1 files changed, 225 insertions, 0 deletions
diff --git a/src/Matrix4f.h b/src/Matrix4f.h
new file mode 100644
index 000000000..249c92f5f
--- /dev/null
+++ b/src/Matrix4f.h
@@ -0,0 +1,225 @@
+#pragma once
+
+#define _USE_MATH_DEFINES
+#include <math.h>
+#include "Vector3f.h"
+
+class Matrix4f
+{
+public:
+	enum
+	{
+		TX=3,
+		TY=7,
+		TZ=11,
+		D0=0, D1=5, D2=10, D3=15,
+		SX=D0, SY=D1, SZ=D2,
+		W=D3
+	};
+	Matrix4f() { Identity(); }
+	float& operator [] ( int a_N ) { return cell[a_N]; }
+	void Identity()
+	{
+		cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] =
+		cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0;
+		cell[D0] = cell[D1] = cell[D2] = cell[W] = 1;
+	}
+	void Init( Vector3f a_Pos, float a_RX, float a_RY, float a_RZ )
+	{
+		Matrix4f t;
+		t.RotateX( a_RZ );
+		RotateY( a_RY );
+		Concatenate( t );
+		t.RotateZ( a_RX );
+		Concatenate( t );
+		Translate( a_Pos );
+	}
+	void RotateX( float a_RX )
+	{
+		float sx = (float)sin( a_RX * M_PI / 180 );
+		float cx = (float)cos( a_RX * M_PI / 180 );
+		Identity();
+		cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx;
+	}
+	void RotateY( float a_RY )
+	{
+		float sy = (float)sin( a_RY * M_PI / 180 );
+		float cy = (float)cos( a_RY * M_PI / 180 );
+		Identity ();
+		cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy;
+	}
+	void RotateZ( float a_RZ )
+	{
+		float sz = (float)sin( a_RZ * M_PI / 180 );
+		float cz = (float)cos( a_RZ * M_PI / 180 );
+		Identity ();
+		cell[0] = cz, cell[1] = sz, cell[4] = -sz, cell[5] = cz;
+	}
+	void Translate( Vector3f a_Pos ) { cell[TX] += a_Pos.x; cell[TY] += a_Pos.y; cell[TZ] += a_Pos.z; }
+	void SetTranslation( Vector3f a_Pos ) { cell[TX] = a_Pos.x; cell[TY] = a_Pos.y; cell[TZ] = a_Pos.z; }
+	void Concatenate( const Matrix4f& m2 )
+	{
+		Matrix4f res;
+		int c;
+		for ( c = 0; c < 4; c++ ) for ( int r = 0; r < 4; r++ )
+			res.cell[r * 4 + c] = cell[r * 4] * m2.cell[c] +
+				  				  cell[r * 4 + 1] * m2.cell[c + 4] +
+								  cell[r * 4 + 2] * m2.cell[c + 8] +
+								  cell[r * 4 + 3] * m2.cell[c + 12];
+		for ( c = 0; c < 16; c++ ) cell[c] = res.cell[c];
+	}
+	Vector3f Transform( const Vector3f& v ) const
+	{
+		float x  = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3];
+		float y  = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7];
+		float z  = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11];
+		return Vector3f( x, y, z );
+	}
+	void Invert()
+	{
+		Matrix4f t;
+		int h, i;
+		float tx = -cell[3], ty = -cell[7], tz = -cell[11];
+		for ( h = 0; h < 3; h++ ) for ( int v = 0; v < 3; v++ ) t.cell[h + v * 4] = cell[v + h * 4];
+		for ( 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];
+	}
+	Vector3f GetXColumn() { return Vector3f( cell[0], cell[1], cell[2] ); }
+	Vector3f GetYColumn() { return Vector3f( cell[4], cell[5], cell[6] ); }
+	Vector3f GetZColumn() { return Vector3f( cell[8], cell[9], cell[10] ); }
+	void SetXColumn( const Vector3f & a_X )
+	{
+		cell[0] = a_X.x;
+		cell[1] = a_X.y;
+		cell[2] = a_X.z;
+	}
+	void SetYColumn( const Vector3f & a_Y )
+	{
+		cell[4] = a_Y.x;
+		cell[5] = a_Y.y;
+		cell[6] = a_Y.z;
+	}
