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// -------------------------------------
// 3x3 Matrix class
// -------------------------------------
#include "GLMatrix.h"
#include <math.h>
// -------------------------------------
GLMatrix::GLMatrix() {
Identity();
}
// -------------------------------------
void GLMatrix::Init33(float _11,float _12,float _13,float _21,float _22,float _23,float _31,float _32,float _33) {
this->_11 = _11; this->_12 = _12; this->_13 = _13;
this->_21 = _21; this->_22 = _22; this->_23 = _23;
this->_31 = _31; this->_32 = _32; this->_33 = _33;
}
// -------------------------------------
void GLMatrix::Identity() {
_11=1.0f; _12=0.0f; _13=0.0f; _14=0.0f;
_21=0.0f; _22=1.0f; _23=0.0f; _24=0.0f;
_31=0.0f; _32=0.0f; _33=1.0f; _34=0.0f;
_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
}
// -------------------------------------
void GLMatrix::Translate(float x,float y,float z) {
Identity();
_14 = x;
_24 = y;
_34 = z;
}
// -------------------------------------
void GLMatrix::Multiply(GLMatrix *m2) {
GLMatrix m1 = *this;
this->_11 = m1._11*m2->_11 + m1._12*m2->_21 + m1._13*m2->_31 + m1._14*m2->_41;
this->_12 = m1._11*m2->_12 + m1._12*m2->_22 + m1._13*m2->_32 + m1._14*m2->_42;
this->_13 = m1._11*m2->_13 + m1._12*m2->_23 + m1._13*m2->_33 + m1._14*m2->_43;
this->_14 = m1._11*m2->_14 + m1._12*m2->_24 + m1._13*m2->_34 + m1._14*m2->_44;
this->_21 = m1._21*m2->_11 + m1._22*m2->_21 + m1._23*m2->_31 + m1._24*m2->_41;
this->_22 = m1._21*m2->_12 + m1._22*m2->_22 + m1._23*m2->_32 + m1._24*m2->_42;
this->_23 = m1._21*m2->_13 + m1._22*m2->_23 + m1._23*m2->_33 + m1._24*m2->_43;
this->_24 = m1._21*m2->_14 + m1._22*m2->_24 + m1._23*m2->_34 + m1._24*m2->_44;
this->_31 = m1._31*m2->_11 + m1._32*m2->_21 + m1._33*m2->_31 + m1._34*m2->_41;
this->_32 = m1._31*m2->_12 + m1._32*m2->_22 + m1._33*m2->_32 + m1._34*m2->_42;
this->_33 = m1._31*m2->_13 + m1._32*m2->_23 + m1._33*m2->_33 + m1._34*m2->_43;
this->_34 = m1._31*m2->_14 + m1._32*m2->_24 + m1._33*m2->_34 + m1._34*m2->_44;
this->_41 = m1._41*m2->_11 + m1._42*m2->_21 + m1._43*m2->_31 + m1._44*m2->_41;
this->_42 = m1._41*m2->_12 + m1._42*m2->_22 + m1._43*m2->_32 + m1._44*m2->_42;
this->_43 = m1._41*m2->_13 + m1._42*m2->_23 + m1._43*m2->_33 + m1._44*m2->_43;
this->_44 = m1._41*m2->_14 + m1._42*m2->_24 + m1._43*m2->_34 + m1._44*m2->_44;
}
void GLMatrix::Multiply(GLMatrix *m2,GLMatrix *m1) {
this->_11 = m1->_11*m2->_11 + m1->_12*m2->_21 + m1->_13*m2->_31 + m1->_14*m2->_41;
this->_12 = m1->_11*m2->_12 + m1->_12*m2->_22 + m1->_13*m2->_32 + m1->_14*m2->_42;
this->_13 = m1->_11*m2->_13 + m1->_12*m2->_23 + m1->_13*m2->_33 + m1->_14*m2->_43;
