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/***************************************************************************
* Copyright (C) 2005-2019 by the FIFE team *
* http://www.fifengine.net *
* This file is part of FIFE. *
* *
* FIFE is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the *
* Free Software Foundation, Inc., *
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
***************************************************************************/
/***************************************************************************
* Includes some heavy copying from mathgl-pp project *
* (http://sourceforge.net/projects/mathgl-pp/) *
***************************************************************************/
#ifndef FIFE_UTIL_MATRIX_H
#define FIFE_UTIL_MATRIX_H
// Standard C++ library includes
#include <cassert>
#include <iostream>
// Platform specific includes
// 3rd party library includes
// FIFE includes
// These includes are split up in two parts, separated by one empty line
// First block: files included from the FIFE root src directory
// Second block: files included from the same folder
#include "util/base/fife_stdint.h"
#include "util/structures/point.h"
#include "fife_math.h"
namespace FIFE {
/** Minimal matrix class to assist in view 3d calculations
*/
template <typename T>
class Matrix {
public:
Matrix<T>() {}
template <typename U> friend class Matrix;
template <typename U> Matrix<T>(const Matrix<U>& mat) {
memmove(m, mat.m, 16*sizeof(T));
}
~Matrix() {}
/** Adjoint method inverse, constant time inversion implementation
*/
Matrix inverse() const {
Matrix ret(adjoint());
T determinant = m0*ret[0] + m1*ret[4] + m2*ret[8] + m3*ret[12];
assert(determinant!=0 && "Singular matrix has no inverse");
ret/=determinant;
return ret;
}
/** Divide this matrix by a scalar
*/
inline Matrix& operator/= (T val) {
for (unsigned i = 0; i < 16; ++i)
m[i] /= val;
return *this;
}
/** Get the adjoint matrix
*/
Matrix adjoint() const {
Matrix ret;
ret[0] = cofactorm0();
ret[1] = -cofactorm4();
ret[2] = cofactorm8();
ret[3] = -cofactorm12();
ret[4] = -cofactorm1();
ret[5] = cofactorm5();
ret[6] = -cofactorm9();
ret[7] = cofactorm13();
ret[8] = cofactorm2();
ret[9] = -cofactorm6();
ret[10] = cofactorm10();
ret[11] = -cofactorm14();
ret[12] = -cofactorm3();
ret[13] = cofactorm7();
ret[14] = -cofactorm11();
ret[15] = cofactorm15();
return ret;
}
/** Make this a rotation matrix
*/
inline Matrix& loadRotate(T angle, T x, T y, T z) {
T magSqr = x*x + y*y + z*z;
if (magSqr != 1.0) {
T mag = Math<T>::Sqrt(magSqr);
x/=mag;
y/=mag;
z/=mag;
}
T c = Math<T>::Cos(angle*Math<T>::pi()/180);
T s = Math<T>::Sin(angle*Math<T>::pi()/180);
m0 = x*x*(1-c)+c;
m1 = y*x*(1-c)+z*s;
m2 = z*x*(1-c)-y*s;
m3 = 0;
m4 = x*y*(1-c)-z*s;
m5 = y*y*(1-c)+c;
m6 = z*y*(1-c)+x*s;
m7 = 0;
m8 = x*z*(1-c)+y*s;
m9 = y*z*(1-c)-x*s;
m10 = z*z*(1-c)+c;
m11 = 0;
m12 = 0;
m13 = 0;
m14 = 0;
m15 = 1;
return *this;
}
/** Apply scale into this matrix
*/
inline Matrix& applyScale(T x, T y, T z) {
static Matrix<T> temp;
temp.loadScale(x,y,z);
*this = temp.mult4by4(*this);
return *this;
}
/** Make this a scale matrix
*/
inline Matrix& loadScale(T x, T y, T z = 1) {
m0 = x;
m4 = 0;
m8 = 0;
m12 = 0;
m1 = 0;
m5 = y;
m9 = 0;
m13 = 0;
m2 = 0;
m6 = 0;
m10 = z;
m14 = 0;
m3 = 0;
m7 = 0;
m11 = 0;
m15 = 1;
return *this;
}
/** Apply translation into this matrix
*/
inline Matrix& applyTranslate(T x, T y, T z) {
static Matrix<T> temp;
temp.loadTranslate(x,y,z);
*this = temp.mult4by4(*this);
return *this;
}
/** Make this a translation matrix
*/
inline Matrix& loadTranslate( const T x, const T y, const T z) {
m0 = 1;
m4 = 0;
m8 = 0;
m12 = x;
m1 = 0;
m5 = 1;
m9 = 0;
m13 = y;
m2 = 0;
m6 = 0;
m10 = 1;
m14 = z;
m3 = 0;
m7 = 0;
m11 = 0;
m15 = 1;
return *this;
}
/** Transform given point using this matrix
*/
inline PointType3D<T> operator* (const PointType3D<T>& vec) {
return PointType3D<T> (
vec.x * m0 + vec.y * m4 + vec.z * m8 + m12,
vec.x * m1 + vec.y * m5 + vec.z * m9 + m13,
vec.x * m2 + vec.y * m6 + vec.z * m10 + m14
);
}
/** Direct access to the matrix elements, just remember they are in column major format!!
