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annotate engine/core/util/math/matrix.h @ 384:621b062e752d

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Modified the code blocks project files to fit with the new build system. Code blocks now uses scons to build each of the configurations. The python configurations build properly but fail during link with a bunch of undefined references insides of the swig generated dll, not sure why. Also updated the win32-config.py so that it no longer relies on variables defined outside of itself, this was causing code blocks to not be able to build. Updated a couple of the batch scripts so they run properly.
author vtchill@33b003aa-7bff-0310-803a-e67f0ece8222
date Wed, 20 Jan 2010 05:56:18 +0000
parents 9ec572a5a944
children 16c2b3ee59ce
rev   line source
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1 /***************************************************************************
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2 * Copyright (C) 2005-2008 by the FIFE team *
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3 * http://www.fifengine.de *
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4 * This file is part of FIFE. *
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5 * *
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6 * FIFE is free software; you can redistribute it and/or *
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7 * modify it under the terms of the GNU Lesser General Public *
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8 * License as published by the Free Software Foundation; either *
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9 * version 2.1 of the License, or (at your option) any later version. *
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10 * *
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11 * This library is distributed in the hope that it will be useful, *
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12 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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14 * Lesser General Public License for more details. *
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15 * *
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16 * You should have received a copy of the GNU Lesser General Public *
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17 * License along with this library; if not, write to the *
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18 * Free Software Foundation, Inc., *
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19 * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA *
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20 ***************************************************************************/
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21 /***************************************************************************
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22 * Includes some heavy copying from mathgl-pp project *
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23 * (http://sourceforge.net/projects/mathgl-pp/) *
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24 ***************************************************************************/
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25
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26 #ifndef FIFE_UTIL_MATRIX_H
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27 #define FIFE_UTIL_MATRIX_H
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28
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29 // Standard C++ library includes
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30 #include <cassert>
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31 #include <iostream>
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32
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33 // Platform specific includes
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34
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35 // 3rd party library includes
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36
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37 // FIFE includes
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38 // These includes are split up in two parts, separated by one empty line
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39 // First block: files included from the FIFE root src directory
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40 // Second block: files included from the same folder
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41 #include "util/base/fife_stdint.h"
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42 #include "util/structures/point.h"
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43
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44 #include "fife_math.h"
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45
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46 namespace FIFE {
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47
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48
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49 /** Minimal matrix class to assist in view 3d calculations
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50 */
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51 template <typename T>
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52 class Matrix {
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53 public:
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54 Matrix<T>() {}
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55 template <typename U> friend class Matrix;
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56 template <typename U> Matrix<T>(const Matrix<U>& mat) {
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57 memmove(m, mat.m, 16*sizeof(T));
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58 }
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59 ~Matrix() {}
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60
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61 /** Adjoint method inverse, constant time inversion implementation
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62 */
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63 Matrix inverse() const {
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64 Matrix ret(adjoint());
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65
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66 T determinant = m0*ret[0] + m1*ret[4] + m2*ret[8] + m3*ret[12];
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67 assert(determinant!=0 && "Singular matrix has no inverse");
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68
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69 ret/=determinant;
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70 return ret;
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71 }
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72
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73 /** Divide this matrix by a scalar
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74 */
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75 inline Matrix& operator/= (T val) {
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76 for (register unsigned i = 0; i < 16; ++i)
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77 m[i] /= val;
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78 return *this;
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79 }
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80
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81 /** Get the adjoint matrix
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82 */
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83 Matrix adjoint() const {
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84 Matrix ret;
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85
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86 ret[0] = cofactorm0();
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87 ret[1] = -cofactorm4();
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88 ret[2] = cofactorm8();
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89 ret[3] = -cofactorm12();
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90
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91 ret[4] = -cofactorm1();
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92 ret[5] = cofactorm5();
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93 ret[6] = -cofactorm9();
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94 ret[7] = cofactorm13();
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95
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96 ret[8] = cofactorm2();
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97 ret[9] = -cofactorm6();
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98 ret[10] = cofactorm10();
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99 ret[11] = -cofactorm14();
