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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_MATRIX3_H
#define MATH_MATRIX3_H
#include "math/rotation3d.h"
#include "math/squarematrix.h"
#include "math/vector3d.h"
namespace Math {
template<>
class Matrix<3, 3> : public MatrixType<3, 3>, public Rotation3D<Matrix<3, 3> > {
public:
Matrix();
Matrix(const MatrixBase<3, 3> &m);
void transpose();
/**
* Builds a matrix that maps the given local space forward direction vector to point towards the given
* target direction, and the given local up direction towards the given target world up direction.
*
* @param modelForward The forward direction in the local space of the object.
* @param targetDirection The desired world space direction the object should look at.
* @param modelUp The up direction in the local space of the object. This vector must be
* perpendicular to the vector localForward.
* @param worldUp The global up direction of the scene in world space. The worldUp and targetDirection
* vectors cannot be collinear, but they do not need to be perpendicular either.
* All the parameters MUST be normalized.
*/
void buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
const Math::Vector3d &modelUp, const Math::Vector3d &worldUp);
inline Matrix<3, 3> operator*(const Matrix<3, 3> &m2) const {
Matrix<3, 3> result;
const float *d1 = getData();
const float *d2 = m2.getData();
float *r = result.getData();
for (int i = 0; i < 9; i += 3) {
for (int j = 0; j < 3; ++j) {
r[i + j] = (d1[i + 0] * d2[j + 0])
+ (d1[i + 1] * d2[j + 3])
+ (d1[i + 2] * d2[j + 6]);
}
}
return result;
}
};
typedef Matrix<3, 3> Matrix3;
} // end of namespace Math
#endif
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