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Documentation                       Search   matrix.h Go to the documentation of this file. /* Copyright, 2000 Nevrax Ltd. * * This file is part of NEVRAX NEL. * NEVRAX NEL 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, or (at your option) * any later version. * NEVRAX NEL 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 NEVRAX NEL; see the file COPYING. If not, write to the * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston, * MA 02111-1307, USA. */ #ifndef NL_MATRIX_H #define NL_MATRIX_H #include "nel/misc/vector.h" #include "nel/misc/vector_h.h" #include "nel/misc/quat.h" namespace NLMISC { class CPlane; // ====================================================================================================== class CMatrix { public: enum TRotOrder { XYZ, XZY, YXZ, YZX, ZXY, ZYX }; static const CMatrix Identity; public: CMatrix() { StateBit= 0; // Init just Pos because must always be valid for faster getPos() M[12]= M[13]= M[14]= 0; } CMatrix(const CMatrix &); CMatrix &operator=(const CMatrix &); void identity(); void setRot(const CVector &i, const CVector &j, const CVector &k, bool hintNoScale=false); void setRot(const float m33[9], bool hintNoScale=false); void setRot(const CVector &v, TRotOrder ro); void setRot(const CQuat &quat); void setRot(const CMatrix &matrix); void setPos(const CVector &v); void movePos(const CVector &v); void setProj(const float proj[4]); void resetProj(); void set(const float m44[16]); void getRot(CVector &i, CVector &j, CVector &k) const; void getRot(float m33[9]) const; void getRot(CQuat &quat) const; CQuat getRot() const {CQuat ret; getRot(ret); return ret;} void getPos(CVector &v) const {v.x= M[12]; v.y= M[13]; v.z= M[14];} const CVector &getPos() const {return *(CVector*)(M+12);} void getProj(float proj[4]) const; CVector getI() const; CVector getJ() const; CVector getK() const; void get(float m44[16]) const; const float *get() const; //CVector toEuler(TRotOrder ro) const; void translate(const CVector &v); void rotateX(float a); void rotateY(float a); void rotateZ(float a); void rotate(const CVector &v, TRotOrder ro); void rotate(const CQuat &quat); void scale(float f); void scale(const CVector &scale); void setMulMatrix(const CMatrix &m1, const CMatrix &m2); CMatrix operator*(const CMatrix &in) const { CMatrix ret; ret.setMulMatrix(*this, in); return ret; } CMatrix &operator*=(const CMatrix &in) { CMatrix ret; ret.setMulMatrix(*this, in); *this= ret; return *this; } void setMulMatrixNoProj(const CMatrix &m1, const CMatrix &m2); void transpose3x3(); void transpose(); void invert(); CMatrix inverted() const; bool normalize(TRotOrder pref); CVector mulVector(const CVector &v) const; CVector mulPoint(const CVector &v) const; CVector operator*(const CVector &v) const { return mulPoint(v); } CVectorH operator*(const CVectorH& v) const; void serial(IStream &f); bool hasScalePart() const; bool hasScaleUniform() const; float getScaleUniform() const; bool hasProjectionPart() const; // Friend. friend CPlane operator*(const CPlane &p, const CMatrix &m); private: float M[16]; float Scale33; uint32 StateBit; // BitVector. 0<=>identity. // Methods For inversion. void fastInvert33(CMatrix &ret) const; bool slowInvert33(CMatrix &ret) const; bool slowInvert44(CMatrix &ret) const; // access to M, in math conventions (mat(1,1) ... mat(4,4)). Indices from 0 to 3. float &mat(sint i, sint j) { return M[ (j<<2) + i]; } // access to M, in math conventions (mat(1,1) ... mat(4,4)). Indices from 0 to 3. const float &mat(sint i, sint j) const { return M[ (j<<2) + i]; } // return the good 3x3 Id to compute the minor of (i,j); void getCofactIndex(sint i, sint &l1, sint &l2, sint &l3) const { switch(i) { case 0: l1=1; l2=2; l3=3; break; case 1: l1=0; l2=2; l3=3; break; case 2: l1=0; l2=1; l3=3; break; case 3: l1=0; l2=1; l3=2; break; } } // true if MAT_TRANS. // trans part is true means the right 3x1 translation part matrix is revelant. // Else it IS initialised to (0,0,0) (exception!!!) bool hasTrans() const; // true if MAT_ROT | MAT_SCALEUNI | MAT_SCALEANY. // rot part is true means the 3x3 rot matrix AND Scale33 are revelant. // Else they are not initialised but are supposed to represent identity and Scale33==1. bool hasRot() const; // true if MAT_PROJ. // proj part is true means the bottom 1x4 projection part matrix is revelant. // Else it is not initialised but is supposed to represent the line vector (0,0,0,1). bool hasProj() const; bool hasAll() const; void testExpandRot() const; void testExpandProj() const; }; } #endif // NL_MATRIX_H /* End of matrix.h */