Mercurial > fife-parpg
comparison engine/core/util/math/matrix.h @ 58:9ec572a5a944
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 |
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| 57:47979f9dce55 | 58:9ec572a5a944 |
|---|---|
| 208 } | 208 } |
| 209 | 209 |
| 210 /** Transform given point using this matrix | 210 /** Transform given point using this matrix |
| 211 */ | 211 */ |
| 212 inline PointType3D<T> operator* (const PointType3D<T>& vec) { | 212 inline PointType3D<T> operator* (const PointType3D<T>& vec) { |
| 213 PointType3D<T> ret(T(0)); | 213 return PointType3D<T> ( |
| 214 for (register unsigned j = 0; j < 3; ++j) | 214 vec.x * m0 + vec.y * m4 + vec.z * m8 + m12, |
| 215 for (register unsigned i = 0; i < 3; ++i) | 215 vec.x * m1 + vec.y * m5 + vec.z * m9 + m13, |
| 216 ret.val[j] += vec.val[i]*m[j+i*4]; //scale and rotate disregarding w scaling | 216 vec.x * m2 + vec.y * m6 + vec.z * m10 + m14 |
| 217 | 217 ); |
| 218 for (register unsigned i = 0; i < 3; ++i) | |
| 219 ret.val[i] += m[i+3*4]; //translate | |
| 220 | |
| 221 //do w scaling | |
| 222 T w = m[15]; | |
| 223 for (register unsigned i = 0; i < 3; ++i) | |
| 224 w += vec.val[i]*m[3+i*4]; | |
| 225 | |
| 226 register T resip = 1/w; | |
| 227 | |
| 228 for (register unsigned i = 0; i < 3; ++i) | |
| 229 ret[i] *= resip; | |
| 230 | |
| 231 return ret; | |
| 232 } | 218 } |
| 233 | 219 |
| 234 /** Direct access to the matrix elements, just remember they are in column major format!! | 220 /** Direct access to the matrix elements, just remember they are in column major format!! |
| 235 */ | 221 */ |
| 236 inline T& operator[] (int ind) { | 222 inline T& operator[] (int ind) { |