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TAPs 0.7.7.3
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TAPs 0.7.7.3
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00001 /****************************************************************************** 00002 TAPsMatrix4x4.cpp 00003 00004 Matrix4x4 class is a class for 4-by-4 matrices. 00005 00006 SUKITTI PUNAK (09/14/2004) 00007 UPDATE (05/06/2010) 00008 ******************************************************************************/ 00009 #include "TAPsMatrix4x4.hpp" 00010 // Using Inclusion Model (i.e. definitions are included in declarations) 00011 // (this name.cpp is included in name.hpp) 00012 // Each friend is defined directly inside its declaration. 00013 00014 BEGIN_NAMESPACE_TAPs 00015 //============================================================================= 00016 //----------------------------------------------------------------------------- 00017 // Static Data Members for Data Conversions 00018 template <typename T> float Matrix4x4<T>::g_f[16]; 00019 template <typename T> double Matrix4x4<T>::g_d[16]; 00020 template <typename T> long double Matrix4x4<T>::g_ld[16]; 00021 //============================================================================= 00022 // Constructors and Destructor 00023 //----------------------------------------------------------------------------- 00024 template <typename T> 00025 Matrix4x4<T>::Matrix4x4 () 00026 { 00027 // Identity Matrix 00028 /*e0*/ e[ 1] = e[ 2] = e[ 3] = 00029 e[ 4] = /*e5*/ e[ 6] = e[ 7] = 00030 e[ 8] = e[ 9] /*e10*/ = e[11] = 00031 e[12] = e[13] = e[14] /*e15*/= Math<T>::ZERO; 00032 e[ 0] = e[ 5] = e[10] = e[15] = Math<T>::ONE; 00033 } 00034 //----------------------------------------------------------------------------- 00035 template <typename T> 00036 Matrix4x4<T>::Matrix4x4 ( Matrix4x4<T> const &M ) 00037 { 00038 e[ 0] = M.e[ 0]; e[ 1] = M.e[ 1]; e[ 2] = M.e[ 2]; e[ 3] = M.e[ 3]; 00039 e[ 4] = M.e[ 4]; e[ 5] = M.e[ 5]; e[ 6] = M.e[ 6]; e[ 7] = M.e[ 7]; 00040 e[ 8] = M.e[ 8]; e[ 9] = M.e[ 9]; e[10] = M.e[10]; e[11] = M.e[11]; 00041 e[12] = M.e[12]; e[13] = M.e[13]; e[14] = M.e[14]; e[15] = M.e[15]; 00042 } 00043 //----------------------------------------------------------------------------- 00044 template <typename T> 00045 Matrix4x4<T>::Matrix4x4 ( T t ) 00046 { 00047 e[ 0] = e[ 1] = e[ 2] = e[ 3] = 00048 e[ 4] = e[ 5] = e[ 6] = e[ 7] = 00049 e[ 8] = e[ 9] = e[10] = e[11] = 00050 e[12] = e[13] = e[14] = e[15] = t; 00051 } 00052 //----------------------------------------------------------------------------- 00053 template <typename T> 00054 Matrix4x4<T>::Matrix4x4 ( T e00, T e01, T e02, T e03, 00055 T e04, T e05, T e06, T e07, 00056 T e08, T e09, T e10, T e11, 00057 T e12, T e13, T e14, T e15 ) 00058 { 00059 e[ 0] = e00; e[ 1] = e01; e[ 2] = e02; e[ 3] = e03; 00060 e[ 4] = e04; e[ 5] = e05; e[ 6] = e06; e[ 7] = e07; 00061 e[ 8] = e08; e[ 9] = e09; e[10] = e10; e[11] = e11; 00062 e[12] = e12; e[13] = e13; e[14] = e14; e[15] = e15; 00063 } 00064 //----------------------------------------------------------------------------- 00065 template <typename T> 00066 Matrix4x4<T>::Matrix4x4 ( T const af[16] ) 00067 { 00068 e[ 0] = af[ 0]; e[ 1] = af[ 1]; e[ 2] = af[ 2]; e[ 3] = af[ 3]; 00069 e[ 4] = af[ 4]; e[ 5] = af[ 5]; e[ 6] = af[ 6]; e[ 7] = af[ 7]; 00070 e[ 8] = af[ 8]; e[ 9] = af[ 9]; e[10] = af[10]; e[11] = af[11]; 00071 e[12] = af[12]; e[13] = af[13]; e[14] = af[14]; e[15] = af[15]; 00072 } 00073 //----------------------------------------------------------------------------- 00074 template <typename T> 00075 Matrix4x4<T>::Matrix4x4 ( Matrix3x3<T> const & M ) 00076 { 00077 e[ 0] = M[0]; e[ 1] = M[1]; e[ 