forked from 0ad/0ad
385 lines
7.2 KiB
C++
Executable File
385 lines
7.2 KiB
C++
Executable File
//***********************************************************
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//
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// Name: Matrix3D.Cpp
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// Last Update: 31/1/02
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// Author: Poya Manouchehri
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//
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// Description: A Matrix class used for holding and
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// manipulating transformation info.
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//
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//***********************************************************
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#include "Matrix3D.H"
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CMatrix3D::CMatrix3D ()
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{
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SetIdentity ();
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}
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//Matrix multiplication
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CMatrix3D CMatrix3D::operator * (CMatrix3D &matrix)
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{
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CMatrix3D Temp;
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Temp._11 = _11*matrix._11 +
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_12*matrix._21 +
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_13*matrix._31 +
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_14*matrix._41;
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Temp._12 = _11*matrix._12 +
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_12*matrix._22 +
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_13*matrix._32 +
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_14*matrix._42;
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Temp._13 = _11*matrix._13 +
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_12*matrix._23 +
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_13*matrix._33 +
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_14*matrix._43;
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Temp._14 = _11*matrix._14 +
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_12*matrix._24 +
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_13*matrix._34 +
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_14*matrix._44;
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Temp._21 = _21*matrix._11 +
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_22*matrix._21 +
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_23*matrix._31 +
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_24*matrix._41;
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Temp._22 = _21*matrix._12 +
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_22*matrix._22 +
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_23*matrix._32 +
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_24*matrix._42;
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Temp._23 = _21*matrix._13 +
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_22*matrix._23 +
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_23*matrix._33 +
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_24*matrix._43;
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Temp._24 = _21*matrix._14 +
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_22*matrix._24 +
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_23*matrix._34 +
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_24*matrix._44;
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Temp._31 = _31*matrix._11 +
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_32*matrix._21 +
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_33*matrix._31 +
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_34*matrix._41;
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Temp._32 = _31*matrix._12 +
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_32*matrix._22 +
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_33*matrix._32 +
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_34*matrix._42;
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Temp._33 = _31*matrix._13 +
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_32*matrix._23 +
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_33*matrix._33 +
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_34*matrix._43;
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Temp._34 = _31*matrix._14 +
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_32*matrix._24 +
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_33*matrix._34 +
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_34*matrix._44;
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Temp._41 = _41*matrix._11 +
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_42*matrix._21 +
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_43*matrix._31 +
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_44*matrix._41;
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Temp._42 = _41*matrix._12 +
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_42*matrix._22 +
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_43*matrix._32 +
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_44*matrix._42;
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Temp._43 = _41*matrix._13 +
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_42*matrix._23 +
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_43*matrix._33 +
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_44*matrix._43;
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Temp._44 = _41*matrix._14 +
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_42*matrix._24 +
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_43*matrix._34 +
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_44*matrix._44;
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return Temp;
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}
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//Matrix multiplication/assignment
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CMatrix3D &CMatrix3D::operator *= (CMatrix3D &matrix)
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{
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CMatrix3D &Temp = (*this) * matrix;
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return Temp;
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}
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//Sets the identity matrix
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void CMatrix3D::SetIdentity ()
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{
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_11=1.0f; _12=0.0f; _13=0.0f; _14=0.0f;
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_21=0.0f; _22=1.0f; _23=0.0f; _24=0.0f;
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_31=0.0f; _32=0.0f; _33=1.0f; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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//Sets the zero matrix
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void CMatrix3D::SetZero ()
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{
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_11=0.0f; _12=0.0f; _13=0.0f; _14=0.0f;
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_21=0.0f; _22=0.0f; _23=0.0f; _24=0.0f;
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_31=0.0f; _32=0.0f; _33=0.0f; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=0.0f;
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}
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//The following clear the matrix and set the
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//rotation of each of the 3 axes
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void CMatrix3D::SetXRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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_11=1.0f; _12=0.0f; _13=0.0f; _14=0.0f;
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_21=0.0f; _22=Cos; _23=-Sin; _24=0.0f;
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_31=0.0f; _32=Sin; _33=Cos; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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void CMatrix3D::SetYRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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_11=Cos; _12=0.0f; _13=Sin; _14=0.0f;
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_21=0.0f; _22=1.0f; _23=0.0f; _24=0.0f;
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_31=-Sin; _32=0.0f; _33=Cos; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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void CMatrix3D::SetZRotation (float angle)
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{
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float Cos = cosf (angle);
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float Sin = sinf (angle);
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_11=Cos; _12=-Sin; _13=0.0f; _14=0.0f;
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_21=Sin; _22=Cos; _23=0.0f; _24=0.0f;
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_31=0.0f; _32=0.0f; _33=1.0f; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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//The following apply a rotation to the matrix
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//about each of the axes;
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void CMatrix3D::RotateX (float angle)
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{
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CMatrix3D Temp;
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Temp.SetXRotation (angle);
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(*this) = Temp * (*this);
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}
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void CMatrix3D::RotateY (float angle)
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{
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CMatrix3D Temp;
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Temp.SetYRotation (angle);
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(*this) = Temp * (*this);
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}
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void CMatrix3D::RotateZ (float angle)
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{
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CMatrix3D Temp;
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Temp.SetZRotation (angle);
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(*this) = Temp * (*this);
