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/********************************************************************************
* *
* D o u b l e - P r e c i s i o n 4 x 4 M a t r i x *
* *
*********************************************************************************
* Copyright (C) 1994,2022 by Jeroen van der Zijp. All Rights Reserved. *
*********************************************************************************
* This library 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 3 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 program. If not, see <http://www.gnu.org/licenses/> *
********************************************************************************/
#ifndef FXMAT4D_H
#define FXMAT4D_H
namespace FX {
class FXQuatd;
class FXMat3d;
/// Double-precision 4x4 matrix
class FXAPI FXMat4d {
protected:
FXVec4d m[4];
public:
/// Default constructor; value is not initialized
FXMat4d(){}
/// Initialize matrix from scalar
FXMat4d(FXdouble s);
/// Initialize with 3x3 rotation and scaling matrix
FXMat4d(const FXMat3d& s);
/// Initialize matrix from another matrix
FXMat4d(const FXMat4d& s);
/// Initialize matrix from array
FXMat4d(const FXdouble s[]);
/// Initialize diagonal matrix
FXMat4d(FXdouble a,FXdouble b,FXdouble c,FXdouble d);
/// Initialize matrix from components
FXMat4d(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03,
FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13,
FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23,
FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33);
/// Initialize matrix from four vectors
FXMat4d(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d);
/// Initialize matrix from quaternion
FXMat4d(const FXQuatd& quat);
/// Assignment from scalar
FXMat4d& operator=(FXdouble s);
/// Assignment
FXMat4d& operator=(const FXMat3d& s);
FXMat4d& operator=(const FXMat4d& s);
/// Assignment from quaternion
FXMat4d& operator=(const FXQuatd& quat);
/// Assignment from array
FXMat4d& operator=(const FXdouble s[]);
/// Set value from scalar
FXMat4d& set(FXdouble s);
/// Set value from 3x3 rotation and scaling matrix
FXMat4d& set(const FXMat3d& s);
/// Set value from another matrix
FXMat4d& set(const FXMat4d& s);
/// Set value from array
FXMat4d& set(const FXdouble s[]);
/// Set diagonal matrix
FXMat4d& set(FXdouble a,FXdouble b,FXdouble c,FXdouble d);
/// Set value from components
FXMat4d& set(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03,
FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13,
FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23,
FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33);
/// Set value from four vectors
FXMat4d& set(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d);
/// Set value from quaternion
FXMat4d& set(const FXQuatd& quat);
/// Assignment operators
FXMat4d& operator+=(const FXMat4d& w);
FXMat4d& operator-=(const FXMat4d& w);
FXMat4d& operator*=(const FXMat4d& w);
FXMat4d& operator*=(FXdouble w);
FXMat4d& operator/=(FXdouble w);
/// Indexing
FXVec4d& operator[](FXint i){return m[i];}
const FXVec4d& operator[](FXint i) const {return m[i];}
/// Conversion
operator FXdouble*(){return m[0];}
operator const FXdouble*() const {return m[0];}
/// Unary minus
FXMat4d operator-() const;
/// Set to identity matrix
FXMat4d& identity();
/// Return true if identity matrix
FXbool isIdentity() const;
/// Set orthographic projection from view volume
FXMat4d& setOrtho(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
/// Get view volume from orthographic projection