this->_14 = m1->_11*m2->_14 + m1->_12*m2->_24 + m1->_13*m2->_34 + m1->_14*m2->_44;
this->_21 = m1->_21*m2->_11 + m1->_22*m2->_21 + m1->_23*m2->_31 + m1->_24*m2->_41;
this->_22 = m1->_21*m2->_12 + m1->_22*m2->_22 + m1->_23*m2->_32 + m1->_24*m2->_42;
this->_23 = m1->_21*m2->_13 + m1->_22*m2->_23 + m1->_23*m2->_33 + m1->_24*m2->_43;
this->_24 = m1->_21*m2->_14 + m1->_22*m2->_24 + m1->_23*m2->_34 + m1->_24*m2->_44;
this->_31 = m1->_31*m2->_11 + m1->_32*m2->_21 + m1->_33*m2->_31 + m1->_34*m2->_41;
this->_32 = m1->_31*m2->_12 + m1->_32*m2->_22 + m1->_33*m2->_32 + m1->_34*m2->_42;
this->_33 = m1->_31*m2->_13 + m1->_32*m2->_23 + m1->_33*m2->_33 + m1->_34*m2->_43;
this->_34 = m1->_31*m2->_14 + m1->_32*m2->_24 + m1->_33*m2->_34 + m1->_34*m2->_44;
this->_41 = m1->_41*m2->_11 + m1->_42*m2->_21 + m1->_43*m2->_31 + m1->_44*m2->_41;
this->_42 = m1->_41*m2->_12 + m1->_42*m2->_22 + m1->_43*m2->_32 + m1->_44*m2->_42;
this->_43 = m1->_41*m2->_13 + m1->_42*m2->_23 + m1->_43*m2->_33 + m1->_44*m2->_43;
this->_44 = m1->_41*m2->_14 + m1->_42*m2->_24 + m1->_43*m2->_34 + m1->_44*m2->_44;
}
// -------------------------------------
void GLMatrix::TransfomVec(float x,float y,float z,float w,float *rx,float *ry,float *rz,float *rw) {
*rx = x * _11 + y * _12 + z * _13 + w * _14;
*ry = x * _21 + y * _22 + z * _23 + w * _24;
*rz = x * _31 + y * _32 + z * _33 + w * _34;
*rw = x * _41 + y * _42 + z * _43 + w * _44;
}
// -------------------------------------
GLfloat *GLMatrix::GetGL() {
static GLfloat ret[16];
ret[0] = _11; ret[4] = _12; ret[8] = _13; ret[12] = _14;
ret[1] = _21; ret[5] = _22; ret[9] = _23; ret[13] = _24;
ret[2] = _31; ret[6] = _32; ret[10] = _33; ret[14] = _34;
ret[3] = _41; ret[7] = _42; ret[11] = _43; ret[15] = _44;
return ret;
}
// -------------------------------------
void GLMatrix::FromGL(GLfloat *m) {
_11 = m[0]; _12 = m[4]; _13 = m[8]; _14 = m[12];
_21 = m[1]; _22 = m[5]; _23 = m[9]; _24 = m[13];
_31 = m[2]; _32 = m[6]; _33 = m[10]; _34 = m[14];
_41 = m[3]; _42 = m[7]; _43 = m[11]; _44 = m[15];
}
// -------------------------------------
void GLMatrix::RotateX(float angle) {
float cs = cosf(angle);
float sn = sinf(angle);
Identity();
_22=cs; _23=-sn;
_32=sn; _33=cs;
}
// -------------------------------------
void GLMatrix::RotateY(float angle) {
float cs = cosf(angle);
float sn = sinf(angle);
Identity();
_11=cs; _13=sn;
_31=-sn; _33=cs;
}
// -------------------------------------
void GLMatrix::RotateZ(float angle) {
float cs = cosf(angle);
float sn = sinf(angle);
Identity();
_11=cs; _12=-sn;
_21=sn; _22=cs;
}
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