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<hr><h1>matrix.cpp</h1><a href="matrix_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre>00001
00007 <font class="comment">/* Copyright, 2000 Nevrax Ltd.</font>
00008 <font class="comment"> *</font>
00009 <font class="comment"> * This file is part of NEVRAX NEL.</font>
00010 <font class="comment"> * NEVRAX NEL is free software; you can redistribute it and/or modify</font>
00011 <font class="comment"> * it under the terms of the GNU General Public License as published by</font>
00012 <font class="comment"> * the Free Software Foundation; either version 2, or (at your option)</font>
00013 <font class="comment"> * any later version.</font>
00014 <font class="comment"></font>
00015 <font class="comment"> * NEVRAX NEL is distributed in the hope that it will be useful, but</font>
00016 <font class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</font>
00017 <font class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</font>
00018 <font class="comment"> * General Public License for more details.</font>
00019 <font class="comment"></font>
00020 <font class="comment"> * You should have received a copy of the GNU General Public License</font>
00021 <font class="comment"> * along with NEVRAX NEL; see the file COPYING. If not, write to the</font>
00022 <font class="comment"> * Free Software Foundation, Inc., 59 Temple Place - Suite 330, Boston,</font>
00023 <font class="comment"> * MA 02111-1307, USA.</font>
00024 <font class="comment"> */</font>
00025
00026 <font class="preprocessor">#include "<a class="code" href="stdmisc_8h.html">stdmisc.h</a>"</font>
00027
00028 <font class="preprocessor">#include "<a class="code" href="matrix_8h.html">nel/misc/matrix.h</a>"</font>
00029 <font class="preprocessor">#include "<a class="code" href="plane_8h.html">nel/misc/plane.h</a>"</font>
00030 <font class="preprocessor">#include "<a class="code" href="debug_8h.html">nel/misc/debug.h</a>"</font>
00031
00032 <font class="keyword">using</font> <font class="keyword">namespace </font>std;
00033
00034
00035
00036 <font class="keyword">namespace </font>NLMISC
00037 {
00038
00039
00040 <font class="comment">// ======================================================================================================</font>
<a name="l00041"></a><a class="code" href="classNLMISC_1_1CMatrix.html#p0">00041</a> <font class="keyword">const</font> CMatrix CMatrix::Identity;
00042
00043
00044 <font class="comment">// ======================================================================================================</font>
00045 <font class="comment">// ======================================================================================================</font>
00046 <font class="comment">// ======================================================================================================</font>
00047
00048
00049 <font class="comment">// State Bits.</font>
<a name="l00050"></a><a class="code" href="matrix_8cpp.html#a0">00050</a> <font class="preprocessor">#define MAT_TRANS 1</font>
<a name="l00051"></a><a class="code" href="matrix_8cpp.html#a1">00051</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_ROT 2</font>
<a name="l00052"></a><a class="code" href="matrix_8cpp.html#a2">00052</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_SCALEUNI 4</font>
<a name="l00053"></a><a class="code" href="matrix_8cpp.html#a3">00053</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_SCALEANY 8</font>
<a name="l00054"></a><a class="code" href="matrix_8cpp.html#a4">00054</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_PROJ 16</font>
00055 <font class="preprocessor"></font><font class="comment">// Validity bits. These means that the part may be yet identity, but is valid in the floats.</font>
00056 <font class="comment">// NB: MAT_VALIDTRANS no more used for faster Pos access</font>
<a name="l00057"></a><a class="code" href="matrix_8cpp.html#a5">00057</a> <font class="preprocessor">#define MAT_VALIDROT 64</font>
<a name="l00058"></a><a class="code" href="matrix_8cpp.html#a6">00058</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_VALIDPROJ 128</font>
<a name="l00059"></a><a class="code" href="matrix_8cpp.html#a7">00059</a> <font class="preprocessor"></font><font class="preprocessor">#define MAT_VALIDALL (MAT_VALIDROT | MAT_VALIDPROJ)</font>
00060 <font class="preprocessor"></font><font class="comment">// The identity is nothing.</font>
<a name="l00061"></a><a class="code" href="matrix_8cpp.html#a8">00061</a> <font class="preprocessor">#define MAT_IDENTITY 0</font>
00062 <font class="preprocessor"></font>
00063
00064
00065 <font class="comment">// Matrix elements.</font>
<a name="l00066"></a><a class="code" href="matrix_8cpp.html#a9">00066</a> <font class="preprocessor">#define a11 M[0]</font>
<a name="l00067"></a><a class="code" href="matrix_8cpp.html#a10">00067</a> <font class="preprocessor"></font><font class="preprocessor">#define a21 M[1]</font>
<a name="l00068"></a><a class="code" href="matrix_8cpp.html#a11">00068</a> <font class="preprocessor"></font><font class="preprocessor">#define a31 M[2]</font>
<a name="l00069"></a><a class="code" href="matrix_8cpp.html#a12">00069</a> <font class="preprocessor"></font><font class="preprocessor">#define a41 M[3]</font>
<a name="l00070"></a><a class="code" href="matrix_8cpp.html#a13">00070</a> <font class="preprocessor"></font><font class="preprocessor">#define a12 M[4]</font>
