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authordan miller2007-10-19 05:24:38 +0000
committerdan miller2007-10-19 05:24:38 +0000
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tree9acc9608a6880502aaeda43af52c33e278e95b9c /libraries/ode-0.9/OPCODE/Ice/IceMatrix4x4.h
parenttrying to fix my screwup part deux (diff)
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from the start... checking in ode-0.9
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1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/**
3 * Contains code for 4x4 matrices.
4 * \file IceMatrix4x4.h
5 * \author Pierre Terdiman
6 * \date April, 4, 2000
7 */
8///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
9
10///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
11// Include Guard
12#ifndef __ICEMATRIX4X4_H__
13#define __ICEMATRIX4X4_H__
14
15 // Forward declarations
16 class PRS;
17 class PR;
18
19 #define MATRIX4X4_EPSILON (1.0e-7f)
20
21 class ICEMATHS_API Matrix4x4
22 {
23// void LUBackwardSubstitution( sdword *indx, float* b );
24// void LUDecomposition( sdword* indx, float* d );
25
26 public:
27 //! Empty constructor.
28 inline_ Matrix4x4() {}
29 //! Constructor from 16 values
30 inline_ Matrix4x4( float m00, float m01, float m02, float m03,
31 float m10, float m11, float m12, float m13,
32 float m20, float m21, float m22, float m23,
33 float m30, float m31, float m32, float m33)
34 {
35 m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
36 m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
37 m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
38 m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
39 }
40 //! Copy constructor
41 inline_ Matrix4x4(const Matrix4x4& mat) { CopyMemory(m, &mat.m, 16*sizeof(float)); }
42 //! Destructor.
43 inline_ ~Matrix4x4() {}
44
45 //! Assign values (rotation only)
46 inline_ Matrix4x4& Set( float m00, float m01, float m02,
47 float m10, float m11, float m12,
48 float m20, float m21, float m22)
49 {
50 m[0][0] = m00; m[0][1] = m01; m[0][2] = m02;
51 m[1][0] = m10; m[1][1] = m11; m[1][2] = m12;
52 m[2][0] = m20; m[2][1] = m21; m[2][2] = m22;
53 return *this;
54 }
55 //! Assign values
56 inline_ Matrix4x4& Set( float m00, float m01, float m02, float m03,
57 float m10, float m11, float m12, float m13,
58 float m20, float m21, float m22, float m23,
59 float m30, float m31, float m32, float m33)
60 {
61 m[0][0] = m00; m[0][1] = m01; m[0][2] = m02; m[0][3] = m03;
62 m[1][0] = m10; m[1][1] = m11; m[1][2] = m12; m[1][3] = m13;
63 m[2][0] = m20; m[2][1] = m21; m[2][2] = m22; m[2][3] = m23;
64 m[3][0] = m30; m[3][1] = m31; m[3][2] = m32; m[3][3] = m33;
65 return *this;
66 }
67
68 //! Copy from a Matrix4x4
69 inline_ void Copy(const Matrix4x4& source) { CopyMemory(m, source.m, 16*sizeof(float)); }
70
71 // Row-column access
72 //! Returns a row.
73 inline_ void GetRow(const udword r, HPoint& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; p.w=m[r][3]; }
74 //! Returns a row.
75 inline_ void GetRow(const udword r, Point& p) const { p.x=m[r][0]; p.y=m[r][1]; p.z=m[r][2]; }
76 //! Returns a row.
77 inline_ const HPoint& GetRow(const udword r) const { return *(const HPoint*)&m[r][0]; }
78 //! Returns a row.
79 inline_ HPoint& GetRow(const udword r) { return *(HPoint*)&m[r][0]; }
80 //! Sets a row.
81 inline_ void SetRow(const udword r, const HPoint& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]=p.w; }
82 //! Sets a row.
83 inline_ void SetRow(const udword r, const Point& p) { m[r][0]=p.x; m[r][1]=p.y; m[r][2]=p.z; m[r][3]= (r!=3) ? 0.0f : 1.0f; }
84 //! Returns a column.
85 inline_ void GetCol(const udword c, HPoint& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; p.w=m[3][c]; }
86 //! Returns a column.
87 inline_ void GetCol(const udword c, Point& p) const { p.x=m[0][c]; p.y=m[1][c]; p.z=m[2][c]; }
88 //! Sets a column.
