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-rw-r--r--src/Matrix4.h224
1 files changed, 224 insertions, 0 deletions
diff --git a/src/Matrix4.h b/src/Matrix4.h
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+++ b/src/Matrix4.h
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+
+#pragma once
+
+
+
+
+#include <math.h>
+
+
+
+
+
+template <typename T>
+// tolua_begin
+class Matrix4
+{
+
+ TOLUA_TEMPLATE_BIND((T, float, double))
+
+ // tolua_end
+
+public:
+
+ T cell[16];
+
+ // tolua_begin
+
+ inline Matrix4(void)
+ {
+ Identity();
+ }
+
+ inline Matrix4(const Matrix4 & a_Rhs)
+ {
+ *this = a_Rhs;
+ }
+
+ inline Matrix4 & operator = (const Matrix4 & a_Rhs)
+ {
+ for (unsigned int i = 0; i < 16; ++i)
+ {
+ cell[i] = a_Rhs.cell[i];
+ }
+ return *this;
+ }
+
+ inline T & operator [] (int a_N)
+ {
+ ASSERT(a_N < 16);
+ return cell[a_N];
+ }
+
+ inline void Identity()
+ {
+ cell[1] = cell[2] = cell[3] = cell[4] = 0;
+ cell[6] = cell[7] = cell[8] = cell[9] = 0;
+ cell[11] = cell[12] = cell[13] = cell[14] = 0;
+
+ cell[0] = cell[5] = cell[10] = cell[15] = 1;
+ }
+
+ inline void Init(const Vector3<T> & a_Pos, T a_RX, T a_RY, T a_RZ)
+ {
+ Matrix4<T> t;
+ t.RotateX(a_RZ);
+ RotateY(a_RY);
+ Concatenate(t);
+ t.RotateZ(a_RX);
+ Concatenate(t);
+ Translate(a_Pos);
+ }
+
+ inline void RotateX(T a_RX)
+ {
+ T sx = (T) sin(a_RX * M_PI / 180);
+ T cx = (T) cos(a_RX * M_PI / 180);
+
+ Identity();
+
+ cell[5] = cx; cell[6] = sx;
+ cell[9] = -sx; cell[10] = cx;
+ }
+
+ inline void RotateY(T a_RY)
+ {
+ T sy = (T) sin(a_RY * M_PI / 180);
+ T cy = (T) cos(a_RY * M_PI / 180);
+
+ Identity();
+
+ cell[0] = cy; cell[2] = -sy;
+ cell[8] = sy; cell[10] = cy;
+ }
+
+ inline void RotateZ(T a_RZ)
+ {
+ T sz = (T) sin(a_RZ * M_PI / 180);
+ T cz = (T) cos(a_RZ * M_PI / 180);
+
+ Identity();
+
+ cell[0] = cz; cell[1] = sz;
+ cell[4] = -sz; cell[5] = cz;
+ }
+
+ inline void Translate(const Vector3<T> & a_Pos)
+ {
+ cell[3] += a_Pos.x;
+ cell[7] += a_Pos.y;
+ cell[11] += a_Pos.z;
+ }
+
+ inline void SetTranslation(const Vector3<T> & a_Pos)
+ {
+ cell[3] = a_Pos.x;
+ cell[7] = a_Pos.y;
+ cell[11] = a_Pos.z;
+ }
+
+ inline void Concatenate(const Matrix4 & m2)
+ {
+ Matrix4 res;
+
+ for (unsigned int c = 0; c < 4; ++c)
+ {
+ for (unsigned int r = 0; r < 4; ++r)
+ {
+ res.cell[r * 4 + c] = (
+ cell[r * 4 + 0] * m2.cell[c + 0] +
+ cell[r * 4 + 1] * m2.cell[c + 4] +
+ cell[r * 4 + 2] * m2.cell[c + 8] +
+ cell[r * 4 + 3] * m2.cell[c + 12]
+ );
+ }
+ }
+
+ *this = res;
+ }
+
+ inline Vector3<T> Transform(const Vector3<T> & v) const
+ {
+ T x = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3];
+ T y = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7];
+ T z = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11];
+
+ return Vector3<T>(x, y, z);
+ }
+
+ inline void Invert(void)
+ {
+ Matrix4 t;
+
+ T tx = -cell[3];
+ T ty = -cell[7];
+ T tz = -cell[11];
+
+ for (unsigned int h = 0; h < 3; ++h)
+ {
+ for (unsigned int v = 0; v < 3; ++v)
+ {
+ t.cell[h + v * 4] = cell[v + h * 4];
+ }
+ }
+
+ for (unsigned int i = 0; i < 11; ++i)
+ {
+ cell[i] = t.cell[i];
+ }
+
+ cell[3] = tx * cell[0] + ty * cell[1] + tz * cell[2];
+ cell[7] = tx * cell[4] + ty * cell[5] + tz * cell[6];
+ cell[11] = tx * cell[8] + ty * cell[9] + tz * cell[10];
+ }
+
+ inline Vector3<T> GetXColumn(void) const
+ {
+ return Vector3<T>(cell[0], cell[1], cell[2]);
+ }
+
+ inline Vector3<T> GetYColumn(void) const
+ {
+ return Vector3<T>(cell[4], cell[5], cell[6]);
+ }
+
+ inline Vector3<T> GetZColumn(void) const
+ {
+ return Vector3<T>(cell[8], cell[9], cell[10]);
+ }
+
+ inline void SetXColumn(const Vector3<T> & a_X)
+ {
+ cell[0] = a_X.x;
+ cell[1] = a_X.y;
+ cell[2] = a_X.z;
+ }
+
+ inline void SetYColumn(const Vector3<T> & a_Y)
+ {
+ cell[4] = a_Y.x;
+ cell[5] = a_Y.y;
+ cell[6] = a_Y.z;
+ }
+
+ inline void SetZColumn(const Vector3<T> & a_Z)
+ {
+ cell[8] = a_Z.x;
+ cell[9] = a_Z.y;
+ cell[10] = a_Z.z;
+ }
+};
+// tolua_end
+
+
+
+
+// tolua_begin
+typedef Matrix4<double> Matrix4d;
+typedef Matrix4<float> Matrix4f;
+// tolua_end
+
+
+
+
+