*/
inline T& operator[] (int32_t ind) {
assert(ind > -1 && ind < 16);
return m[ind];
}
inline const T& operator[] (int32_t ind) const {
assert(ind > -1 && ind < 16);
return m[ind];
}
/** Apply the matrix dot product to this matrix
*/
inline Matrix& mult3by3(const Matrix& mat) {
Matrix temp(*this);
m0 = temp.m0*mat.m0+temp.m4*mat.m1+temp.m8*mat.m2;
m4 = temp.m0*mat.m4+temp.m4*mat.m5+temp.m8*mat.m6;
m8 = temp.m0*mat.m8+temp.m4*mat.m9+temp.m8*mat.m10;
m1 = temp.m1*mat.m0+temp.m5*mat.m1+temp.m9*mat.m2;
m5 = temp.m1*mat.m4+temp.m5*mat.m5+temp.m9*mat.m6;
m9 = temp.m1*mat.m8+temp.m5*mat.m9+temp.m9*mat.m10;
m2 = temp.m2*mat.m0+temp.m6*mat.m1+temp.m10*mat.m2;
m6 = temp.m2*mat.m4+temp.m6*mat.m5+temp.m10*mat.m6;
m10 = temp.m2*mat.m8+temp.m6*mat.m9+temp.m10*mat.m10;
m3 = temp.m3*mat.m0+temp.m7*mat.m1+temp.m11*mat.m2;
m7 = temp.m3*mat.m4+temp.m7*mat.m5+temp.m11*mat.m6;
m11 = temp.m3*mat.m8+temp.m7*mat.m9+temp.m11*mat.m10;
return *this;
}
/** this->Rmult4by4(temp) == [temp] X [*this] **/
/** also equal to temp->mult4by4(*this) **/
inline Matrix<T>& Rmult4by4(const Matrix<T>& mat) {
Matrix temp(*this);
m0 = mat.m0*temp.m0+mat.m4*temp.m1+mat.m8*temp.m2+mat.m12*temp.m3;
m4 = mat.m0*temp.m4+mat.m4*temp.m5+mat.m8*temp.m6+mat.m12*temp.m7;
m8 = mat.m0*temp.m8+mat.m4*temp.m9+mat.m8*temp.m10+mat.m12*temp.m11;
m12 = mat.m0*temp.m12+mat.m4*temp.m13+mat.m8*temp.m14+mat.m12*temp.m15;
m1 = mat.m1*temp.m0 + mat.m5*temp.m1 + mat.m9*temp.m2+mat.m13*temp.m3;
m5 = mat.m1*temp.m4 + mat.m5*temp.m5 + mat.m9*temp.m6+mat.m13*temp.m7;
m9 = mat.m1*temp.m8 + mat.m5*temp.m9 + mat.m9*temp.m10+mat.m13*temp.m11;
m13 = mat.m1*temp.m12+ mat.m5*temp.m13 + mat.m9*temp.m14+mat.m13*temp.m15;
m2 = mat.m2*temp.m0+mat.m6*temp.m1+mat.m10*temp.m2+mat.m14*temp.m3;
m6 = mat.m2*temp.m4+mat.m6*temp.m5+mat.m10*temp.m6+mat.m14*temp.m7;
m10 = mat.m2*temp.m8+mat.m6*temp.m9+mat.m10*temp.m10+mat.m14*temp.m11;
m14 = mat.m2*temp.m12+mat.m6*temp.m13+mat.m10*temp.m14+mat.m14*temp.m15;
m3 = mat.m3*temp.m0+mat.m7*temp.m1+mat.m11*temp.m2+mat.m15*temp.m3;
m7 = mat.m3*temp.m4+mat.m7*temp.m5+mat.m11*temp.m6+mat.m15*temp.m7;
m11 = mat.m3*temp.m8+mat.m7*temp.m9+mat.m11*temp.m10+mat.m15*temp.m11;
m15 = mat.m3*temp.m12+mat.m7*temp.m13+mat.m11*temp.m14+mat.m15*temp.m15;
return *this;
}
inline Matrix<T>& mult4by4(const Matrix<T>& mat) {
Matrix temp(*this);
m0 = temp.m0*mat.m0+temp.m4*mat.m1+temp.m8*mat.m2+temp.m12*mat.m3;
m4 = temp.m0*mat.m4+temp.m4*mat.m5+temp.m8*mat.m6+temp.m12*mat.m7;
m8 = temp.m0*mat.m8+temp.m4*mat.m9+temp.m8*mat.m10+temp.m12*mat.m11;
m12 = temp.m0*mat.m12+temp.m4*mat.m13+temp.m8*mat.m14+temp.m12*mat.m15;
m1 = temp.m1*mat.m0 + temp.m5*mat.m1 + temp.m9*mat.m2+temp.m13*mat.m3;
m5 = temp.m1*mat.m4 + temp.m5*mat.m5 + temp.m9*mat.m6+temp.m13*mat.m7;
m9 = temp.m1*mat.m8 + temp.m5*mat.m9 + temp.m9*mat.m10+temp.m13*mat.m11;
m13 = temp.m1*mat.m12+ temp.m5*mat.m13 + temp.m9*mat.m14+temp.m13*mat.m15;
m2 = temp.m2*mat.m0+temp.m6*mat.m1+temp.m10*mat.m2+temp.m14*mat.m3;
