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#pragma once
#include <QString>
#include <QVector>
#include "Vector3.h"
namespace SyntopiaCore {
namespace Math {
/// A simple class for representing 4x4 Matrices
/// The internal representation has the rows increasing fastest: index = row + col*4;
template <class scalar> class Matrix4 {
public:
/// Constructor (inits to zero value).
Matrix4() { for (unsigned int i = 0; i < 16; i++) v[i] = 0; };
/// Construct from a string (with 3x3 entries) - such as "[1 0 0 0 1 0 0 0 1]"
Matrix4(QString input, bool& succes2) {
for (unsigned int i = 0; i < 16; i++) v[i] = 0;
v[0] = 1; v[5] = 1; v[10] = 1; v[15] = 1;
input.remove('[');
input.remove(']');
QStringList sl = input.split(" ");
if (sl.size() != 9) { succes2 = false; return; }
bool succes = false;
float f = 0;
f = sl[0].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[0] = f;
f = sl[1].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[4] = f;
f = sl[2].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[8] = f;
f = sl[3].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[1] = f;
f = sl[4].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[5] = f;
f = sl[5].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[9] = f;
f = sl[6].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[2] = f;
f = sl[7].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[6] = f;
f = sl[8].toFloat(&succes); if (!succes) { succes2 = false; return; }; v[10] = f;
succes2 = true;
}
/// Identity matrix
static Matrix4<scalar> Identity() {
Matrix4<scalar> m;
m.v[0] = 1; m.v[5] = 1; m.v[10] = 1; m.v[15] = 1;
return m;
};
static Matrix4<scalar> ScaleMatrix(scalar s) {
Matrix4<scalar> m;
m.v[0] = s; m.v[5] = s; m.v[10] = s; m.v[15] = 1;
return m;
};
/// at(row, col) return a copy of the value.
scalar at(int row, int col) const { return v[row+col*4]; }
scalar at(int index) const { return v[index]; }
scalar operator() (int row, int col) const { return v[row+col*4]; }
scalar operator() (int index) const { return v[index]; }
/// getRef(row, col) returns a reference (for writing into matrix)
scalar& getRef(int row, int col) { return v[row+col*4]; }
scalar& getRef(int index) { return v[index]; }
scalar& operator() (int row, int col) { return v[row+col*4]; }
scalar& operator() (int index) { return v[index]; }
/// Internal representation (can be used in OpenGL functions)
scalar* getArray(void) { return v; }
static Matrix4<scalar> Translation(scalar x,scalar y,scalar z) {
Matrix4<scalar> m;
m(0,3) = x;
m(1,3) = y;
m(2,3) = z;
m(0,0) = 1;
m(1,1) = 1;
m(2,2) = 1;
m(3,3) = 1;
return m;
};
static Matrix4<scalar> PlaneReflection(Vector3<scalar> n) {
n.normalize();
Matrix4<scalar> m;
m(0,0) = 1.0 - 2.0*n.x()*n.x(); m(1,0) = -2.0*n.y()*n.x(); m(2,0) = -2.0*n.z()*n.x();
m(0,1) = -2.0*n.x()*n.y(); m(1,1) = 1.0 - 2.0*n.y()*n.y(); m(2,1) = -2.0*n.z()*n.y();
m(0,2) = -2.0*n.x()*n.z(); m(1,2) = -2.0*n.y()*n.z(); m(2,2) = 1.0 - 2.0*n.z()*n.z();
m(3,3) = 1;
return m;
};
/// Rotation about axis with angle
/// Taken from http://www.gamedev.net/reference/articles/605/math3d.h
static Matrix4<scalar> Rotation(Vector3<scalar> axis, scalar angle) {
Matrix4<scalar> m;
scalar c = cos(angle);
scalar s = sin(angle);
// One minus c (short name for legibility of formulai)
scalar omc = (1 - c);
if (axis.length() != 1) axis.normalize();
scalar x = axis[0];
scalar y = axis[1];
scalar z = axis[2];
scalar xs = x * s;
scalar ys = y * s;
scalar zs = z * s;
scalar xyomc = x * y * omc;
scalar xzomc = x * z * omc;
scalar yzomc = y * z * omc;
m.v[0] = x*x*omc + c;
m.v[1] = xyomc + zs;
m.v[2] = xzomc - ys;
m.v[3] = 0;
m.v[4] = xyomc - zs;
m.v[5] = y*y*omc + c;
m.v[6] = yzomc + xs;
m.v[7] = 0;
m.v[8] = xzomc + ys;
m.v[9] = yzomc - xs;
m.v[10] = z*z*omc + c;
m.v[11] = 0;
m.v[12] = 0;
m.v[13] = 0;
m.v[14] = 0;
m.v[15] = 1;
return m;
};
Matrix4<scalar> operator* (const Matrix4<scalar>& rhs) const {
Matrix4<scalar> m;
for (int x=0; x<4; x++) {
for (int y=0;y <4; y++) {
for (int i=0; i<4; i++) m.getRef(x,y) += (this->at(x,i) * rhs.at(i,y));
}
}
return m;
};
Vector3<scalar> operator* (const Vector3<scalar>& rhs) const {
Vector3<scalar> v; // Is initialized to zeros.
for (int i=0; i<3; i++) {
for (int j = 0; j < 3; j++) {
v[i] += this->at(i,j)*rhs[j];
}
v[i] += this->at(i,3);
}
return v;
};
QString toString() {
QString s = QString(" Row1 = [%1 %2 %3 %4], Row2 = [%5 %6 %7 %8]").
arg(at(0,0)).arg(at(0,1)).arg(at(0,2)).arg(at(0,3)).
arg(at(1,0)).arg(at(1,1)).arg(at(1,2)).arg(at(1,3));
QString s2 = QString(" Row3 = [%1 %2 %3 %4], Row4 = [%5 %6 %7 %8]").
arg(at(2,0)).arg(at(2,1)).arg(at(2,2)).arg(at(2,3)).
arg(at(3,0)).arg(at(3,1)).arg(at(3,2)).arg(at(3,3));
return s+s2;
}
// Only return the 3x3 part of the matrix.
QString toStringAs3x3() {
QString s = QString("[%1 %2 %3 %4 %5 %6 %7 %8 %9]").
arg(at(0,0)).arg(at(0,1)).arg(at(0,2)).
arg(at(1,0)).arg(at(1,1)).arg(at(1,2)).
arg(at(2,0)).arg(at(2,1)).arg(at(2,2))
;
return s;
}
private:
scalar v[16];
};
typedef Matrix4<float> Matrix4f ;
typedef Matrix4<double> Matrix4d ;
}
}
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