/*
-Copyright (C) 2001-2006, William Joseph.
-All Rights Reserved.
+ Copyright (C) 2001-2006, William Joseph.
+ All Rights Reserved.
-This file is part of GtkRadiant.
+ This file is part of GtkRadiant.
-GtkRadiant is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
+ GtkRadiant is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
-GtkRadiant is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
+ GtkRadiant is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
-You should have received a copy of the GNU General Public License
-along with GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
+ You should have received a copy of the GNU General Public License
+ along with GtkRadiant; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ */
-#if !defined(INCLUDED_MATH_MATRIX_H)
+#if !defined( INCLUDED_MATH_MATRIX_H )
#define INCLUDED_MATH_MATRIX_H
/// \file
/// \brief A 4x4 matrix stored in single-precision floating-point.
class Matrix4
{
- float m_elements[16];
+float m_elements[16];
public:
- Matrix4()
- {
- }
- Matrix4(float xx_, float xy_, float xz_, float xw_,
- float yx_, float yy_, float yz_, float yw_,
- float zx_, float zy_, float zz_, float zw_,
- float tx_, float ty_, float tz_, float tw_)
- {
- xx() = xx_;
- xy() = xy_;
- xz() = xz_;
- xw() = xw_;
- yx() = yx_;
- yy() = yy_;
- yz() = yz_;
- yw() = yw_;
- zx() = zx_;
- zy() = zy_;
- zz() = zz_;
- zw() = zw_;
- tx() = tx_;
- ty() = ty_;
- tz() = tz_;
- tw() = tw_;
- }
-
- float& xx()
- {
- return m_elements[0];
- }
- const float& xx() const
- {
- return m_elements[0];
- }
- float& xy()
- {
- return m_elements[1];
- }
- const float& xy() const
- {
- return m_elements[1];
- }
- float& xz()
- {
- return m_elements[2];
- }
- const float& xz() const
- {
- return m_elements[2];
- }
- float& xw()
- {
- return m_elements[3];
- }
- const float& xw() const
- {
- return m_elements[3];
- }
- float& yx()
- {
- return m_elements[4];
- }
- const float& yx() const
- {
- return m_elements[4];
- }
- float& yy()
- {
- return m_elements[5];
- }
- const float& yy() const
- {
- return m_elements[5];
- }
- float& yz()
- {
- return m_elements[6];
- }
- const float& yz() const
- {
- return m_elements[6];
- }
- float& yw()
- {
- return m_elements[7];
- }
- const float& yw() const
- {
- return m_elements[7];
- }
- float& zx()
- {
- return m_elements[8];
- }
- const float& zx() const
- {
- return m_elements[8];
- }
- float& zy()
- {
- return m_elements[9];
- }
- const float& zy() const
- {
- return m_elements[9];
- }
- float& zz()
- {
- return m_elements[10];
- }
- const float& zz() const
- {
- return m_elements[10];
- }
- float& zw()
- {
- return m_elements[11];
- }
- const float& zw() const
- {
- return m_elements[11];
- }
- float& tx()
- {
- return m_elements[12];
- }
- const float& tx() const
- {
- return m_elements[12];
- }
- float& ty()
- {
- return m_elements[13];
- }
- const float& ty() const
- {
- return m_elements[13];
- }
- float& tz()
- {
- return m_elements[14];
- }
- const float& tz() const
- {
- return m_elements[14];
- }
- float& tw()
- {
- return m_elements[15];
- }
- const float& tw() const
- {
- return m_elements[15];
- }
-
- Vector4& x()
- {
- return reinterpret_cast<Vector4&>(xx());
- }
- const Vector4& x() const
- {
- return reinterpret_cast<const Vector4&>(xx());
- }
- Vector4& y()
- {
- return reinterpret_cast<Vector4&>(yx());
- }
- const Vector4& y() const
- {
- return reinterpret_cast<const Vector4&>(yx());
- }
- Vector4& z()
- {
- return reinterpret_cast<Vector4&>(zx());
- }
- const Vector4& z() const
- {
- return reinterpret_cast<const Vector4&>(zx());
- }
- Vector4& t()
- {
- return reinterpret_cast<Vector4&>(tx());
- }
- const Vector4& t() const
- {
- return reinterpret_cast<const Vector4&>(tx());
- }
-
- const float& index(std::size_t i) const
- {
- return m_elements[i];
- }
- float& index(std::size_t i)
- {
- return m_elements[i];
- }
- const float& operator[](std::size_t i) const
- {
- return m_elements[i];
- }
- float& operator[](std::size_t i)
- {
- return m_elements[i];
- }
- const float& index(std::size_t r, std::size_t c) const
- {
- return m_elements[(r << 2) + c];
- }
- float& index(std::size_t r, std::size_t c)
- {
- return m_elements[(r << 2) + c];
- }
+Matrix4(){
+}
+Matrix4( float xx_, float xy_, float xz_, float xw_,
+ float yx_, float yy_, float yz_, float yw_,
+ float zx_, float zy_, float zz_, float zw_,
+ float tx_, float ty_, float tz_, float tw_ ){
+ xx() = xx_;
+ xy() = xy_;
+ xz() = xz_;
+ xw() = xw_;
+ yx() = yx_;
+ yy() = yy_;
+ yz() = yz_;
+ yw() = yw_;
+ zx() = zx_;
+ zy() = zy_;
+ zz() = zz_;
+ zw() = zw_;
+ tx() = tx_;
+ ty() = ty_;
+ tz() = tz_;
+ tw() = tw_;
+}
+
+float& xx(){
+ return m_elements[0];
+}
+const float& xx() const {
+ return m_elements[0];
+}
+float& xy(){
+ return m_elements[1];
+}
+const float& xy() const {
+ return m_elements[1];
+}
+float& xz(){
+ return m_elements[2];
+}
+const float& xz() const {
+ return m_elements[2];
+}
+float& xw(){
+ return m_elements[3];
+}
+const float& xw() const {
+ return m_elements[3];
+}
+float& yx(){
+ return m_elements[4];
+}
+const float& yx() const {
+ return m_elements[4];
+}
+float& yy(){
+ return m_elements[5];
+}
+const float& yy() const {
+ return m_elements[5];
+}
+float& yz(){
+ return m_elements[6];
+}
+const float& yz() const {
+ return m_elements[6];
+}
+float& yw(){
+ return m_elements[7];
+}
+const float& yw() const {
+ return m_elements[7];
+}
+float& zx(){
+ return m_elements[8];
+}
+const float& zx() const {
+ return m_elements[8];
+}
+float& zy(){
+ return m_elements[9];
+}
+const float& zy() const {
+ return m_elements[9];
+}
+float& zz(){
+ return m_elements[10];
+}
+const float& zz() const {
+ return m_elements[10];
+}
+float& zw(){
+ return m_elements[11];
+}
+const float& zw() const {
+ return m_elements[11];
+}
+float& tx(){
+ return m_elements[12];
+}
+const float& tx() const {
+ return m_elements[12];
+}
+float& ty(){
+ return m_elements[13];
+}
+const float& ty() const {
+ return m_elements[13];
+}
+float& tz(){
+ return m_elements[14];
+}
+const float& tz() const {
+ return m_elements[14];
+}
+float& tw(){
+ return m_elements[15];
+}
+const float& tw() const {
+ return m_elements[15];
+}
+
+Vector4& x(){
+ return reinterpret_cast<Vector4&>( xx() );
+}
+const Vector4& x() const {
+ return reinterpret_cast<const Vector4&>( xx() );
+}
+Vector4& y(){
+ return reinterpret_cast<Vector4&>( yx() );
+}
+const Vector4& y() const {
+ return reinterpret_cast<const Vector4&>( yx() );
+}
+Vector4& z(){
+ return reinterpret_cast<Vector4&>( zx() );
+}
+const Vector4& z() const {
+ return reinterpret_cast<const Vector4&>( zx() );
+}
+Vector4& t(){
+ return reinterpret_cast<Vector4&>( tx() );
+}
+const Vector4& t() const {
+ return reinterpret_cast<const Vector4&>( tx() );
+}
+
+const float& index( std::size_t i ) const {
+ return m_elements[i];
+}
+float& index( std::size_t i ){
+ return m_elements[i];
+}
+const float& operator[]( std::size_t i ) const {
+ return m_elements[i];
+}
+float& operator[]( std::size_t i ){
+ return m_elements[i];
+}
+const float& index( std::size_t r, std::size_t c ) const {
+ return m_elements[( r << 2 ) + c];
+}
+float& index( std::size_t r, std::size_t c ){
+ return m_elements[( r << 2 ) + c];
+}
};
/// \brief The 4x4 identity matrix.
const Matrix4 g_matrix4_identity(
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1
-);
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1
+ );
/// \brief Returns true if \p self and \p other are exactly element-wise equal.
-inline bool operator==(const Matrix4& self, const Matrix4& other)
-{
- return self.xx() == other.xx() && self.xy() == other.xy() && self.xz() == other.xz() && self.xw() == other.xw()
- && self.yx() == other.yx() && self.yy() == other.yy() && self.yz() == other.yz() && self.yw() == other.yw()
- && self.zx() == other.zx() && self.zy() == other.zy() && self.zz() == other.zz() && self.zw() == other.zw()
- && self.tx() == other.tx() && self.ty() == other.ty() && self.tz() == other.tz() && self.tw() == other.tw();
+inline bool operator==( const Matrix4& self, const Matrix4& other ){
+ return self.xx() == other.xx() && self.xy() == other.xy() && self.xz() == other.xz() && self.xw() == other.xw()
+ && self.yx() == other.yx() && self.yy() == other.yy() && self.yz() == other.yz() && self.yw() == other.yw()
+ && self.zx() == other.zx() && self.zy() == other.zy() && self.zz() == other.zz() && self.zw() == other.zw()
+ && self.tx() == other.tx() && self.ty() == other.ty() && self.tz() == other.tz() && self.tw() == other.tw();
}
/// \brief Returns true if \p self and \p other are exactly element-wise equal.
-inline bool matrix4_equal(const Matrix4& self, const Matrix4& other)
-{
- return self == other;
+inline bool matrix4_equal( const Matrix4& self, const Matrix4& other ){
+ return self == other;
}
/// \brief Returns true if \p self and \p other are element-wise equal within \p epsilon.
