[2][2] + m[1][3] * m2.m[3][2]; 00154 r.m[1][3] = m[1][0] * m2.m[0][3] + m[1][1] * m2.m[1][3] + m[1][2] * m2.m[2][3] + m[1][3] * m2.m[3][3]; 00155 00156 r.m[2][0] = m[2][0] * m2.m[0][0] + m[2][1] * m2.m[1][0] + m[2][2] * m2.m[2][0] + m[2][3] * m2.m[3][0]; 00157 r.m[2][1] = m[2][0] * m2.m[0][1] + m[2][1] * m2.m[1][1] + m[2][2] * m2.m[2][1] + m[2][3] * m2.m[3][1]; 00158 r.m[2][2] = m[2][0] * m2.m[0][2] + m[2][1] * m2.m[1][2] + m[2][2] * m2.m[2][2] + m[2][3] * m2.m[3][2]; 00159 r.m[2][3] = m[2][0] * m2.m[0][3] + m[2][1] * m2.m[1][3] + m[2][2] * m2.m[2][3] + m[2][3] * m2.m[3][3]; 00160 00161 r.m[3][0] = m[3][0] * m2.m[0][0] + m[3][1] * m2.m[1][0] + m[3][2] * m2.m[2][0] + m[3][3] * m2.m[3][0]; 00162 r.m[3][1] = m[3][0] * m2.m[0][1] + m[3][1] * m2.m[1][1] + m[3][2] * m2.m[2][1] + m[3][3] * m2.m[3][1]; 00163 r.m[3][2] = m[3][0] * m2.m[0][2] + m[3][1] * m2.m[1][2] + m[3][2] * m2.m[2][2] + m[3][3] * m2.m[3][2]; 00164 r.m[3][3] = m[3][0] * m2.m[0][3] + m[3][1] * m2.m[1][3] + m[3][2] * m2.m[2][3] + m[3][3] * m2.m[3][3]; 00165 00166 return r; 00167 } 00168 00171 inline Matrix4 operator * ( const Matrix4 &m2 ) const 00172 { 00173 return concatenate( m2 ); 00174 } 00175 00185 inline Vector3 operator * ( const Vector3 &v ) const 00186 { 00187 Vector3 r; 00188 00189 Real fInvW = 1.0 / ( m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] ); 00190 00191 r.x = ( m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] ) * fInvW; 00192 r.y = ( m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] ) * fInvW; 00193 r.z = ( m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] ) * fInvW; 00194 00195 return r; 00196 } 00197 inline Vector4 operator * (const Vector4& v) const 00198 { 00199 return Vector4( 00200 m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w, 00201 m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w, 00202 m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w, 00203 m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w 00204 ); 00205 } 00206 inline Plane operator * (const Plane& p) const 00207 { 00208 Plane ret; 00209 Matrix4 invTrans = inverse().transpose(); 00210 ret.normal.x = 00211 invTrans[0][0] * p.normal.x + invTrans[0][1] * p.normal.y + invTrans[0][2] * p.normal.z; 00212 ret.normal.y = 00213 invTrans[1][0] * p.normal.x + invTrans[1][1] * p.normal.y + invTrans[1][2] * p.normal.z; 00214 ret.normal.z = 00215 invTrans[2][0] * p.normal.x + invTrans[2][1] * p.normal.y + invTrans[2][2] * p.normal.z; 00216 Vector3 pt = p.normal * -p.d; 00217 pt = *this * pt; 00218 ret.d = - pt.dotProduct(ret.normal); 00219 return ret; 00220 } 00221 00222 00225 inline Matrix4 operator + ( const Matrix4 &m2 ) const 00226 { 00227 Matrix4 r; 00228 00229 r.m[0][0] = m[0][0] + m2.m[0][0]; 00230 r.m[0][1] = m[0][1] + m2.m[0][1]; 00231 r.m[0][2] = m[0][2] + m2.m[0][2]; 00232 r.m[0][3] = m[0][3] + m2.m[0][3]; 00233 00234 r.m[1][0] = m[1][0] + m2.m[1][0]; 00235 r.m[1][1] = m[1][1] + m2.m[1][1]; 00236 r.m[1][2] = m[1][2] + m2.m[1][2]; 00237 r.m[1][3] = m[1][3] + m2.m[1][3]; 00238 00239 r.m[2][0] = m[2][0] + m2.m[2][0]; 00240 r.m[2][1] = m[2][1] + m2.m[2][1]; 00241 r.m[2][2] = m[2][2] + m2.m[2][2]; 00242 r.m[2][3] = m[2][3] + m2.m[2][3]; 00243 00244 r.m[3][0] = m[3][0] + m2.m[3][0]; 00245 r.m[3][1] = m[3][1] + m2.m[3][1]; 00246 r.m[3][2] = m[3][2] + m2.m[3][2]; 00247 r.m[3][3] = m[3][3] + m2.m[3][3]; 00248 00249 return r; 00250 } 00251 00254 inline Matrix4 operator - ( const Matrix4 &m2 ) const 00255 { 00256 Matrix4 r; 00257 r.m[0][0] = m[0][0] - m2.m[0][0]; 00258 r.m[0][1] = m[0][1] - m2.m[0][1]; 00259 r.m[0][2] = m[0][2] - m2.m[0][2]; 00260 r.m[0][3] = m[0][3] - m2.m[0][3]; 00261 00262 r.m[1][0] = m[1][0] - m2.m[1][0]; 