From 675b4aa878f16291ce33fced48a2bc7425f635ae Mon Sep 17 00:00:00 2001 From: Alexander Harkness Date: Sun, 24 Nov 2013 14:19:41 +0000 Subject: Moved source to src --- src/Matrix4f.h | 225 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 225 insertions(+) create mode 100644 src/Matrix4f.h (limited to 'src/Matrix4f.h') diff --git a/src/Matrix4f.h b/src/Matrix4f.h new file mode 100644 index 000000000..249c92f5f --- /dev/null +++ b/src/Matrix4f.h @@ -0,0 +1,225 @@ +#pragma once + +#define _USE_MATH_DEFINES +#include +#include "Vector3f.h" + +class Matrix4f +{ +public: + enum + { + TX=3, + TY=7, + TZ=11, + D0=0, D1=5, D2=10, D3=15, + SX=D0, SY=D1, SZ=D2, + W=D3 + }; + Matrix4f() { Identity(); } + float& operator [] ( int a_N ) { return cell[a_N]; } + void Identity() + { + cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] = + cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0; + cell[D0] = cell[D1] = cell[D2] = cell[W] = 1; + } + void Init( Vector3f a_Pos, float a_RX, float a_RY, float a_RZ ) + { + Matrix4f t; + t.RotateX( a_RZ ); + RotateY( a_RY ); + Concatenate( t ); + t.RotateZ( a_RX ); + Concatenate( t ); + Translate( a_Pos ); + } + void RotateX( float a_RX ) + { + float sx = (float)sin( a_RX * M_PI / 180 ); + float cx = (float)cos( a_RX * M_PI / 180 ); + Identity(); + cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx; + } + void RotateY( float a_RY ) + { + float sy = (float)sin( a_RY * M_PI / 180 ); + float cy = (float)cos( a_RY * M_PI / 180 ); + Identity (); + cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy; + } + void RotateZ( float a_RZ ) + { + float sz = (float)sin( a_RZ * M_PI / 180 ); + float cz = (float)cos( a_RZ * M_PI / 180 ); + Identity (); + cell[0] = cz, cell[1] = sz, cell[4] = -sz, cell[5] = cz; + } + void Translate( Vector3f a_Pos ) { cell[TX] += a_Pos.x; cell[TY] += a_Pos.y; cell[TZ] += a_Pos.z; } + void SetTranslation( Vector3f a_Pos ) { cell[TX] = a_Pos.x; cell[TY] = a_Pos.y; cell[TZ] = a_Pos.z; } + void Concatenate( const Matrix4f& m2 ) + { + Matrix4f res; + int c; + for ( c = 0; c < 4; c++ ) for ( int r = 0; r < 4; r++ ) + res.cell[r * 4 + c] = cell[r * 4] * m2.cell[c] + + cell[r * 4 + 1] * m2.cell[c + 4] + + cell[r * 4 + 2] * m2.cell[c + 8] + + cell[r * 4 + 3] * m2.cell[c + 12]; + for ( c = 0; c < 16; c++ ) cell[c] = res.cell[c]; + } + Vector3f Transform( const Vector3f& v ) const + { + float x = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3]; + float y = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7]; + float z = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11]; + return Vector3f( x, y, z ); + } + void Invert() + { + Matrix4f t; + int h, i; + float tx = -cell[3], ty = -cell[7], tz = -cell[11]; + for ( h = 0; h < 3; h++ ) for ( int v = 0; v < 3; v++ ) t.cell[h + v * 4] = cell[v + h * 4]; + for ( i = 0; i < 11; i++ ) cell[i] = t.cell[i]; + cell[3] = tx * cell[0] + ty * cell[1] + tz * cell[2]; + cell[7] = tx * cell[4] + ty * cell[5] + tz * cell[6]; + cell[11] = tx * cell[8] + ty * cell[9] + tz * cell[10]; + } + Vector3f GetXColumn() { return Vector3f( cell[0], cell[1], cell[2] ); } + Vector3f GetYColumn() { return Vector3f( cell[4], cell[5], cell[6] ); } + Vector3f GetZColumn() { return Vector3f( cell[8], cell[9], cell[10] ); } + void SetXColumn( const Vector3f & a_X ) + { + cell[0] = a_X.x; + cell[1] = a_X.y; + cell[2] = a_X.z; + } + void