Mercurial > fife-parpg

annotate engine/core/util/math/matrix.h @ 495:ae9f5383f5b1

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Added a new log module called Script. This should be used by the python modules. Did some code cleanup and comment cleanup. Added some more visible log modules to the shooter demo for fun.
author prock@33b003aa-7bff-0310-803a-e67f0ece8222
date Tue, 11 May 2010 21:30:55 +0000
parents 16c2b3ee59ce
children 356634098bd9
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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90005975cdbb * Final LGPL switch step by adjusting the file headers
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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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109
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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 }
482
16c2b3ee59ce * Merged the view performance branch back into trunk. fixes[ticket:419]
helios2000@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 58
diff changeset
226 inline const T& operator[] (int ind) const {
16c2b3ee59ce * Merged the view performance branch back into trunk. fixes[ticket:419]
helios2000@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 58
diff changeset
227 assert(ind > -1 && ind < 16);
16c2b3ee59ce * Merged the view performance branch back into trunk. fixes[ticket:419]
helios2000@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 58
diff changeset
228 return m[ind];
16c2b3ee59ce * Merged the view performance branch back into trunk. fixes[ticket:419]
helios2000@33b003aa-7bff-0310-803a-e67f0ece8222
parents: 58
diff changeset
229 }
0
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
230
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
231 /** 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
232 */
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
233 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
234 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
235 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
236 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
237 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
238
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
239 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
240 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
241 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
242
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
243 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
244 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
245 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
246
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
247 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
248 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
249 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
250 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
251 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
252
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
253 /** 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
254 /** 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
255 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
256 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
257
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
258 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
259 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
260 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
261 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
262
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
263 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
264 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
265 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
266 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
267
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
268 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
269 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
270 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
271 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
272
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
273 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
274 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
275 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
276 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
277 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
278 }
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
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
281 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
282 Matrix temp(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
283
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
284 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
285 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
286 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
287 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
288
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
289 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
290 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
291 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
292 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
293
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
294 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
295 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
296 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
297 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
298
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
299 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
300 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
301 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
302 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
303 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
304 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
305
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
306 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
307 static Matrix<T> temp;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
308 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
309 *this = temp.mult4by4(*this);
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
310 return *this;
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
311 }
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
312
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 private:
4a0efb7baf70 * Datasets becomes the new trunk and retires after that :-)
mvbarracuda@33b003aa-7bff-0310-803a-e67f0ece8222
parents:
diff changeset
315 #define cofactor_maker(f1,mj1,mi1, f2,mj2,mi2, f3,mj3,mi3) \
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316 f1*(mj1*mi1-mj2*mi3) + f2*(mj2*mi2-mj3*mi1) + f3*(mj3*mi3-mj1*mi2)
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317
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318 inline T cofactorm0() const {
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319 return cofactor_maker(m5,m10,m15, m6,m11,m13, m7,m9,m14);
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320 }
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321 inline T cofactorm1() const {
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322 return cofactor_maker(m6,m11,m12, m7,m8,m14, m4,m10,m15);
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323 }
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324 inline T cofactorm2() const {
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325 return cofactor_maker(m7,m8,m13, m4,m9,m15, m5,m11,m12);
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326 }
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327 inline T cofactorm3() const {
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328 return cofactor_maker(m4,m9,m14, m5,m10,m12, m6,m8,m13);
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329 }
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330 inline T cofactorm4() const {
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331 return cofactor_maker(m9,m14,m3, m10,m15,m1, m11,m13,m2);
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332 }
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333 inline T cofactorm5() const {
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334 return cofactor_maker(m10,m15,m0, m11,m12,m2, m8,m14,m3);
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335 }
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336 inline T cofactorm6() const {
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337 return cofactor_maker(m11,m12,m1, m8,m13,m3, m9,m15,m0);
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338 }
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339 inline T cofactorm7() const {
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340 return cofactor_maker(m8,m13,m2, m9,m14,m0, m10,m12,m1);
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341 }
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342 inline T cofactorm8() const {
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343 return cofactor_maker(m13,m2,m7, m14,m3,m5, m15,m1,m6);
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344 }
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345 inline T cofactorm9() const {
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346 return cofactor_maker(m14,m13,m4, m15,m0,m6, m12,m2,m7);
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347 }
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348 inline T cofactorm10() const {
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349 return cofactor_maker(m15,m0,m5, m12,m1,m7, m13,m3,m4);
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350 }
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351 inline T cofactorm11() const {
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352 return cofactor_maker(m12,m1,m6, m13,m2,m4, m14,m0,m5);
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353 }
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354 inline T cofactorm12() const {
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355 return cofactor_maker(m1,m6,m11, m2,m7,m9, m3,m5,m10);
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356 }
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357 inline T cofactorm13() const {
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358 return cofactor_maker(m2,m7,m8, m3,m4,m10, m10,m6,m11);
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359 }
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360 inline T cofactorm14() const {
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361 return cofactor_maker(m3,m4,m9, m0,m5,m11, m1,m7,m8);
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362 }
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363 inline T cofactorm15() const {
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364 return cofactor_maker(m0,m5,m10, m1,m6,m8, m2,m4,m9);
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365 }
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366
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367 union {
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368 T m[16];
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369 struct {
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370 T m0,m1,m2,m3,m4,m5,m6,m7,m8,m9,m10,m11,m12,m13,m14,m15;
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371 };
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372 };
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373 };
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374
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375 typedef Matrix<double> DoubleMatrix;
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376 typedef Matrix<int> IntMatrix;
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377
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378 /** Print coords of the Matrix to a stream
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379 */
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380 template<typename T>
482
16c2b3ee59ce * Merged the view performance branch back into trunk. fixes[ticket:419]
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381 std::ostream& operator<<(std::ostream& os, const Matrix<T>& m) {
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382
0
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383 return os << "\n|" << m[0] << "," << m[4] << "," << m[8] << "," << m[12] << "|\n" << \
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384 "|" << m[1] << "," << m[5] << "," << m[9] << "," << m[13] << "|\n" << \
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385 "|" << m[2] << "," << m[6] << "," << m[10] << "," << m[14] << "|\n" << \
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386 "|" << m[3] << "," << m[7] << "," << m[11] << "," << m[15] << "|\n";
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387 }
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388
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389
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390 }
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391
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392 #endif