00263 r.m[1][1] = m[1][1] - m2.m[1][1]; 00264 r.m[1][2] = m[1][2] - m2.m[1][2]; 00265 r.m[1][3] = m[1][3] - m2.m[1][3]; 00266 00267 r.m[2][0] = m[2][0] - m2.m[2][0]; 00268 r.m[2][1] = m[2][1] - m2.m[2][1]; 00269 r.m[2][2] = m[2][2] - m2.m[2][2]; 00270 r.m[2][3] = m[2][3] - m2.m[2][3]; 00271 00272 r.m[3][0] = m[3][0] - m2.m[3][0]; 00273 r.m[3][1] = m[3][1] - m2.m[3][1]; 00274 r.m[3][2] = m[3][2] - m2.m[3][2]; 00275 r.m[3][3] = m[3][3] - m2.m[3][3]; 00276 00277 return r; 00278 } 00279 00282 inline bool operator == ( const Matrix4& m2 ) const 00283 { 00284 if( 00285 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00286 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00287 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00288 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00289 return false; 00290 return true; 00291 } 00292 00295 inline bool operator != ( const Matrix4& m2 ) const 00296 { 00297 if( 00298 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00299 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00300 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00301 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00302 return true; 00303 return false; 00304 } 00305 00308 inline void operator = ( const Matrix3& mat3 ) 00309 { 00310 m[0][0] = mat3.m[0][0]; m[0][1] = mat3.m[0][1]; m[0][2] = mat3.m[0][2]; 00311 m[1][0] = mat3.m[1][0]; m[1][1] = mat3.m[1][1]; m[1][2] = mat3.m[1][2]; 00312 m[2][0] = mat3.m[2][0]; m[2][1] = mat3.m[2][1]; m[2][2] = mat3.m[2][2]; 00313 } 00314 00315 inline Matrix4 transpose(void) const 00316 { 00317 return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0], 00318 m[0][1], m[1][1], m[2][1], m[3][1], 00319 m[0][2], m[1][2], m[2][2], m[3][2], 00320 m[0][3], m[1][3], m[2][3], m[3][3]); 00321 } 00322 00323 /* 00324 ----------------------------------------------------------------------- 00325 Translation Transformation 00326 ----------------------------------------------------------------------- 00327 */ 00330 inline void setTrans( const Vector3& v ) 00331 { 00332 m[0][3] = v.x; 00333 m[1][3] = v.y; 00334 m[2][3] = v.z; 00335 } 00336 00339 inline Vector3 getTrans() const 00340 { 00341 return Vector3(m[0][3], m[1][3], m[2][3]); 00342 } 00343 00344 00347 inline void makeTrans( const Vector3& v ) 00348 { 00349 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = v.x; 00350 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = v.y; 00351 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = v.z; 00352 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00353 } 00354 00355 inline void makeTrans( Real tx, Real ty, Real tz ) 00356 { 00357 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx; 00358 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = ty; 00359 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = tz; 00360 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00361 } 00362 00365 inline static Matrix4 getTrans( const Vector3& v ) 00366 { 00367 Matrix4 r; 00368 00369 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = v.x; 00370 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = v.y; 00371 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = v.z; 00372 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00373 00374 return r; 00375 } 00376 00379 inline static Matrix4 getTrans( Real t_x, Real t_y, Real t_z ) 00380 { 00381 Matrix4 r; 00382 00383 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = t_x; 00384 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = t_y; 00385 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = t_z; 00386 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00387 