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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.
*
*/
/*
* The following functions: inverseTranslate, inverseRotate, transpose
* are adapted from Portalib3d, which is no longer available on the net.
* But is available through archive.org, for reference:
* http://web.archive.org/web/20050205215104/http://rsn.gamedev.net/pl3d/changelog.html
*
* This code was originally made available under the LGPL license (no version specified).
* Copyright (C)2000, 2001, Brett Porter. All Rights Reserved.
*
* This code (and our modifications) is made available here under the GPLv2 (or later).
*
*/
#include "math/matrix4.h"
#include "math/vector4d.h"
#include "math/squarematrix.h"
namespace Math {
Matrix<4, 4>::Matrix() :
MatrixType<4, 4>(), Rotation3D<Matrix4>() {
}
Matrix<4, 4>::Matrix(const MatrixBase<4, 4> &m) :
MatrixType<4, 4>(m), Rotation3D<Matrix4>() {
}
void Matrix<4, 4>::transform(Vector3d *v, bool trans) const {
Vector4d m;
m(0, 0) = v->x();
m(1, 0) = v->y();
m(2, 0) = v->z();
m(3, 0) = (trans ? 1.f : 0.f);
m = *this * m;
v->set(m(0, 0), m(1, 0), m(2, 0));
}
Vector3d Matrix<4, 4>::getPosition() const {
return Vector3d(getValue(0, 3), getValue(1, 3), getValue(2, 3));
}
void Matrix<4, 4>::setPosition(const Vector3d &v) {
setValue(0, 3, v.x());
setValue(1, 3, v.y());
setValue(2, 3, v.z());
}
Matrix3 Matrix<4, 4>::getRotation() const{
Matrix3 m2;
m2.setValue(0, 0, getValue(0, 0));
m2.setValue(0, 1, getValue(0, 1));
m2.setValue(0, 2, getValue(0, 2));
m2.setValue(1, 0, getValue(1, 0));
m2.setValue(1, 1, getValue(1, 1));
m2.setValue(1, 2, getValue(1, 2));
m2.setValue(2, 0, getValue(2, 0));
m2.setValue(2, 1, getValue(2, 1));
m2.setValue(2, 2, getValue(2, 2));
return m2;
}
void Matrix<4, 4>::setRotation(const Matrix3 &m) {
setValue(0, 0, m.getValue(0, 0));
setValue(0, 1, m.getValue(0, 1));
setValue(0, 2, m.getValue(0, 2));
setValue(1, 0, m.getValue(1, 0));
setValue(1, 1, m.getValue(1, 1));
setValue(1, 2, m.getValue(1, 2));
setValue(2, 0, m.getValue(2, 0));
setValue(2, 1, m.getValue(2, 1));
setValue(2, 2, m.getValue(2, 2));
}
void Matrix<4, 4>::translate(const Vector3d &vec) {
Vector3d v(vec);
transform(&v, false);
operator()(0, 3) += v.x();
operator()(1, 3) += v.y();
operator()(2, 3) += v.z();
}
/**
* Generates a lookat matrix. For reference, see
* http://clb.demon.fi/MathGeoLib/docs/float3x3_LookAt.php
*/
void Matrix<4, 4>::buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
const Math::Vector3d &modelUp, const Math::Vector3d &worldUp)
{
Matrix3 rotation;
rotation.buildFromTargetDir(modelForward, targetDirection, modelUp, worldUp);
this->setRotation(rotation);
}
void Matrix<4, 4>::invertAffineOrthonormal() {
Matrix3 rotation(getRotation());
rotation.transpose();
Vector3d position(getPosition().getNegative());
rotation.transformVector(&position);
setRotation(rotation);
setPosition(position);
}
void Matrix<4, 4>::inverseTranslate(Vector3d *v) const {
v->x() = v->x() - getValue(0, 3);
v->y() = v->y() - getValue(1, 3);
v->z() = v->z() - getValue(2, 3);
}
void Matrix<4, 4>::inverseRotate(Vector3d *v) const {
Vector3d temp;
temp.x() = v->x() * getValue(0, 0) + v->y() * getValue(1, 0) + v->z() * getValue(2, 0);
temp.y() = v->x() * getValue(0, 1) + v->y() * getValue(1, 1) + v->z() * getValue(2, 1);
temp.z() = v->x() * getValue(0, 2) + v->y() * getValue(1, 2) + v->z() * getValue(2, 2);
*v = temp;
}
void swap (float &a, float &b);
void Matrix<4, 4>::transpose() {
swap(operator ()(0,1), operator ()(1,0));
swap(operator ()(0,2), operator ()(2,0));
swap(operator ()(0,3), operator ()(3,0));
swap(operator ()(1,2), operator ()(2,1));
swap(operator ()(1,3), operator ()(3,1));
swap(operator ()(2,3), operator ()(3,2));
}
} // end of namespace Math
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