520 lines
13 KiB
C++
Executable File
520 lines
13 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 "precompiled.h"
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#include "Matrix3D.h"
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#include "Quaternion.h"
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#ifndef PERFORM_SELF_TEST
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#define PERFORM_SELF_TEST 0
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#endif
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CMatrix3D::CMatrix3D ()
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{
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}
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CMatrix3D::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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{
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_11=a11;
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_12=a12;
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_13=a13;
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_14=a14;
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_21=a21;
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_22=a22;
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_23=a23;
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_24=a24;
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_31=a31;
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_32=a32;
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_33=a33;
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_34=a34;
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_41=a41;
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_42=a42;
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_43=a43;
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_44=a44;
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}
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//Matrix multiplication
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CMatrix3D CMatrix3D::operator*(const CMatrix3D& matrix) const
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{
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return CMatrix3D(
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_11*matrix._11 + _12*matrix._21 + _13*matrix._31 + _14*matrix._41,
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_11*matrix._12 + _12*matrix._22 + _13*matrix._32 + _14*matrix._42,
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_11*matrix._13 + _12*matrix._23 + _13*matrix._33 + _14*matrix._43,
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_11*matrix._14 + _12*matrix._24 + _13*matrix._34 + _14*matrix._44,
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_21*matrix._11 + _22*matrix._21 + _23*matrix._31 + _24*matrix._41,
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_21*matrix._12 + _22*matrix._22 + _23*matrix._32 + _24*matrix._42,
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_21*matrix._13 + _22*matrix._23 + _23*matrix._33 + _24*matrix._43,
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_21*matrix._14 + _22*matrix._24 + _23*matrix._34 + _24*matrix._44,
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_31*matrix._11 + _32*matrix._21 + _33*matrix._31 + _34*matrix._41,
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_31*matrix._12 + _32*matrix._22 + _33*matrix._32 + _34*matrix._42,
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_31*matrix._13 + _32*matrix._23 + _33*matrix._33 + _34*matrix._43,
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_31*matrix._14 + _32*matrix._24 + _33*matrix._34 + _34*matrix._44,
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_41*matrix._11 + _42*matrix._21 + _43*matrix._31 + _44*matrix._41,
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_41*matrix._12 + _42*matrix._22 + _43*matrix._32 + _44*matrix._42,
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_41*matrix._13 + _42*matrix._23 + _43*matrix._33 + _44*matrix._43,
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_41*matrix._14 + _42*matrix._24 + _43*matrix._34 + _44*matrix._44
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);
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}
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//Matrix multiplication/assignment
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CMatrix3D& CMatrix3D::operator*=(const CMatrix3D& matrix)
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{
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Concatenate(matrix);
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return *this;
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}
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//Matrix scaling
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CMatrix3D CMatrix3D::operator*(float f) const
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{
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CMatrix3D tmp;
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for (int i=0;i<16;i++) {
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tmp._data[i]=_data[i]*f;
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}
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return tmp;
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}
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//Matrix scaling/assignment
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CMatrix3D& CMatrix3D::operator*=(float f)
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{
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for (int i=0;i<16;i++) {
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_data[i]*=f;
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}
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return *this;
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}
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//Matrix addition
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CMatrix3D CMatrix3D::operator+(const CMatrix3D& m) const
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{
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CMatrix3D tmp;
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for (int i=0;i<16;i++) {
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tmp._data[i]=_data[i]+m._data[i];
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}
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return tmp;
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}
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//Matrix addition/assignment
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CMatrix3D& CMatrix3D::operator+=(const CMatrix3D& m)
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{
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for (int i=0;i<16;i++) {
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_data[i]+=m._data[i];
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}
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return *this;
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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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Concatenate(Temp);
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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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Concatenate(Temp);
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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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Concatenate(Temp);
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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(const 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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Concatenate(Temp);
