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/********************************************************************************
* *
* S i n g 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 FXMAT4F_H
#define FXMAT4F_H
namespace FX {
class FXQuatf;
class FXMat3f;
/// Single-precision 4x4 matrix
class FXAPI FXMat4f {
protected:
FXVec4f m[4];
public:
/// Default constructor; value is not initialized
FXMat4f(){}
/// Initialize matrix from scalar
FXMat4f(FXfloat s);
/// Initialize with 3x3 rotation and scaling matrix
FXMat4f(const FXMat3f& s);
/// Initialize matrix from another matrix
FXMat4f(const FXMat4f& s);
/// Initialize matrix from array
FXMat4f(const FXfloat s[]);
/// Initialize diagonal matrix
FXMat4f(FXfloat a,FXfloat b,FXfloat c,FXfloat d);
/// Initialize matrix from components
FXMat4f(FXfloat a00,FXfloat a01,FXfloat a02,FXfloat a03,
FXfloat a10,FXfloat a11,FXfloat a12,FXfloat a13,
FXfloat a20,FXfloat a21,FXfloat a22,FXfloat a23,
FXfloat a30,FXfloat a31,FXfloat a32,FXfloat a33);
/// Initialize matrix from four vectors
FXMat4f(const FXVec4f& a,const FXVec4f& b,const FXVec4f& c,const FXVec4f& d);
/// Initialize matrix from quaternion
FXMat4f(const FXQuatf& quat);
/// Assignment from scalar
FXMat4f& operator=(FXfloat s);
/// Assignment
FXMat4f& operator=(const FXMat3f& s);
FXMat4f& operator=(const FXMat4f& s);
/// Assignment from quaternion
FXMat4f& operator=(const FXQuatf& quat);
/// Assignment from array
FXMat4f& operator=(const FXfloat s[]);
/// Set value from scalar
FXMat4f& set(FXfloat s);
/// Set value from 3x3 rotation and scaling matrix
FXMat4f& set(const FXMat3f& s);
/// Set value from another matrix
FXMat4f& set(const FXMat4f& s);
/// Set value from array
FXMat4f& set(const FXfloat s[]);
/// Set diagonal matrix
FXMat4f& set(FXfloat a,FXfloat b,FXfloat c,FXfloat d);
/// Set value from components
FXMat4f& set(FXfloat a00,FXfloat a01,FXfloat a02,FXfloat a03,
FXfloat a10,FXfloat a11,FXfloat a12,FXfloat a13,
FXfloat a20,FXfloat a21,FXfloat a22,FXfloat a23,
FXfloat a30,FXfloat a31,FXfloat a32,FXfloat a33);
/// Set value from four vectors
FXMat4f& set(const FXVec4f& a,const FXVec4f& b,const FXVec4f& c,const FXVec4f& d);
/// Set value from quaternion
FXMat4f& set(const FXQuatf& quat);
/// Assignment operators
FXMat4f& operator+=(const FXMat4f& s);
FXMat4f& operator-=(const FXMat4f& s);
FXMat4f& operator*=(const FXMat4f& s);
FXMat4f& operator*=(FXfloat s);
FXMat4f& operator/=(FXfloat s);
/// Indexing
FXVec4f& operator[](FXint i){return m[i];}
const FXVec4f& operator[](FXint i) const {return m[i];}
/// Conversion
operator FXfloat*(){return m[0];}
operator const FXfloat*() const {return m[0];}
/// Unary minus
FXMat4f operator-() const;
/// Set to identity matrix
FXMat4f& identity();
/// Return true if identity matrix
FXbool isIdentity() const;
/// Set orthographic projection from view volume
FXMat4f& setOrtho(FXfloat xlo,FXfloat xhi,FXfloat ylo,FXfloat yhi,FXfloat zlo,FXfloat zhi);
/// Get view volume from orthographic projection
void getOrtho(FXfloat& xlo,FXfloat& xhi,FXfloat& ylo,FXfloat& yhi,FXfloat& zlo,FXfloat& zhi) const;
/// Set to inverse orthographic projection
FXMat4f& setInverseOrtho(FXfloat xlo,FXfloat xhi,FXfloat ylo,FXfloat yhi,FXfloat zlo,FXfloat zhi);
/// Set to perspective projection from view volume