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100
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101 ret[12] = -cofactorm3();
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102 ret[13] = cofactorm7();
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103 ret[14] = -cofactorm11();
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104 ret[15] = cofactorm15();
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105
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106 return ret;
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107 }
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108
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parents:
diff changeset
109
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
110 /** Make this a rotation matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
111 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
112
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
113 inline Matrix& loadRotate(T angle, T x, T y, T z) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
114 register T magSqr = x*x + y*y + z*z;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
115 if (magSqr != 1.0) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
116 register T mag = sqrt(magSqr);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
117 x/=mag;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
118 y/=mag;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
119 z/=mag;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
120 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
121 T c = cos(angle*M_PI/180);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
122 T s = sin(angle*M_PI/180);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
123 m0 = x*x*(1-c)+c;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
124 m1 = y*x*(1-c)+z*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
125 m2 = z*x*(1-c)-y*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
126 m3 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
127
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
128 m4 = x*y*(1-c)-z*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
129 m5 = y*y*(1-c)+c;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
130 m6 = z*y*(1-c)+x*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
131 m7 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
132
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
133 m8 = x*z*(1-c)+y*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
134 m9 = y*z*(1-c)-x*s;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
135 m10 = z*z*(1-c)+c;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
136 m11 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
137
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
138 m12 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
139 m13 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
140 m14 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
141 m15 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
142
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
143 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
144 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
145
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
146 /** Apply scale into this matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
147 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
148 inline Matrix& applyScale(T x, T y, T z) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
149 static Matrix<T> temp;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
150 temp.loadScale(x,y,z);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
151 *this = temp.mult4by4(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
152 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
153 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
154
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
155 /** Make this a scale matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
156 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
157 inline Matrix& loadScale(T x, T y, T z = 1) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
158 m0 = x;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
159 m4 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
160 m8 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
161 m12 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
162 m1 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
163 m5 = y;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
164 m9 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
165 m13 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
166 m2 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
167 m6 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
168 m10 = z;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
169 m14 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
170 m3 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
171 m7 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
172 m11 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
173 m15 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
174
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
175 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
176 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
177
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
178 /** Apply translation into this matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
179 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
180 inline Matrix& applyTranslate(T x, T y, T z) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
181 static Matrix<T> temp;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
182 temp.loadTranslate(x,y,z);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
183 *this = temp.mult4by4(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
184 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
185 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
186
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
187 /** Make this a translation matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
188 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
189 inline Matrix& loadTranslate( const T x, const T y, const T z) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
190 m0 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
191 m4 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
192 m8 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
193 m12 = x;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
194 m1 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
195 m5 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
196 m9 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
197 m13 = y;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
198 m2 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
199 m6 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
200 m10 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
201 m14 = z;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
202 m3 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
203 m7 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
204 m11 = 0;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
205 m15 = 1;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
206
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
207 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
208 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
209
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
210 /** Transform given point using this matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
211 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
212 inline PointType3D<T> operator* (const PointType3D<T>& vec) {
58
9ec572a5a944 reworked matrix vector multiplication, patch by yonibear
spq@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 46
diff changeset
213 return PointType3D<T> (
9ec572a5a944 reworked matrix vector multiplication, patch by yonibear
spq@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 46
diff changeset
214 vec.x * m0 + vec.y * m4 + vec.z * m8 + m12,
9ec572a5a944 reworked matrix vector multiplication, patch by yonibear
spq@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 46
diff changeset
215 vec.x * m1 + vec.y * m5 + vec.z * m9 + m13,
9ec572a5a944 reworked matrix vector multiplication, patch by yonibear
spq@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 46
diff changeset
216 vec.x * m2 + vec.y * m6 + vec.z * m10 + m14
9ec572a5a944 reworked matrix vector multiplication, patch by yonibear
spq@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 46
diff changeset
217 );
0
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
218 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
219
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
220 /** Direct access to the matrix elements, just remember they are in column major format!!