-inline bool matrix4_equal_epsilon(const Matrix4& self, const Matrix4& other, float epsilon)
-{
- return float_equal_epsilon(self.xx(), other.xx(), epsilon)
- && float_equal_epsilon(self.xy(), other.xy(), epsilon)
- && float_equal_epsilon(self.xz(), other.xz(), epsilon)
- && float_equal_epsilon(self.xw(), other.xw(), epsilon)
- && float_equal_epsilon(self.yx(), other.yx(), epsilon)
- && float_equal_epsilon(self.yy(), other.yy(), epsilon)
- && float_equal_epsilon(self.yz(), other.yz(), epsilon)
- && float_equal_epsilon(self.yw(), other.yw(), epsilon)
- && float_equal_epsilon(self.zx(), other.zx(), epsilon)
- && float_equal_epsilon(self.zy(), other.zy(), epsilon)
- && float_equal_epsilon(self.zz(), other.zz(), epsilon)
- && float_equal_epsilon(self.zw(), other.zw(), epsilon)
- && float_equal_epsilon(self.tx(), other.tx(), epsilon)
- && float_equal_epsilon(self.ty(), other.ty(), epsilon)
- && float_equal_epsilon(self.tz(), other.tz(), epsilon)
- && float_equal_epsilon(self.tw(), other.tw(), epsilon);
+inline bool matrix4_equal_epsilon( const Matrix4& self, const Matrix4& other, float epsilon ){
+ return float_equal_epsilon( self.xx(), other.xx(), epsilon )
+ && float_equal_epsilon( self.xy(), other.xy(), epsilon )
+ && float_equal_epsilon( self.xz(), other.xz(), epsilon )
+ && float_equal_epsilon( self.xw(), other.xw(), epsilon )
+ && float_equal_epsilon( self.yx(), other.yx(), epsilon )
+ && float_equal_epsilon( self.yy(), other.yy(), epsilon )
+ && float_equal_epsilon( self.yz(), other.yz(), epsilon )
+ && float_equal_epsilon( self.yw(), other.yw(), epsilon )
+ && float_equal_epsilon( self.zx(), other.zx(), epsilon )
+ && float_equal_epsilon( self.zy(), other.zy(), epsilon )
+ && float_equal_epsilon( self.zz(), other.zz(), epsilon )
+ && float_equal_epsilon( self.zw(), other.zw(), epsilon )
+ && float_equal_epsilon( self.tx(), other.tx(), epsilon )
+ && float_equal_epsilon( self.ty(), other.ty(), epsilon )
+ && float_equal_epsilon( self.tz(), other.tz(), epsilon )
+ && float_equal_epsilon( self.tw(), other.tw(), epsilon );
}
/// \brief Returns true if \p self and \p other are exactly element-wise equal.
/// \p self and \p other must be affine.
-inline bool matrix4_affine_equal(const Matrix4& self, const Matrix4& other)
-{
- return self[0] == other[0]
- && self[1] == other[1]
- && self[2] == other[2]
- && self[4] == other[4]
- && self[5] == other[5]
- && self[6] == other[6]
- && self[8] == other[8]
- && self[9] == other[9]
- && self[10] == other[10]
- && self[12] == other[12]
- && self[13] == other[13]
- && self[14] == other[14];
+inline bool matrix4_affine_equal( const Matrix4& self, const Matrix4& other ){
+ return self[0] == other[0]
+ && self[1] == other[1]
+ && self[2] == other[2]
+ && self[4] == other[4]
+ && self[5] == other[5]
+ && self[6] == other[6]
+ && self[8] == other[8]
+ && self[9] == other[9]
+ && self[10] == other[10]
+ && self[12] == other[12]
+ && self[13] == other[13]
+ && self[14] == other[14];
}
enum Matrix4Handedness
{
- MATRIX4_RIGHTHANDED = 0,
- MATRIX4_LEFTHANDED = 1,
+ MATRIX4_RIGHTHANDED = 0,
+ MATRIX4_LEFTHANDED = 1,
};
/// \brief Returns MATRIX4_RIGHTHANDED if \p self is right-handed, else returns MATRIX4_LEFTHANDED.
-inline Matrix4Handedness matrix4_handedness(const Matrix4& self)
-{
- return (
- vector3_dot(
- vector3_cross(vector4_to_vector3(self.x()), vector4_to_vector3(self.y())),
- vector4_to_vector3(self.z())
- )
- < 0.0
- ) ? MATRIX4_LEFTHANDED : MATRIX4_RIGHTHANDED;
+inline Matrix4Handedness matrix4_handedness( const Matrix4& self ){
+ return (
+ vector3_dot(
+ vector3_cross( vector4_to_vector3( self.x() ), vector4_to_vector3( self.y() ) ),
+ vector4_to_vector3( self.z() )
+ )
+ < 0.0
+ ) ? MATRIX4_LEFTHANDED : MATRIX4_RIGHTHANDED;
}
/// \brief Returns \p self post-multiplied by \p other.
-inline Matrix4 matrix4_multiplied_by_matrix4(const Matrix4& self, const Matrix4& other)
-{
- return Matrix4(
- other[0] * self[0] + other[1] * self[4] + other[2] * self[8] + other[3] * self[12],
- other[0] * self[1] + other[1] * self[5] + other[2] * self[9] + other[3] * self[13],
- other[0] * self[2] + other[1] * self[6] + other[2] * self[10]+ other[3] * self[14],
- other[0] * self[3] + other[1] * self[7] + other[2] * self[11]+ other[3] * self[15],
- other[4] * self[0] + other[5] * self[4] + other[6] * self[8] + other[7] * self[12],
- other[4] * self[1] + other[5] * self[5] + other[6] * self[9] + other[7] * self[13],
- other[4] * self[2] + other[5] * self[6] + other[6] * self[10]+ other[7] * self[14],
- other[4] * self[3] + other[5] * self[7] + other[6] * self[11]+ other[7] * self[15],
- other[8] * self[0] + other[9] * self[4] + other[10]* self[8] + other[11]* self[12],
- other[8] * self[1] + other[9] * self[5] + other[10]* self[9] + other[11]* self[13],
- other[8] * self[2] + other[9] * self[6] + other[10]* self[10]+ other[11]* self[14],
- other[8] * self[3] + other[9] * self[7] + other[10]* self[11]+ other[11]* self[15],
- other[12]* self[0] + other[13]* self[4] + other[14]* self[8] + other[15]* self[12],
- other[12]* self[1] + other[13]* self[5] + other[14]* self[9] + other[15]* self[13],
- other[12]* self[2] + other[13]* self[6] + other[14]* self[10]+ other[15]* self[14],
- other[12]* self[3] + other[13]* self[7] + other[14]* self[11]+ other[15]* self[15]
- );
+inline Matrix4 matrix4_multiplied_by_matrix4( const Matrix4& self, const Matrix4& other ){
+ return Matrix4(
+ other[0] * self[0] + other[1] * self[4] + other[2] * self[8] + other[3] * self[12],
+ other[0] * self[1] + other[1] * self[5] + other[2] * self[9] + other[3] * self[13],
+ other[0] * self[2] + other[1] * self[6] + other[2] * self[10] + other[3] * self[14],
+ other[0] * self[3] + other[1] * self[7] + other[2] * self[11] + other[3] * self[15],
+ other[4] * self[0] + other[5] * self[4] + other[6] * self[8] + other[7] * self[12],
+ other[4] * self[1] + other[5] * self[5] + other[6] * self[9] + other[7] * self[13],
+ other[4] * self[2] + other[5] * self[6] + other[6] * self[10] + other[7] * self[14],
+ other[4] * self[3] + other[5] * self[7] + other[6] * self[11] + other[7] * self[15],
+ other[8] * self[0] + other[9] * self[4] + other[10] * self[8] + other[11] * self[12],
+ other[8] * self[1] + other[9] * self[5] + other[10] * self[9] + other[11] * self[13],
+ other[8] * self[2] + other[9] * self[6] + other[10] * self[10] + other[11] * self[14],
+ other[8] * self[3] + other[9] * self[7] + other[10] * self[11] + other[11] * self[15],
+ other[12] * self[0] + other[13] * self[4] + other[14] * self[8] + other[15] * self[12],
+ other[12] * self[1] + other[13] * self[5] + other[14] * self[9] + other[15] * self[13],
+ other[12] * self[2] + other[13] * self[6] + other[14] * self[10] + other[15] * self[14],
+ other[12] * self[3] + other[13] * self[7] + other[14] * self[11] + other[15] * self[15]
+ );
}
/// \brief Post-multiplies \p self by \p other in-place.
-inline void matrix4_multiply_by_matrix4(Matrix4& self, const Matrix4& other)
-{
- self = matrix4_multiplied_by_matrix4(self, other);
+inline void matrix4_multiply_by_matrix4( Matrix4& self, const Matrix4& other ){
+ self = matrix4_multiplied_by_matrix4( self, other );
}
/// \brief Returns \p self pre-multiplied by \p other.
-inline Matrix4 matrix4_premultiplied_by_matrix4(const Matrix4& self, const Matrix4& other)
-{
+inline Matrix4 matrix4_premultiplied_by_matrix4( const Matrix4& self, const Matrix4& other ){
#if 1
- return matrix4_multiplied_by_matrix4(other, self);
+ return matrix4_multiplied_by_matrix4( other, self );
#else
- return Matrix4(
- self[0] * other[0] + self[1] * other[4] + self[2] * other[8] + self[3] * other[12],
- self[0] * other[1] + self[1] * other[5] + self[2] * other[9] + self[3] * other[13],
- self[0] * other[2] + self[1] * other[6] + self[2] * other[10]+ self[3] * other[14],
- self[0] * other[3] + self[1] * other[7] + self[2] * other[11]+ self[3] * other[15],
- self[4] * other[0] + self[5] * other[4] + self[6] * other[8] + self[7] * other[12],
- self[4] * other[1] + self[5] * other[5] + self[6] * other[9] + self[7] * other[13],
- self[4] * other[2] + self[5] * other[6] + self[6] * other[10]+ self[7] * other[14],
- self[4] * other[3] + self[5] * other[7] + self[6] * other[11]+ self[7] * other[15],
- self[8] * other[0] + self[9] * other[4] + self[10]* other[8] + self[11]* other[12],
- self[8] * other[1] + self[9] * other[5] + self[10]* other[9] + self[11]* other[13],
- self[8] * other[2] + self[9] * other[6] + self[10]* other[10]+ self[11]* other[14],
- self[8] * other[3] + self[9] * other[7] + self[10]* other[11]+ self[11]* other[15],
- self[12]* other[0] + self[13]* other[4] + self[14]* other[8] + self[15]* other[12],
- self[12]* other[1] + self[13]* other[5] + self[14]* other[9] + self[15]* other[13],
- self[12]* other[2] + self[13]* other[6] + self[14]* other[10]+ self[15]* other[14],
- self[12]* other[3] + self[13]* other[7] + self[14]* other[11]+ self[15]* other[15]
- );
+ return Matrix4(
+ self[0] * other[0] + self[1] * other[4] + self[2] * other[8] + self[3] * other[12],
+ self[0] * other[1] + self[1] * other[5] + self[2] * other[9] + self[3] * other[13],
+ self[0] * other[2] + self[1] * other[6] + self[2] * other[10] + self[3] * other[14],
+ self[0] * other[3] + self[1] * other[7] + self[2] * other[11] + self[3] * other[15],
+ self[4] * other[0] + self[5] * other[4] + self[6] * other[8] + self[7] * other[12],
+ self[4] * other[1] + self[5] * other[5] + self[6] * other[9] + self[7] * other[13],
+ self[4] * other[2] + self[5] * other[6] + self[6] * other[10] + self[7] * other[14],
+ self[4] * other[3] + self[5] * other[7] + self[6] * other[11] + self[7] * other[15],
+ self[8] * other[0] + self[9] * other[4] + self[10] * other[8] + self[11] * other[12],
+ self[8] * other[1] + self[9] * other[5] + self[10] * other[9] + self[11] * other[13],
+ self[8] * other[2] + self[9] * other[6] + self[10] * other[10] + self[11] * other[14],
+ self[8] * other[3] + self[9] * other[7] + self[10] * other[11] + self[11] * other[15],
+ self[12] * other[0] + self[13] * other[4] + self[14] * other[8] + self[15] * other[12],
+ self[12] * other[1] + self[13] * other[5] + self[14] * other[9] + self[15] * other[13],
+ self[12] * other[2] + self[13] * other[6] + self[14] * other[10] + self[15] * other[14],
+ self[12] * other[3] + self[13] * other[7] + self[14] * other[11] + self[15] * other[15]
+ );
#endif
}
/// \brief Pre-multiplies \p self by \p other in-place.
