nuclear@0: #ifndef MATRIX_H_
nuclear@0: #define MATRIX_H_
nuclear@0: 
nuclear@0: #define _USE_MATH_DEFINES
nuclear@0: #include <math.h>
nuclear@0: 
nuclear@0: #ifndef M_PI
nuclear@0: #define M_PI	3.14159265359
nuclear@0: #endif
nuclear@0: 
nuclear@0: class Matrix4x4 {
nuclear@0: public:
nuclear@0: 	float m[4][4];
nuclear@0: 
nuclear@0: 	inline Matrix4x4()
nuclear@0: 	{
nuclear@0: 		*this = Matrix4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline Matrix4x4(float m00, float m01, float m02, float m03,
nuclear@0: 			float m10, float m11, float m12, float m13,
nuclear@0: 			float m20, float m21, float m22, float m23,
nuclear@0: 			float m30, float m31, float m32, float m33)
nuclear@0: 	{
nuclear@0: 		m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
nuclear@0: 		m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
nuclear@0: 		m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
nuclear@0: 		m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	friend inline Matrix4x4 operator *(const Matrix4x4 &a, const Matrix4x4 &b);
nuclear@0: 
nuclear@0: 	inline void set_identity()
nuclear@0: 	{
nuclear@0: 		*this = Matrix4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline void translate(float x, float y, float z)
nuclear@0: 	{
nuclear@0: 		*this = *this * Matrix4x4(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline void scale(float x, float y, float z)
nuclear@0: 	{
nuclear@0: 		*this = *this * Matrix4x4(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline void rotate(float angle, float x, float y, float z)
nuclear@0: 	{
nuclear@0: 		float rad = M_PI * angle / 180.0;
nuclear@0: 		float sina = (float)sin(rad);
nuclear@0: 		float cosa = (float)cos(rad);
nuclear@0: 		float invcosa = 1.0f - cosa;
nuclear@0: 		float nxsq = x * x;
nuclear@0: 		float nysq = y * y;
nuclear@0: 		float nzsq = z * z;
nuclear@0: 
nuclear@0: 		Matrix4x4 xform;
nuclear@0: 		xform[0][0] = nxsq + (1.0f - nxsq) * cosa;
nuclear@0: 		xform[0][1] = x * y * invcosa - z * sina;
nuclear@0: 		xform[0][2] = x * z * invcosa + y * sina;
nuclear@0: 		xform[1][0] = x * y * invcosa + z * sina;
nuclear@0: 		xform[1][1] = nysq + (1.0f - nysq) * cosa;
nuclear@0: 		xform[1][2] = y * z * invcosa - x * sina;
nuclear@0: 		xform[2][0] = x * z * invcosa - y * sina;
nuclear@0: 		xform[2][1] = y * z * invcosa + x * sina;
nuclear@0: 		xform[2][2] = nzsq + (1.0f - nzsq) * cosa;
nuclear@0: 		*this = *this * xform;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline void perspective(float vfov_deg, float aspect, float znear, float zfar)
nuclear@0: 	{
nuclear@0: 		float vfov_rad = M_PI * vfov_deg / 180.0;
nuclear@0: 		float f = 1.0f / tan(vfov_rad * 0.5f);
nuclear@0: 		float dz = znear - zfar;
nuclear@0: 
nuclear@0: 		Matrix4x4 xform;
nuclear@0: 		xform[0][0] = f / aspect;
nuclear@0: 		xform[1][1] = f;
nuclear@0: 		xform[2][2] = (zfar + znear) / dz;
nuclear@0: 		xform[3][2] = -1.0f;
nuclear@0: 		xform[2][3] = 2.0f * zfar * znear / dz;
nuclear@0: 		xform[3][3] = 0.0f;
nuclear@0: 		*this = *this * xform;
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline float *operator [](int idx)
nuclear@0: 	{
nuclear@0: 		return m[idx];
nuclear@0: 	}
nuclear@0: 
nuclear@0: 	inline const float *operator[](int idx) const
nuclear@0: 	{
nuclear@0: 		return m[idx];
nuclear@0: 	}
nuclear@0: };
nuclear@0: 
nuclear@0: inline Matrix4x4 operator *(const Matrix4x4 &a, const Matrix4x4 &b)
nuclear@0: {
nuclear@0: 	Matrix4x4 res;
nuclear@0: 
nuclear@0: 	for(int i=0; i<4; i++) {
nuclear@0: 		for(int j=0; j<4; j++) {
nuclear@0: 			res.m[i][j] = a.m[i][0] * b.m[0][j] + a.m[i][1] * b.m[1][j] + a.m[i][2] * b.m[2][j] + a.m[i][3] * b.m[3][j];
nuclear@0: 		}
nuclear@0: 	}
nuclear@0: 	return res;
nuclear@0: }
nuclear@0: 
nuclear@0: 
nuclear@0: #endif	// MATRIX_H_