89 inline_ void SetCol(const udword c, const HPoint& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]=p.w; }
90 //! Sets a column.
91 inline_ void SetCol(const udword c, const Point& p) { m[0][c]=p.x; m[1][c]=p.y; m[2][c]=p.z; m[3][c]= (c!=3) ? 0.0f : 1.0f; }
92
93 // Translation
94 //! Returns the translation part of the matrix.
95 inline_ const HPoint& GetTrans() const { return GetRow(3); }
96 //! Gets the translation part of the matrix
97 inline_ void GetTrans(Point& p) const { p.x=m[3][0]; p.y=m[3][1]; p.z=m[3][2]; }
98 //! Sets the translation part of the matrix, from a Point.
99 inline_ void SetTrans(const Point& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; }
100 //! Sets the translation part of the matrix, from a HPoint.
101 inline_ void SetTrans(const HPoint& p) { m[3][0]=p.x; m[3][1]=p.y; m[3][2]=p.z; m[3][3]=p.w; }
102 //! Sets the translation part of the matrix, from floats.
103 inline_ void SetTrans(float tx, float ty, float tz) { m[3][0]=tx; m[3][1]=ty; m[3][2]=tz; }
104
105 // Scale
106 //! Sets the scale from a Point. The point is put on the diagonal.
107 inline_ void SetScale(const Point& p) { m[0][0]=p.x; m[1][1]=p.y; m[2][2]=p.z; }
108 //! Sets the scale from floats. Values are put on the diagonal.
109 inline_ void SetScale(float sx, float sy, float sz) { m[0][0]=sx; m[1][1]=sy; m[2][2]=sz; }
110 //! Scales from a Point. Each row is multiplied by a component.
111 void Scale(const Point& p)
112 {
113 m[0][0] *= p.x; m[1][0] *= p.y; m[2][0] *= p.z;
114 m[0][1] *= p.x; m[1][1] *= p.y; m[2][1] *= p.z;
115 m[0][2] *= p.x; m[1][2] *= p.y; m[2][2] *= p.z;
116 }
117 //! Scales from floats. Each row is multiplied by a value.
118 void Scale(float sx, float sy, float sz)
119 {
120 m[0][0] *= sx; m[1][0] *= sy; m[2][0] *= sz;
121 m[0][1] *= sx; m[1][1] *= sy; m[2][1] *= sz;
122 m[0][2] *= sx; m[1][2] *= sy; m[2][2] *= sz;
123 }
124/*
125 //! Returns a row.
126 inline_ HPoint GetRow(const udword row) const { return mRow[row]; }
127 //! Sets a row.
128 inline_ Matrix4x4& SetRow(const udword row, const HPoint& p) { mRow[row] = p; return *this; }
129 //! Sets a row.
130 Matrix4x4& SetRow(const udword row, const Point& p)
131 {
132 m[row][0] = p.x;
133 m[row][1] = p.y;
134 m[row][2] = p.z;
135 m[row][3] = (row != 3) ? 0.0f : 1.0f;
136 return *this;
137 }
138 //! Returns a column.
139 HPoint GetCol(const udword col) const
140 {
141 HPoint Res;
142 Res.x = m[0][col];
143 Res.y = m[1][col];
144 Res.z = m[2][col];
145 Res.w = m[3][col];
146 return Res;
147 }
148 //! Sets a column.
149 Matrix4x4& SetCol(const udword col, const HPoint& p)
150 {
151 m[0][col] = p.x;
152 m[1][col] = p.y;
153 m[2][col] = p.z;
154 m[3][col] = p.w;
155 return *this;
156 }
157 //! Sets a column.
158 Matrix4x4& SetCol(const udword col, const Point& p)
159 {
160 m[0][col] = p.x;
161 m[1][col] = p.y;
162 m[2][col] = p.z;
163 m[3][col] = (col != 3) ? 0.0f : 1.0f;
164 return *this;
165 }
166*/
167 //! Computes the trace. The trace is the sum of the 4 diagonal components.
168 inline_ float Trace() const { return m[0][0] + m[1][1] + m[2][2] + m[3][3]; }
169 //! Computes the trace of the upper 3x3 matrix.
170 inline_ float Trace3x3() const { return m[0][0] + m[1][1] + m[2][2]; }
171 //! Clears the matrix.