-inline void matrix4_premultiply_by_matrix4(Matrix4& self, const Matrix4& other)
-{
- self = matrix4_premultiplied_by_matrix4(self, other);
+inline void matrix4_premultiply_by_matrix4( Matrix4& self, const Matrix4& other ){
+ self = matrix4_premultiplied_by_matrix4( self, other );
}
/// \brief returns true if \p transform is affine.
-inline bool matrix4_is_affine(const Matrix4& transform)
-{
- return transform[3] == 0 && transform[7] == 0 && transform[11] == 0 && transform[15] == 1;
+inline bool matrix4_is_affine( const Matrix4& transform ){
+ return transform[3] == 0 && transform[7] == 0 && transform[11] == 0 && transform[15] == 1;
}
/// \brief Returns \p self post-multiplied by \p other.
/// \p self and \p other must be affine.
-inline Matrix4 matrix4_affine_multiplied_by_matrix4(const Matrix4& self, const Matrix4& other)
-{
- return Matrix4(
- other[0] * self[0] + other[1] * self[4] + other[2] * self[8],
- other[0] * self[1] + other[1] * self[5] + other[2] * self[9],
- other[0] * self[2] + other[1] * self[6] + other[2] * self[10],
- 0,
- other[4] * self[0] + other[5] * self[4] + other[6] * self[8],
- other[4] * self[1] + other[5] * self[5] + other[6] * self[9],
- other[4] * self[2] + other[5] * self[6] + other[6] * self[10],
- 0,
- other[8] * self[0] + other[9] * self[4] + other[10]* self[8],
- other[8] * self[1] + other[9] * self[5] + other[10]* self[9],
- other[8] * self[2] + other[9] * self[6] + other[10]* self[10],
- 0,
- other[12]* self[0] + other[13]* self[4] + other[14]* self[8] + self[12],
- other[12]* self[1] + other[13]* self[5] + other[14]* self[9] + self[13],
- other[12]* self[2] + other[13]* self[6] + other[14]* self[10]+ self[14],
- 1
- );
+inline Matrix4 matrix4_affine_multiplied_by_matrix4( const Matrix4& self, const Matrix4& other ){
+ return Matrix4(
+ other[0] * self[0] + other[1] * self[4] + other[2] * self[8],
+ other[0] * self[1] + other[1] * self[5] + other[2] * self[9],
+ other[0] * self[2] + other[1] * self[6] + other[2] * self[10],
+ 0,
+ other[4] * self[0] + other[5] * self[4] + other[6] * self[8],
+ other[4] * self[1] + other[5] * self[5] + other[6] * self[9],
+ other[4] * self[2] + other[5] * self[6] + other[6] * self[10],
+ 0,
+ other[8] * self[0] + other[9] * self[4] + other[10] * self[8],
+ other[8] * self[1] + other[9] * self[5] + other[10] * self[9],
+ other[8] * self[2] + other[9] * self[6] + other[10] * self[10],
+ 0,
+ other[12] * self[0] + other[13] * self[4] + other[14] * self[8] + self[12],
+ other[12] * self[1] + other[13] * self[5] + other[14] * self[9] + self[13],
+ other[12] * self[2] + other[13] * self[6] + other[14] * self[10] + self[14],
+ 1
+ );
}
/// \brief Post-multiplies \p self by \p other in-place.
/// \p self and \p other must be affine.
-inline void matrix4_affine_multiply_by_matrix4(Matrix4& self, const Matrix4& other)
-{
- self = matrix4_affine_multiplied_by_matrix4(self, other);
+inline void matrix4_affine_multiply_by_matrix4( Matrix4& self, const Matrix4& other ){
+ self = matrix4_affine_multiplied_by_matrix4( self, other );
}
/// \brief Returns \p self pre-multiplied by \p other.
/// \p self and \p other must be affine.
-inline Matrix4 matrix4_affine_premultiplied_by_matrix4(const Matrix4& self, const Matrix4& other)
-{
+inline Matrix4 matrix4_affine_premultiplied_by_matrix4( const Matrix4& self, const Matrix4& other ){
#if 1
- return matrix4_affine_multiplied_by_matrix4(other, self);
+ return matrix4_affine_multiplied_by_matrix4( other, self );
#else
- return Matrix4(
- self[0] * other[0] + self[1] * other[4] + self[2] * other[8],
- self[0] * other[1] + self[1] * other[5] + self[2] * other[9],
- self[0] * other[2] + self[1] * other[6] + self[2] * other[10],
- 0,
- self[4] * other[0] + self[5] * other[4] + self[6] * other[8],
- self[4] * other[1] + self[5] * other[5] + self[6] * other[9],
- self[4] * other[2] + self[5] * other[6] + self[6] * other[10],
- 0,
- self[8] * other[0] + self[9] * other[4] + self[10]* other[8],
- self[8] * other[1] + self[9] * other[5] + self[10]* other[9],
- self[8] * other[2] + self[9] * other[6] + self[10]* other[10],
- 0,
- self[12]* other[0] + self[13]* other[4] + self[14]* other[8] + other[12],
- self[12]* other[1] + self[13]* other[5] + self[14]* other[9] + other[13],
- self[12]* other[2] + self[13]* other[6] + self[14]* other[10]+ other[14],
- 1
- )
- );
+ return Matrix4(
+ self[0] * other[0] + self[1] * other[4] + self[2] * other[8],
+ self[0] * other[1] + self[1] * other[5] + self[2] * other[9],
+ self[0] * other[2] + self[1] * other[6] + self[2] * other[10],
+ 0,
+ self[4] * other[0] + self[5] * other[4] + self[6] * other[8],
+ self[4] * other[1] + self[5] * other[5] + self[6] * other[9],
+ self[4] * other[2] + self[5] * other[6] + self[6] * other[10],
+ 0,
+ self[8] * other[0] + self[9] * other[4] + self[10] * other[8],
+ self[8] * other[1] + self[9] * other[5] + self[10] * other[9],
+ self[8] * other[2] + self[9] * other[6] + self[10] * other[10],
+ 0,
+ self[12] * other[0] + self[13] * other[4] + self[14] * other[8] + other[12],
+ self[12] * other[1] + self[13] * other[5] + self[14] * other[9] + other[13],
+ self[12] * other[2] + self[13] * other[6] + self[14] * other[10] + other[14],
+ 1
+ )
+ );
#endif
}
/// \brief Pre-multiplies \p self by \p other in-place.
/// \p self and \p other must be affine.
-inline void matrix4_affine_premultiply_by_matrix4(Matrix4& self, const Matrix4& other)
-{
- self = matrix4_affine_premultiplied_by_matrix4(self, other);
+inline void matrix4_affine_premultiply_by_matrix4( Matrix4& self, const Matrix4& other ){
+ self = matrix4_affine_premultiplied_by_matrix4( self, other );
}
/// \brief Returns \p point transformed by \p self.
template<typename Element>
-inline BasicVector3<Element> matrix4_transformed_point(const Matrix4& self, const BasicVector3<Element>& point)
-{
- return BasicVector3<Element>(
- static_cast<Element>(self[0] * point[0] + self[4] * point[1] + self[8] * point[2] + self[12]),
- static_cast<Element>(self[1] * point[0] + self[5] * point[1] + self[9] * point[2] + self[13]),
- static_cast<Element>(self[2] * point[0] + self[6] * point[1] + self[10] * point[2] + self[14])
- );
+inline BasicVector3<Element> matrix4_transformed_point( const Matrix4& self, const BasicVector3<Element>& point ){
+ return BasicVector3<Element>(
+ static_cast<Element>( self[0] * point[0] + self[4] * point[1] + self[8] * point[2] + self[12] ),
+ static_cast<Element>( self[1] * point[0] + self[5] * point[1] + self[9] * point[2] + self[13] ),
+ static_cast<Element>( self[2] * point[0] + self[6] * point[1] + self[10] * point[2] + self[14] )
+ );
}
/// \brief Transforms \p point by \p self in-place.
template<typename Element>
-inline void matrix4_transform_point(const Matrix4& self, BasicVector3<Element>& point)
-{
- point = matrix4_transformed_point(self, point);
+inline void matrix4_transform_point( const Matrix4& self, BasicVector3<Element>& point ){
+ point = matrix4_transformed_point( self, point );
}
/// \brief Returns \p direction transformed by \p self.
template<typename Element>
-inline BasicVector3<Element> matrix4_transformed_direction(const Matrix4& self, const BasicVector3<Element>& direction)
-{
- return BasicVector3<Element>(
- static_cast<Element>(self[0] * direction[0] + self[4] * direction[1] + self[8] * direction[2]),
- static_cast<Element>(self[1] * direction[0] + self[5] * direction[1] + self[9] * direction[2]),
- static_cast<Element>(self[2] * direction[0] + self[6] * direction[1] + self[10] * direction[2])
- );
+inline BasicVector3<Element> matrix4_transformed_direction( const Matrix4& self, const BasicVector3<Element>& direction ){
+ return BasicVector3<Element>(
+ static_cast<Element>( self[0] * direction[0] + self[4] * direction[1] + self[8] * direction[2] ),
+ static_cast<Element>( self[1] * direction[0] + self[5] * direction[1] + self[9] * direction[2] ),
+ static_cast<Element>( self[2] * direction[0] + self[6] * direction[1] + self[10] * direction[2] )
+ );
}
/// \brief Transforms \p direction by \p self in-place.
template<typename Element>
-inline void matrix4_transform_direction(const Matrix4& self, BasicVector3<Element>& normal)
-{
- normal = matrix4_transformed_direction(self, normal);
+inline void matrix4_transform_direction( const Matrix4& self, BasicVector3<Element>& normal ){
+ normal = matrix4_transformed_direction( self, normal );
}
/// \brief Returns \p vector4 transformed by \p self.
