WebSVN – gelsvn – Diff – /trunk/src/CGLA/Mat4x4f.h


#ifndef __CGLA_MAT4X4_H__
#define __CGLA_MAT4X4_H__
 
#include "ExceptionStandard.h"
#include "CGLA.h"
#include "Vec3f.h"
#include "Vec3Hf.h"
#include "Vec4f.h"
#include "ArithSqMat4x4Float.h"
 
 
namespace CGLA 
{
 
 
  /** \brief 4x4 float matrix.
      This class is useful for transformations such as perspective projections 
      or translation where 3x3 matrices do not suffice. */
  class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>
    {
    public:
  
      /// Construct a Mat4x4f from four Vec4f vectors
      Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d): 
	ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}
  
      /// Construct the NaN matrix
      Mat4x4f() {}
 
      /// Construct a matrix with identical elements.
      explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}
    };
 
  /// Create a rotation _matrix. Rotates about one of the major axes.
  Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);
 
  /// Create a translation matrix
  Mat4x4f translation_Mat4x4f(const Vec3f&);
 
  /// Create a scaling matrix.
  Mat4x4f scaling_Mat4x4f(const Vec3f&);
 
  /// Create an identity matrix.
  inline Mat4x4f identity_Mat4x4f()
    {
      return Mat4x4f(Vec4f(1,0,0,0), 
		     Vec4f(0,1,0,0), 
		     Vec4f(0,0,1,0), 
		     Vec4f(0,0,0,1));
    }
 
  /** Compute inverse assuming that the upper-left 3x3 sub-matrix is
      orthonormal (which is the case if the transformation is only
      a concatenation of rotations and translations).
  */
  inline Mat4x4f invert_ortho(const Mat4x4f& m)
  {
    Vec3f rx(m[0][0], m[1][0], m[2][0]);
    Vec3f ry(m[0][1], m[1][1], m[2][1]);
    Vec3f rz(m[0][2], m[1][2], m[2][2]);
    Vec3f t(m[0][3], m[1][3], m[2][3]);
 
    return Mat4x4f(Vec4f(rx, -dot(t, rx)),
		   Vec4f(ry, -dot(t, ry)),
		   Vec4f(rz, -dot(t, rz)),
		   Vec4f(0.0, 0.0, 0.0, 1.0));
  }   
}
#endif
 
 
 
 
 
 
 
 