+	void SetZColumn( const Vector3f & a_Z )
+	{
+		cell[8] = a_Z.x;
+		cell[9] = a_Z.y;
+		cell[10] = a_Z.z;
+	}
+	float cell[16];
+};
+
+
+
+
+
+class Matrix4d
+{
+public:
+	enum
+	{
+		TX=3,
+		TY=7,
+		TZ=11,
+		D0=0, D1=5, D2=10, D3=15,
+		SX=D0, SY=D1, SZ=D2,
+		W=D3
+	};
+	Matrix4d() { Identity(); }
+	double& operator [] ( int a_N ) { return cell[a_N]; }
+	void Identity()
+	{
+		cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] =
+		cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0;
+		cell[D0] = cell[D1] = cell[D2] = cell[W] = 1;
+	}
+	void Init( Vector3f a_Pos, double a_RX, double a_RY, double a_RZ )
+	{
+		Matrix4d t;
+		t.RotateX( a_RZ );
+		RotateY( a_RY );
+		Concatenate( t );
+		t.RotateZ( a_RX );
+		Concatenate( t );
+		Translate( a_Pos );
+	}
+	void RotateX( double a_RX )
+	{
+		double sx = (double)sin( a_RX * M_PI / 180 );
+		double cx = (double)cos( a_RX * M_PI / 180 );
+		Identity();
+		cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx;
+	}
+	void RotateY( double a_RY )
+	{
+		double sy = (double)sin( a_RY * M_PI / 180 );
+		double cy = (double)cos( a_RY * M_PI / 180 );
+		Identity ();
+		cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy;
+	}
+	void RotateZ( double a_RZ )
+	{
+		double sz = (double)sin( a_RZ * M_PI / 180 );
+		double cz = (double)cos( a_RZ * M_PI / 180 );
+		Identity ();
+		cell[0] = cz, cell[1] = sz, cell[4] = -sz, cell[5] = cz;
+	}
+	void Translate( Vector3d a_Pos ) { cell[TX] += a_Pos.x; cell[TY] += a_Pos.y; cell[TZ] += a_Pos.z; }
+	void SetTranslation( Vector3d a_Pos ) { cell[TX] = a_Pos.x; cell[TY] = a_Pos.y; cell[TZ] = a_Pos.z; }
+	void Concatenate( const Matrix4d & m2 )
+	{
+		Matrix4d res;
+		int c;
+		for ( c = 0; c < 4; c++ ) for ( int r = 0; r < 4; r++ )
+			res.cell[r * 4 + c] = cell[r * 4] * m2.cell[c] +
+				  				  cell[r * 4 + 1] * m2.cell[c + 4] +
+								  cell[r * 4 + 2] * m2.cell[c + 8] +
+								  cell[r * 4 + 3] * m2.cell[c + 12];
+		for ( c = 0; c < 16; c++ ) cell[c] = res.cell[c];
+	}
+	Vector3d Transform( const Vector3d & v ) const
+	{
+		double x  = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3];
+		double y  = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7];
+		double z  = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11];
+		return Vector3d( x, y, z );
+	}
+	void Invert()
+	{
+		Matrix4d t;
+		int h, i;
+		double tx = -cell[3], ty = -cell[7], tz = -cell[11];
+		for ( h = 0; h < 3; h++ ) for ( int v = 0; v < 3; v++ ) t.cell[h + v * 4] = cell[v + h * 4];
+		for ( 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];
+	}
+	Vector3d GetXColumn() { return Vector3d( cell[0], cell[1], cell[2] ); }
+	Vector3d GetYColumn() { return Vector3d( cell[4], cell[5], cell[6] ); }
+	Vector3d GetZColumn() { return Vector3d( cell[8], cell[9], cell[10] ); }
+	void SetXColumn( const Vector3d & a_X )
+	{
+		cell[0] = a_X.x;
+		cell[1] = a_X.y;
+		cell[2] = a_X.z;
+	}
+	void SetYColumn( const Vector3d & a_Y )
+	{
+		cell[4] = a_Y.x;
+		cell[5] = a_Y.y;
+		cell[6] = a_Y.z;
+	}
+	void SetZColumn( const Vector3d & a_Z )
+	{
+		cell[8] = a_Z.x;
+		cell[9] = a_Z.y;
+		cell[10] = a_Z.z;
+	}
+	double cell[16];
+} ;
+
+
+
+