-inline Vector4 matrix4_transformed_vector4(const Matrix4& self, const Vector4& vector4)
-{
- return Vector4(
- self[0] * vector4[0] + self[4] * vector4[1] + self[8] * vector4[2] + self[12] * vector4[3],
- self[1] * vector4[0] + self[5] * vector4[1] + self[9] * vector4[2] + self[13] * vector4[3],
- self[2] * vector4[0] + self[6] * vector4[1] + self[10] * vector4[2] + self[14] * vector4[3],
- self[3] * vector4[0] + self[7] * vector4[1] + self[11] * vector4[2] + self[15] * vector4[3]
- );
+inline Vector4 matrix4_transformed_vector4( const Matrix4& self, const Vector4& vector4 ){
+ return Vector4(
+ self[0] * vector4[0] + self[4] * vector4[1] + self[8] * vector4[2] + self[12] * vector4[3],
+ self[1] * vector4[0] + self[5] * vector4[1] + self[9] * vector4[2] + self[13] * vector4[3],
+ self[2] * vector4[0] + self[6] * vector4[1] + self[10] * vector4[2] + self[14] * vector4[3],
+ self[3] * vector4[0] + self[7] * vector4[1] + self[11] * vector4[2] + self[15] * vector4[3]
+ );
}
/// \brief Transforms \p vector4 by \p self in-place.
-inline void matrix4_transform_vector4(const Matrix4& self, Vector4& vector4)
-{
- vector4 = matrix4_transformed_vector4(self, vector4);
+inline void matrix4_transform_vector4( const Matrix4& self, Vector4& vector4 ){
+ vector4 = matrix4_transformed_vector4( self, vector4 );
}
/// \brief Transposes \p self in-place.
-inline void matrix4_transpose(Matrix4& self)
-{
- std::swap(self.xy(), self.yx());
- std::swap(self.xz(), self.zx());
- std::swap(self.xw(), self.tx());
- std::swap(self.yz(), self.zy());
- std::swap(self.yw(), self.ty());
- std::swap(self.zw(), self.tz());
+inline void matrix4_transpose( Matrix4& self ){
+ std::swap( self.xy(), self.yx() );
+ std::swap( self.xz(), self.zx() );
+ std::swap( self.xw(), self.tx() );
+ std::swap( self.yz(), self.zy() );
+ std::swap( self.yw(), self.ty() );
+ std::swap( self.zw(), self.tz() );
}
/// \brief Returns \p self transposed.
-inline Matrix4 matrix4_transposed(const Matrix4& self)
-{
- return Matrix4(
- self.xx(),
- self.yx(),
- self.zx(),
- self.tx(),
- self.xy(),
- self.yy(),
- self.zy(),
- self.ty(),
- self.xz(),
- self.yz(),
- self.zz(),
- self.tz(),
- self.xw(),
- self.yw(),
- self.zw(),
- self.tw()
- );
+inline Matrix4 matrix4_transposed( const Matrix4& self ){
+ return Matrix4(
+ self.xx(),
+ self.yx(),
+ self.zx(),
+ self.tx(),
+ self.xy(),
+ self.yy(),
+ self.zy(),
+ self.ty(),
+ self.xz(),
+ self.yz(),
+ self.zz(),
+ self.tz(),
+ self.xw(),
+ self.yw(),
+ self.zw(),
+ self.tw()
+ );
}
/// \brief Inverts an affine transform in-place.
/// Adapted from Graphics Gems 2.
-inline Matrix4 matrix4_affine_inverse(const Matrix4& self)
-{
- Matrix4 result;
-
- // determinant of rotation submatrix
- double det
- = self[0] * ( self[5]*self[10] - self[9]*self[6] )
- - self[1] * ( self[4]*self[10] - self[8]*self[6] )
- + self[2] * ( self[4]*self[9] - self[8]*self[5] );
-
- // throw exception here if (det*det < 1e-25)
-
- // invert rotation submatrix
- det = 1.0 / det;
-
- result[0] = static_cast<float>( (self[5]*self[10]- self[6]*self[9] )*det);
- result[1] = static_cast<float>(- (self[1]*self[10]- self[2]*self[9] )*det);
- result[2] = static_cast<float>( (self[1]*self[6] - self[2]*self[5] )*det);
- result[3] = 0;
- result[4] = static_cast<float>(- (self[4]*self[10]- self[6]*self[8] )*det);
- result[5] = static_cast<float>( (self[0]*self[10]- self[2]*self[8] )*det);
- result[6] = static_cast<float>(- (self[0]*self[6] - self[2]*self[4] )*det);
- result[7] = 0;
- result[8] = static_cast<float>( (self[4]*self[9] - self[5]*self[8] )*det);
- result[9] = static_cast<float>(- (self[0]*self[9] - self[1]*self[8] )*det);
- result[10]= static_cast<float>( (self[0]*self[5] - self[1]*self[4] )*det);
- result[11] = 0;
-
- // multiply translation part by rotation
- result[12] = - (self[12] * result[0] +
- self[13] * result[4] +
- self[14] * result[8]);
- result[13] = - (self[12] * result[1] +
- self[13] * result[5] +
- self[14] * result[9]);
- result[14] = - (self[12] * result[2] +
- self[13] * result[6] +
- self[14] * result[10]);
- result[15] = 1;
-
- return result;
-}
-
-inline void matrix4_affine_invert(Matrix4& self)
-{
- self = matrix4_affine_inverse(self);
+inline Matrix4 matrix4_affine_inverse( const Matrix4& self ){
+ Matrix4 result;
+
+ // determinant of rotation submatrix
+ double det
+ = self[0] * ( self[5] * self[10] - self[9] * self[6] )
+ - self[1] * ( self[4] * self[10] - self[8] * self[6] )
+ + self[2] * ( self[4] * self[9] - self[8] * self[5] );
+
+ // throw exception here if (det*det < 1e-25)
+
+ // invert rotation submatrix
+ det = 1.0 / det;
+
+ result[0] = static_cast<float>( ( self[5] * self[10] - self[6] * self[9] ) * det );
+ result[1] = static_cast<float>( -( self[1] * self[10] - self[2] * self[9] ) * det );
+ result[2] = static_cast<float>( ( self[1] * self[6] - self[2] * self[5] ) * det );
+ result[3] = 0;
+ result[4] = static_cast<float>( -( self[4] * self[10] - self[6] * self[8] ) * det );
+ result[5] = static_cast<float>( ( self[0] * self[10] - self[2] * self[8] ) * det );
+ result[6] = static_cast<float>( -( self[0] * self[6] - self[2] * self[4] ) * det );
+ result[7] = 0;
+ result[8] = static_cast<float>( ( self[4] * self[9] - self[5] * self[8] ) * det );
+ result[9] = static_cast<float>( -( self[0] * self[9] - self[1] * self[8] ) * det );
+ result[10] = static_cast<float>( ( self[0] * self[5] - self[1] * self[4] ) * det );
+ result[11] = 0;
+
+ // multiply translation part by rotation
+ result[12] = -( self[12] * result[0] +
+ self[13] * result[4] +
+ self[14] * result[8] );
+ result[13] = -( self[12] * result[1] +
+ self[13] * result[5] +
+ self[14] * result[9] );
+ result[14] = -( self[12] * result[2] +
+ self[13] * result[6] +
+ self[14] * result[10] );
+ result[15] = 1;
+
+ return result;
+}
+
+inline void matrix4_affine_invert( Matrix4& self ){
+ self = matrix4_affine_inverse( self );
}
/// \brief A compile-time-constant integer.
template<int VALUE_>
struct IntegralConstant
{
- enum unnamed_{ VALUE = VALUE_ };
+ enum unnamed_ { VALUE = VALUE_ };
};
/// \brief A compile-time-constant row/column index into a 4x4 matrix.
class Matrix4Index
{
public:
- typedef IntegralConstant<Row::VALUE> r;
- typedef IntegralConstant<Col::VALUE> c;
- typedef IntegralConstant<(r::VALUE * 4) + c::VALUE> i;
+typedef IntegralConstant<Row::VALUE> r;
+typedef IntegralConstant<Col::VALUE> c;
+typedef IntegralConstant<( r::VALUE * 4 ) + c::VALUE> i;
};
/// \brief A functor which returns the cofactor of a 3x3 submatrix obtained by ignoring a given row and column of a 4x4 matrix.
class Matrix4Cofactor
{
public:
- typedef typename Matrix4Index<typename Row::x, typename Col::x>::i xx;
- typedef typename Matrix4Index<typename Row::x, typename Col::y>::i xy;
- typedef typename Matrix4Index<typename Row::x, typename Col::z>::i xz;
- typedef typename Matrix4Index<typename Row::y, typename Col::x>::i yx;
- typedef typename Matrix4Index<typename Row::y, typename Col::y>::i yy;
- typedef typename Matrix4Index<typename Row::y, typename Col::z>::i yz;
- typedef typename Matrix4Index<typename Row::z, typename Col::x>::i zx;
- typedef typename Matrix4Index<typename Row::z, typename Col::y>::i zy;
- typedef typename Matrix4Index<typename Row::z, typename Col::z>::i zz;
- static double apply(const Matrix4& self)
- {
- return self[xx::VALUE] * ( self[yy::VALUE]*self[zz::VALUE] - self[zy::VALUE]*self[yz::VALUE] )
- - self[xy::VALUE] * ( self[yx::VALUE]*self[zz::VALUE] - self[zx::VALUE]*self[yz::VALUE] )
- + self[xz::VALUE] * ( self[yx::VALUE]*self[zy::VALUE] - self[zx::VALUE]*self[yy::VALUE] );
- }
+typedef typename Matrix4Index<typename Row::x, typename Col::x>::i xx;
+typedef typename Matrix4Index<typename Row::x, typename Col::y>::i xy;
+typedef typename Matrix4Index<typename Row::x, typename Col::z>::i xz;
+typedef typename Matrix4Index<typename Row::y, typename Col::x>::i yx;
+typedef typename Matrix4Index<typename Row::y, typename Col::y>::i yy;
+typedef typename Matrix4Index<typename Row::y, typename Col::z>::i yz;
+typedef typename Matrix4Index<typename Row::z, typename Col::x>::i zx;
+typedef typename Matrix4Index<typename Row::z, typename Col::y>::i zy;
+typedef typename Matrix4Index<typename Row::z, typename Col::z>::i zz;
+static double apply( const Matrix4& self ){
+ return self[xx::VALUE] * ( self[yy::VALUE] * self[zz::VALUE] - self[zy::VALUE] * self[yz::VALUE] )
+ - self[xy::VALUE] * ( self[yx::VALUE] * self[zz::VALUE] - self[zx::VALUE] * self[yz::VALUE] )
+ + self[xz::VALUE] * ( self[yx::VALUE] * self[zy::VALUE] - self[zx::VALUE] * self[yy::VALUE] );
+}
};
/// \brief The cofactor element indices for a 4x4 matrix row or column.
class Cofactor4
{
public:
- typedef IntegralConstant<(Element <= 0) ? 1 : 0> x;
- typedef IntegralConstant<(Element <= 1) ? 2 : 1> y;
- typedef IntegralConstant<(Element <= 2) ? 3 : 2> z;
+typedef IntegralConstant<( Element <= 0 ) ? 1 : 0> x;
+typedef IntegralConstant<( Element <= 1 ) ? 2 : 1> y;
+typedef IntegralConstant<( Element <= 2 ) ? 3 : 2> z;
};
/// \brief Returns the determinant of \p self.