FXMat4f& setFrustum(FXfloat xlo,FXfloat xhi,FXfloat ylo,FXfloat yhi,FXfloat zlo,FXfloat zhi);
/// Get view volume from perspective projection
void getFrustum(FXfloat& xlo,FXfloat& xhi,FXfloat& ylo,FXfloat& yhi,FXfloat& zlo,FXfloat& zhi) const;
/// Set to inverse perspective projection from view volume
FXMat4f& setInverseFrustum(FXfloat xlo,FXfloat xhi,FXfloat ylo,FXfloat yhi,FXfloat zlo,FXfloat zhi);
/// Multiply by left-hand matrix
FXMat4f& left();
/// Multiply by rotation matrix
FXMat4f& rot(const FXMat3f& r);
/// Multiply by rotation about unit-quaternion
FXMat4f& rot(const FXQuatf& q);
/// Multiply by rotation c,s about unit axis
FXMat4f& rot(const FXVec3f& v,FXfloat c,FXfloat s);
/// Multiply by rotation of phi about unit axis
FXMat4f& rot(const FXVec3f& v,FXfloat phi);
/// Multiply by x-rotation
FXMat4f& xrot(FXfloat c,FXfloat s);
FXMat4f& xrot(FXfloat phi);
/// Multiply by y-rotation
FXMat4f& yrot(FXfloat c,FXfloat s);
FXMat4f& yrot(FXfloat phi);
/// Multiply by z-rotation
FXMat4f& zrot(FXfloat c,FXfloat s);
FXMat4f& zrot(FXfloat phi);
/// Look at
FXMat4f& look(const FXVec3f& from,const FXVec3f& to,const FXVec3f& up);
/// Multiply by translation
FXMat4f& trans(FXfloat tx,FXfloat ty,FXfloat tz);
FXMat4f& trans(const FXVec3f& v);
/// Multiply by scaling
FXMat4f& scale(FXfloat sx,FXfloat sy,FXfloat sz);
FXMat4f& scale(const FXVec3f& v);
FXMat4f& scale(FXfloat s);
/// Determinant
FXfloat det() const;
/// Transpose
FXMat4f transpose() const;
/// Invert
FXMat4f invert() const;
/// Invert affine matrix
FXMat4f affineInvert() const;
/// Invert rigid body transform matrix
FXMat4f rigidInvert() const;
/// Return normal-transformation matrix
FXMat3f normalMatrix() const;
/// Destructor
~FXMat4f(){}
};
/// Matrix times vector
extern FXAPI FXVec3f operator*(const FXMat4f& m,const FXVec3f& v);
extern FXAPI FXVec4f operator*(const FXMat4f& m,const FXVec4f& v);
/// Vector times matrix
extern FXAPI FXVec3f operator*(const FXVec3f& v,const FXMat4f& m);
extern FXAPI FXVec4f operator*(const FXVec4f& v,const FXMat4f& m);
/// Matrix and matrix addition
extern FXAPI FXMat4f operator+(const FXMat4f& a,const FXMat4f& b);
extern FXAPI FXMat4f operator-(const FXMat4f& a,const FXMat4f& b);
/// Matrix and matrix multiply
extern FXAPI FXMat4f operator*(const FXMat4f& a,const FXMat4f& b);
/// Scaling
extern FXAPI FXMat4f operator*(FXfloat x,const FXMat4f& a);
extern FXAPI FXMat4f operator*(const FXMat4f& a,FXfloat x);
extern FXAPI FXMat4f operator/(const FXMat4f& a,FXfloat x);
extern FXAPI FXMat4f operator/(FXfloat x,const FXMat4f& a);
/// Equality tests
extern FXAPI FXbool operator==(const FXMat4f& a,const FXMat4f& b);
extern FXAPI FXbool operator!=(const FXMat4f& a,const FXMat4f& b);
extern FXAPI FXbool operator==(const FXMat4f& a,FXfloat n);
extern FXAPI FXbool operator!=(const FXMat4f& a,FXfloat n);
extern FXAPI FXbool operator==(FXfloat n,const FXMat4f& a);
extern FXAPI FXbool operator!=(FXfloat n,const FXMat4f& a);
/// Orthogonalize matrix
extern FXAPI FXMat4f orthogonalize(const FXMat4f& m);
/// Save matrix to a stream
extern FXAPI FXStream& operator<<(FXStream& store,const FXMat4f& m);
/// Load matrix from a stream
extern FXAPI FXStream& operator>>(FXStream& store,FXMat4f& m);
}
#endif
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