00388 return r; 00389 } 00390 00391 /* 00392 ----------------------------------------------------------------------- 00393 Scale Transformation 00394 ----------------------------------------------------------------------- 00395 */ 00398 inline void setScale( const Vector3& v ) 00399 { 00400 m[0][0] = v.x; 00401 m[1][1] = v.y; 00402 m[2][2] = v.z; 00403 } 00404 00407 inline static Matrix4 getScale( const Vector3& v ) 00408 { 00409 Matrix4 r; 00410 r.m[0][0] = v.x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00411 r.m[1][0] = 0.0; r.m[1][1] = v.y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00412 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = v.z; r.m[2][3] = 0.0; 00413 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00414 00415 return r; 00416 } 00417 00420 inline static Matrix4 getScale( Real s_x, Real s_y, Real s_z ) 00421 { 00422 Matrix4 r; 00423 r.m[0][0] = s_x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00424 r.m[1][0] = 0.0; r.m[1][1] = s_y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00425 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = s_z; r.m[2][3] = 0.0; 00426 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00427 00428 return r; 00429 } 00430 00434 inline void extract3x3Matrix(Matrix3& m3x3) const 00435 { 00436 m3x3.m[0][0] = m[0][0]; 00437 m3x3.m[0][1] = m[0][1]; 00438 m3x3.m[0][2] = m[0][2]; 00439 m3x3.m[1][0] = m[1][0]; 00440 m3x3.m[1][1] = m[1][1]; 00441 m3x3.m[1][2] = m[1][2]; 00442 m3x3.m[2][0] = m[2][0]; 00443 m3x3.m[2][1] = m[2][1]; 00444 m3x3.m[2][2] = m[2][2]; 00445 00446 } 00447 00450 inline Quaternion extractQuaternion() const 00451 { 00452 Matrix3 m3x3; 00453 extract3x3Matrix(m3x3); 00454 return Quaternion(m3x3); 00455 } 00456 00457 static const Matrix4 ZERO; 00458 static const Matrix4 IDENTITY; 00461 static const Matrix4 CLIPSPACE2DTOIMAGESPACE; 00462 00463 inline Matrix4 operator*(Real scalar) 00464 { 00465 return Matrix4( 00466 scalar*m[0][0], scalar*m[0][1], scalar*m[0][2], scalar*m[0][3], 00467 scalar*m[1][0], scalar*m[1][1], scalar*m[1][2], scalar*m[1][3], 00468 scalar*m[2][0], scalar*m[2][1], scalar*m[2][2], scalar*m[2][3], 00469 scalar*m[3][0], scalar*m[3][1], scalar*m[3][2], scalar*m[3][3]); 00470 } 00471 00474 inline _OgreExport friend std::ostream& operator << 00475 ( std::ostream& o, const Matrix4& m ) 00476 { 00477 o << "Matrix4("; 00478 for (size_t i = 0; i < 4; ++i) 00479 { 00480 o << " row" << (unsigned)i << "{"; 00481 for(size_t j = 0; j < 4; ++j) 00482 { 00483 o << m[i][j] << " "; 00484 } 00485 o << "}"; 00486 } 00487 o << ")"; 00488 return o; 00489 } 00490 00491 Matrix4 adjoint() const; 00492 Real determinant() const; 00493 Matrix4 inverse() const; 00494 00501 void makeTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation); 00502 00508 void makeInverseTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation); 00509 }; 00510 00511 /* Removed from Vector4 and made a non-member here because otherwise 00512 OgreMatrix4.h and OgreVector4.h have to try to include and inline each 00513 other, which frankly doesn't work ;) 00514 */ 00515 inline Vector4 operator * (const Vector4& v, const Matrix4& mat) 00516 { 00517 return Vector4( 00518 v.x*mat[0][0] + v.y*mat[1][0] + v.z*mat[2][0] + v.w*mat[3][0], 00519 v.x*mat[0][1] + v.y*mat[1][1] + v.z*mat[2][1] + v.w*mat[3][1], 00520 v.x*mat[0][2] + v.y*mat[1][2] + v.z*mat[2][2] + v.w*mat[3][2], 00521 v.x*mat[0][3] + v.y*mat[1][3] + v.z*mat[2][3] + v.w*mat[3][3] 00522 ); 00523 } 00524 00525 } 00526 #endif
Copyright © 2000-2005 by The OGRE Team
This work is licensed under a Creative Commons Attribution-ShareAlike 2.5 License.
Last modified Sun Mar 12 14:37:44 2006