-inline double matrix4_determinant(const Matrix4& self)
-{
- return self.xx() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<0> >::apply(self)
- - self.xy() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<1> >::apply(self)
- + self.xz() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<2> >::apply(self)
- - self.xw() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<3> >::apply(self);
+inline double matrix4_determinant( const Matrix4& self ){
+ return self.xx() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<0> >::apply( self )
+ - self.xy() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<1> >::apply( self )
+ + self.xz() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<2> >::apply( self )
+ - self.xw() * Matrix4Cofactor< Cofactor4<0>, Cofactor4<3> >::apply( self );
}
/// \brief Returns the inverse of \p self using the Adjoint method.
/// \todo Throw an exception if the determinant is zero.
-inline Matrix4 matrix4_full_inverse(const Matrix4& self)
-{
- double determinant = 1.0 / matrix4_determinant(self);
-
- return Matrix4(
- static_cast<float>( Matrix4Cofactor< Cofactor4<0>, Cofactor4<0> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<1>, Cofactor4<0> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<2>, Cofactor4<0> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<3>, Cofactor4<0> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<0>, Cofactor4<1> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<1>, Cofactor4<1> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<2>, Cofactor4<1> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<3>, Cofactor4<1> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<0>, Cofactor4<2> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<1>, Cofactor4<2> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<2>, Cofactor4<2> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<3>, Cofactor4<2> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<0>, Cofactor4<3> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<1>, Cofactor4<3> >::apply(self) * determinant),
- static_cast<float>(-Matrix4Cofactor< Cofactor4<2>, Cofactor4<3> >::apply(self) * determinant),
- static_cast<float>( Matrix4Cofactor< Cofactor4<3>, Cofactor4<3> >::apply(self) * determinant)
- );
+inline Matrix4 matrix4_full_inverse( const Matrix4& self ){
+ double determinant = 1.0 / matrix4_determinant( self );
+
+ return Matrix4(
+ static_cast<float>( Matrix4Cofactor< Cofactor4<0>, Cofactor4<0> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<1>, Cofactor4<0> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<2>, Cofactor4<0> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<3>, Cofactor4<0> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<0>, Cofactor4<1> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<1>, Cofactor4<1> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<2>, Cofactor4<1> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<3>, Cofactor4<1> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<0>, Cofactor4<2> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<1>, Cofactor4<2> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<2>, Cofactor4<2> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<3>, Cofactor4<2> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<0>, Cofactor4<3> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<1>, Cofactor4<3> >::apply( self ) * determinant ),
+ static_cast<float>( -Matrix4Cofactor< Cofactor4<2>, Cofactor4<3> >::apply( self ) * determinant ),
+ static_cast<float>( Matrix4Cofactor< Cofactor4<3>, Cofactor4<3> >::apply( self ) * determinant )
+ );
}
/// \brief Inverts \p self in-place using the Adjoint method.
-inline void matrix4_full_invert(Matrix4& self)
-{
- self = matrix4_full_inverse(self);
+inline void matrix4_full_invert( Matrix4& self ){
+ self = matrix4_full_inverse( self );
}
/// \brief Constructs a pure-translation matrix from \p translation.
-inline Matrix4 matrix4_translation_for_vec3(const Vector3& translation)
-{
- return Matrix4(
- 1, 0, 0, 0,
- 0, 1, 0, 0,
- 0, 0, 1, 0,
- translation[0], translation[1], translation[2], 1
- );
+inline Matrix4 matrix4_translation_for_vec3( const Vector3& translation ){
+ return Matrix4(
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ translation[0], translation[1], translation[2], 1
+ );
}
/// \brief Returns the translation part of \p self.
-inline Vector3 matrix4_get_translation_vec3(const Matrix4& self)
-{
- return vector4_to_vector3(self.t());
+inline Vector3 matrix4_get_translation_vec3( const Matrix4& self ){
+ return vector4_to_vector3( self.t() );
}
/// \brief Concatenates \p self with \p translation.
/// The concatenated \p translation occurs before \p self.
-inline void matrix4_translate_by_vec3(Matrix4& self, const Vector3& translation)
-{
- matrix4_multiply_by_matrix4(self, matrix4_translation_for_vec3(translation));
+inline void matrix4_translate_by_vec3( Matrix4& self, const Vector3& translation ){
+ matrix4_multiply_by_matrix4( self, matrix4_translation_for_vec3( translation ) );
}
/// \brief Returns \p self Concatenated with \p translation.
/// The concatenated translation occurs before \p self.
-inline Matrix4 matrix4_translated_by_vec3(const Matrix4& self, const Vector3& translation)
-{
- return matrix4_multiplied_by_matrix4(self, matrix4_translation_for_vec3(translation));
+inline Matrix4 matrix4_translated_by_vec3( const Matrix4& self, const Vector3& translation ){
+ return matrix4_multiplied_by_matrix4( self, matrix4_translation_for_vec3( translation ) );
}
/// \brief Returns \p angle modulated by the range [0, 360).
/// \p angle must be in the range [-360, 360).
-inline float angle_modulate_degrees_range(float angle)
-{
- return static_cast<float>(float_mod_range(angle, 360.0));
+inline float angle_modulate_degrees_range( float angle ){
+ return static_cast<float>( float_mod_range( angle, 360.0 ) );
}
/// \brief Returns \p euler angles converted from radians to degrees.
-inline Vector3 euler_radians_to_degrees(const Vector3& euler)
-{
- return Vector3(
- static_cast<float>(radians_to_degrees(euler.x())),
- static_cast<float>(radians_to_degrees(euler.y())),
- static_cast<float>(radians_to_degrees(euler.z()))
- );
+inline Vector3 euler_radians_to_degrees( const Vector3& euler ){
+ return Vector3(
+ static_cast<float>( radians_to_degrees( euler.x() ) ),
+ static_cast<float>( radians_to_degrees( euler.y() ) ),
+ static_cast<float>( radians_to_degrees( euler.z() ) )
+ );
}
/// \brief Returns \p euler angles converted from degrees to radians.
-inline Vector3 euler_degrees_to_radians(const Vector3& euler)
-{
- return Vector3(
- static_cast<float>(degrees_to_radians(euler.x())),
- static_cast<float>(degrees_to_radians(euler.y())),
- static_cast<float>(degrees_to_radians(euler.z()))
- );
+inline Vector3 euler_degrees_to_radians( const Vector3& euler ){
+ return Vector3(
+ static_cast<float>( degrees_to_radians( euler.x() ) ),
+ static_cast<float>( degrees_to_radians( euler.y() ) ),
+ static_cast<float>( degrees_to_radians( euler.z() ) )
+ );
}
/// \brief Constructs a pure-rotation matrix about the x axis from sin \p s and cosine \p c of an angle.
-inline Matrix4 matrix4_rotation_for_sincos_x(float s, float c)
-{
- return Matrix4(
- 1, 0, 0, 0,
- 0, c, s, 0,
- 0,-s, c, 0,
- 0, 0, 0, 1
- );
+inline Matrix4 matrix4_rotation_for_sincos_x( float s, float c ){
+ return Matrix4(
+ 1, 0, 0, 0,
+ 0, c, s, 0,
+ 0,-s, c, 0,
+ 0, 0, 0, 1
+ );
}
/// \brief Constructs a pure-rotation matrix about the x axis from an angle in radians.
-inline Matrix4 matrix4_rotation_for_x(double x)
-{
- return matrix4_rotation_for_sincos_x(static_cast<float>(sin(x)), static_cast<float>(cos(x)));
+inline Matrix4 matrix4_rotation_for_x( double x ){
+ return matrix4_rotation_for_sincos_x( static_cast<float>( sin( x ) ), static_cast<float>( cos( x ) ) );
}
/// \brief Constructs a pure-rotation matrix about the x axis from an angle in degrees.
-inline Matrix4 matrix4_rotation_for_x_degrees(float x)
-{
- return matrix4_rotation_for_x(degrees_to_radians(x));
+inline Matrix4 matrix4_rotation_for_x_degrees( float x ){
+ return matrix4_rotation_for_x( degrees_to_radians( x ) );
}
/// \brief Constructs a pure-rotation matrix about the y axis from sin \p s and cosine \p c of an angle.
-inline Matrix4 matrix4_rotation_for_sincos_y(float s, float c)
-{
- return Matrix4(
- c, 0,-s, 0,
- 0, 1, 0, 0,
- s, 0, c, 0,
- 0, 0, 0, 1
- );
+inline Matrix4 matrix4_rotation_for_sincos_y( float s, float c ){
+ return Matrix4(
+ c, 0,-s, 0,
+ 0, 1, 0, 0,
+ s, 0, c, 0,
+ 0, 0, 0, 1
+ );
}
/// \brief Constructs a pure-rotation matrix about the y axis from an angle in radians.
-inline Matrix4 matrix4_rotation_for_y(double y)
-{
- return matrix4_rotation_for_sincos_y(static_cast<float>(sin(y)), static_cast<float>(cos(y)));
+inline Matrix4 matrix4_rotation_for_y( double y ){
+ return matrix4_rotation_for_sincos_y( static_cast<float>( sin( y ) ), static_cast<float>( cos( y ) ) );
}
/// \brief Constructs a pure-rotation matrix about the y axis from an angle in degrees.
-inline Matrix4 matrix4_rotation_for_y_degrees(float y)
-{
- return matrix4_rotation_for_y(degrees_to_radians(y));
+inline Matrix4 matrix4_rotation_for_y_degrees( float y ){
+ return matrix4_rotation_for_y( degrees_to_radians( y ) );
}
/// \brief Constructs a pure-rotation matrix about the z axis from sin \p s and cosine \p c of an angle.
-inline Matrix4 matrix4_rotation_for_sincos_z(float s, float c)
-{
- return Matrix4(
- c, s, 0, 0,
- -s, c, 0, 0,
- 0, 0, 1, 0,
- 0, 0, 0, 1
- );
+inline Matrix4 matrix4_rotation_for_sincos_z( float s, float c ){
+ return Matrix4(
+ c, s, 0, 0,
+ -s, c, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1
+ );
}
/// \brief Constructs a pure-rotation matrix about the z axis from an angle in radians.