2] = M[2]; e[ 3] = 0; 00078 e[ 4] = M[3]; e[ 5] = M[4]; e[ 6] = M[5]; e[ 7] = 0; 00079 e[ 8] = M[6]; e[ 9] = M[7]; e[10] = M[8]; e[11] = 0; 00080 e[12] = 0; e[13] = 0; e[14] = 0; e[15] = 1; 00081 } 00082 //----------------------------------------------------------------------------- 00083 template <typename T> 00084 Matrix4x4<T>::Matrix4x4 ( Vector3<T> const & V ) 00085 { 00086 e[ 0] = V[0]; e[ 1] = 0; e[ 2] = 0; e[ 3] = 0; 00087 e[ 4] = 0; e[ 5] = V[1]; e[ 6] = 0; e[ 7] = 0; 00088 e[ 8] = 0; e[ 9] = 0; e[10] = V[2]; e[11] = 0; 00089 e[12] = 0; e[13] = 0; e[14] = 0; e[15] = 1; 00090 } 00091 //----------------------------------------------------------------------------- 00092 template <typename T> 00093 Matrix4x4<T>::Matrix4x4 ( Vector4<T> const & V ) 00094 { 00095 e[ 0] = V[0]; e[ 1] = 0; e[ 2] = 0; e[ 3] = 0; 00096 e[ 4] = 0; e[ 5] = V[1]; e[ 6] = 0; e[ 7] = 0; 00097 e[ 8] = 0; e[ 9] = 0; e[10] = V[2]; e[11] = 0; 00098 e[12] = 0; e[13] = 0; e[14] = 0; e[15] = V[3]; 00099 } 00100 //----------------------------------------------------------------------------- 00101 template <typename T> 00102 Matrix4x4<T>::~Matrix4x4 () 00103 {} 00104 //----------------------------------------------------------------------------- 00105 //============================================================================= 00106 // Member Access 00107 //----------------------------------------------------------------------------- 00108 template <typename T> 00109 inline T & Matrix4x4<T>::operator[] ( int i ) 00110 { return e[i]; } 00111 //----------------------------------------------------------------------------- 00112 template <typename T> 00113 inline T const & Matrix4x4<T>::operator[] ( int i ) const 00114 { return e[i]; } 00115 //----------------------------------------------------------------------------- 00116 template <typename T> 00117 inline T & Matrix4x4<T>::operator() ( int r, int c ) 00118 { return e[r*4 + c]; } 00119 //----------------------------------------------------------------------------- 00120 template <typename T> 00121 inline T const & Matrix4x4<T>::operator() ( int r, int c ) const 00122 { return e[r*4 + c]; } 00123 //----------------------------------------------------------------------------- 00124 //============================================================================= 00125 // Convert to one dimension array 00126 //----------------------------------------------------------------------------- 00127 template <typename T> 00128 Matrix4x4<T>::operator const T * () const 00129 { return e; } 00130 //----------------------------------------------------------------------------- 00131 template <typename T> 00132 Matrix4x4<T>::operator T * () 00133 { return e; } 00134 //----------------------------------------------------------------------------- 00135 //============================================================================= 00136 // Useful Functions 00137 //----------------------------------------------------------------------------- 00138 template <typename T> 00139 inline void Matrix4x4<T>::SetAllElements ( T t ) 00140 { 00141 e[ 0] = e[ 1] = e[ 2] = e[ 3] = 00142 e[ 4] = e[ 5] = e[ 6] = e[ 7] = 00143 e[ 8] = e[ 9] = e[10] = e[11] = 00144 e[12] = e[13] = e[14] = e[15] = t; 00145 } 00146 //----------------------------------------------------------------------------- 00147 template <typename T> 00148 inline void Matrix4x4<T>::SetAllElements ( T e00, T e01, T e02, T e03, 00149 T e10, T e11, T e12, T e13, 00150 T e20, T e21, T e22, T e23, 00151 T e30, T e31, T e32, T e33 ) 00152 { 00153 e[ 0] = e00; e[ 1] = e01; e[ 2] = e02; e[ 3] = e03; 00154 e[ 4] = e10; e[ 5] = e11; e[ 6] = e12; e[ 7] = e13; 00155 e[ 8] = e20; e[ 9] = e21; e[10] = e22; e[11] = e23; 