<a name="l00071"></a><a class="code" href="matrix_8cpp.html#a14">00071</a> <font class="preprocessor"></font><font class="preprocessor">#define a22 M[5]</font>
<a name="l00072"></a><a class="code" href="matrix_8cpp.html#a15">00072</a> <font class="preprocessor"></font><font class="preprocessor">#define a32 M[6]</font>
<a name="l00073"></a><a class="code" href="matrix_8cpp.html#a16">00073</a> <font class="preprocessor"></font><font class="preprocessor">#define a42 M[7]</font>
<a name="l00074"></a><a class="code" href="matrix_8cpp.html#a17">00074</a> <font class="preprocessor"></font><font class="preprocessor">#define a13 M[8]</font>
<a name="l00075"></a><a class="code" href="matrix_8cpp.html#a18">00075</a> <font class="preprocessor"></font><font class="preprocessor">#define a23 M[9]</font>
<a name="l00076"></a><a class="code" href="matrix_8cpp.html#a19">00076</a> <font class="preprocessor"></font><font class="preprocessor">#define a33 M[10]</font>
<a name="l00077"></a><a class="code" href="matrix_8cpp.html#a20">00077</a> <font class="preprocessor"></font><font class="preprocessor">#define a43 M[11]</font>
<a name="l00078"></a><a class="code" href="matrix_8cpp.html#a21">00078</a> <font class="preprocessor"></font><font class="preprocessor">#define a14 M[12]</font>
<a name="l00079"></a><a class="code" href="matrix_8cpp.html#a22">00079</a> <font class="preprocessor"></font><font class="preprocessor">#define a24 M[13]</font>
<a name="l00080"></a><a class="code" href="matrix_8cpp.html#a23">00080</a> <font class="preprocessor"></font><font class="preprocessor">#define a34 M[14]</font>
<a name="l00081"></a><a class="code" href="matrix_8cpp.html#a24">00081</a> <font class="preprocessor"></font><font class="preprocessor">#define a44 M[15]</font>
00082 <font class="preprocessor"></font>
00083
00084
00085 <font class="comment">// ======================================================================================================</font>
00086 <font class="comment">// ======================================================================================================</font>
00087 <font class="comment">// ======================================================================================================</font>
00088
00089
00090
00091 <font class="comment">// ======================================================================================================</font>
<a name="l00092"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_1">00092</a> <font class="keywordtype">bool</font> CMatrix::hasScalePart()<font class="keyword"> const</font>
00093 <font class="keyword"></font>{
00094 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&(<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>))!=0;
00095 }
<a name="l00096"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_4">00096</a> <font class="keywordtype">bool</font> CMatrix::hasProjectionPart()<font class="keyword"> const</font>
00097 <font class="keyword"></font>{
00098 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)!=0;
00099 }
00100
00101
<a name="l00102"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_2">00102</a> <font class="keywordtype">bool</font> CMatrix::hasScaleUniform()<font class="keyword"> const</font>
00103 <font class="keyword"></font>{
00104 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)!=0 && (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)==0;
00105 }
<a name="l00106"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_3">00106</a> <font class="keywordtype">float</font> CMatrix::getScaleUniform()<font class="keyword"> const</font>
00107 <font class="keyword"></font>{
00108 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#z295_2">hasScaleUniform</a>())
00109 <font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>;
00110 <font class="keywordflow">else</font>
00111 <font class="keywordflow">return</font> 1;
00112 }
00113
00114
00115
00116 <font class="comment">// ======================================================================================================</font>
<a name="l00117"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c7">00117</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font> CMatrix::hasRot()<font class="keyword"> const</font>
00118 <font class="keyword"></font>{
00119 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>))!=0;
00120 }
<a name="l00121"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c6">00121</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font> CMatrix::hasTrans()<font class="keyword"> const</font>
00122 <font class="keyword"></font>{
00123 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)!=0;
00124 }
<a name="l00125"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c8">00125</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font> CMatrix::hasProj()<font class="keyword"> const</font>
00126 <font class="keyword"></font>{
00127 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)!=0;
00128 }
<a name="l00129"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c9">00129</a> <font class="keyword">inline</font> <font class="keywordtype">bool</font> CMatrix::hasAll()<font class="keyword"> const</font>
00130 <font class="keyword"></font>{
00131 <font class="keywordflow">return</font> (<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() && <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() && <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>());