172 inline_ void Zero() { ZeroMemory(&m, sizeof(m)); }
173 //! Sets the identity matrix.
174 inline_ void Identity() { Zero(); m[0][0] = m[1][1] = m[2][2] = m[3][3] = 1.0f; }
175 //! Checks for identity
176 inline_ bool IsIdentity() const
177 {
178 if(IR(m[0][0])!=IEEE_1_0) return false;
179 if(IR(m[0][1])!=0) return false;
180 if(IR(m[0][2])!=0) return false;
181 if(IR(m[0][3])!=0) return false;
182
183 if(IR(m[1][0])!=0) return false;
184 if(IR(m[1][1])!=IEEE_1_0) return false;
185 if(IR(m[1][2])!=0) return false;
186 if(IR(m[1][3])!=0) return false;
187
188 if(IR(m[2][0])!=0) return false;
189 if(IR(m[2][1])!=0) return false;
190 if(IR(m[2][2])!=IEEE_1_0) return false;
191 if(IR(m[2][3])!=0) return false;
192
193 if(IR(m[3][0])!=0) return false;
194 if(IR(m[3][1])!=0) return false;
195 if(IR(m[3][2])!=0) return false;
196 if(IR(m[3][3])!=IEEE_1_0) return false;
197 return true;
198 }
199
200 //! Checks matrix validity
201 inline_ BOOL IsValid() const
202 {
203 for(udword j=0;j<4;j++)
204 {
205 for(udword i=0;i<4;i++)
206 {
207 if(!IsValidFloat(m[j][i])) return FALSE;
208 }
209 }
210 return TRUE;
211 }
212
213 //! Sets a rotation matrix around the X axis.
214 void RotX(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[1][1] = m[2][2] = Cos; m[2][1] = -Sin; m[1][2] = Sin; }
215 //! Sets a rotation matrix around the Y axis.
216 void RotY(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[2][2] = Cos; m[2][0] = Sin; m[0][2] = -Sin; }
217 //! Sets a rotation matrix around the Z axis.
218 void RotZ(float angle) { float Cos = cosf(angle), Sin = sinf(angle); Identity(); m[0][0] = m[1][1] = Cos; m[1][0] = -Sin; m[0][1] = Sin; }
219
220 //! Makes a rotation matrix about an arbitrary axis
221 Matrix4x4& Rot(float angle, Point& p1, Point& p2);
222
223 //! Transposes the matrix.
224 void Transpose()
225 {
226 IR(m[1][0]) ^= IR(m[0][1]); IR(m[0][1]) ^= IR(m[1][0]); IR(m[1][0]) ^= IR(m[0][1]);
227 IR(m[2][0]) ^= IR(m[0][2]); IR(m[0][2]) ^= IR(m[2][0]); IR(m[2][0]) ^= IR(m[0][2]);
228 IR(m[3][0]) ^= IR(m[0][3]); IR(m[0][3]) ^= IR(m[3][0]); IR(m[3][0]) ^= IR(m[0][3]);
229 IR(m[1][2]) ^= IR(m[2][1]); IR(m[2][1]) ^= IR(m[1][2]); IR(m[1][2]) ^= IR(m[2][1]);
230 IR(m[1][3]) ^= IR(m[3][1]); IR(m[3][1]) ^= IR(m[1][3]); IR(m[1][3]) ^= IR(m[3][1]);
231 IR(m[2][3]) ^= IR(m[3][2]); IR(m[3][2]) ^= IR(m[2][3]); IR(m[2][3]) ^= IR(m[3][2]);
232 }
233
234 //! Computes a cofactor. Used for matrix inversion.
235 float CoFactor(udword row, udword col) const;
236 //! Computes the determinant of the matrix.
237 float Determinant() const;
238 //! Inverts the matrix. Determinant must be different from zero, else matrix can't be inverted.
239 Matrix4x4& Invert();
240// Matrix& ComputeAxisMatrix(Point& axis, float angle);
241
242 // Cast operators
243 //! Casts a Matrix4x4 to a Matrix3x3.
244 inline_ operator Matrix3x3() const
245 {
246 return Matrix3x3(
247 m[0][0], m[0][1], m[0][2],
248 m[1][0], m[1][1], m[1][2],
249 m[2][0], m[2][1], m[2][2]);
250 }
251 //! Casts a Matrix4x4 to a Quat.