-inline Matrix4 matrix4_rotation_for_z(double z)
-{
- return matrix4_rotation_for_sincos_z(static_cast<float>(sin(z)), static_cast<float>(cos(z)));
+inline Matrix4 matrix4_rotation_for_z( double z ){
+ return matrix4_rotation_for_sincos_z( static_cast<float>( sin( z ) ), static_cast<float>( cos( z ) ) );
}
/// \brief Constructs a pure-rotation matrix about the z axis from an angle in degrees.
-inline Matrix4 matrix4_rotation_for_z_degrees(float z)
-{
- return matrix4_rotation_for_z(degrees_to_radians(z));
+inline Matrix4 matrix4_rotation_for_z_degrees( float z ){
+ return matrix4_rotation_for_z( degrees_to_radians( z ) );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (x, y, z).
/*! \verbatim
-clockwise rotation around X, Y, Z, facing along axis
- 1 0 0 cy 0 -sy cz sz 0
- 0 cx sx 0 1 0 -sz cz 0
- 0 -sx cx sy 0 cy 0 0 1
-
-rows of Z by cols of Y
- cy*cz -sy*cz+sz -sy*sz+cz
--sz*cy -sz*sy+cz
-
- .. or something like that..
-
-final rotation is Z * Y * X
- cy*cz -sx*-sy*cz+cx*sz cx*-sy*sz+sx*cz
--cy*sz sx*sy*sz+cx*cz -cx*-sy*sz+sx*cz
- sy -sx*cy cx*cy
-
-transposed
-cy.cz + 0.sz + sy.0 cy.-sz + 0 .cz + sy.0 cy.0 + 0 .0 + sy.1 |
-sx.sy.cz + cx.sz + -sx.cy.0 sx.sy.-sz + cx.cz + -sx.cy.0 sx.sy.0 + cx.0 + -sx.cy.1 |
--cx.sy.cz + sx.sz + cx.cy.0 -cx.sy.-sz + sx.cz + cx.cy.0 -cx.sy.0 + 0 .0 + cx.cy.1 |
-\endverbatim */
-inline Matrix4 matrix4_rotation_for_euler_xyz(const Vector3& euler)
-{
+ clockwise rotation around X, Y, Z, facing along axis
+ 1 0 0 cy 0 -sy cz sz 0
+ 0 cx sx 0 1 0 -sz cz 0
+ 0 -sx cx sy 0 cy 0 0 1
+
+ rows of Z by cols of Y
+ cy*cz -sy*cz+sz -sy*sz+cz
+ -sz*cy -sz*sy+cz
+
+ .. or something like that..
+
+ final rotation is Z * Y * X
+ cy*cz -sx*-sy*cz+cx*sz cx*-sy*sz+sx*cz
+ -cy*sz sx*sy*sz+cx*cz -cx*-sy*sz+sx*cz
+ sy -sx*cy cx*cy
+
+ transposed
+ cy.cz + 0.sz + sy.0 cy.-sz + 0 .cz + sy.0 cy.0 + 0 .0 + sy.1 |
+ sx.sy.cz + cx.sz + -sx.cy.0 sx.sy.-sz + cx.cz + -sx.cy.0 sx.sy.0 + cx.0 + -sx.cy.1 |
+ -cx.sy.cz + sx.sz + cx.cy.0 -cx.sy.-sz + sx.cz + cx.cy.0 -cx.sy.0 + 0 .0 + cx.cy.1 |
+ \endverbatim */
+inline Matrix4 matrix4_rotation_for_euler_xyz( const Vector3& euler ){
#if 1
- double cx = cos(euler[0]);
- double sx = sin(euler[0]);
- double cy = cos(euler[1]);
- double sy = sin(euler[1]);
- double cz = cos(euler[2]);
- double sz = sin(euler[2]);
-
- return Matrix4(
- static_cast<float>(cy*cz),
- static_cast<float>(cy*sz),
- static_cast<float>(-sy),
- 0,
- static_cast<float>(sx*sy*cz + cx*-sz),
- static_cast<float>(sx*sy*sz + cx*cz),
- static_cast<float>(sx*cy),
- 0,
- static_cast<float>(cx*sy*cz + sx*sz),
- static_cast<float>(cx*sy*sz + -sx*cz),
- static_cast<float>(cx*cy),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ double cx = cos( euler[0] );
+ double sx = sin( euler[0] );
+ double cy = cos( euler[1] );
+ double sy = sin( euler[1] );
+ double cz = cos( euler[2] );
+ double sz = sin( euler[2] );
+
+ return Matrix4(
+ static_cast<float>( cy * cz ),
+ static_cast<float>( cy * sz ),
+ static_cast<float>( -sy ),
+ 0,
+ static_cast<float>( sx * sy * cz + cx * -sz ),
+ static_cast<float>( sx * sy * sz + cx * cz ),
+ static_cast<float>( sx * cy ),
+ 0,
+ static_cast<float>( cx * sy * cz + sx * sz ),
+ static_cast<float>( cx * sy * sz + -sx * cz ),
+ static_cast<float>( cx * cy ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#else
- return matrix4_premultiply_by_matrix4(
- matrix4_premultiply_by_matrix4(
- matrix4_rotation_for_x(euler[0]),
- matrix4_rotation_for_y(euler[1])
- ),
- matrix4_rotation_for_z(euler[2])
- );
+ return matrix4_premultiply_by_matrix4(
+ matrix4_premultiply_by_matrix4(
+ matrix4_rotation_for_x( euler[0] ),
+ matrix4_rotation_for_y( euler[1] )
+ ),
+ matrix4_rotation_for_z( euler[2] )
+ );
#endif
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degrees) in the order (x, y, z).
-inline Matrix4 matrix4_rotation_for_euler_xyz_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_xyz(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_xyz_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_xyz( euler_degrees_to_radians( euler ) );
}
/// \brief Concatenates \p self with the rotation transform produced by \p euler angles (degrees) in the order (x, y, z).
/// The concatenated rotation occurs before \p self.
-inline void matrix4_rotate_by_euler_xyz_degrees(Matrix4& self, const Vector3& euler)
-{
- matrix4_multiply_by_matrix4(self, matrix4_rotation_for_euler_xyz_degrees(euler));
+inline void matrix4_rotate_by_euler_xyz_degrees( Matrix4& self, const Vector3& euler ){
+ matrix4_multiply_by_matrix4( self, matrix4_rotation_for_euler_xyz_degrees( euler ) );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (y, z, x).
-inline Matrix4 matrix4_rotation_for_euler_yzx(const Vector3& euler)
-{
- return matrix4_premultiplied_by_matrix4(
- matrix4_premultiplied_by_matrix4(
- matrix4_rotation_for_y(euler[1]),
- matrix4_rotation_for_z(euler[2])
- ),
- matrix4_rotation_for_x(euler[0])
- );
+inline Matrix4 matrix4_rotation_for_euler_yzx( const Vector3& euler ){
+ return matrix4_premultiplied_by_matrix4(
+ matrix4_premultiplied_by_matrix4(
+ matrix4_rotation_for_y( euler[1] ),
+ matrix4_rotation_for_z( euler[2] )
+ ),
+ matrix4_rotation_for_x( euler[0] )
+ );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degrees) in the order (y, z, x).
-inline Matrix4 matrix4_rotation_for_euler_yzx_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_yzx(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_yzx_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_yzx( euler_degrees_to_radians( euler ) );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (x, z, y).
-inline Matrix4 matrix4_rotation_for_euler_xzy(const Vector3& euler)
-{
- return matrix4_premultiplied_by_matrix4(
- matrix4_premultiplied_by_matrix4(
- matrix4_rotation_for_x(euler[0]),
- matrix4_rotation_for_z(euler[2])
- ),
- matrix4_rotation_for_y(euler[1])
- );
+inline Matrix4 matrix4_rotation_for_euler_xzy( const Vector3& euler ){
+ return matrix4_premultiplied_by_matrix4(
+ matrix4_premultiplied_by_matrix4(
+ matrix4_rotation_for_x( euler[0] ),
+ matrix4_rotation_for_z( euler[2] )
+ ),
+ matrix4_rotation_for_y( euler[1] )
+ );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degrees) in the order (x, z, y).
-inline Matrix4 matrix4_rotation_for_euler_xzy_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_xzy(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_xzy_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_xzy( euler_degrees_to_radians( euler ) );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (y, x, z).
/*! \verbatim
-| cy.cz + sx.sy.-sz + -cx.sy.0 0.cz + cx.-sz + sx.0 sy.cz + -sx.cy.-sz + cx.cy.0 |
-| cy.sz + sx.sy.cz + -cx.sy.0 0.sz + cx.cz + sx.0 sy.sz + -sx.cy.cz + cx.cy.0 |
-| cy.0 + sx.sy.0 + -cx.sy.1 0.0 + cx.0 + sx.1 sy.0 + -sx.cy.0 + cx.cy.1 |
-\endverbatim */
-inline Matrix4 matrix4_rotation_for_euler_yxz(const Vector3& euler)
-{
+ | cy.cz + sx.sy.-sz + -cx.sy.0 0.cz + cx.-sz + sx.0 sy.cz + -sx.cy.-sz + cx.cy.0 |
+ | cy.sz + sx.sy.cz + -cx.sy.0 0.sz + cx.cz + sx.0 sy.sz + -sx.cy.cz + cx.cy.0 |
+ | cy.0 + sx.sy.0 + -cx.sy.1 0.0 + cx.0 + sx.1 sy.0 + -sx.cy.0 + cx.cy.1 |
+ \endverbatim */
+inline Matrix4 matrix4_rotation_for_euler_yxz( const Vector3& euler ){
#if 1
- double cx = cos(euler[0]);
- double sx = sin(euler[0]);
- double cy = cos(euler[1]);
- double sy = sin(euler[1]);
- double cz = cos(euler[2]);
- double sz = sin(euler[2]);
-
- return Matrix4(
- static_cast<float>(cy*cz + sx*sy*-sz),
- static_cast<float>(cy*sz + sx*sy*cz),
- static_cast<float>(-cx*sy),
- 0,
- static_cast<float>(cx*-sz),
- static_cast<float>(cx*cz),
- static_cast<float>(sx),
- 0,
- static_cast<float>(sy*cz + -sx*cy*-sz),
- static_cast<float>(sy*sz + -sx*cy*cz),
- static_cast<float>(cx*cy),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ double cx = cos( euler[0] );
+ double sx = sin( euler[0] );
+ double cy = cos( euler[1] );
+ double sy = sin( euler[1] );
+ double cz = cos( euler[2] );
+ double sz = sin( euler[2] );
+
+ return Matrix4(
+ static_cast<float>( cy * cz + sx * sy * -sz ),
+ static_cast<float>( cy * sz + sx * sy * cz ),
+ static_cast<float>( -cx * sy ),
+ 0,
+ static_cast<float>( cx * -sz ),
+ static_cast<float>( cx * cz ),
+ static_cast<float>( sx ),
+ 0,
+ static_cast<float>( sy * cz + -sx * cy * -sz ),
+ static_cast<float>( sy * sz + -sx * cy * cz ),
+ static_cast<float>( cx * cy ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#else
- return matrix4_premultiply_by_matrix4(
- matrix4_premultiply_by_matrix4(
- matrix4_rotation_for_y(euler[1]),
- matrix4_rotation_for_x(euler[0])
- ),
- matrix4_rotation_for_z(euler[2])
- );
+ return matrix4_premultiply_by_matrix4(
+ matrix4_premultiply_by_matrix4(
+ matrix4_rotation_for_y( euler[1] ),
+ matrix4_rotation_for_x( euler[0] )
+ ),
+ matrix4_rotation_for_z( euler[2] )
+ );
#endif
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degrees) in the order (y, x, z).