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}
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//Sets the translation of the matrix
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void CMatrix3D::SetTranslation (float x, float y, float z)
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{
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_11=1.0f; _12=0.0f; _13=0.0f; _14=x;
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_21=0.0f; _22=1.0f; _23=0.0f; _24=y;
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_31=0.0f; _32=0.0f; _33=1.0f; _34=z;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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void CMatrix3D::SetTranslation (CVector3D &vector)
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{
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SetTranslation (vector.X, vector.Y, vector.Z);
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}
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//Applies a translation to the matrix
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void CMatrix3D::Translate (float x, float y, float z)
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{
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CMatrix3D Temp;
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Temp.SetTranslation (x, y, z);
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(*this) = Temp * (*this);
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}
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void CMatrix3D::Translate (CVector3D &vector)
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{
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Translate (vector.X, vector.Y, vector.Z);
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}
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CVector3D CMatrix3D::GetTranslation ()
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{
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CVector3D Temp;
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Temp.X = _14;
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Temp.Y = _24;
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Temp.Z = _34;
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return Temp;
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}
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//Clears and sets the scaling of the matrix
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void CMatrix3D::SetScaling (float x_scale, float y_scale, float z_scale)
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{
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_11=x_scale; _12=0.0f; _13=0.0f; _14=0.0f;
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_21=0.0f; _22=y_scale; _23=0.0f; _24=0.0f;
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_31=0.0f; _32=0.0f; _33=z_scale; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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//Scales the matrix
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void CMatrix3D::Scale (float x_scale, float y_scale, float z_scale)
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{
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CMatrix3D Temp;
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Temp.SetScaling (x_scale, y_scale, z_scale);
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(*this) = Temp * (*this);
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}
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//Returns the transpose of the matrix. For orthonormal
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//matrices, this is the same is the inverse matrix
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CMatrix3D CMatrix3D::GetTranspose ()
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{
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CMatrix3D Temp;
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Temp._11 = _11;
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Temp._21 = _12;
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Temp._31 = _13;
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Temp._41 = 0.0f;
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Temp._12 = _21;
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Temp._22 = _22;
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Temp._32 = _23;
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Temp._42 = 0.0f;
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Temp._13 = _31;
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Temp._23 = _32;
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Temp._33 = _33;
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Temp._43 = 0.0f;
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Temp._14 = 0.0f;
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Temp._24 = 0.0f;
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Temp._34 = 0.0f;
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Temp._44 = 1.0f;
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CMatrix3D Trans;
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Trans.SetTranslation (-_14, -_24, -_34);
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Temp = Temp * Trans;
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return Temp;
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}
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//Get a vector which points to the left of the matrix
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CVector3D CMatrix3D::GetLeft ()
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{
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CVector3D Temp;
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Temp.X = -_11;
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Temp.Y = -_21;
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Temp.Z = -_31;
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return Temp;
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}
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//Get a vector which points up from the matrix
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CVector3D CMatrix3D::GetUp ()
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{
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CVector3D Temp;
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Temp.X = _12;
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Temp.Y = _22;
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Temp.Z = _32;
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return Temp;
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}
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//Get a vector which points to front of the matrix
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CVector3D CMatrix3D::GetIn ()
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{
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CVector3D Temp;
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Temp.X = _13;
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Temp.Y = _23;
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Temp.Z = _33;
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return Temp;
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}
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//Set the matrix from two vectors (Up and In)
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void CMatrix3D::SetFromUpIn (CVector3D &up, CVector3D &in, float scale)
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{
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CVector3D u = up;
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CVector3D i = in;
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CVector3D r;
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r = up.Cross (in);
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u.Normalize (); u *= scale;
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i.Normalize (); i *= scale;
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r.Normalize (); r *= scale;
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_11=r.X; _12=u.X; _13=i.X; _14=0.0f;
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_21=r.Y; _22=u.Y; _23=i.Y; _24=0.0f;
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_31=r.Z; _32=u.Z; _33=i.Z; _34=0.0f;
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_41=0.0f; _42=0.0f; _43=0.0f; _44=1.0f;
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}
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//Transform a vector by this matrix
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CVector3D CMatrix3D::Transform (CVector3D &vector)
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{
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CVector3D Temp;
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Temp.X = _11*vector.X +
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_12*vector.Y +
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_13*vector.Z +
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_14;
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Temp.Y = _21*vector.X +
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_22*vector.Y +
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_23*vector.Z +
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_24;
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Temp.Z = _31*vector.X +
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_32*vector.Y +
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_33*vector.Z +
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_34;
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return Temp;
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}
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//Only rotate (not translate) a vector by this matrix
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CVector3D CMatrix3D::Rotate (CVector3D &vector)
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{
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CVector3D Temp;
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Temp.X = _11*vector.X +
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_12*vector.Y +
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_13*vector.Z;
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Temp.Y = _21*vector.X +
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_22*vector.Y +
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_23*vector.Z;
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Temp.Z = _31*vector.X +
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_32*vector.Y +
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_33*vector.Z;
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return Temp;
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}
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