00132 }
00133
00134
<a name="l00135"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c10">00135</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CMatrix::testExpandRot()<font class="keyword"> const</font>
00136 <font class="keyword"></font>{
00137 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00138 <font class="keywordflow">return</font>;
00139 <font class="keywordflow">if</font>(!(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>))
00140 {
00141 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *self= const_cast<CMatrix*>(this);
00142 self->StateBit|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00143 self->a11= 1; self->a12=0; self->a13=0;
00144 self->a21= 0; self->a22=1; self->a23=0;
00145 self->a31= 0; self->a32=0; self->a33=1;
00146 self->Scale33= 1;
00147 }
00148 }
<a name="l00149"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c11">00149</a> <font class="keyword">inline</font> <font class="keywordtype">void</font> CMatrix::testExpandProj()<font class="keyword"> const</font>
00150 <font class="keyword"></font>{
00151 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00152 <font class="keywordflow">return</font>;
00153 <font class="keywordflow">if</font>(!(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&<a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>))
00154 {
00155 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *self= const_cast<CMatrix*>(this);
00156 self->StateBit|=<a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00157 self->a41=0; self->a42=0; self->a43=0; self->a44=1;
00158 }
00159 }
00160
00161
00162 <font class="comment">// ======================================================================================================</font>
<a name="l00163"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z289_1">00163</a> CMatrix::CMatrix(<font class="keyword">const</font> CMatrix &m)
00164 {
00165 (*this)= m;
00166 }
00167 <font class="comment">// ======================================================================================================</font>
<a name="l00168"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z289_2">00168</a> CMatrix &CMatrix::operator=(<font class="keyword">const</font> CMatrix &m)
00169 {
00170 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= m.StateBit & ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00171 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c9">hasAll</a>())
00172 {
00173 memcpy(<a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, m.M, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00174 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m.Scale33;
00175 }
00176 <font class="keywordflow">else</font>
00177 {
00178 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00179 {
00180 memcpy(&<a class="code" href="matrix_8cpp.html#a9">a11</a>, &m.a11, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00181 memcpy(&<a class="code" href="matrix_8cpp.html#a13">a12</a>, &m.a12, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00182 memcpy(&<a class="code" href="matrix_8cpp.html#a17">a13</a>, &m.a13, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00183 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m.Scale33;
00184 }
00185 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00186 {
00187 <a class="code" href="matrix_8cpp.html#a12">a41</a>= m.a41;
00188 <a class="code" href="matrix_8cpp.html#a16">a42</a>= m.a42;
00189 <a class="code" href="matrix_8cpp.html#a20">a43</a>= m.a43;
00190 <a class="code" href="matrix_8cpp.html#a24">a44</a>= m.a44;
00191 }
00192 <font class="comment">// Must always copy Trans part.</font>
00193 memcpy(&<a class="code" href="matrix_8cpp.html#a21">a14</a>, &m.a14, 3*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00194 }
00195 <font class="keywordflow">return</font> *<font class="keyword">this</font>;
00196 }
00197
00198
00199 <font class="comment">// ======================================================================================================</font>
<a name="l00200"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">00200</a> <font class="keywordtype">void</font> CMatrix::identity()
00201 {
00202 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= <a class="code" href="matrix_8cpp.html#a8">MAT_IDENTITY</a>;
00203 <font class="comment">// Reset just Pos because must always be valid for faster getPos()</font>
00204 <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="matrix_8cpp.html#a23">a34</a>= 0;
00205 <font class="comment">// For optimisation it would be usefull to keep MAT_VALID states.</font>
00206 <font class="comment">// But this slows identity(), and this may not be interesting...</font>
00207 }
00208 <font class="comment">// ======================================================================================================</font>
<a name="l00209"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_1">00209</a> <font class="keywordtype">void</font> CMatrix::setRot(<font class="keyword">const</font> CVector &i, <font class="keyword">const</font> CVector &j, <font class="keyword">const</font> CVector &k, <font class="keywordtype">bool</font> hintNoScale)
00210 {
00211 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00212 <font class="keywordflow">if</font>(hintNoScale)