Subversion Repositories gelsvn

(root)/trunk/src/CGLA/Mat4x4f.h – Rev 50 → 89

Rev 50		Rev 89
1	`#ifndef __CGLA_MAT4X4_H__`	1	`#ifndef __CGLA_MAT4X4_H__`
2	`#define __CGLA_MAT4X4_H__`	2	`#define __CGLA_MAT4X4_H__`
3		3
4	`#include "ExceptionStandard.h"`	4	`#include "ExceptionStandard.h"`
5	`#include "CGLA.h"`	5	`#include "CGLA.h"`
6	`#include "Vec3f.h"`	6	`#include "Vec3f.h"`
7	`#include "Vec3Hf.h"`	7	`#include "Vec3Hf.h"`
8	`#include "Vec4f.h"`	8	`#include "Vec4f.h"`
9	`#include "ArithSqMat4x4Float.h"`	9	`#include "ArithSqMat4x4Float.h"`
10		10
11		11
12	`namespace CGLA`	12	`namespace CGLA`
13	`{`	13	`{`
14		14
15		-
16	`/** Four by four float matrix.`	15	`/** \brief 4x4 float matrix.`
17	`This class is useful for transformations such as perspective projections`	16	`This class is useful for transformations such as perspective projections`
18	`or translation where 3x3 matrices do not suffice. */`	17	`or translation where 3x3 matrices do not suffice. */`
19	`class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>`	18	`class Mat4x4f: public ArithSqMat4x4Float<Vec4f, Mat4x4f>`
20	`{`	19	`{`
21	`public:`	20	`public:`
22		21
23	`/// Construct a Mat4x4f from four Vec4f vectors`	22	`/// Construct a Mat4x4f from four Vec4f vectors`
24	`Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d):`	23	`Mat4x4f(Vec4f _a, Vec4f _b, Vec4f _c, Vec4f _d):`
25	`ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}`	24	`ArithSqMat4x4Float<Vec4f, Mat4x4f> (_a,_b,_c,_d) {}`
26		25
27	`/// Construct the NaN matrix`	26	`/// Construct the NaN matrix`
28	`Mat4x4f() {}`	27	`Mat4x4f() {}`
29		28
30	`/// Construct a matrix with identical elements.`	29	`/// Construct a matrix with identical elements.`
31	`explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}`	30	`explicit Mat4x4f(float a) : ArithSqMat4x4Float<Vec4f, Mat4x4f> (a) {}`
32	`};`	31	`};`
33		32
34	`/// Create a rotation _matrix. Rotates about one of the major axes.`	33	`/// Create a rotation _matrix. Rotates about one of the major axes.`
35	`Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);`	34	`Mat4x4f rotation_Mat4x4f(CGLA::Axis axis, float angle);`
36		35
37	`/// Create a translation matrix`	36	`/// Create a translation matrix`
38	`Mat4x4f translation_Mat4x4f(const Vec3f&);`	37	`Mat4x4f translation_Mat4x4f(const Vec3f&);`
39		38
40	`/// Create a scaling matrix.`	39	`/// Create a scaling matrix.`
41	`Mat4x4f scaling_Mat4x4f(const Vec3f&);`	40	`Mat4x4f scaling_Mat4x4f(const Vec3f&);`
42		41
43	`/// Create an identity matrix.`	42	`/// Create an identity matrix.`
44	`inline Mat4x4f identity_Mat4x4f()`	43	`inline Mat4x4f identity_Mat4x4f()`
45	`{`	44	`{`
46	`return Mat4x4f(Vec4f(1,0,0,0),`	45	`return Mat4x4f(Vec4f(1,0,0,0),`
47	`Vec4f(0,1,0,0),`	46	`Vec4f(0,1,0,0),`
48	`Vec4f(0,0,1,0),`	47	`Vec4f(0,0,1,0),`
49	`Vec4f(0,0,0,1));`	48	`Vec4f(0,0,0,1));`
50	`}`	49	`}`
51		50
52	`/** Compute inverse assuming that the upper-left 3x3 sub-matrix is`	51	`/** Compute inverse assuming that the upper-left 3x3 sub-matrix is`
53	`orthonormal (which is the case if the transformation is only`	52	`orthonormal (which is the case if the transformation is only`
54	`a concatenation of rotations and translations).`	53	`a concatenation of rotations and translations).`
55	`*/`	54	`*/`
56	`inline Mat4x4f invert_ortho(const Mat4x4f& m)`	55	`inline Mat4x4f invert_ortho(const Mat4x4f& m)`
57	`{`	56	`{`
58	`Vec3f rx(m[0][0], m[1][0], m[2][0]);`	57	`Vec3f rx(m[0][0], m[1][0], m[2][0]);`
59	`Vec3f ry(m[0][1], m[1][1], m[2][1]);`	58	`Vec3f ry(m[0][1], m[1][1], m[2][1]);`
60	`Vec3f rz(m[0][2], m[1][2], m[2][2]);`	59	`Vec3f rz(m[0][2], m[1][2], m[2][2]);`
61	`Vec3f t(m[0][3], m[1][3], m[2][3]);`	60	`Vec3f t(m[0][3], m[1][3], m[2][3]);`
62		61
63	`return Mat4x4f(Vec4f(rx, -dot(t, rx)),`	62	`return Mat4x4f(Vec4f(rx, -dot(t, rx)),`
64	`Vec4f(ry, -dot(t, ry)),`	63	`Vec4f(ry, -dot(t, ry)),`
65	`Vec4f(rz, -dot(t, rz)),`	64	`Vec4f(rz, -dot(t, rz)),`
66	`Vec4f(0.0, 0.0, 0.0, 1.0));`	65	`Vec4f(0.0, 0.0, 0.0, 1.0));`
67	`}`	66	`}`
68	`}`	67	`}`
69	`#endif`	68	`#endif`
70		69
71		70
72		71
73		72
74		73
75		74
76		75
77		76