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minor changes from dos, and line endings cleanup
author John Tsiombikas <nuclear@member.fsf.org>
date Fri, 02 May 2014 14:32:58 +0300
parents 964f8ea5f095
children
line source
1 #ifndef VMATH_MATRIX_H_
2 #define VMATH_MATRIX_H_
3
4 #include <math.h>
5
6 #ifndef M_PI
7 #define M_PI 3.141592653
8 #endif
9
10 class Vector3;
11
12 class Matrix4x4 {
13 public:
14 float m[4][4];
15
16 Matrix4x4()
17 {
18 set_identity();
19 }
20
21 Matrix4x4(float m00, float m01, float m02, float m03,
22 float m10, float m11, float m12, float m13,
23 float m20, float m21, float m22, float m23,
24 float m30, float m31, float m32, float m33)
25 {
26 m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
27 m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
28 m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
29 m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
30 }
31
32 inline void set_identity();
33 inline void translate(float x, float y, float z);
34 inline void rotate(float angle, float x, float y, float z);
35 inline void scale(float x, float y, float z);
36 inline void perspective(float vfov, float aspect, float znear, float zfar);
37 void lookat(const Vector3 &pos, const Vector3 &targ, const Vector3 &up);
38
39 float *operator [](int idx) { return m[idx]; }
40 const float *operator [](int idx) const { return m[idx]; }
41
42 void transpose();
43
44 float determinant() const;
45 Matrix4x4 adjoint() const;
46 Matrix4x4 inverse() const;
47 };
48
49 inline Matrix4x4 operator *(const Matrix4x4 &a, const Matrix4x4 &b)
50 {
51 Matrix4x4 res;
52 for(int i=0; i<4; i++) {
53 for(int j=0; j<4; j++) {
54 res[i][j] = a[i][0] * b[0][j] + a[i][1] * b[1][j] +
55 a[i][2] * b[2][j] + a[i][3] * b[3][j];
56 }
57 }
58 return res;
59 }
60
61 inline Matrix4x4 operator *(const Matrix4x4 &mat, float scalar)
62 {
63 Matrix4x4 res;
64
65 for(int i=0; i<4; i++) {
66 for(int j=0; j<4; j++) {
67 res.m[i][j] = mat.m[i][j] * scalar;
68 }
69 }
70 return res;
71 }
72
73 inline void Matrix4x4::set_identity()
74 {
75 m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0;
76 m[0][1] = m[0][2] = m[0][3] = m[1][2] = m[1][3] = m[2][3] = 0.0;
77 m[1][0] = m[2][0] = m[3][0] = m[2][1] = m[3][1] = m[3][2] = 0.0;
78 }
79
80 inline void Matrix4x4::translate(float x, float y, float z)
81 {
82 Matrix4x4 m(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
83 *this = *this * m;
84 }
85
86 inline void Matrix4x4::rotate(float angle, float x, float y, float z)
87 {
88 float sina = (float)sin(angle);
89 float cosa = (float)cos(angle);
90 float rcosa = 1.0f - cosa;
91 float nxsq = x * x;
92 float nysq = y * y;
93 float nzsq = z * z;
94
95 Matrix4x4 m;
96 m[0][0] = nxsq + (1.0f - nxsq) * cosa;
97 m[0][1] = x * y * rcosa - z * sina;
98 m[0][2] = x * z * rcosa + y * sina;
99
100 m[1][0] = x * y * rcosa + z * sina;
101 m[1][1] = nysq + (1.0f - nysq) * cosa;
102 m[1][2] = y * z * rcosa - x * sina;
103
104 m[2][0] = x * z * rcosa - y * sina;
105 m[2][1] = y * z * rcosa + x * sina;
106 m[2][2] = nzsq + (1.0f - nzsq) * cosa;
107
108 *this = *this * m;
109 }
110
111 inline void Matrix4x4::scale(float x, float y, float z)
112 {
113 Matrix4x4 m(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
114 *this = *this * m;
115 }
116
117 inline void Matrix4x4::perspective(float vfov, float aspect, float znear, float zfar)
118 {
119 float f = 1.0f / tan(vfov * 0.5f);
120 float dz = znear - zfar;
121
122 Matrix4x4 m;
123 m[0][0] = f / aspect;
124 m[1][1] = f;
125 m[2][2] = (zfar + znear) / dz;
126 m[3][2] = -1.0f;
127 m[2][3] = 2.0f * zfar * znear / dz;
128 m[3][3] = 0.0f;
129
130 *this = *this * m;
131 }
132
133 inline Matrix4x4 normal_matrix(const Matrix4x4 &m)
134 {
135 return Matrix4x4(m[0][0], m[0][1], m[0][2], 0,
136 m[1][0], m[1][1], m[1][2], 0,
137 m[2][0], m[2][1], m[2][2], 0,
138 m[3][0], m[3][1], m[3][2], 1);
139 }
140
141 #endif // VMATH_MATRIX_H_