252 operator Quat() const;
253 //! Casts a Matrix4x4 to a PR.
254 operator PR() const;
255
256 // Arithmetic operators
257 //! Operator for Matrix4x4 Plus = Matrix4x4 + Matrix4x4;
258 inline_ Matrix4x4 operator+(const Matrix4x4& mat) const
259 {
260 return Matrix4x4(
261 m[0][0]+mat.m[0][0], m[0][1]+mat.m[0][1], m[0][2]+mat.m[0][2], m[0][3]+mat.m[0][3],
262 m[1][0]+mat.m[1][0], m[1][1]+mat.m[1][1], m[1][2]+mat.m[1][2], m[1][3]+mat.m[1][3],
263 m[2][0]+mat.m[2][0], m[2][1]+mat.m[2][1], m[2][2]+mat.m[2][2], m[2][3]+mat.m[2][3],
264 m[3][0]+mat.m[3][0], m[3][1]+mat.m[3][1], m[3][2]+mat.m[3][2], m[3][3]+mat.m[3][3]);
265 }
266
267 //! Operator for Matrix4x4 Minus = Matrix4x4 - Matrix4x4;
268 inline_ Matrix4x4 operator-(const Matrix4x4& mat) const
269 {
270 return Matrix4x4(
271 m[0][0]-mat.m[0][0], m[0][1]-mat.m[0][1], m[0][2]-mat.m[0][2], m[0][3]-mat.m[0][3],
272 m[1][0]-mat.m[1][0], m[1][1]-mat.m[1][1], m[1][2]-mat.m[1][2], m[1][3]-mat.m[1][3],
273 m[2][0]-mat.m[2][0], m[2][1]-mat.m[2][1], m[2][2]-mat.m[2][2], m[2][3]-mat.m[2][3],
274 m[3][0]-mat.m[3][0], m[3][1]-mat.m[3][1], m[3][2]-mat.m[3][2], m[3][3]-mat.m[3][3]);
275 }
276
277 //! Operator for Matrix4x4 Mul = Matrix4x4 * Matrix4x4;
278 inline_ Matrix4x4 operator*(const Matrix4x4& mat) const
279 {
280 return Matrix4x4(
281 m[0][0]*mat.m[0][0] + m[0][1]*mat.m[1][0] + m[0][2]*mat.m[2][0] + m[0][3]*mat.m[3][0],
282 m[0][0]*mat.m[0][1] + m[0][1]*mat.m[1][1] + m[0][2]*mat.m[2][1] + m[0][3]*mat.m[3][1],
283 m[0][0]*mat.m[0][2] + m[0][1]*mat.m[1][2] + m[0][2]*mat.m[2][2] + m[0][3]*mat.m[3][2],
284 m[0][0]*mat.m[0][3] + m[0][1]*mat.m[1][3] + m[0][2]*mat.m[2][3] + m[0][3]*mat.m[3][3],
285
286 m[1][0]*mat.m[0][0] + m[1][1]*mat.m[1][0] + m[1][2]*mat.m[2][0] + m[1][3]*mat.m[3][0],
287 m[1][0]*mat.m[0][1] + m[1][1]*mat.m[1][1] + m[1][2]*mat.m[2][1] + m[1][3]*mat.m[3][1],
288 m[1][0]*mat.m[0][2] + m[1][1]*mat.m[1][2] + m[1][2]*mat.m[2][2] + m[1][3]*mat.m[3][2],
289 m[1][0]*mat.m[0][3] + m[1][1]*mat.m[1][3] + m[1][2]*mat.m[2][3] + m[1][3]*mat.m[3][3],
290
291 m[2][0]*mat.m[0][0] + m[2][1]*mat.m[1][0] + m[2][2]*mat.m[2][0] + m[2][3]*mat.m[3][0],
292 m[2][0]*mat.m[0][1] + m[2][1]*mat.m[1][1] + m[2][2]*mat.m[2][1] + m[2][3]*mat.m[3][1],
293 m[2][0]*mat.m[0][2] + m[2][1]*mat.m[1][2] + m[2][2]*mat.m[2][2] + m[2][3]*mat.m[3][2],
294 m[2][0]*mat.m[0][3] + m[2][1]*mat.m[1][3] + m[2][2]*mat.m[2][3] + m[2][3]*mat.m[3][3],
295
296 m[3][0]*mat.m[0][0] + m[3][1]*mat.m[1][0] + m[3][2]*mat.m[2][0] + m[3][3]*mat.m[3][0],
297 m[3][0]*mat.m[0][1] + m[3][1]*mat.m[1][1] + m[3][2]*mat.m[2][1] + m[3][3]*mat.m[3][1],
298 m[3][0]*mat.m[0][2] + m[3][1]*mat.m[1][2] + m[3][2]*mat.m[2][2] + m[3][3]*mat.m[3][2],
299 m[3][0]*mat.m[0][3] + m[3][1]*mat.m[1][3] + m[3][2]*mat.m[2][3] + m[3][3]*mat.m[3][3]);
300 }
301
302 //! Operator for HPoint Mul = Matrix4x4 * HPoint;
303 inline_ HPoint operator*(const HPoint& v) const { return HPoint(GetRow(0)|v, GetRow(1)|v, GetRow(2)|v, GetRow(3)|v); }
304
305 //! Operator for Point Mul = Matrix4x4 * Point;
306 inline_ Point operator*(const Point& v) const
307 {