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
221 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
222 inline T& operator[] (int ind) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
223 assert(ind > -1 && ind < 16);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
224 return m[ind];
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
225 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
226
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
227 /** Apply the matrix dot product to this matrix
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
228 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
229 inline Matrix& mult3by3(const Matrix& mat) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
230 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
231 m0 = temp.m0*mat.m0+temp.m4*mat.m1+temp.m8*mat.m2;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
232 m4 = temp.m0*mat.m4+temp.m4*mat.m5+temp.m8*mat.m6;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
233 m8 = temp.m0*mat.m8+temp.m4*mat.m9+temp.m8*mat.m10;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
234
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
235 m1 = temp.m1*mat.m0+temp.m5*mat.m1+temp.m9*mat.m2;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
236 m5 = temp.m1*mat.m4+temp.m5*mat.m5+temp.m9*mat.m6;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
237 m9 = temp.m1*mat.m8+temp.m5*mat.m9+temp.m9*mat.m10;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
238
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
239 m2 = temp.m2*mat.m0+temp.m6*mat.m1+temp.m10*mat.m2;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
240 m6 = temp.m2*mat.m4+temp.m6*mat.m5+temp.m10*mat.m6;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
241 m10 = temp.m2*mat.m8+temp.m6*mat.m9+temp.m10*mat.m10;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
242
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
243 m3 = temp.m3*mat.m0+temp.m7*mat.m1+temp.m11*mat.m2;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
244 m7 = temp.m3*mat.m4+temp.m7*mat.m5+temp.m11*mat.m6;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
245 m11 = temp.m3*mat.m8+temp.m7*mat.m9+temp.m11*mat.m10;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
246 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
247 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
248
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
249 /** this->Rmult4by4(temp) == [temp] X [*this] **/
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
250 /** also equal to temp->mult4by4(*this) **/
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
251 inline Matrix<T>& Rmult4by4(const Matrix<T>& mat) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
252 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
253
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
254 m0 = mat.m0*temp.m0+mat.m4*temp.m1+mat.m8*temp.m2+mat.m12*temp.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
255 m4 = mat.m0*temp.m4+mat.m4*temp.m5+mat.m8*temp.m6+mat.m12*temp.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
256 m8 = mat.m0*temp.m8+mat.m4*temp.m9+mat.m8*temp.m10+mat.m12*temp.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
257 m12 = mat.m0*temp.m12+mat.m4*temp.m13+mat.m8*temp.m14+mat.m12*temp.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
258
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
259 m1 = mat.m1*temp.m0 + mat.m5*temp.m1 + mat.m9*temp.m2+mat.m13*temp.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
260 m5 = mat.m1*temp.m4 + mat.m5*temp.m5 + mat.m9*temp.m6+mat.m13*temp.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
261 m9 = mat.m1*temp.m8 + mat.m5*temp.m9 + mat.m9*temp.m10+mat.m13*temp.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
262 m13 = mat.m1*temp.m12+ mat.m5*temp.m13 + mat.m9*temp.m14+mat.m13*temp.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
263
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
264 m2 = mat.m2*temp.m0+mat.m6*temp.m1+mat.m10*temp.m2+mat.m14*temp.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
265 m6 = mat.m2*temp.m4+mat.m6*temp.m5+mat.m10*temp.m6+mat.m14*temp.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
266 m10 = mat.m2*temp.m8+mat.m6*temp.m9+mat.m10*temp.m10+mat.m14*temp.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
267 m14 = mat.m2*temp.m12+mat.m6*temp.m13+mat.m10*temp.m14+mat.m14*temp.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
268
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
269 m3 = mat.m3*temp.m0+mat.m7*temp.m1+mat.m11*temp.m2+mat.m15*temp.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
270 m7 = mat.m3*temp.m4+mat.m7*temp.m5+mat.m11*temp.m6+mat.m15*temp.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
271 m11 = mat.m3*temp.m8+mat.m7*temp.m9+mat.m11*temp.m10+mat.m15*temp.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
272 m15 = mat.m3*temp.m12+mat.m7*temp.m13+mat.m11*temp.m14+mat.m15*temp.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
273 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
274 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
275
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
276
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
277 inline Matrix<T>& mult4by4(const Matrix<T>& mat) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
278 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
279
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
280 m0 = temp.m0*mat.m0+temp.m4*mat.m1+temp.m8*mat.m2+temp.m12*mat.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
281 m4 = temp.m0*mat.m4+temp.m4*mat.m5+temp.m8*mat.m6+temp.m12*mat.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
282 m8 = temp.m0*mat.m8+temp.m4*mat.m9+temp.m8*mat.m10+temp.m12*mat.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
283 m12 = temp.m0*mat.m12+temp.m4*mat.m13+temp.m8*mat.m14+temp.m12*mat.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
284
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
285 m1 = temp.m1*mat.m0 + temp.m5*mat.m1 + temp.m9*mat.m2+temp.m13*mat.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
286 m5 = temp.m1*mat.m4 + temp.m5*mat.m5 + temp.m9*mat.m6+temp.m13*mat.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
287 m9 = temp.m1*mat.m8 + temp.m5*mat.m9 + temp.m9*mat.m10+temp.m13*mat.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
288 m13 = temp.m1*mat.m12+ temp.m5*mat.m13 + temp.m9*mat.m14+temp.m13*mat.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
289
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
290 m2 = temp.m2*mat.m0+temp.m6*mat.m1+temp.m10*mat.m2+temp.m14*mat.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
291 m6 = temp.m2*mat.m4+temp.m6*mat.m5+temp.m10*mat.m6+temp.m14*mat.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
292 m10 = temp.m2*mat.m8+temp.m6*mat.m9+temp.m10*mat.m10+temp.m14*mat.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
293 m14 = temp.m2*mat.m12+temp.m6*mat.m13+temp.m10*mat.m14+temp.m14*mat.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
294
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
295 m3 = temp.m3*mat.m0+temp.m7*mat.m1+temp.m11*mat.m2+temp.m15*mat.m3;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
296 m7 = temp.m3*mat.m4+temp.m7*mat.m5+temp.m11*mat.m6+temp.m15*mat.m7;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
297 m11 = temp.m3*mat.m8+temp.m7*mat.m9+temp.m11*mat.m10+temp.m15*mat.m11;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
298 m15 = temp.m3*mat.m12+temp.m7*mat.m13+temp.m11*mat.m14+temp.m15*mat.m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
299 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
300 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
301
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
302 Matrix& applyRotate(T angle, T x, T y, T z) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
303 static Matrix<T> temp;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
304 temp.loadRotate(angle,x,y,z);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
305 *this = temp.mult4by4(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
306 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
307 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
308
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
309
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
310 private:
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
311 #define cofactor_maker(f1,mj1,mi1, f2,mj2,mi2, f3,mj3,mi3) \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
312 f1*(mj1*mi1-mj2*mi3) + f2*(mj2*mi2-mj3*mi1) + f3*(mj3*mi3-mj1*mi2)
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
313
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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314 inline T cofactorm0() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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315 return cofactor_maker(m5,m10,m15, m6,m11,m13, m7,m9,m14);
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316 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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317 inline T cofactorm1() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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318 return cofactor_maker(m6,m11,m12, m7,m8,m14, m4,m10,m15);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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319 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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320 inline T cofactorm2() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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321 return cofactor_maker(m7,m8,m13, m4,m9,m15, m5,m11,m12);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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322 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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323 inline T cofactorm3() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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324 return cofactor_maker(m4,m9,m14, m5,m10,m12, m6,m8,m13);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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325 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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326 inline T cofactorm4() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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327 return cofactor_maker(m9,m14,m3, m10,m15,m1, m11,m13,m2);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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328 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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329 inline T cofactorm5() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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330 return cofactor_maker(m10,m15,m0, m11,m12,m2, m8,m14,m3);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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331 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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332 inline T cofactorm6() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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333 return cofactor_maker(m11,m12,m1, m8,m13,m3, m9,m15,m0);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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334 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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335 inline T cofactorm7() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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336 return cofactor_maker(m8,m13,m2, m9,m14,m0, m10,m12,m1);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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337 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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338 inline T cofactorm8() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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339 return cofactor_maker(m13,m2,m7, m14,m3,m5, m15,m1,m6);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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340 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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341 inline T cofactorm9() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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342 return cofactor_maker(m14,m13,m4, m15,m0,m6, m12,m2,m7);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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343 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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344 inline T cofactorm10() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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345 return cofactor_maker(m15,m0,m5, m12,m1,m7, m13,m3,m4);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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346 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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347 inline T cofactorm11() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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348 return cofactor_maker(m12,m1,m6, m13,m2,m4, m14,m0,m5);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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349 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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350 inline T cofactorm12() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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351 return cofactor_maker(m1,m6,m11, m2,m7,m9, m3,m5,m10);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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352 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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353 inline T cofactorm13() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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354 return cofactor_maker(m2,m7,m8, m3,m4,m10, m10,m6,m11);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
355 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
356 inline T cofactorm14() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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357 return cofactor_maker(m3,m4,m9, m0,m5,m11, m1,m7,m8);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
358 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
359 inline T cofactorm15() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
360 return cofactor_maker(m0,m5,m10, m1,m6,m8, m2,m4,m9);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
361 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
362
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
363 union {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
364 T m[16];
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
365 struct {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
366 T m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
367 };
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
368 };
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
369 };
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
370
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
371 typedef Matrix<double> DoubleMatrix;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
372 typedef Matrix<int> IntMatrix;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
373
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
374 /** Print coords of the Matrix to a stream
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
375 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
376 template<typename T>
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
377 std::ostream& operator<<(std::ostream& os, Matrix<T>& m) {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
378 return os << "\n|" << m[0] << "," << m[4] << "," << m[8] << "," << m[12] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
379 "|" << m[1] << "," << m[5] << "," << m[9] << "," << m[13] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
380 "|" << m[2] << "," << m[6] << "," << m[10] << "," << m[14] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
381 "|" << m[3] << "," << m[7] << "," << m[11] << "," << m[15] << "|\n";
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
382 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
383
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
384
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
385 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
386
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
387 #endif