m6 = temp.m2*mat.m4+temp.m6*mat.m5+temp.m10*mat.m6+temp.m14*mat.m7;
m10 = temp.m2*mat.m8+temp.m6*mat.m9+temp.m10*mat.m10+temp.m14*mat.m11;
m14 = temp.m2*mat.m12+temp.m6*mat.m13+temp.m10*mat.m14+temp.m14*mat.m15;
m3 = temp.m3*mat.m0+temp.m7*mat.m1+temp.m11*mat.m2+temp.m15*mat.m3;
m7 = temp.m3*mat.m4+temp.m7*mat.m5+temp.m11*mat.m6+temp.m15*mat.m7;
m11 = temp.m3*mat.m8+temp.m7*mat.m9+temp.m11*mat.m10+temp.m15*mat.m11;
m15 = temp.m3*mat.m12+temp.m7*mat.m13+temp.m11*mat.m14+temp.m15*mat.m15;
return *this;
}
Matrix& applyRotate(T angle, T x, T y, T z) {
static Matrix<T> temp;
temp.loadRotate(angle,x,y,z);
*this = temp.mult4by4(*this);
return *this;
}
private:
#define cofactor_maker(f1,mj1,mi1, f2,mj2,mi2, f3,mj3,mi3) \
f1*(mj1*mi1-mj2*mi3) + f2*(mj2*mi2-mj3*mi1) + f3*(mj3*mi3-mj1*mi2)
inline T cofactorm0() const {
return cofactor_maker(m5,m10,m15, m6,m11,m13, m7,m9,m14);
}
inline T cofactorm1() const {
return cofactor_maker(m6,m11,m12, m7,m8,m14, m4,m10,m15);
}
inline T cofactorm2() const {
return cofactor_maker(m7,m8,m13, m4,m9,m15, m5,m11,m12);
}
inline T cofactorm3() const {
return cofactor_maker(m4,m9,m14, m5,m10,m12, m6,m8,m13);
}
inline T cofactorm4() const {
return cofactor_maker(m9,m14,m3, m10,m15,m1, m11,m13,m2);
}
inline T cofactorm5() const {
return cofactor_maker(m10,m15,m0, m11,m12,m2, m8,m14,m3);
}
inline T cofactorm6() const {
return cofactor_maker(m11,m12,m1, m8,m13,m3, m9,m15,m0);
}
inline T cofactorm7() const {
return cofactor_maker(m8,m13,m2, m9,m14,m0, m10,m12,m1);
}
inline T cofactorm8() const {
return cofactor_maker(m13,m2,m7, m14,m3,m5, m15,m1,m6);
}
inline T cofactorm9() const {
return cofactor_maker(m14,m13,m4, m15,m0,m6, m12,m2,m7);
}
inline T cofactorm10() const {
return cofactor_maker(m15,m0,m5, m12,m1,m7, m13,m3,m4);
}
inline T cofactorm11() const {
return cofactor_maker(m12,m1,m6, m13,m2,m4, m14,m0,m5);
}
inline T cofactorm12() const {
return cofactor_maker(m1,m6,m11, m2,m7,m9, m3,m5,m10);
}
inline T cofactorm13() const {
return cofactor_maker(m2,m7,m8, m3,m4,m10, m10,m6,m11);
}
inline T cofactorm14() const {
return cofactor_maker(m3,m4,m9, m0,m5,m11, m1,m7,m8);
}
inline T cofactorm15() const {
return cofactor_maker(m0,m5,m10, m1,m6,m8, m2,m4,m9);
}
public:
union {
T m[16];
struct {
T m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15;
};
};
};
typedef Matrix<double> DoubleMatrix;
typedef Matrix<int32_t> IntMatrix;
/** Print coords of the Matrix to a stream
*/
template<typename T>
std::ostream& operator<<(std::ostream& os, const Matrix<T>& m) {
return os << "\n|" << m[0] << "," << m[4] << "," << m[8] << "," << m[12] << "|\n" << \
"|" << m[1] << "," << m[5] << "," << m[9] << "," << m[13] << "|\n" << \
"|" << m[2] << "," << m[6] << "," << m[10] << "," << m[14] << "|\n" << \
"|" << m[3] << "," << m[7] << "," << m[11] << "," << m[15] << "|\n";
}
}
#endif
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