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/* ResidualVM - A 3D game interpreter
*
* ResidualVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
* This program 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 General Public License for more details.
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
#ifndef MATH_MATRIX4_H
#define MATH_MATRIX4_H
#include "math/rotation3d.h"
#include "math/squarematrix.h"
#include "math/vector3d.h"
#include "math/matrix3.h"
namespace Math {
// matrix 4 is a rotation matrix + position
template<>
class Matrix<4, 4> : public MatrixType<4, 4>, public Rotation3D<Matrix<4, 4> > {
public:
Matrix();
Matrix(const MatrixBase<4, 4> &m);
void transform(Vector3d *v, bool translate) const;
void inverseTranslate(Vector3d *v);
void inverseRotate(Vector3d *v);
Vector3d getPosition() const;
void setPosition(const Vector3d &v);
Matrix3 getRotation() const;
void setRotation(const Matrix3 &m);
void translate(const Vector3d &v);
void buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
const Math::Vector3d &modelUp, const Math::Vector3d &worldUp);
/**
* Inverts a matrix in place.
* This function avoid having to do generic Gaussian elimination on the matrix
* by assuming that the top-left 3x3 part of the matrix is orthonormal
* (columns and rows 0, 1 and 2 orthogonal and unit length).
* See e.g. Eric Lengyel's Mathematics for 3D Game Programming and Computer Graphics, p. 82.
*/
void invertAffineOrthonormal();
};
typedef Matrix<4, 4> Matrix4;
} // end of namespace Math
#endif
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