void getOrtho(FXdouble& xlo,FXdouble& xhi,FXdouble& ylo,FXdouble& yhi,FXdouble& zlo,FXdouble& zhi) const;
/// Set to inverse orthographic projection
FXMat4d& setInverseOrtho(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
/// Set to perspective projection from view volume
FXMat4d& setFrustum(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
/// Get view volume from perspective projection
void getFrustum(FXdouble& xlo,FXdouble& xhi,FXdouble& ylo,FXdouble& yhi,FXdouble& zlo,FXdouble& zhi) const;
/// Set to inverse perspective projection from view volume
FXMat4d& setInverseFrustum(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
/// Multiply by left-hand matrix
FXMat4d& left();
/// Multiply by rotation matrix
FXMat4d& rot(const FXMat3d& r);
/// Multiply by rotation about unit-quaternion
FXMat4d& rot(const FXQuatd& q);
/// Multiply by rotation c,s about unit axis
FXMat4d& rot(const FXVec3d& v,FXdouble c,FXdouble s);
/// Multiply by rotation of phi about unit axis
FXMat4d& rot(const FXVec3d& v,FXdouble phi);
/// Multiply by x-rotation
FXMat4d& xrot(FXdouble c,FXdouble s);
FXMat4d& xrot(FXdouble phi);
/// Multiply by y-rotation
FXMat4d& yrot(FXdouble c,FXdouble s);
FXMat4d& yrot(FXdouble phi);
/// Multiply by z-rotation
FXMat4d& zrot(FXdouble c,FXdouble s);
FXMat4d& zrot(FXdouble phi);
/// Look at
FXMat4d& look(const FXVec3d& from,const FXVec3d& to,const FXVec3d& up);
/// Multiply by translation
FXMat4d& trans(FXdouble tx,FXdouble ty,FXdouble tz);
FXMat4d& trans(const FXVec3d& v);
/// Multiply by scaling
FXMat4d& scale(FXdouble sx,FXdouble sy,FXdouble sz);
FXMat4d& scale(const FXVec3d& v);
FXMat4d& scale(FXdouble s);
/// Determinant
FXdouble det() const;
/// Transpose
FXMat4d transpose() const;
/// Invert
FXMat4d invert() const;
/// Invert affine matrix
FXMat4d affineInvert() const;
/// Invert rigid body transform matrix
FXMat4d rigidInvert() const;
/// Return normal-transformation matrix
FXMat3d normalMatrix() const;
/// Destructor
~FXMat4d(){}
};
/// Matrix times vector
extern FXAPI FXVec3d operator*(const FXMat4d& m,const FXVec3d& v);
extern FXAPI FXVec4d operator*(const FXMat4d& m,const FXVec4d& v);
/// Vector times matrix
extern FXAPI FXVec3d operator*(const FXVec3d& v,const FXMat4d& m);
extern FXAPI FXVec4d operator*(const FXVec4d& v,const FXMat4d& m);
/// Matrix and matrix addition
extern FXAPI FXMat4d operator+(const FXMat4d& a,const FXMat4d& b);
extern FXAPI FXMat4d operator-(const FXMat4d& a,const FXMat4d& b);
/// Matrix and matrix multiply
extern FXAPI FXMat4d operator*(const FXMat4d& a,const FXMat4d& b);
/// Scaling
extern FXAPI FXMat4d operator*(FXdouble x,const FXMat4d& a);
extern FXAPI FXMat4d operator*(const FXMat4d& a,FXdouble x);
extern FXAPI FXMat4d operator/(const FXMat4d& a,FXdouble x);
extern FXAPI FXMat4d operator/(FXdouble x,const FXMat4d& a);
/// Equality tests
extern FXAPI FXbool operator==(const FXMat4d& a,const FXMat4d& b);
extern FXAPI FXbool operator!=(const FXMat4d& a,const FXMat4d& b);
extern FXAPI FXbool operator==(const FXMat4d& a,FXdouble n);
extern FXAPI FXbool operator!=(const FXMat4d& a,FXdouble n);
extern FXAPI FXbool operator==(FXdouble n,const FXMat4d& a);
extern FXAPI FXbool operator!=(FXdouble n,const FXMat4d& a);
/// Orthogonalize matrix
extern FXAPI FXMat4d orthogonalize(const FXMat4d& m);
/// Save matrix to a stream
extern FXAPI FXStream& operator<<(FXStream& store,const FXMat4d& m);
/// Load matrix from a stream
extern FXAPI FXStream& operator>>(FXStream& store,FXMat4d& m);
}
#endif
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