-inline Matrix4 matrix4_rotation_for_euler_yxz_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_yxz(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_yxz_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_yxz( euler_degrees_to_radians( euler ) );
}
/// \brief Returns \p self concatenated with the rotation transform produced by \p euler angles (degrees) in the order (y, x, z).
/// The concatenated rotation occurs before \p self.
-inline Matrix4 matrix4_rotated_by_euler_yxz_degrees(const Matrix4& self, const Vector3& euler)
-{
- return matrix4_multiplied_by_matrix4(self, matrix4_rotation_for_euler_yxz_degrees(euler));
+inline Matrix4 matrix4_rotated_by_euler_yxz_degrees( const Matrix4& self, const Vector3& euler ){
+ return matrix4_multiplied_by_matrix4( self, matrix4_rotation_for_euler_yxz_degrees( euler ) );
}
/// \brief Concatenates \p self with the rotation transform produced by \p euler angles (degrees) in the order (y, x, z).
/// The concatenated rotation occurs before \p self.
-inline void matrix4_rotate_by_euler_yxz_degrees(Matrix4& self, const Vector3& euler)
-{
- self = matrix4_rotated_by_euler_yxz_degrees(self, euler);
+inline void matrix4_rotate_by_euler_yxz_degrees( Matrix4& self, const Vector3& euler ){
+ self = matrix4_rotated_by_euler_yxz_degrees( self, euler );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (z, x, y).
-inline Matrix4 matrix4_rotation_for_euler_zxy(const Vector3& euler)
-{
+inline Matrix4 matrix4_rotation_for_euler_zxy( const Vector3& euler ){
#if 1
- return matrix4_premultiplied_by_matrix4(
- matrix4_premultiplied_by_matrix4(
- matrix4_rotation_for_z(euler[2]),
- matrix4_rotation_for_x(euler[0])
- ),
- matrix4_rotation_for_y(euler[1])
- );
+ return matrix4_premultiplied_by_matrix4(
+ matrix4_premultiplied_by_matrix4(
+ matrix4_rotation_for_z( euler[2] ),
+ matrix4_rotation_for_x( euler[0] )
+ ),
+ matrix4_rotation_for_y( euler[1] )
+ );
#else
- double cx = cos(euler[0]);
- double sx = sin(euler[0]);
- double cy = cos(euler[1]);
- double sy = sin(euler[1]);
- double cz = cos(euler[2]);
- double sz = sin(euler[2]);
-
- return Matrix4(
- static_cast<float>(cz * cy + sz * sx * sy),
- static_cast<float>(sz * cx),
- static_cast<float>(cz * -sy + sz * sx * cy),
- 0,
- static_cast<float>(-sz * cy + cz * sx * sy),
- static_cast<float>(cz * cx),
- static_cast<float>(-sz * -sy + cz * cx * cy),
- 0,
- static_cast<float>(cx* sy),
- static_cast<float>(-sx),
- static_cast<float>(cx* cy),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ double cx = cos( euler[0] );
+ double sx = sin( euler[0] );
+ double cy = cos( euler[1] );
+ double sy = sin( euler[1] );
+ double cz = cos( euler[2] );
+ double sz = sin( euler[2] );
+
+ return Matrix4(
+ static_cast<float>( cz * cy + sz * sx * sy ),
+ static_cast<float>( sz * cx ),
+ static_cast<float>( cz * -sy + sz * sx * cy ),
+ 0,
+ static_cast<float>( -sz * cy + cz * sx * sy ),
+ static_cast<float>( cz * cx ),
+ static_cast<float>( -sz * -sy + cz * cx * cy ),
+ 0,
+ static_cast<float>( cx * sy ),
+ static_cast<float>( -sx ),
+ static_cast<float>( cx * cy ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#endif
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degres=es) in the order (z, x, y).
-inline Matrix4 matrix4_rotation_for_euler_zxy_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_zxy(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_zxy_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_zxy( euler_degrees_to_radians( euler ) );
}
/// \brief Returns \p self concatenated with the rotation transform produced by \p euler angles (degrees) in the order (z, x, y).
/// The concatenated rotation occurs before \p self.
-inline Matrix4 matrix4_rotated_by_euler_zxy_degrees(const Matrix4& self, const Vector3& euler)
-{
- return matrix4_multiplied_by_matrix4(self, matrix4_rotation_for_euler_zxy_degrees(euler));
+inline Matrix4 matrix4_rotated_by_euler_zxy_degrees( const Matrix4& self, const Vector3& euler ){
+ return matrix4_multiplied_by_matrix4( self, matrix4_rotation_for_euler_zxy_degrees( euler ) );
}
/// \brief Concatenates \p self with the rotation transform produced by \p euler angles (degrees) in the order (z, x, y).
/// The concatenated rotation occurs before \p self.
-inline void matrix4_rotate_by_euler_zxy_degrees(Matrix4& self, const Vector3& euler)
-{
- self = matrix4_rotated_by_euler_zxy_degrees(self, euler);
+inline void matrix4_rotate_by_euler_zxy_degrees( Matrix4& self, const Vector3& euler ){
+ self = matrix4_rotated_by_euler_zxy_degrees( self, euler );
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (radians) in the order (z, y, x).
-inline Matrix4 matrix4_rotation_for_euler_zyx(const Vector3& euler)
-{
+inline Matrix4 matrix4_rotation_for_euler_zyx( const Vector3& euler ){
#if 1
- double cx = cos(euler[0]);
- double sx = sin(euler[0]);
- double cy = cos(euler[1]);
- double sy = sin(euler[1]);
- double cz = cos(euler[2]);
- double sz = sin(euler[2]);
-
- return Matrix4(
- static_cast<float>(cy*cz),
- static_cast<float>(sx*sy*cz + cx*sz),
- static_cast<float>(cx*-sy*cz + sx*sz),
- 0,
- static_cast<float>(cy*-sz),
- static_cast<float>(sx*sy*-sz + cx*cz),
- static_cast<float>(cx*-sy*-sz + sx*cz),
- 0,
- static_cast<float>(sy),
- static_cast<float>(-sx*cy),
- static_cast<float>(cx*cy),
- 0,
- 0,
- 0,
- 0,
- 1
- );
+ double cx = cos( euler[0] );
+ double sx = sin( euler[0] );
+ double cy = cos( euler[1] );
+ double sy = sin( euler[1] );
+ double cz = cos( euler[2] );
+ double sz = sin( euler[2] );
+
+ return Matrix4(
+ static_cast<float>( cy * cz ),
+ static_cast<float>( sx * sy * cz + cx * sz ),
+ static_cast<float>( cx * -sy * cz + sx * sz ),
+ 0,
+ static_cast<float>( cy * -sz ),
+ static_cast<float>( sx * sy * -sz + cx * cz ),
+ static_cast<float>( cx * -sy * -sz + sx * cz ),
+ 0,
+ static_cast<float>( sy ),
+ static_cast<float>( -sx * cy ),
+ static_cast<float>( cx * cy ),
+ 0,
+ 0,
+ 0,
+ 0,
+ 1
+ );
#else
- return matrix4_premultiply_by_matrix4(
- matrix4_premultiply_by_matrix4(
- matrix4_rotation_for_z(euler[2]),
- matrix4_rotation_for_y(euler[1])
- ),
- matrix4_rotation_for_x(euler[0])
- );
+ return matrix4_premultiply_by_matrix4(
+ matrix4_premultiply_by_matrix4(
+ matrix4_rotation_for_z( euler[2] ),
+ matrix4_rotation_for_y( euler[1] )
+ ),
+ matrix4_rotation_for_x( euler[0] )
+ );
#endif
}
/// \brief Constructs a pure-rotation matrix from a set of euler angles (degrees) in the order (z, y, x).
-inline Matrix4 matrix4_rotation_for_euler_zyx_degrees(const Vector3& euler)
-{
- return matrix4_rotation_for_euler_zyx(euler_degrees_to_radians(euler));
+inline Matrix4 matrix4_rotation_for_euler_zyx_degrees( const Vector3& euler ){
+ return matrix4_rotation_for_euler_zyx( euler_degrees_to_radians( euler ) );
}
/// \brief Calculates and returns a set of euler angles that produce the rotation component of \p self when applied in the order (x, y, z).
/// \p self must be affine and orthonormal (unscaled) to produce a meaningful result.
-inline Vector3 matrix4_get_rotation_euler_xyz(const Matrix4& self)
-{
- double a = asin(-self[2]);
- double ca = cos(a);
-
- if (fabs(ca) > 0.005) // Gimbal lock?
- {
- return Vector3(
- static_cast<float>(atan2(self[6] / ca, self[10] / ca)),
- static_cast<float>(a),
- static_cast<float>(atan2(self[1] / ca, self[0]/ ca))
- );
- }
- else // Gimbal lock has occurred
- {
- return Vector3(
- static_cast<float>(atan2(-self[9], self[5])),
- static_cast<float>(a),
- 0
- );
- }
+inline Vector3 matrix4_get_rotation_euler_xyz( const Matrix4& self ){
+ double a = asin( -self[2] );
+ double ca = cos( a );
+
+ if ( fabs( ca ) > 0.005 ) { // Gimbal lock?
+ return Vector3(
+ static_cast<float>( atan2( self[6] / ca, self[10] / ca ) ),
+ static_cast<float>( a ),
+ static_cast<float>( atan2( self[1] / ca, self[0] / ca ) )
+ );
+ }
+ else // Gimbal lock has occurred
+ {
+ return Vector3(
+ static_cast<float>( atan2( -self[9], self[5] ) ),
+ static_cast<float>( a ),
+ 0
+ );
+ }
}
/// \brief \copydoc matrix4_get_rotation_euler_xyz(const Matrix4&)
-inline Vector3 matrix4_get_rotation_euler_xyz_degrees(const Matrix4& self)
-{
- return euler_radians_to_degrees(matrix4_get_rotation_euler_xyz(self));
+inline Vector3 matrix4_get_rotation_euler_xyz_degrees( const Matrix4& self ){
+ return euler_radians_to_degrees( matrix4_get_rotation_euler_xyz( self ) );
}
/// \brief Calculates and returns a set of euler angles that produce the rotation component of \p self when applied in the order (y, x, z).