00156 e[12] = e30; e[13] = e31; e[14] = e32; e[15] = e33; 00157 } 00158 //----------------------------------------------------------------------------- 00159 template <typename T> 00160 inline void Matrix4x4<T>::SetAllElements ( T const af[16] ) 00161 { 00162 e[ 0] = af[ 0]; e[ 1] = af[ 1]; e[ 2] = af[ 2]; e[ 3] = af[ 3]; 00163 e[ 4] = af[ 4]; e[ 5] = af[ 5]; e[ 6] = af[ 6]; e[ 7] = af[ 7]; 00164 e[ 8] = af[ 8]; e[ 9] = af[ 9]; e[10] = af[10]; e[11] = af[11]; 00165 e[12] = af[12]; e[13] = af[13]; e[14] = af[14]; e[15] = af[15]; 00166 } 00167 //----------------------------------------------------------------------------- 00168 template <typename T> 00169 inline void Matrix4x4<T>::MakeIdentity () 00170 { 00171 e[ 0] = e[ 5] = e[10] = e[15] = Math<T>::ONE; 00172 e[ 1] = e[ 2] = e[ 3] = 00173 e[ 4] = e[ 6] = e[ 7] = 00174 e[ 8] = e[ 9] = e[11] = 00175 e[12] = e[13] = e[14] = Math<T>::ZERO; 00176 } 00177 //----------------------------------------------------------------------------- 00178 template <typename T> 00179 inline void Matrix4x4<T>::MakeDiagonal ( T d ) 00180 { 00181 e[ 0] = e[ 5] = e[10] = e[15] = static_cast<T>(d); 00182 e[ 1] = e[ 2] = e[ 3] = 00183 e[ 4] = e[ 6] = e[ 7] = 00184 e[ 8] = e[ 9] = e[11] = 00185 e[12] = e[13] = e[14] = Math<T>::ZERO; 00186 } 00187 //----------------------------------------------------------------------------- 00188 template <typename T> 00189 inline void Matrix4x4<T>::MakeDiagonal ( T const af[4] ) 00190 { 00191 e[ 0] = static_cast<T>(af[0]); 00192 e[ 5] = static_cast<T>(af[1]); 00193 e[10] = static_cast<T>(af[2]); 00194 e[15] = static_cast<T>(af[3]); 00195 e[ 1] = e[ 2] = e[ 3] = 00196 e[ 4] = e[ 6] = e[ 7] = 00197 e[ 8] = e[ 9] = e[11] = 00198 e[12] = e[13] = e[14] = Math<T>::ZERO; 00199 } 00200 //----------------------------------------------------------------------------- 00201 template <typename T> 00202 inline void Matrix4x4<T>::MakeZero () 00203 { 00204 e[ 0] = e[ 1] = e[ 2] = e[ 3] = 00205 e[ 4] = e[ 5] = e[ 6] = e[ 7] = 00206 e[ 8] = e[ 9] = e[10] = e[11] = 00207 e[12] = e[13] = e[14] = e[15] = Math<T>::ZERO; 00208 } 00209 //----------------------------------------------------------------------------- 00210 template <typename T> 00211 inline bool Matrix4x4<T>::IsIdentity () const 00212 { 00213 return e[ 0] == Math<T>::ONE && 00214 e[ 1] == Math<T>::ZERO && 00215 e[ 2] == Math<T>::ZERO && 00216 e[ 3] == Math<T>::ZERO && 00217 00218 e[ 4] == Math<T>::ZERO && 00219 e[ 5] == Math<T>::ONE && 00220 e[ 6] == Math<T>::ZERO && 00221 e[ 7] == Math<T>::ZERO && 00222 00223 e[ 8] == Math<T>::ZERO && 00224 e[ 9] == Math<T>::ZERO && 00225 e[10] == Math<T>::ONE && 00226 e[11] == Math<T>::ZERO && 00227 00228 e[12] == Math<T>::ZERO && 00229 e[13] == Math<T>::ZERO && 00230 e[14] == Math<T>::ZERO && 00231 e[15] == Math<T>::ONE; 00232 } 00233 //----------------------------------------------------------------------------- 00234 //============================================================================= 00235 // Matrix Operations 00236 //----------------------------------------------------------------------------- 00237 template <typename T> 00238 inline Matrix4x4<T> & Matrix4x4<T>::Transposed () 00239 { 00240 T temp; 00241 temp = e[ 1]; e[ 1] = e[ 4]; e[ 4] = temp; 00242 temp = e[ 2]; e[ 2] = e[ 8]; e[ 8] = temp; 00243 temp = e[ 3]; e[ 3] = e[12]; e[12] = temp; 00244 temp = e[ 6]; e[ 6] = e[ 9]; e[ 9] = temp; 00245 temp = e[ 7]; e[ 7] = e[13]; e[13] = temp; 00246 temp = e[11]; e[11] = e[14]; e[14] = temp; 00247 return *this; 00248 } 00249 //----------------------------------------------------------------------------- 00250 template <typename T> 00251 inline Matrix4x4<T> Matrix4x4<T>::GetTranspose() const 