SetYColumn( const Vector3f & a_Y ) + { + cell[4] = a_Y.x; + cell[5] = a_Y.y; + cell[6] = a_Y.z; + } + void SetZColumn( const Vector3f & a_Z ) + { + cell[8] = a_Z.x; + cell[9] = a_Z.y; + cell[10] = a_Z.z; + } + float cell[16]; +}; + + + + + +class Matrix4d +{ +public: + enum + { + TX=3, + TY=7, + TZ=11, + D0=0, D1=5, D2=10, D3=15, + SX=D0, SY=D1, SZ=D2, + W=D3 + }; + Matrix4d() { Identity(); } + double& operator [] ( int a_N ) { return cell[a_N]; } + void Identity() + { + cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] = + cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0; + cell[D0] = cell[D1] = cell[D2] = cell[W] = 1; + } + void Init( Vector3f a_Pos, double a_RX, double a_RY, double a_RZ ) + { + Matrix4d t; + t.RotateX( a_RZ ); + RotateY( a_RY ); + Concatenate( t ); + t.RotateZ( a_RX ); + Concatenate( t ); + Translate( a_Pos ); + } + void RotateX( double a_RX ) + { + double sx = (double)sin( a_RX * M_PI / 180 ); + double cx = (double)cos( a_RX * M_PI / 180 ); + Identity(); + cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx; + } + void RotateY( double a_RY ) + { + double sy = (double)sin( a_RY * M_PI / 180 ); + double cy = (double)cos( a_RY * M_PI / 180 ); + Identity (); + cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy; + } + void RotateZ( double a_RZ ) + { + double sz = (double)sin( a_RZ * M_PI / 180 ); + double cz = (double)cos( a_RZ * M_PI / 180 ); + Identity (); + cell[0] = cz, cell[1] = sz, cell[4] = -sz, cell[5] = cz; + } + void Translate( Vector3d a_Pos ) { cell[TX] += a_Pos.x; cell[TY] += a_Pos.y; cell[TZ] += a_Pos.z; } + void SetTranslation( Vector3d a_Pos ) { cell[TX] = a_Pos.x; cell[TY] = a_Pos.y; cell[TZ] = a_Pos.z; } + void Concatenate( const Matrix4d & m2 ) + { + Matrix4d res; + int c; + for ( c = 0; c < 4; c++ ) for ( int r = 0; r < 4; r++ ) + res.cell[r * 4 + c] = cell[r * 4] * m2.cell[c] + + cell[r * 4 + 1] * m2.cell[c + 4] + + cell[r * 4 + 2] * m2.cell[c + 8] + + cell[r * 4 + 3] * m2.cell[c + 12]; + for ( c = 0; c < 16; c++ ) cell[c] = res.cell[c]; + } + Vector3d Transform( const Vector3d & v ) const + { + double x = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3]; + double y = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7]; + double z = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11]; + return Vector3d( x, y, z ); + } + void Invert() + { + Matrix4d t; + int h, i; + double tx = -cell[3], ty = -cell[7], tz = -cell[11]; + for ( h = 0; h < 3; h++ ) for ( int v = 0; v < 3; v++ ) t.cell[h + v * 4] = cell[v + h * 4]; + for ( i = 0; i < 11; i++ ) cell[i] = t.cell[i]; + cell[3] = tx * cell[0] + ty * cell[1] + tz * cell[2]; + cell[7] = tx * cell[4] + ty * cell[5] + tz * cell[6]; + cell[11] = tx * cell[8] + ty * cell[9] + tz * cell[10]; + } + Vector3d GetXColumn() { return Vector3d( cell[0], cell[1], cell[2] ); } + Vector3d GetYColumn() { return Vector3d( cell[4], cell[5], cell[6] ); } + Vector3d GetZColumn() { return Vector3d( cell[8], cell[9], cell[10] ); } + void SetXColumn( const Vector3d & a_X ) + { + cell[0] = a_X.x; + cell[1] = a_X.y; + cell[2] = a_X.z; + } + void SetYColumn( const Vector3d & a_Y ) + { + cell[4] = a_Y.x; + cell[5] = a_Y.y; + cell[6] = a_Y.z; + } + void SetZColumn( const Vector3d & a_Z ) + { + cell[8] = a_Z.x; + cell[9] = a_Z.y; + cell[10] = a_Z.z; + } + double cell[16]; +} ; + + + + -- cgit v1.2.3