/// \p self must be affine and orthonormal (unscaled) to produce a meaningful result.
-inline Vector3 matrix4_get_rotation_euler_yxz(const Matrix4& self)
-{
- double a = asin(self[6]);
- double ca = cos(a);
-
- if (fabs(ca) > 0.005) // Gimbal lock?
- {
- return Vector3(
- static_cast<float>(a),
- static_cast<float>(atan2(-self[2] / ca, self[10]/ ca)),
- static_cast<float>(atan2(-self[4] / ca, self[5] / ca))
- );
- }
- else // Gimbal lock has occurred
- {
- return Vector3(
- static_cast<float>(a),
- static_cast<float>(atan2(self[8], self[0])),
- 0
- );
- }
+inline Vector3 matrix4_get_rotation_euler_yxz( const Matrix4& self ){
+ double a = asin( self[6] );
+ double ca = cos( a );
+
+ if ( fabs( ca ) > 0.005 ) { // Gimbal lock?
+ return Vector3(
+ static_cast<float>( a ),
+ static_cast<float>( atan2( -self[2] / ca, self[10] / ca ) ),
+ static_cast<float>( atan2( -self[4] / ca, self[5] / ca ) )
+ );
+ }
+ else // Gimbal lock has occurred
+ {
+ return Vector3(
+ static_cast<float>( a ),
+ static_cast<float>( atan2( self[8], self[0] ) ),
+ 0
+ );
+ }
}
/// \brief \copydoc matrix4_get_rotation_euler_yxz(const Matrix4&)
-inline Vector3 matrix4_get_rotation_euler_yxz_degrees(const Matrix4& self)
-{
- return euler_radians_to_degrees(matrix4_get_rotation_euler_yxz(self));
+inline Vector3 matrix4_get_rotation_euler_yxz_degrees( const Matrix4& self ){
+ return euler_radians_to_degrees( matrix4_get_rotation_euler_yxz( self ) );
}
/// \brief Calculates and returns a set of euler angles that produce the rotation component of \p self when applied in the order (z, x, y).
/// \p self must be affine and orthonormal (unscaled) to produce a meaningful result.
-inline Vector3 matrix4_get_rotation_euler_zxy(const Matrix4& self)
-{
- double a = asin(-self[9]);
- double ca = cos(a);
-
- if (fabs(ca) > 0.005) // Gimbal lock?
- {
- return Vector3(
- static_cast<float>(a),
- static_cast<float>(atan2(self[8] / ca, self[10] / ca)),
- static_cast<float>(atan2(self[1] / ca, self[5]/ ca))
- );
- }
- else // Gimbal lock has occurred
- {
- return Vector3(
- static_cast<float>(a),
- 0,
- static_cast<float>(atan2(-self[4], self[0]))
- );
- }
+inline Vector3 matrix4_get_rotation_euler_zxy( const Matrix4& self ){
+ double a = asin( -self[9] );
+ double ca = cos( a );
+
+ if ( fabs( ca ) > 0.005 ) { // Gimbal lock?
+ return Vector3(
+ static_cast<float>( a ),
+ static_cast<float>( atan2( self[8] / ca, self[10] / ca ) ),
+ static_cast<float>( atan2( self[1] / ca, self[5] / ca ) )
+ );
+ }
+ else // Gimbal lock has occurred
+ {
+ return Vector3(
+ static_cast<float>( a ),
+ 0,
+ static_cast<float>( atan2( -self[4], self[0] ) )
+ );
+ }
}
/// \brief \copydoc matrix4_get_rotation_euler_zxy(const Matrix4&)
-inline Vector3 matrix4_get_rotation_euler_zxy_degrees(const Matrix4& self)
-{
- return euler_radians_to_degrees(matrix4_get_rotation_euler_zxy(self));
+inline Vector3 matrix4_get_rotation_euler_zxy_degrees( const Matrix4& self ){
+ return euler_radians_to_degrees( matrix4_get_rotation_euler_zxy( self ) );
}
/// \brief Calculates and returns a set of euler angles that produce the rotation component of \p self when applied in the order (z, y, x).
/// \p self must be affine and orthonormal (unscaled) to produce a meaningful result.
-inline Vector3 matrix4_get_rotation_euler_zyx(const Matrix4& self)
-{
- double a = asin(self[8]);
- double ca = cos(a);
-
- if (fabs(ca) > 0.005) // Gimbal lock?
- {
- return Vector3(
- static_cast<float>(atan2(-self[9] / ca, self[10]/ ca)),
- static_cast<float>(a),
- static_cast<float>(atan2(-self[4] / ca, self[0] / ca))
- );
- }
- else // Gimbal lock has occurred
- {
- return Vector3(
- 0,
- static_cast<float>(a),
- static_cast<float>(atan2(self[1], self[5]))
- );
- }
+inline Vector3 matrix4_get_rotation_euler_zyx( const Matrix4& self ){
+ double a = asin( self[8] );
+ double ca = cos( a );
+
+ if ( fabs( ca ) > 0.005 ) { // Gimbal lock?
+ return Vector3(
+ static_cast<float>( atan2( -self[9] / ca, self[10] / ca ) ),
+ static_cast<float>( a ),
+ static_cast<float>( atan2( -self[4] / ca, self[0] / ca ) )
+ );
+ }
+ else // Gimbal lock has occurred
+ {
+ return Vector3(
+ 0,
+ static_cast<float>( a ),
+ static_cast<float>( atan2( self[1], self[5] ) )
+ );
+ }
}
/// \brief \copydoc matrix4_get_rotation_euler_zyx(const Matrix4&)
-inline Vector3 matrix4_get_rotation_euler_zyx_degrees(const Matrix4& self)
-{
- return euler_radians_to_degrees(matrix4_get_rotation_euler_zyx(self));
+inline Vector3 matrix4_get_rotation_euler_zyx_degrees( const Matrix4& self ){
+ return euler_radians_to_degrees( matrix4_get_rotation_euler_zyx( self ) );
}
/// \brief Rotate \p self by \p euler angles (degrees) applied in the order (x, y, z), using \p pivotpoint.
-inline void matrix4_pivoted_rotate_by_euler_xyz_degrees(Matrix4& self, const Vector3& euler, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_rotate_by_euler_xyz_degrees(self, euler);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
+inline void matrix4_pivoted_rotate_by_euler_xyz_degrees( Matrix4& self, const Vector3& euler, const Vector3& pivotpoint ){
+ matrix4_translate_by_vec3( self, pivotpoint );
+ matrix4_rotate_by_euler_xyz_degrees( self, euler );
+ matrix4_translate_by_vec3( self, vector3_negated( pivotpoint ) );
}
/// \brief Constructs a pure-scale matrix from \p scale.
-inline Matrix4 matrix4_scale_for_vec3(const Vector3& scale)
-{
- return Matrix4(
- scale[0], 0, 0, 0,
- 0, scale[1], 0, 0,
- 0, 0, scale[2], 0,
- 0, 0, 0, 1
- );
+inline Matrix4 matrix4_scale_for_vec3( const Vector3& scale ){
+ return Matrix4(
+ scale[0], 0, 0, 0,
+ 0, scale[1], 0, 0,
+ 0, 0, scale[2], 0,
+ 0, 0, 0, 1
+ );
}
/// \brief Calculates and returns the (x, y, z) scale values that produce the scale component of \p self.
/// \p self must be affine and orthogonal to produce a meaningful result.
-inline Vector3 matrix4_get_scale_vec3(const Matrix4& self)
-{
- return Vector3(
- static_cast<float>(vector3_length(vector4_to_vector3(self.x()))),
- static_cast<float>(vector3_length(vector4_to_vector3(self.y()))),
- static_cast<float>(vector3_length(vector4_to_vector3(self.z())))
- );
+inline Vector3 matrix4_get_scale_vec3( const Matrix4& self ){
+ return Vector3(
+ static_cast<float>( vector3_length( vector4_to_vector3( self.x() ) ) ),
+ static_cast<float>( vector3_length( vector4_to_vector3( self.y() ) ) ),
+ static_cast<float>( vector3_length( vector4_to_vector3( self.z() ) ) )
+ );
}
/// \brief Scales \p self by \p scale.
-inline void matrix4_scale_by_vec3(Matrix4& self, const Vector3& scale)
-{
- matrix4_multiply_by_matrix4(self, matrix4_scale_for_vec3(scale));
+inline void matrix4_scale_by_vec3( Matrix4& self, const Vector3& scale ){
+ matrix4_multiply_by_matrix4( self, matrix4_scale_for_vec3( scale ) );
}
/// \brief Scales \p self by \p scale, using \p pivotpoint.
-inline void matrix4_pivoted_scale_by_vec3(Matrix4& self, const Vector3& scale, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_scale_by_vec3(self, scale);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
+inline void matrix4_pivoted_scale_by_vec3( Matrix4& self, const Vector3& scale, const Vector3& pivotpoint ){
+ matrix4_translate_by_vec3( self, pivotpoint );
+ matrix4_scale_by_vec3( self, scale );
+ matrix4_translate_by_vec3( self, vector3_negated( pivotpoint ) );
}
/// \brief Transforms \p self by \p translation, \p euler and \p scale.
/// The transforms are combined in the order: scale, rotate-z, rotate-y, rotate-x, translate.
-inline void matrix4_transform_by_euler_xyz_degrees(Matrix4& self, const Vector3& translation, const Vector3& euler, const Vector3& scale)
-{
- matrix4_translate_by_vec3(self, translation);
- matrix4_rotate_by_euler_xyz_degrees(self, euler);
- matrix4_scale_by_vec3(self, scale);
+inline void matrix4_transform_by_euler_xyz_degrees( Matrix4& self, const Vector3& translation, const Vector3& euler, const Vector3& scale ){
+ matrix4_translate_by_vec3( self, translation );
+ matrix4_rotate_by_euler_xyz_degrees( self, euler );
+ matrix4_scale_by_vec3( self, scale );
}
/// \brief Transforms \p self by \p translation, \p euler and \p scale, using \p pivotpoint.
-inline void matrix4_pivoted_transform_by_euler_xyz_degrees(Matrix4& self, const Vector3& translation, const Vector3& euler, const Vector3& scale, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint + translation);
- matrix4_rotate_by_euler_xyz_degrees(self, euler);
- matrix4_scale_by_vec3(self, scale);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
+inline void matrix4_pivoted_transform_by_euler_xyz_degrees( Matrix4& self, const Vector3& translation, const Vector3& euler, const Vector3& scale, const Vector3& pivotpoint ){
+ matrix4_translate_by_vec3( self, pivotpoint + translation );
+ matrix4_rotate_by_euler_xyz_degrees( self, euler );
+ matrix4_scale_by_vec3( self, scale );
+ matrix4_translate_by_vec3( self, vector3_negated( pivotpoint ) );
}
projects / xonotic / netradiant.git / blobdiff