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annotate engine/core/util/math/matrix.h @ 58:9ec572a5a944

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reworked matrix vector multiplication, patch by yonibear
author spq@33b003aa-7bff-0310-803a-e67f0ece8222
date Mon, 14 Jul 2008 16:39:27 +0000
parents 90005975cdbb
children 16c2b3ee59ce
rev   line source
0
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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. *
0
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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. *
0
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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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109
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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 :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
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 }
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317 inline T cofactorm1() const {
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318 return cofactor_maker(m6,m11,m12, m7,m8,m14, m4,m10,m15);
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319 }
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320 inline T cofactorm2() const {
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321 return cofactor_maker(m7,m8,m13, m4,m9,m15, m5,m11,m12);
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322 }
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323 inline T cofactorm3() const {
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324 return cofactor_maker(m4,m9,m14, m5,m10,m12, m6,m8,m13);
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325 }
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326 inline T cofactorm4() const {
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327 return cofactor_maker(m9,m14,m3, m10,m15,m1, m11,m13,m2);
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328 }
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329 inline T cofactorm5() const {
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330 return cofactor_maker(m10,m15,m0, m11,m12,m2, m8,m14,m3);
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331 }
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332 inline T cofactorm6() const {
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333 return cofactor_maker(m11,m12,m1, m8,m13,m3, m9,m15,m0);
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334 }
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335 inline T cofactorm7() const {
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336 return cofactor_maker(m8,m13,m2, m9,m14,m0, m10,m12,m1);
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337 }
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338 inline T cofactorm8() const {
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339 return cofactor_maker(m13,m2,m7, m14,m3,m5, m15,m1,m6);
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340 }
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341 inline T cofactorm9() const {
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342 return cofactor_maker(m14,m13,m4, m15,m0,m6, m12,m2,m7);
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343 }
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344 inline T cofactorm10() const {
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345 return cofactor_maker(m15,m0,m5, m12,m1,m7, m13,m3,m4);
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346 }
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347 inline T cofactorm11() const {
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348 return cofactor_maker(m12,m1,m6, m13,m2,m4, m14,m0,m5);
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349 }
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350 inline T cofactorm12() const {
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351 return cofactor_maker(m1,m6,m11, m2,m7,m9, m3,m5,m10);
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352 }
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353 inline T cofactorm13() const {
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354 return cofactor_maker(m2,m7,m8, m3,m4,m10, m10,m6,m11);
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355 }
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356 inline T cofactorm14() const {
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357 return cofactor_maker(m3,m4,m9, m0,m5,m11, m1,m7,m8);
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358 }
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359 inline T cofactorm15() const {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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360 return cofactor_maker(m0,m5,m10, m1,m6,m8, m2,m4,m9);
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361 }
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362
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363 union {
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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364 T m[16];
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365 struct {
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366 T m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15;
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367 };
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368 };
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369 };
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370
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371 typedef Matrix<double> DoubleMatrix;
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372 typedef Matrix<int> IntMatrix;
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373
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374 /** Print coords of the Matrix to a stream
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375 */
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diff changeset
376 template<typename T>
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377 std::ostream& operator<<(std::ostream& os, Matrix<T>& m) {
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378 return os << "\n|" << m[0] << "," << m[4] << "," << m[8] << "," << m[12] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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379 "|" << m[1] << "," << m[5] << "," << m[9] << "," << m[13] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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380 "|" << m[2] << "," << m[6] << "," << m[10] << "," << m[14] << "|\n" << \
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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381 "|" << m[3] << "," << m[7] << "," << m[11] << "," << m[15] << "|\n";
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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382 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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383
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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diff changeset
384
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mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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385 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
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386
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
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diff changeset
387 #endif