00252 { 00253 return Matrix4x4<T> ( e[ 0], e[ 4], e[ 8], e[12], 00254 e[ 1], e[ 5], e[ 9], e[13], 00255 e[ 2], e[ 6], e[10], e[14], 00256 e[ 3], e[ 7], e[11], e[15] ); 00257 } 00258 //----------------------------------------------------------------------------- 00259 // Inverse the matrix 00260 template <typename T> 00261 inline Matrix4x4<T> & Matrix4x4<T>::Inversed () 00262 { 00263 *this = (*this).GetInverse(); 00264 return *this; 00265 } 00266 //----------------------------------------------------------------------------- 00267 // Get the matrix inverse 00268 template <typename T> 00269 Matrix4x4<T> Matrix4x4<T>::GetInverse () const 00270 { 00271 T detInv = T(1) / GetDeterminant(); 00272 00273 //if ( -Math<T>::EPSILON < det && det < Math<T>::EPSILON ) 00274 // return Matrix4x4( Math<T>::INFINITY ); 00275 00276 return Matrix4x4<T>( 00277 ( e[ 5]*e[10]*e[15] - e[ 5]*e[11]*e[14] - e[ 9]*e[ 6]*e[15] + e[ 9]*e[ 7]*e[14] + e[13]*e[ 6]*e[11] - e[13]*e[ 7]*e[10] ) * detInv, 00278 ( e[ 1]*e[11]*e[14] - e[ 1]*e[10]*e[15] + e[ 9]*e[ 2]*e[15] - e[ 9]*e[ 3]*e[14] - e[13]*e[ 2]*e[11] + e[13]*e[ 3]*e[10] ) * detInv, 00279 ( e[ 1]*e[ 6]*e[15] - e[ 1]*e[ 7]*e[14] - e[ 5]*e[ 2]*e[15] + e[ 5]*e[ 3]*e[14] + e[13]*e[ 2]*e[ 7] - e[13]*e[ 3]*e[ 6] ) * detInv, 00280 ( e[ 1]*e[ 7]*e[10] - e[ 1]*e[ 6]*e[11] + e[ 5]*e[ 2]*e[11] - e[ 5]*e[ 3]*e[10] - e[ 9]*e[ 2]*e[ 7] + e[ 9]*e[ 3]*e[ 6] ) * detInv, 00281 00282 ( e[ 4]*e[11]*e[14] - e[ 8]*e[ 7]*e[14] - e[12]*e[ 6]*e[11] - e[ 4]*e[10]*e[15] + e[ 8]*e[ 6]*e[15] + e[12]*e[ 7]*e[10] ) * detInv, 00283 ( e[ 0]*e[10]*e[15] - e[ 0]*e[11]*e[14] - e[ 8]*e[ 2]*e[15] + e[ 8]*e[ 3]*e[14] + e[12]*e[ 2]*e[11] - e[12]*e[ 3]*e[10] ) * detInv, 00284 ( e[ 0]*e[ 7]*e[14] - e[ 0]*e[ 6]*e[15] + e[ 4]*e[ 2]*e[15] - e[ 4]*e[ 3]*e[14] - e[12]*e[ 2]*e[ 7] + e[12]*e[ 3]*e[ 6] ) * detInv, 00285 ( e[ 0]*e[ 6]*e[11] - e[ 0]*e[ 7]*e[10] - e[ 4]*e[ 2]*e[11] + e[ 4]*e[ 3]*e[10] + e[ 8]*e[ 2]*e[ 7] - e[ 8]*e[ 3]*e[ 6] ) * detInv, 00286 00287 ( e[ 4]*e[ 9]*e[15] - e[ 4]*e[11]*e[13] - e[ 8]*e[ 5]*e[15] + e[ 8]*e[ 7]*e[13] + e[12]*e[ 5]*e[11] - e[12]*e[ 7]*e[ 9] ) * detInv, 00288 ( e[ 0]*e[11]*e[13] - e[ 0]*e[ 9]*e[15] + e[ 8]*e[ 1]*e[15] - e[ 8]*e[ 3]*e[13] - e[12]*e[ 1]*e[11] + e[12]*e[ 3]*e[ 9] ) * detInv, 00289 ( e[ 0]*e[ 5]*e[15] - e[ 0]*e[ 7]*e[13] - e[ 4]*e[ 1]*e[15] + e[ 4]*e[ 3]*e[13] + e[12]*e[ 1]*e[ 7] - e[12]*e[ 3]*e[ 5] ) * detInv, 00290 ( e[ 0]*e[ 7]*e[ 9] - e[ 0]*e[ 5]*e[11] + e[ 4]*e[ 1]*e[11] - e[ 4]*e[ 3]*e[ 9] - e[ 8]*e[ 1]*e[ 7] + e[ 8]*e[ 3]*e[ 5] ) * detInv, 00291 00292 ( e[12]*e[ 6]*e[ 9] + e[ 4]*e[10]*e[13] - e[12]*e[ 5]*e[10] - e[ 8]*e[ 6]*e[13] - e[ 4]*e[ 9]*e[14] + e[ 8]*e[ 5]*e[14] ) * detInv, 00293 ( e[ 0]*e[ 9]*e[14] - e[ 0]*e[10]*e[13] - e[ 8]*e[ 1]*e[14] + e[ 8]*e[ 2]*e[13] + e[12]*e[ 1]*e[10] - e[12]*e[ 2]*e[ 9] ) * detInv, 00294 ( e[ 0]*e[ 6]*e[13] - e[ 0]*e[ 5]*e[14] + e[ 4]*e[ 1]*e[14] - e[ 4]*e[ 2]*e[13] - e[12]*e[ 1]*e[ 6] + e[12]*e[ 2]*e[ 5] ) * detInv, 00295 ( e[ 0]*e[ 5]*e[10] - e[ 0]*e[ 6]*e[ 9] - e[ 4]*e[ 1]*e[10] + e[ 4]*e[ 2]*e[ 9] + e[ 8]*e[ 1]*e[ 6] - e[ 8]*e[ 2]*e[ 5] ) * detInv 00296 ); 00297 } 00298 //----------------------------------------------------------------------------- 00299 template <typename T> 00300 inline T Matrix4x4<T>::GetDeterminant () const 00301 { 00302 return e[ 0] * ( e[ 5]*e[10]*e[15] - e[ 5]*e[11]*e[14] - e[ 9]*e[ 6]*e[15] + e[ 9]*e[ 7]*e[14] + e[13]*e[ 6]*e[11] - e[13]*e[ 7]*e[10] ) 00303 + e[ 4] * ( e[ 1]*e[11]*e[14] - e[ 1]*e[10]*e[15] + e[ 9]*e[ 2]*e[15] - e[ 9]*e[ 3]*e[14] - e[13]*e[ 2]*e[11] + e[13]*e[ 3]*e[10] ) 00304 + e[ 8] * ( e[ 1]*e[ 6]*e[15] - e[ 1]*e[ 7]*e[14] - e[ 5]*e[ 2]*e[15] + e[ 5]*e[ 3]*e[14] + e[13]*e[ 2]*e[ 7] - e[13]*e[ 3]*e[ 6] ) 00305 + e[12] * ( e[ 