00213 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
00214 <a class="code" href="matrix_8cpp.html#a9">a11</a>= i.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>= j.x; <a class="code" href="matrix_8cpp.html#a17">a13</a>= k.x;
00215 <a class="code" href="matrix_8cpp.html#a10">a21</a>= i.y; <a class="code" href="matrix_8cpp.html#a14">a22</a>= j.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>= k.y;
00216 <a class="code" href="matrix_8cpp.html#a11">a31</a>= i.z; <a class="code" href="matrix_8cpp.html#a15">a32</a>= j.z; <a class="code" href="matrix_8cpp.html#a19">a33</a>= k.z;
00217 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00218 }
00219 <font class="comment">// ======================================================================================================</font>
<a name="l00220"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_2">00220</a> <font class="keywordtype">void</font> CMatrix::setRot(<font class="keyword">const</font> <font class="keywordtype">float</font> m33[9], <font class="keywordtype">bool</font> hintNoScale)
00221 {
00222 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00223 <font class="keywordflow">if</font>(hintNoScale)
00224 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
00225 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m33[0]; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m33[3]; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m33[6];
00226 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m33[1]; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m33[4]; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m33[7];
00227 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m33[2]; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m33[5]; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m33[8];
00228 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00229 }
00230 <font class="comment">// ======================================================================================================</font>
<a name="l00231"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_3">00231</a> <font class="keywordtype">void</font> CMatrix::setRot(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, TRotOrder ro)
00232 {
00233 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> rot;
00234 rot.identity();
00235 rot.rotate(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, ro);
00236 <font class="keywordtype">float</font> m33[9];
00237 rot.getRot(m33);
00238 <a class="code" href="classNLMISC_1_1CMatrix.html#z290_1">setRot</a>(m33, <font class="keyword">true</font>);
00239 }
00240
00241
00242 <font class="comment">// ======================================================================================================</font>
<a name="l00243"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_5">00243</a> <font class="keywordtype">void</font> CMatrix::setRot(<font class="keyword">const</font> CMatrix &<a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>)
00244 {
00245 <font class="comment">// copy rotpart statebit from other.</font>
00246 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
00247 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.StateBit & (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
00248 <font class="comment">// copy values.</font>
00249 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00250 {
00251 <a class="code" href="matrix_8cpp.html#a9">a11</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a13;
00252 <a class="code" href="matrix_8cpp.html#a10">a21</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a23;
00253 <a class="code" href="matrix_8cpp.html#a11">a31</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.a33;
00254 <font class="comment">// if has scale, copy from matrix.</font>
00255 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)
00256 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a370">matrix</a>.Scale33;
00257 }
00258 <font class="keywordflow">else</font>
00259 {
00260 <font class="comment">// we are rot identity, with undefined values.</font>
00261 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00262 }
00263 }
00264
00265
00266 <font class="comment">// ======================================================================================================</font>
<a name="l00267"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_6">00267</a> <font class="keywordtype">void</font> CMatrix::setPos(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00268 {
00269 <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00270 <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00271 <a class="code" href="matrix_8cpp.html#a23">a34</a>= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00272 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00273 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00274 <font class="keywordflow">else</font>
00275 <font class="comment">// The trans is identity</font>
00276 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00277 }
00278 <font class="comment">// ======================================================================================================</font>
<a name="l00279"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_7">00279</a> <font class="keywordtype">void</font> CMatrix::movePos(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00280 {
