nuclear@1: #include "vmathmat.h"
nuclear@1: #include "vmath.h"
nuclear@1: 
nuclear@1: void Matrix4x4::lookat(const Vector3 &pos, const Vector3 &targ, const Vector3 &up)
nuclear@1: {
nuclear@1: 	Vector3 vk = normalize(targ - pos);
nuclear@1: 	Vector3 vj = normalize(up);
nuclear@1: 	Vector3 vi = normalize(cross(vk, vj));
nuclear@1: 	vj = cross(vi, vk);
nuclear@1: 
nuclear@1: 	Matrix4x4 m(
nuclear@1: 			vi.x, vi.y, vi.z, 0,
nuclear@1: 			vj.x, vj.y, vj.z, 0,
nuclear@1: 			-vk.x, -vk.y, -vk.z, 0,
nuclear@1: 			0, 0, 0, 1);
nuclear@1: 	translate(-pos.x, -pos.y, -pos.z);
nuclear@1: 	*this = *this * m;
nuclear@1: }
nuclear@12: 
nuclear@12: void Matrix4x4::transpose()
nuclear@12: {
nuclear@12: 	Matrix4x4 tmp = *this;
nuclear@12: 	for(int i=0; i<4; i++) {
nuclear@12: 		for(int j=0; j<4; j++) {
nuclear@12: 			m[i][j] = tmp[j][i];
nuclear@12: 		}
nuclear@12: 	}
nuclear@12: }
nuclear@12: 
nuclear@12: float Matrix4x4::determinant() const
nuclear@12: {
nuclear@12: 	float det11 =	(m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12: 
nuclear@12: 	float det12 =	(m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12: 
nuclear@12: 	float det13 =	(m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12: 					(m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 
nuclear@12: 	float det14 =	(m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12: 					(m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12: 					(m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 
nuclear@12: 	return m[0][0] * det11 - m[0][1] * det12 + m[0][2] * det13 - m[0][3] * det14;
nuclear@12: }
nuclear@12: 
nuclear@12: 
nuclear@12: Matrix4x4 Matrix4x4::adjoint() const
nuclear@12: {
nuclear@12: 	Matrix4x4 coef;
nuclear@12: 
nuclear@12: 	coef.m[0][0] =	(m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12: 	coef.m[0][1] =	(m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12: 	coef.m[0][2] =	(m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12: 					(m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 	coef.m[0][3] =	(m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12: 					(m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12: 					(m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 
nuclear@12: 	coef.m[1][0] =	(m[0][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[0][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
nuclear@12: 					(m[0][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
nuclear@12: 	coef.m[1][1] =	(m[0][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
nuclear@12: 					(m[0][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[0][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
nuclear@12: 	coef.m[1][2] =	(m[0][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
nuclear@12: 					(m[0][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
nuclear@12: 					(m[0][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 	coef.m[1][3] =	(m[0][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
nuclear@12: 					(m[0][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
nuclear@12: 					(m[0][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
nuclear@12: 
nuclear@12: 	coef.m[2][0] =	(m[0][1] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@12: 					(m[0][2] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][1] * m[3][2] - m[3][1] * m[1][2]));
nuclear@12: 	coef.m[2][1] =	(m[0][0] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
nuclear@12: 					(m[0][2] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][0] * m[3][2] - m[3][0] * m[1][2]));
nuclear@12: 	coef.m[2][2] =	(m[0][0] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) -
nuclear@12: 					(m[0][1] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@12: 	coef.m[2][3] =	(m[0][0] * (m[1][1] * m[3][2] - m[3][1] * m[1][2])) -
nuclear@12: 					(m[0][1] * (m[1][0] * m[3][2] - m[3][0] * m[1][2])) +
nuclear@12: 					(m[0][2] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
nuclear@12: 
nuclear@12: 	coef.m[3][0] =	(m[0][1] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@12: 					(m[0][2] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]));
nuclear@12: 	coef.m[3][1] =	(m[0][0] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
nuclear@12: 					(m[0][2] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][0] * m[2][2] - m[2][0] * m[1][2]));
nuclear@12: 	coef.m[3][2] =	(m[0][0] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) -
nuclear@12: 					(m[0][1] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
nuclear@12: 					(m[0][3] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@12: 	coef.m[3][3] =	(m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])) -
nuclear@12: 					(m[0][1] * (m[1][0] * m[2][2] - m[2][0] * m[1][2])) +
nuclear@12: 					(m[0][2] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
nuclear@12: 
nuclear@12: 	coef.transpose();
nuclear@12: 
nuclear@12: 	for(int i=0; i<4; i++) {
nuclear@12: 		for(int j=0; j<4; j++) {
nuclear@12: 			coef.m[i][j] = j % 2 ? -coef.m[i][j] : coef.m[i][j];
nuclear@12: 			if(i % 2) coef.m[i][j] = -coef.m[i][j];
nuclear@12: 		}
nuclear@12: 	}
nuclear@12: 
nuclear@12: 	return coef;
nuclear@12: }
nuclear@12: 
nuclear@12: Matrix4x4 Matrix4x4::inverse() const
nuclear@12: {
nuclear@12: 	Matrix4x4 adj = adjoint();
nuclear@12: 	return adj * (1.0f / determinant());
nuclear@12: }