308 return Point( m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3],
309 m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3],
310 m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3] );
311 }
312
313 //! Operator for Matrix4x4 Scale = Matrix4x4 * float;
314 inline_ Matrix4x4 operator*(float s) const
315 {
316 return Matrix4x4(
317 m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
318 m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
319 m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
320 m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
321 }
322
323 //! Operator for Matrix4x4 Scale = float * Matrix4x4;
324 inline_ friend Matrix4x4 operator*(float s, const Matrix4x4& mat)
325 {
326 return Matrix4x4(
327 s*mat.m[0][0], s*mat.m[0][1], s*mat.m[0][2], s*mat.m[0][3],
328 s*mat.m[1][0], s*mat.m[1][1], s*mat.m[1][2], s*mat.m[1][3],
329 s*mat.m[2][0], s*mat.m[2][1], s*mat.m[2][2], s*mat.m[2][3],
330 s*mat.m[3][0], s*mat.m[3][1], s*mat.m[3][2], s*mat.m[3][3]);
331 }
332
333 //! Operator for Matrix4x4 Div = Matrix4x4 / float;
334 inline_ Matrix4x4 operator/(float s) const
335 {
336 if(s) s = 1.0f / s;
337
338 return Matrix4x4(
339 m[0][0]*s, m[0][1]*s, m[0][2]*s, m[0][3]*s,
340 m[1][0]*s, m[1][1]*s, m[1][2]*s, m[1][3]*s,
341 m[2][0]*s, m[2][1]*s, m[2][2]*s, m[2][3]*s,
342 m[3][0]*s, m[3][1]*s, m[3][2]*s, m[3][3]*s);
343 }
344
345 //! Operator for Matrix4x4 Div = float / Matrix4x4;
346 inline_ friend Matrix4x4 operator/(float s, const Matrix4x4& mat)
347 {
348 return Matrix4x4(
349 s/mat.m[0][0], s/mat.m[0][1], s/mat.m[0][2], s/mat.m[0][3],
350 s/mat.m[1][0], s/mat.m[1][1], s/mat.m[1][2], s/mat.m[1][3],
351 s/mat.m[2][0], s/mat.m[2][1], s/mat.m[2][2], s/mat.m[2][3],
352 s/mat.m[3][0], s/mat.m[3][1], s/mat.m[3][2], s/mat.m[3][3]);
353 }
354
355 //! Operator for Matrix4x4 += Matrix4x4;
356 inline_ Matrix4x4& operator+=(const Matrix4x4& mat)
357 {
358 m[0][0]+=mat.m[0][0]; m[0][1]+=mat.m[0][1]; m[0][2]+=mat.m[0][2]; m[0][3]+=mat.m[0][3];
359 m[1][0]+=mat.m[1][0]; m[1][1]+=mat.m[1][1]; m[1][2]+=mat.m[1][2]; m[1][3]+=mat.m[1][3];
360 m[2][0]+=mat.m[2][0]; m[2][1]+=mat.m[2][1]; m[2][2]+=mat.m[2][2]; m[2][3]+=mat.m[2][3];
361 m[3][0]+=mat.m[3][0]; m[3][1]+=mat.m[3][1]; m[3][2]+=mat.m[3][2]; m[3][3]+=mat.m[3][3];
362 return *this;
363 }
364
365 //! Operator for Matrix4x4 -= Matrix4x4;
366 inline_ Matrix4x4& operator-=(const Matrix4x4& mat)
367 {
368 m[0][0]-=mat.m[0][0]; m[0][1]-=mat.m[0][1]; m[0][2]-=mat.m[0][2]; m[0][3]-=mat.m[0][3];
369 m[1][0]-=mat.m[1][0]; m[1][1]-=mat.m[1][1]; m[1][2]-=mat.m[1][2]; m[1][3]-=mat.m[1][3];
370 m[2][0]-=mat.m[2][0]; m[2][1]-=mat.m[2][1]; m[2][2]-=mat.m[2][2]; m[2][3]-=mat.m[2][3];
371 m[3][0]-=mat.m[3][0]; m[3][1]-=mat.m[3][1]; m[3][2]-=mat.m[3][2]; m[3][3]-=mat.m[3][3];
372 return *this;
373 }
374
375 //! Operator for Matrix4x4 *= Matrix4x4;
376 Matrix4x4& operator*=(const Matrix4x4& mat)
377 {
378 HPoint TempRow;
379
380 GetRow(0, TempRow);
381 m[0][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
382 m[0][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
