prefect
90bf4ae0a7
- fix CBound::Transform() math - beginnings of new shadow bound calculations This was SVN commit r3436.
128 lines
4.2 KiB
C++
Executable File
128 lines
4.2 KiB
C++
Executable File
#ifndef __MATRIX3D_H
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#define __MATRIX3D_H
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#include <math.h>
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#include "Vector3D.h"
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#include "Vector4D.h"
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class CQuaternion;
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/////////////////////////////////////////////////////////////////////////
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// CMatrix3D: a 4x4 matrix class for common operations in 3D
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class CMatrix3D
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{
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public:
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// the matrix data itself - accessible as either longhand names
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// or via a flat or 2d array
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union {
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struct {
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float _11, _21, _31, _41;
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float _12, _22, _32, _42;
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float _13, _23, _33, _43;
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float _14, _24, _34, _44;
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};
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float _data[16];
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float _data2d[4][4];
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// (Be aware that m(0,2) == _data2d[2][0] == _13, etc. This is to be considered a feature.)
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};
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public:
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// constructors
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CMatrix3D();
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CMatrix3D(float a11,float a12,float a13,float a14,float a21,float a22,float a23,float a24,
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float a31,float a32,float a33,float a34,float a41,float a42,float a43,float a44);
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// accessors to individual elements of matrix
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float& operator()(int col,int row) {
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return _data[row*4+col];
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}
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const float& operator()(int col,int row) const {
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return _data[row*4+col];
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}
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// matrix multiplication
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CMatrix3D operator*(const CMatrix3D &matrix) const;
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// matrix multiplication/assignment
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CMatrix3D& operator*=(const CMatrix3D &matrix);
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// matrix scaling
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CMatrix3D operator*(float f) const;
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// matrix scaling/assignment
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CMatrix3D& operator*=(float f);
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// matrix addition
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CMatrix3D operator+(const CMatrix3D &matrix) const;
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// matrix addition/assignment
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CMatrix3D& operator+=(const CMatrix3D &matrix);
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// set this matrix to the identity matrix
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void SetIdentity();
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// set this matrix to the zero matrix
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void SetZero();
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// concatenate arbitrary matrix onto this matrix
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void Concatenate(const CMatrix3D& m);
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// set this matrix to a rotation matrix for a rotation about X axis of given angle
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void SetXRotation(float angle);
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// set this matrix to a rotation matrix for a rotation about Y axis of given angle
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void SetYRotation(float angle);
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// set this matrix to a rotation matrix for a rotation about Z axis of given angle
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void SetZRotation(float angle);
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// set this matrix to a rotation described by given quaternion
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void SetRotation(const CQuaternion& quat);
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// concatenate a rotation about the X axis onto this matrix
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void RotateX(float angle);
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// concatenate a rotation about the Y axis onto this matrix
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void RotateY(float angle);
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// concatenate a rotation about the Z axis onto this matrix
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void RotateZ(float angle);
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// concatenate a rotation described by given quaternion
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void Rotate(const CQuaternion& quat);
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// set this matrix to given translation
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void SetTranslation(float x, float y, float z);
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void SetTranslation(const CVector3D& vector);
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// concatenate given translation onto this matrix
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void Translate(float x, float y, float z);
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void Translate(const CVector3D& vector);
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// set this matrix to the given scaling matrix
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void SetScaling(float x_scale, float y_scale, float z_scale);
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// concatenate given scaling matrix onto this matrix
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void Scale(float x_scale, float y_scale, float z_scale);
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// calculate the inverse of this matrix, store in dst
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void GetInverse(CMatrix3D& dst) const;
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// calculate the transpose of this matrix, store in dst
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void GetTranspose(CMatrix3D& dst) const;
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// return the translation component of this matrix
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CVector3D GetTranslation() const;
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// return left vector, derived from rotation
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CVector3D GetLeft() const;
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// return up vector, derived from rotation
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CVector3D GetUp() const;
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// return forward vector, derived from rotation
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CVector3D GetIn() const;
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// return a quaternion representing the matrix's rotation
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CQuaternion GetRotation() const;
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// transform a 3D vector by this matrix
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void Transform(const CVector3D &vector,CVector3D& result) const;
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CVector3D Transform(const CVector3D &vector) const;
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// transform a 4D vector by this matrix
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void Transform(const CVector4D &vector,CVector4D& result) const;
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CVector4D Transform(const CVector4D &vector) const;
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// rotate a vector by this matrix
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void Rotate(const CVector3D& vector,CVector3D& result) const;
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CVector3D Rotate(const CVector3D& vector) const;
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// rotate a vector by the transpose of this matrix
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void RotateTransposed(const CVector3D& vector,CVector3D& result) const;
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CVector3D RotateTransposed(const CVector3D& vector) const;
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};
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#endif
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