1]*e[ 7]*e[10] - e[ 1]*e[ 6]*e[11] + e[ 5]*e[ 2]*e[11] - e[ 5]*e[ 3]*e[10] - e[ 9]*e[ 2]*e[ 7] + e[ 9]*e[ 3]*e[ 6] ); 00306 } 00307 //----------------------------------------------------------------------------- 00308 //============================================================================= 00309 // Assignment Overloaded Operator 00310 //-------------------------------------------------------------------------- 00311 // Assignment Operator 00312 template <typename T> 00313 inline Matrix4x4<T> & Matrix4x4<T>::operator= ( Matrix4x4<T> const &M ) 00314 { 00315 if ( this != &M ) 00316 { 00317 e[ 0] = M.e[ 0]; e[ 1] = M.e[ 1]; e[ 2] = M.e[ 2]; e[ 3] = M.e[ 3]; 00318 e[ 4] = M.e[ 4]; e[ 5] = M.e[ 5]; e[ 6] = M.e[ 6]; e[ 7] = M.e[ 7]; 00319 e[ 8] = M.e[ 8]; e[ 9] = M.e[ 9]; e[10] = M.e[10]; e[11] = M.e[11]; 00320 e[12] = M.e[12]; e[13] = M.e[13]; e[14] = M.e[14]; e[15] = M.e[15]; 00321 } 00322 return *this; 00323 } 00324 //----------------------------------------------------------------------------- 00325 //============================================================================= 00326 // Unary Overloaded Operators 00327 //----------------------------------------------------------------------------- 00328 template <typename T> 00329 Matrix4x4<T> Matrix4x4<T>::operator- () 00330 { 00331 return Matrix4x4<T>( -e[ 0], -e[ 1], -e[ 2], -e[ 3], 00332 -e[ 4], -e[ 5], -e[ 6], -e[ 7], 00333 -e[ 8], -e[ 9], -e[10], -e[11], 00334 -e[12], -e[13], -e[14], -e[15] ); 00335 } 00336 //----------------------------------------------------------------------------- 00337 //============================================================================= 00338 // Assign Overloaded Operators 00339 //----------------------------------------------------------------------------- 00340 template <typename T> 00341 Matrix4x4<T> & Matrix4x4<T>::operator+= ( Matrix4x4<T> const &M ) 00342 { 00343 e[ 0] += M.e[ 0]; e[ 1] += M.e[ 1]; e[ 2] += M.e[ 2]; e[ 3] += M.e[ 3]; 00344 e[ 4] += M.e[ 4]; e[ 5] += M.e[ 5]; e[ 6] += M.e[ 6]; e[ 7] += M.e[ 7]; 00345 e[ 8] += M.e[ 8]; e[ 9] += M.e[ 9]; e[10] += M.e[10]; e[11] += M.e[11]; 00346 e[12] += M.e[12]; e[13] += M.e[13]; e[14] += M.e[14]; e[15] += M.e[15]; 00347 return *this; 00348 } 00349 //----------------------------------------------------------------------------- 00350 template <typename T> 00351 Matrix4x4<T> & Matrix4x4<T>::operator-= ( Matrix4x4<T> const &M ) 00352 { 00353 e[ 0] -= M.e[ 0]; e[ 1] -= M.e[ 1]; e[ 2] -= M.e[ 2]; e[ 3] -= M.e[ 3]; 00354 e[ 4] -= M.e[ 4]; e[ 5] -= M.e[ 5]; e[ 6] -= M.e[ 6]; e[ 7] -= M.e[ 7]; 00355 e[ 8] -= M.e[ 8]; e[ 9] -= M.e[ 9]; e[10] -= M.e[10]; e[11] -= M.e[11]; 00356 e[12] -= M.e[12]; e[13] -= M.e[13]; e[14] -= M.e[14]; e[15] -= M.e[15]; 00357 return *this; 00358 } 00359 //----------------------------------------------------------------------------- 00360 template <typename T> 00361 Matrix4x4<T> & Matrix4x4<T>::operator*= ( Matrix4x4<T> const &M ) 00362 { 00363 *this = (*this) * M; 00364 return *this; 00365 } 00366 //----------------------------------------------------------------------------- 00367 template <typename T> 00368 Matrix4x4<T> & Matrix4x4<T>::operator*= ( T s ) 00369 { 00370 e[ 0] *= s; e[ 1] *= s; e[ 2] *= s; e[ 3] *= s; 00371 e[ 4] *= s; e[ 5] *= s; e[ 6] *= s; e[ 7] *= s; 00372 e[ 8] *= s; e[ 9] *= s; e[10] *= s; e[11] *= s; 00373 e[12] *= s; e[13] *= s; e[14] *= s; e[15] *= s; 00374 return *this; 00375 } 00376 //----------------------------------------------------------------------------- 00377 template <typename T> 00378 Matrix4x4<T> & Matrix4x4<T>::operator/= ( T s ) 00379 { 00380 e[ 0] /= s; e[ 1] /= s; e[ 2] /= s; e[ 3] /= s; 00381 e[ 4] /= s; e[ 5] /= s; e[ 6] /= s; e[ 