383 m[0][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
384 m[0][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
385
386 GetRow(1, TempRow);
387 m[1][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
388 m[1][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
389 m[1][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
390 m[1][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
391
392 GetRow(2, TempRow);
393 m[2][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
394 m[2][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
395 m[2][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
396 m[2][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
397
398 GetRow(3, TempRow);
399 m[3][0] = TempRow.x*mat.m[0][0] + TempRow.y*mat.m[1][0] + TempRow.z*mat.m[2][0] + TempRow.w*mat.m[3][0];
400 m[3][1] = TempRow.x*mat.m[0][1] + TempRow.y*mat.m[1][1] + TempRow.z*mat.m[2][1] + TempRow.w*mat.m[3][1];
401 m[3][2] = TempRow.x*mat.m[0][2] + TempRow.y*mat.m[1][2] + TempRow.z*mat.m[2][2] + TempRow.w*mat.m[3][2];
402 m[3][3] = TempRow.x*mat.m[0][3] + TempRow.y*mat.m[1][3] + TempRow.z*mat.m[2][3] + TempRow.w*mat.m[3][3];
403
404 return *this;
405 }
406
407 //! Operator for Matrix4x4 *= float;
408 inline_ Matrix4x4& operator*=(float s)
409 {
410 m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
411 m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
412 m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
413 m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
414 return *this;
415 }
416
417 //! Operator for Matrix4x4 /= float;
418 inline_ Matrix4x4& operator/=(float s)
419 {
420 if(s) s = 1.0f / s;
421 m[0][0]*=s; m[0][1]*=s; m[0][2]*=s; m[0][3]*=s;
422 m[1][0]*=s; m[1][1]*=s; m[1][2]*=s; m[1][3]*=s;
423 m[2][0]*=s; m[2][1]*=s; m[2][2]*=s; m[2][3]*=s;
424 m[3][0]*=s; m[3][1]*=s; m[3][2]*=s; m[3][3]*=s;
425 return *this;
426 }
427
428 inline_ const HPoint& operator[](int row) const { return *(const HPoint*)&m[row][0]; }
429 inline_ HPoint& operator[](int row) { return *(HPoint*)&m[row][0]; }
430
431 public:
432
433 float m[4][4];
434 };
435
436 //! Quickly rotates & translates a vector, using the 4x3 part of a 4x4 matrix
437 inline_ void TransformPoint4x3(Point& dest, const Point& source, const Matrix4x4& rot)
438 {
439 dest.x = rot.m[3][0] + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
440 dest.y = rot.m[3][1] + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
441 dest.z = rot.m[3][2] + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
442 }
443
444 //! Quickly rotates a vector, using the 3x3 part of a 4x4 matrix
445 inline_ void TransformPoint3x3(Point& dest, const Point& source, const Matrix4x4& rot)
446 {
447 dest.x = source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
448 dest.y = source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
449 dest.z = source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
450 }
451
452 ICEMATHS_API void InvertPRMatrix(Matrix4x4& dest, const Matrix4x4& src);
453
454#endif // __ICEMATRIX4X4_H__
455
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