nuclear@1: #ifndef VMATH_MATRIX_H_
nuclear@1: #define VMATH_MATRIX_H_
nuclear@1: 
nuclear@1: #include <math.h>
nuclear@1: 
nuclear@1: #ifndef M_PI
nuclear@1: #define M_PI	3.141592653
nuclear@1: #endif
nuclear@1: 
nuclear@1: class Vector3;
nuclear@1: 
nuclear@1: class Matrix4x4 {
nuclear@1: public:
nuclear@1: 	float m[4][4];
nuclear@1: 
nuclear@1: 	Matrix4x4()
nuclear@1: 	{
nuclear@1: 		set_identity();
nuclear@1: 	}
nuclear@1: 
nuclear@1: 	Matrix4x4(float m00, float m01, float m02, float m03,
nuclear@1: 			float m10, float m11, float m12, float m13,
nuclear@1: 			float m20, float m21, float m22, float m23,
nuclear@1: 			float m30, float m31, float m32, float m33)
nuclear@1: 	{
nuclear@1: 		m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
nuclear@1: 		m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
nuclear@1: 		m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
nuclear@1: 		m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
nuclear@1: 	}
nuclear@1: 
nuclear@1: 	inline void set_identity();
nuclear@1: 	inline void translate(float x, float y, float z);
nuclear@1: 	inline void rotate(float angle, float x, float y, float z);
nuclear@1: 	inline void scale(float x, float y, float z);
nuclear@1: 	inline void perspective(float vfov, float aspect, float znear, float zfar);
nuclear@13: 	void lookat(const Vector3 &pos, const Vector3 &targ, const Vector3 &up);
nuclear@1: 
nuclear@1: 	float *operator [](int idx) { return m[idx]; }
nuclear@1: 	const float *operator [](int idx) const { return m[idx]; }
nuclear@12: 
nuclear@12: 	void transpose();
nuclear@12: 
nuclear@12: 	float determinant() const;
nuclear@12: 	Matrix4x4 adjoint() const;
nuclear@12: 	Matrix4x4 inverse() const;
nuclear@1: };
nuclear@1: 
nuclear@1: inline Matrix4x4 operator *(const Matrix4x4 &a, const Matrix4x4 &b)
nuclear@1: {
nuclear@1: 	Matrix4x4 res;
nuclear@1: 	for(int i=0; i<4; i++) {
nuclear@1: 		for(int j=0; j<4; j++) {
nuclear@1: 			res[i][j] = a[i][0] * b[0][j] + a[i][1] * b[1][j] +
nuclear@1: 				a[i][2] * b[2][j] + a[i][3] * b[3][j];
nuclear@1: 		}
nuclear@1: 	}
nuclear@1: 	return res;
nuclear@1: }
nuclear@1: 
nuclear@12: inline Matrix4x4 operator *(const Matrix4x4 &mat, float scalar)
nuclear@12: {
nuclear@12: 	Matrix4x4 res;
nuclear@12: 
nuclear@12: 	for(int i=0; i<4; i++) {
nuclear@12: 		for(int j=0; j<4; j++) {
nuclear@12: 			res.m[i][j] = mat.m[i][j] * scalar;
nuclear@12: 		}
nuclear@12: 	}
nuclear@12: 	return res;
nuclear@12: }
nuclear@12: 
nuclear@1: inline void Matrix4x4::set_identity()
nuclear@1: {
nuclear@1: 	m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0;
nuclear@1: 	m[0][1] = m[0][2] = m[0][3] = m[1][2] = m[1][3] = m[2][3] = 0.0;
nuclear@1: 	m[1][0] = m[2][0] = m[3][0] = m[2][1] = m[3][1] = m[3][2] = 0.0;
nuclear@1: }
nuclear@1: 
nuclear@1: inline void Matrix4x4::translate(float x, float y, float z)
nuclear@1: {
nuclear@1: 	Matrix4x4 m(1, 0, 0, x, 0, 1, 0, y, 0, 0, 1, z, 0, 0, 0, 1);
nuclear@1: 	*this = *this * m;
nuclear@1: }
nuclear@1: 
nuclear@1: inline void Matrix4x4::rotate(float angle, float x, float y, float z)
nuclear@1: {
nuclear@1: 	float sina = (float)sin(angle);
nuclear@1: 	float cosa = (float)cos(angle);
nuclear@1: 	float rcosa = 1.0f - cosa;
nuclear@1: 	float nxsq = x * x;
nuclear@1: 	float nysq = y * y;
nuclear@1: 	float nzsq = z * z;
nuclear@1: 
nuclear@1: 	Matrix4x4 m;
nuclear@1: 	m[0][0] = nxsq + (1.0f - nxsq) * cosa;
nuclear@1: 	m[0][1] = x * y * rcosa - z * sina;
nuclear@1: 	m[0][2] = x * z * rcosa + y * sina;
nuclear@1: 
nuclear@1: 	m[1][0] = x * y * rcosa + z * sina;
nuclear@1: 	m[1][1] = nysq + (1.0f - nysq) * cosa;
nuclear@1: 	m[1][2] = y * z * rcosa - x * sina;
nuclear@1: 
nuclear@1: 	m[2][0] = x * z * rcosa - y * sina;
nuclear@1: 	m[2][1] = y * z * rcosa + x * sina;
nuclear@1: 	m[2][2] = nzsq + (1.0f - nzsq) * cosa;
nuclear@1: 
nuclear@1: 	*this = *this * m;
nuclear@1: }
nuclear@1: 
nuclear@1: inline void Matrix4x4::scale(float x, float y, float z)
nuclear@1: {
nuclear@1: 	Matrix4x4 m(x, 0, 0, 0, 0, y, 0, 0, 0, 0, z, 0, 0, 0, 0, 1);
nuclear@1: 	*this = *this * m;
nuclear@1: }
nuclear@1: 
nuclear@1: inline void Matrix4x4::perspective(float vfov, float aspect, float znear, float zfar)
nuclear@1: {
nuclear@1: 	float f = 1.0f / tan(vfov * 0.5f);
nuclear@1: 	float dz = znear - zfar;
nuclear@1: 
nuclear@1: 	Matrix4x4 m;
nuclear@1: 	m[0][0] = f / aspect;
nuclear@1: 	m[1][1] = f;
nuclear@1: 	m[2][2] = (zfar + znear) / dz;
nuclear@1: 	m[3][2] = -1.0f;
nuclear@1: 	m[2][3] = 2.0f * zfar * znear / dz;
nuclear@1: 	m[3][3] = 0.0f;
nuclear@1: 
nuclear@1: 	*this = *this * m;
nuclear@1: }
nuclear@1: 
nuclear@1: #endif	// VMATH_MATRIX_H_