7] /= s; 00382 e[ 8] /= s; e[ 9] /= s; e[10] /= s; e[11] /= s; 00383 e[12] /= s; e[13] /= s; e[14] /= s; e[15] /= s; 00384 return *this; 00385 } 00386 //----------------------------------------------------------------------------- 00387 //============================================================================= 00388 // Binary Overloaded Operators 00389 //----------------------------------------------------------------------------- 00390 template <typename T> 00391 Matrix4x4<T> Matrix4x4<T>::operator+ ( Matrix4x4<T> const &M ) const 00392 { 00393 return Matrix4x4<T>( e[ 0]+M.e[ 0], e[ 1]+M.e[ 1], e[ 2]+M.e[ 2], e[ 3]+M.e[ 3], 00394 e[ 4]+M.e[ 4], e[ 5]+M.e[ 5], e[ 6]+M.e[ 6], e[ 7]+M.e[ 7], 00395 e[ 8]+M.e[ 8], e[ 9]+M.e[ 9], e[10]+M.e[10], e[11]+M.e[11], 00396 e[12]+M.e[12], e[13]+M.e[13], e[14]+M.e[14], e[15]+M.e[15] ); 00397 } 00398 //----------------------------------------------------------------------------- 00399 template <typename T> 00400 Matrix4x4<T> Matrix4x4<T>::operator- ( Matrix4x4<T> const &M ) const 00401 { 00402 return Matrix4x4<T>( e[ 0]-M.e[ 0], e[ 1]-M.e[ 1], e[ 2]-M.e[ 2], e[ 3]-M.e[ 3], 00403 e[ 4]-M.e[ 4], e[ 5]-M.e[ 5], e[ 6]-M.e[ 6], e[ 7]-M.e[ 7], 00404 e[ 8]-M.e[ 8], e[ 9]-M.e[ 9], e[10]-M.e[10], e[11]-M.e[11], 00405 e[12]-M.e[12], e[13]-M.e[13], e[14]-M.e[14], e[15]-M.e[15] ); 00406 } 00407 //----------------------------------------------------------------------------- 00408 template <typename T> 00409 Matrix4x4<T> Matrix4x4<T>::operator* ( Matrix4x4<T> const &M ) const 00410 { 00411 return Matrix4x4<T>( 00412 e[ 0]*M.e[ 0] + e[ 1]*M.e[ 4] + e[ 2]*M.e[ 8] + e[ 3]*M.e[12], 00413 e[ 0]*M.e[ 1] + e[ 1]*M.e[ 5] + e[ 2]*M.e[ 9] + e[ 3]*M.e[13], 00414 e[ 0]*M.e[ 2] + e[ 1]*M.e[ 6] + e[ 2]*M.e[10] + e[ 3]*M.e[14], 00415 e[ 0]*M.e[ 3] + e[ 1]*M.e[ 7] + e[ 2]*M.e[11] + e[ 3]*M.e[15], 00416 00417 e[ 4]*M.e[ 0] + e[ 5]*M.e[ 4] + e[ 6]*M.e[ 8] + e[ 7]*M.e[12], 00418 e[ 4]*M.e[ 1] + e[ 5]*M.e[ 5] + e[ 6]*M.e[ 9] + e[ 7]*M.e[13], 00419 e[ 4]*M.e[ 2] + e[ 5]*M.e[ 6] + e[ 6]*M.e[10] + e[ 7]*M.e[14], 00420 e[ 4]*M.e[ 3] + e[ 5]*M.e[ 7] + e[ 6]*M.e[11] + e[ 7]*M.e[15], 00421 00422 e[ 8]*M.e[ 0] + e[ 9]*M.e[ 4] + e[10]*M.e[ 8] + e[11]*M.e[12], 00423 e[ 8]*M.e[ 1] + e[ 9]*M.e[ 5] + e[10]*M.e[ 9] + e[11]*M.e[13], 00424 e[ 8]*M.e[ 2] + e[ 9]*M.e[ 6] + e[10]*M.e[10] + e[11]*M.e[14], 00425 e[ 8]*M.e[ 3] + e[ 9]*M.e[ 7] + e[10]*M.e[11] + e[11]*M.e[15], 00426 00427 e[12]*M.e[ 0] + e[13]*M.e[ 4] + e[14]*M.e[ 8] + e[15]*M.e[12], 00428 e[12]*M.e[ 1] + e[13]*M.e[ 5] + e[14]*M.e[ 9] + e[15]*M.e[13], 00429 e[12]*M.e[ 2] + e[13]*M.e[ 6] + e[14]*M.e[10] + e[15]*M.e[14], 00430 e[12]*M.e[ 3] + e[13]*M.e[ 7] + e[14]*M.e[11] + e[15]*M.e[15] 00431 ); 00432 } 00433 //----------------------------------------------------------------------------- 00434 template <typename T> 00435 Matrix4x4<T> Matrix4x4<T>::operator* ( T s ) const 00436 { 00437 return Matrix4x4<T>( e[ 0]*s, e[ 1]*s, e[ 2]*s, e[ 3]*s, 00438 e[ 4]*s, e[ 5]*s, e[ 6]*s, e[ 7]*s, 00439 e[ 8]*s, e[ 9]*s, e[10]*s, e[11]*s, 00440 e[12]*s, e[13]*s, e[14]*s, e[15]*s ); 00441 } 00442 //----------------------------------------------------------------------------- 00443 template <typename T> 00444 Matrix4x4<T> Matrix4x4<T>::operator/ ( T s ) const 00445 { 00446 return Matrix4x4<T>( e[ 0]/s, e[ 1]/s, e[ 2]/s, e[ 3]/s, 00447 e[ 4]/s, e[ 5]/s, e[ 6]/s, e[ 7]/s, 00448 e[ 8]/s, e[ 9]/s, e[10]/s, e[11]/s, 00449 e[12]/s, e[13]/s, e[14]/s, e[15]/s ); 00450 } 00451 //----------------------------------------------------------------------------- 00452 template <typename T> 00453 inline void Matrix4x4<T>::MultLeft ( Matrix4x4<T> const &M ) 00454 { 00455 *this = M * (*this); 00456 } 00457 //----------------------------------------------------------------------------- 00458 template <typename T> 00459 inline void Matrix4x4<T>::MultRight ( Matrix4x4<T> const &M ) 00460 { 00461 *this *= M; 00462 } 00463 //----------------------------------------------------------------------------- 00464 // Matrix * Vector 00465 template <typename T> 00466 Vector4<T> Matrix4x4<T>::operator* ( Vector4<T> const &V ) const 00467 { 00468 return Vector4<T>( 00469 V[0]*e[ 0] + V[1]*e[ 1] + V[2]*e[ 2] + V[3]*e[ 3], 00470 V[0]*e[ 4] + V[1]*e[ 5] + V[2]*e[ 6] + V[3]*e[ 7], 00471 V[0]*e[ 8] + V[1]*e[ 9] + V[2]*e[10] + V[3]*e[11], 00472 V[0]*e[12] + V[1]*e[13] + V[2]*e[14] + V[3]*e[15] ); 00473 } 00474 //----------------------------------------------------------------------------- 00475 // Matrix * Vector 00476 template <typename T> 00477 Vector3<T> Matrix4x4<T>::operator* ( Vector3<T> const &V ) const 00478 { 00479 return Vector3<T>( 00480 V[0]*e[ 0] + V[1]*e[ 1] + V[2]*e[ 2] + e[ 3], 00481 V[0]*e[ 4] + V[1]*e[ 5] + V[2]*e[ 6] + e[ 7], 00482 V[0]*e[ 8] + V[1]*e[ 9] + V[2]*e[10] + e[11] ); 00483 } 00484 //----------------------------------------------------------------------------- 00485 // Graphics Operation(s) 00486 template <typename T> 00487 Matrix4x4<T> Matrix4x4<T>::CreateRotation ( Vector3<T> const &V, T const angle ) 00488 { 00489 assert( V.Length() ); // Vector must not be zero 00490 Matrix4x4<T> mRotation; 00491 Vector3<T> axis = V.GetUnit(); 00492 T x = axis[0], y = axis[1], z = axis[2]; 00493 T xx = x*x, yy = y*y, zz = z*z; 00494 T xy = x*y, yz = y*z, zx = x*z; 00495 //---------------------------------------------------------------- 00496 mRotation( 0, 0 ) = xx + cos(angle)*(1 - xx); 00497 mRotation( 0, 1 ) = xy*(1 - cos(angle)) - z*sin(angle); 00498 mRotation( 0, 2 ) = zx*(1 - cos(angle)) + y*sin(angle); 00499 //---------------------------------------------------------------- 00500 mRotation( 1, 0 ) = xy*(1 - cos(angle)) + z*sin(angle); 00501 mRotation( 1, 1 ) = yy + cos(angle)*(1 - yy); 00502 mRotation( 1, 2 ) = yz*(1 - cos(angle)) - x*sin(angle); 00503 //---------------------------------------------------------------- 00504 mRotation( 2, 0 ) = zx*(1 - cos(angle)) - y*sin(angle); 00505 mRotation( 2, 1 ) = yz*(1 - cos(angle)) + x*sin(angle); 00506 mRotation( 2, 2 ) = zz + cos(angle)*(1 - zz); 00507 //---------------------------------------------------------------- 00508 return mRotation; 00509 } 00510 //----------------------------------------------------------------------------- 00511 00512 //============================================================================= 00513 // Static Member Functions for Data Conversions 00514 //----------------------------------------------------------------------------- 00515 // Conversion(s) 00516 template <typename T> 00517 inline Matrix3x3<T> Matrix4x4<T>::GetMatrix3x3 () const 00518 { 00519 return Matrix3x3<T>( e[0], e[1], e[2], 00520 e[4], e[5], e[6], 00521 e[8], e[9], e[10] ); 00522 } 00523 //----------------------------------------------------------------------------- 00524 00525 //============================================================================= 00526 // Static Member Functions for Data Conversions 00527 //----------------------------------------------------------------------------- 00528 template <typename T> 00529 const float * Matrix4x4<T>::GetDataFloat () const 00530 { 00531 for ( int i = 0; i < 16; ++i ) { 00532 g_f[i] = static_cast<float>( e[i] ); 00533 } 00534 return g_f; 00535 } 00536 //----------------------------------------------------------------------------- 00537 template <typename T> 00538 const double * Matrix4x4<T>::GetDataDouble () const 00539 { 00540 for ( int i = 0; i < 16; ++i ) { 