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}
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void CMatrix3D::Translate(const 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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void CMatrix3D::Concatenate(const CMatrix3D& m)
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{
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(*this)=m*(*this);
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}
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CVector3D CMatrix3D::GetTranslation() const
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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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Concatenate(Temp);
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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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void CMatrix3D::GetTranspose(CMatrix3D& result) const
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{
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result._11 = _11;
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result._21 = _12;
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result._31 = _13;
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result._41 = _14;
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result._12 = _21;
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result._22 = _22;
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result._32 = _23;
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result._42 = _24;
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result._13 = _31;
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result._23 = _32;
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result._33 = _33;
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result._43 = _34;
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result._14 = _41;
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result._24 = _42;
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result._34 = _43;
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result._44 = _44;
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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 () const
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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 () const
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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 () const
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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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//Transform a vector by this matrix
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CVector3D CMatrix3D::Transform (const CVector3D &vector) const
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{
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CVector3D result;
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Transform(vector,result);
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return result;
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}
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void CMatrix3D::Transform(const CVector3D& vector,CVector3D& result) const
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{
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result.X = _11*vector.X + _12*vector.Y + _13*vector.Z + _14;
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result.Y = _21*vector.X + _22*vector.Y + _23*vector.Z + _24;
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result.Z = _31*vector.X + _32*vector.Y + _33*vector.Z + _34;
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}
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//Transform a vector by this matrix
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CVector4D CMatrix3D::Transform(const CVector4D &vector) const
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{
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CVector4D result;
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Transform(vector,result);
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return result;
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}
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void CMatrix3D::Transform(const CVector4D& vector,CVector4D& result) const
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{
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result[0] = _11*vector[0] + _12*vector[1] + _13*vector[2] + _14*vector[3];
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result[1] = _21*vector[0] + _22*vector[1] + _23*vector[2] + _24*vector[3];
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result[2] = _31*vector[0] + _32*vector[1] + _33*vector[2] + _34*vector[3];
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result[3] = _41*vector[0] + _42*vector[1] + _43*vector[2] + _44*vector[3];
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}
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//Only rotate (not translate) a vector by this matrix
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CVector3D CMatrix3D::Rotate(const CVector3D& vector) const
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{
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CVector3D result;
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Rotate(vector,result);
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return result;
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}
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void CMatrix3D::Rotate(const CVector3D& vector,CVector3D& result) const
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{
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result.X = _11*vector.X + _12*vector.Y + _13*vector.Z;
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result.Y = _21*vector.X + _22*vector.Y + _23*vector.Z;
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result.Z = _31*vector.X + _32*vector.Y + _33*vector.Z;
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}
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///////////////////////////////////////////////////////////////////////////////
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// RotateTransposed: rotate a vector by the transpose of this matrix
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CVector3D CMatrix3D::RotateTransposed(const CVector3D& vector) const
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{
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CVector3D result;
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RotateTransposed(vector,result);
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return result;
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}
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///////////////////////////////////////////////////////////////////////////////
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// RotateTransposed: rotate a vector by the transpose of this matrix
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void CMatrix3D::RotateTransposed(const CVector3D& vector,CVector3D& result) const
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{
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result.X = _11*vector.X + _21*vector.Y + _31*vector.Z;
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result.Y = _12*vector.X + _22*vector.Y + _32*vector.Z;
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result.Z = _13*vector.X + _23*vector.Y + _33*vector.Z;
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}
