forked from 0ad/0ad
109 lines
3.0 KiB
C++
Executable File
109 lines
3.0 KiB
C++
Executable File
//***********************************************************
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//
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// Name: Matrix3D.H
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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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#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 CMatrix3D
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{
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public:
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union {
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struct {
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float _11, _12, _13, _14;
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float _21, _22, _23, _24;
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float _31, _32, _33, _34;
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float _41, _42, _43, _44;
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};
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float _data[16];
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};
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public:
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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 row,int col) {
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return _data[row*4+col];
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}
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const float& operator()(int row,int col) 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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//Sets the identity matrix
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void SetIdentity ();
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//Sets the zero matrix
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void SetZero ();
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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 SetXRotation (float angle);
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void SetYRotation (float angle);
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void SetZRotation (float angle);
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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 RotateX (float angle);
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void RotateY (float angle);
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void RotateZ (float angle);
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//Sets the translation of the matrix
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void SetTranslation (float x, float y, float z);
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void SetTranslation (CVector3D &vector);
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//Applies a translation to the 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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CVector3D GetTranslation ();
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// calculate the inverse of this matrix, store in dst
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void Invert(CMatrix3D& dst) const;
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//Clears and sets the scaling of the matrix
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void SetScaling (float x_scale, float y_scale, float z_scale);
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//Scales the matrix
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void Scale (float x_scale, float y_scale, float z_scale);
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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 GetTranspose() const;
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//Get a vector which points to the left of the matrix
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CVector3D GetLeft () const;
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//Get a vector which points up from the matrix
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CVector3D GetUp () const;
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//Get a vector which points to front of the matrix
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CVector3D GetIn () const;
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//Set the matrix from two vectors (Up and In)
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void SetFromUpIn (CVector3D &up, CVector3D &in, float scale);
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public: //Vector manipulation methods
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//Transform a 3D vector by this matrix
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CVector3D Transform (CVector3D &vector);
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//Transform a 4D vector by this matrix
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CVector4D Transform (const CVector4D &vector) const;
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//Only rotate (not translate) a vector by this matrix
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CVector3D Rotate (CVector3D &vector);
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};
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#endif
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