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/***********************************************************************
* c:/users/wata/src/csmash-0.3.8.new/affine
* $Id: affine,v 1.2 2002/03/05 14:21:21 yotsuya Exp $
*
* Copyright by ESESoft.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer
* in the documentation and/or other materials provided with the
* distribution.
*
* The name of the author may not be used to endorse or promote
* products derived from this software without specific prior written
* permission.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS
* OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
***********************************************************************/
#ifndef __ESESoft_wata_0296__affine__INCLUDED__
#define __ESESoft_wata_0296__affine__INCLUDED__
/***********************************************************************/
#include "matrix"
/* __BEGIN__BEGIN__ */
#if 0
typedef ese::Matrix<4, Float> affine4F;
typedef ese::Vector<4, Float> vector4F;
typedef ese::Vector<3, Float> vector3F;
#else
typedef Matrix<4,Float> affine4F;
typedef Vector<4,Float> vector4F;
typedef Vector<3,Float> vector3F;
#endif
inline vector4F operator ^(const vector4F &a, const vector4F &b)
{
vector4F v;
v[0] = a[1]*b[2] - a[2]*b[1];
v[1] = a[2]*b[0] - a[0]*b[2];
v[2] = a[0]*b[1] - a[1]*b[0];
v[3] = 0;
return v;
}
inline vector3F operator ^(const vector3F &a, const vector3F &b)
{
vector3F v;
v[0] = a[1]*b[2] - a[2]*b[1];
v[1] = a[2]*b[0] - a[0]*b[2];
v[2] = a[0]*b[1] - a[1]*b[0];
return v;
}
inline vector3F operator *(const vector3F &a, const affine4F &t)
{
vector3F v(0);
for (int i = 0; 3 > i; i++) {
int j;
for (j = 0; 3 > j; j++) {
v[i] += a[j] * t[j][i];
}
v[i] += t[j][i];
}
return v;
}
inline affine4F translate(const vector4F &v)
{
affine4F t(1);
for (int i = 0; 3 > i; i++) {
t[3][i] = v[i];
}
return t;
}
inline affine4F translate(const vector3F &v)
{
affine4F t(1);
for (int i = 0; 3 > i; i++) {
t[3][i] = v[i];
}
return t;
}
inline affine4F rotateX(Float r)
{
affine4F t(1);
t[1][1] = cosF(r); t[1][2] = sinF(r);
t[2][1] = -sinF(r); t[2][2] = cosF(r);
return t;
}
inline affine4F rotateY(Float r)
{
affine4F t(1);
t[2][2] = cosF(r); t[2][0] = sinF(r);
t[0][2] = -sinF(r); t[0][0] = cosF(r);
return t;
}
inline affine4F rotateZ(Float r)
{
affine4F t(1);
t[0][0] = cosF(r); t[0][1] = sinF(r);
t[1][0] = -sinF(r); t[1][1] = cosF(r);
return t;
}
/* __END__END__ */
/***********************************************************************/
#endif
/***********************************************************************
* END OF affine
***********************************************************************/
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