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void CMatrix3D::GetInverse(CMatrix3D& dst) const
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{
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float tmp[12]; // temp array for pairs
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float src[16]; // array of transpose source matrix
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float det; // determinant
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// transpose matrix
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for (int i = 0; i < 4; ++i) {
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src[i] = _data[i*4];
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src[i + 4] = _data[i*4 + 1];
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src[i + 8] = _data[i*4 + 2];
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src[i + 12] = _data[i*4 + 3];
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}
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// calculate pairs for first 8 elements (cofactors)
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tmp[0] = src[10] * src[15];
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tmp[1] = src[11] * src[14];
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tmp[2] = src[9] * src[15];
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tmp[3] = src[11] * src[13];
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tmp[4] = src[9] * src[14];
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tmp[5] = src[10] * src[13];
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tmp[6] = src[8] * src[15];
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tmp[7] = src[11] * src[12];
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tmp[8] = src[8] * src[14];
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tmp[9] = src[10] * src[12];
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tmp[10] = src[8] * src[13];
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tmp[11] = src[9] * src[12];
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// calculate first 8 elements (cofactors)
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dst._data[0] = tmp[0]*src[5] + tmp[3]*src[6] + tmp[4]*src[7];
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dst._data[0] -= tmp[1]*src[5] + tmp[2]*src[6] + tmp[5]*src[7];
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dst._data[1] = tmp[1]*src[4] + tmp[6]*src[6] + tmp[9]*src[7];
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dst._data[1] -= tmp[0]*src[4] + tmp[7]*src[6] + tmp[8]*src[7];
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dst._data[2] = tmp[2]*src[4] + tmp[7]*src[5] + tmp[10]*src[7];
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dst._data[2] -= tmp[3]*src[4] + tmp[6]*src[5] + tmp[11]*src[7];
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dst._data[3] = tmp[5]*src[4] + tmp[8]*src[5] + tmp[11]*src[6];
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dst._data[3] -= tmp[4]*src[4] + tmp[9]*src[5] + tmp[10]*src[6];
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dst._data[4] = tmp[1]*src[1] + tmp[2]*src[2] + tmp[5]*src[3];
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dst._data[4] -= tmp[0]*src[1] + tmp[3]*src[2] + tmp[4]*src[3];
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dst._data[5] = tmp[0]*src[0] + tmp[7]*src[2] + tmp[8]*src[3];
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dst._data[5] -= tmp[1]*src[0] + tmp[6]*src[2] + tmp[9]*src[3];
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dst._data[6] = tmp[3]*src[0] + tmp[6]*src[1] + tmp[11]*src[3];
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dst._data[6] -= tmp[2]*src[0] + tmp[7]*src[1] + tmp[10]*src[3];
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dst._data[7] = tmp[4]*src[0] + tmp[9]*src[1] + tmp[10]*src[2];
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dst._data[7] -= tmp[5]*src[0] + tmp[8]*src[1] + tmp[11]*src[2];
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// calculate pairs for second 8 elements (cofactors)
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tmp[0] = src[2]*src[7];
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tmp[1] = src[3]*src[6];
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tmp[2] = src[1]*src[7];
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tmp[3] = src[3]*src[5];
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tmp[4] = src[1]*src[6];
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tmp[5] = src[2]*src[5];
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tmp[6] = src[0]*src[7];
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tmp[7] = src[3]*src[4];
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tmp[8] = src[0]*src[6];
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tmp[9] = src[2]*src[4];
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tmp[10] = src[0]*src[5];
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tmp[11] = src[1]*src[4];
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// calculate second 8 elements (cofactors)
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dst._data[8] = tmp[0]*src[13] + tmp[3]*src[14] + tmp[4]*src[15];
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dst._data[8] -= tmp[1]*src[13] + tmp[2]*src[14] + tmp[5]*src[15];
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dst._data[9] = tmp[1]*src[12] + tmp[6]*src[14] + tmp[9]*src[15];
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dst._data[9] -= tmp[0]*src[12] + tmp[7]*src[14] + tmp[8]*src[15];
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dst._data[10] = tmp[2]*src[12] + tmp[7]*src[13] + tmp[10]*src[15];
|
|
dst._data[10]-= tmp[3]*src[12] + tmp[6]*src[13] + tmp[11]*src[15];
|
|
dst._data[11] = tmp[5]*src[12] + tmp[8]*src[13] + tmp[11]*src[14];
|
|
dst._data[11]-= tmp[4]*src[12] + tmp[9]*src[13] + tmp[10]*src[14];
|
|
dst._data[12] = tmp[2]*src[10] + tmp[5]*src[11] + tmp[1]*src[9];
|
|
dst._data[12]-= tmp[4]*src[11] + tmp[0]*src[9] + tmp[3]*src[10];
|
|
dst._data[13] = tmp[8]*src[11] + tmp[0]*src[8] + tmp[7]*src[10];
|
|
dst._data[13]-= tmp[6]*src[10] + tmp[9]*src[11] + tmp[1]*src[8];
|
|
dst._data[14] = tmp[6]*src[9] + tmp[11]*src[11] + tmp[3]*src[8];
|
|
dst._data[14]-= tmp[10]*src[11] + tmp[2]*src[8] + tmp[7]*src[9];
|
|
dst._data[15] = tmp[10]*src[10] + tmp[4]*src[8] + tmp[9]*src[9];
|
|
dst._data[15]-= tmp[8]*src[9] + tmp[11]*src[10] + tmp[5]*src[8];
|
|
|
|
// calculate matrix inverse
|
|
det=src[0]*dst._data[0]+src[1]*dst._data[1]+src[2]*dst._data[2]+src[3]*dst._data[3];
|
|
det = 1/det;
|
|
for ( int j = 0; j < 16; j++) {
|
|
dst._data[j] *= det;
|
|
}
|
|
}
|
|
|
|
void CMatrix3D::Rotate(const CQuaternion& quat)
|
|
{
|
|
CMatrix3D rotationMatrix=quat.ToMatrix();
|
|
Concatenate(rotationMatrix);
|
|
}
|
|
|
|
void CMatrix3D::SetRotation(const CQuaternion& quat)
|
|
{
|
|
quat.ToMatrix(*this);
|
|
}
|
|
|
|
|
|
//----------------------------------------------------------------------------
|
|
// built-in self test
|
|
//----------------------------------------------------------------------------
|
|
|
|
#if PERFORM_SELF_TEST
|
|
namespace test {
|
|
|
|
static void test1()
|
|
{
|
|
CMatrix3D m;
|
|
srand(0);
|
|
for (int i = 0; i < 4; ++i)
|
|
{
|
|
for (int j = 0; j < 16; ++j)
|
|
m._data[j] = -1.0f + 2.0f*(rand()/(float)RAND_MAX);
|
|
CMatrix3D n;
|
|
m.GetInverse(n);
|
|
m *= n;
|
|
for (int x = 0; x < 4; ++x)
|
|
for (int y = 0; y < 4; ++y)
|
|
debug_assert(abs(m(x,y) - (x==y ? 1.0f : 0.0f)) < 0.0001f);
|
|
}
|
|
}
|
|
|
|
|
|
static int run_tests()
|
|
{
|
|
test1();
|
|
return 0;
|
|
}
|
|
|
|
static int dummy = run_tests();
|
|
|
|
} // namespace test
|
|
#endif // #if PERFORM_SELF_TEST
|