00541 g_d[i] = static_cast<double>( e[i] ); 00542 } 00543 return g_d; 00544 } 00545 //----------------------------------------------------------------------------- 00546 template <typename T> 00547 const long double * Matrix4x4<T>::GetDataLongDouble () const 00548 { 00549 for ( int i = 0; i < 16; ++i ) { 00550 g_ld[i] = static_cast<long double>( e[i] ); 00551 } 00552 return g_ld; 00553 } 00554 //----------------------------------------------------------------------------- 00555 template <typename T> 00556 const float * Matrix4x4<T>::GetTransposeDataFloat () const 00557 { 00558 g_f[ 0] = static_cast<float>( e[ 0] ); 00559 g_f[ 1] = static_cast<float>( e[ 4] ); 00560 g_f[ 2] = static_cast<float>( e[ 8] ); 00561 g_f[ 3] = static_cast<float>( e[12] ); 00562 g_f[ 4] = static_cast<float>( e[ 1] ); 00563 g_f[ 5] = static_cast<float>( e[ 5] ); 00564 g_f[ 6] = static_cast<float>( e[ 9] ); 00565 g_f[ 7] = static_cast<float>( e[13] ); 00566 g_f[ 8] = static_cast<float>( e[ 2] ); 00567 g_f[ 9] = static_cast<float>( e[ 6] ); 00568 g_f[10] = static_cast<float>( e[10] ); 00569 g_f[11] = static_cast<float>( e[14] ); 00570 g_f[12] = static_cast<float>( e[ 3] ); 00571 g_f[13] = static_cast<float>( e[ 7] ); 00572 g_f[14] = static_cast<float>( e[11] ); 00573 g_f[15] = static_cast<float>( e[15] ); 00574 return g_f; 00575 } 00576 //----------------------------------------------------------------------------- 00577 template <typename T> 00578 const double * Matrix4x4<T>::GetTransposeDataDouble () const 00579 { 00580 g_d[ 0] = static_cast<double>( e[ 0] ); 00581 g_d[ 1] = static_cast<double>( e[ 4] ); 00582 g_d[ 2] = static_cast<double>( e[ 8] ); 00583 g_d[ 3] = static_cast<double>( e[12] ); 00584 g_d[ 4] = static_cast<double>( e[ 1] ); 00585 g_d[ 5] = static_cast<double>( e[ 5] ); 00586 g_d[ 6] = static_cast<double>( e[ 9] ); 00587 g_d[ 7] = static_cast<double>( e[13] ); 00588 g_d[ 8] = static_cast<double>( e[ 2] ); 00589 g_d[ 9] = static_cast<double>( e[ 6] ); 00590 g_d[10] = static_cast<double>( e[10] ); 00591 g_d[11] = static_cast<double>( e[14] ); 00592 g_d[12] = static_cast<double>( e[ 3] ); 00593 g_d[13] = static_cast<double>( e[ 7] ); 00594 g_d[14] = static_cast<double>( e[11] ); 00595 g_d[15] = static_cast<double>( e[15] ); 00596 return g_d; 00597 } 00598 //----------------------------------------------------------------------------- 00599 template <typename T> 00600 const long double * Matrix4x4<T>::GetTransposeDataLongDouble () const 00601 { 00602 g_ld[ 0] = static_cast<long double>( e[ 0] ); 00603 g_ld[ 1] = static_cast<long double>( e[ 4] ); 00604 g_ld[ 2] = static_cast<long double>( e[ 8] ); 00605 g_ld[ 3] = static_cast<long double>( e[12] ); 00606 g_ld[ 4] = static_cast<long double>( e[ 1] ); 00607 g_ld[ 5] = static_cast<long double>( e[ 5] ); 00608 g_ld[ 6] = static_cast<long double>( e[ 9] ); 00609 g_ld[ 7] = static_cast<long double>( e[13] ); 00610 g_ld[ 8] = static_cast<long double>( e[ 2] ); 00611 g_ld[ 9] = static_cast<long double>( e[ 6] ); 00612 g_ld[10] = static_cast<long double>( e[10] ); 00613 g_ld[11] = static_cast<long double>( e[14] ); 00614 g_ld[12] = static_cast<long double>( e[ 3] ); 00615 g_ld[13] = static_cast<long double>( e[ 7] ); 00616 g_ld[14] = static_cast<long double>( e[11] ); 00617 g_ld[15] = static_cast<long double>( e[15] ); 00618 return g_ld; 00619 } 00620 //----------------------------------------------------------------------------- 00621 //============================================================================= 00622 END_NAMESPACE_TAPs 00623 //345678901234567890123456789012345678901234567890123456789012345678901234567890 00624 //--+----1----+----2----+----3----+----4----+----5----+----6----+----7----+----8
1.7.4 