00281 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00282 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00283 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00284 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00285 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00286 <font class="keywordflow">else</font>
00287 <font class="comment">// The trans is identity</font>
00288 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00289 }
00290 <font class="comment">// ======================================================================================================</font>
<a name="l00291"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_8">00291</a> <font class="keywordtype">void</font> CMatrix::setProj(<font class="keyword">const</font> <font class="keywordtype">float</font> proj[4])
00292 {
00293 <a class="code" href="matrix_8cpp.html#a12">a41</a>= proj[0];
00294 <a class="code" href="matrix_8cpp.html#a16">a42</a>= proj[1];
00295 <a class="code" href="matrix_8cpp.html#a20">a43</a>= proj[2];
00296 <a class="code" href="matrix_8cpp.html#a24">a44</a>= proj[3];
00297
00298 <font class="comment">// Check Proj state.</font>
00299 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a12">a41</a>!=0 || <a class="code" href="matrix_8cpp.html#a16">a42</a>!=0 || <a class="code" href="matrix_8cpp.html#a20">a43</a>!=0 || <a class="code" href="matrix_8cpp.html#a24">a44</a>!=1)
00300 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00301 <font class="keywordflow">else</font>
00302 {
00303 <font class="comment">// The proj is identity, and is correcly setup!</font>
00304 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00305 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00306 }
00307 }
00308 <font class="comment">// ======================================================================================================</font>
<a name="l00309"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_9">00309</a> <font class="keywordtype">void</font> CMatrix::resetProj()
00310 {
00311 <a class="code" href="matrix_8cpp.html#a12">a41</a>= 0;
00312 <a class="code" href="matrix_8cpp.html#a16">a42</a>= 0;
00313 <a class="code" href="matrix_8cpp.html#a20">a43</a>= 0;
00314 <a class="code" href="matrix_8cpp.html#a24">a44</a>= 1;
00315 <font class="comment">// The proj is identity, and is correcly setup!</font>
00316 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00317 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00318 }
00319 <font class="comment">// ======================================================================================================</font>
<a name="l00320"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_10">00320</a> <font class="keywordtype">void</font> CMatrix::set(<font class="keyword">const</font> <font class="keywordtype">float</font> m44[16])
00321 {
00322 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= <a class="code" href="matrix_8cpp.html#a8">MAT_IDENTITY</a>;
00323
00324 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00325 memcpy(<a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, m44, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00326 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
00327
00328 <font class="comment">// Check Trans state.</font>
00329 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00330 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00331 <font class="keywordflow">else</font>
00332 <font class="comment">// The trans is identity</font>
00333 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00334
00335 <font class="comment">// Check Proj state.</font>
00336 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a12">a41</a>!=0 || <a class="code" href="matrix_8cpp.html#a16">a42</a>!=0 || <a class="code" href="matrix_8cpp.html#a20">a43</a>!=0 || <a class="code" href="matrix_8cpp.html#a24">a44</a>!=1)
00337 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00338 <font class="keywordflow">else</font>
00339 {
00340 <font class="comment">// The proj is identity, and is correcly setup!</font>
00341 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
00342 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00343 }
00344 }
00345
00346
00347 <font class="comment">// ======================================================================================================</font>
00348 <font class="comment">// ======================================================================================================</font>
00349 <font class="comment">// ======================================================================================================</font>
00350
00351
00352 <font class="comment">// ======================================================================================================</font>
<a name="l00353"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_0">00353</a> <font class="keywordtype">void</font> CMatrix::getRot(CVector &i, CVector &j, CVector &k)<font class="keyword"> const</font>
00354 <font class="keyword"></font>{
00355 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00356 {
00357 i.set(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
00358 j.set(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>);
00359 k.set(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
00360 }
00361 <font class="keywordflow">else</font>
00362 {
00363 i.set(1, 0, 0);
00364 j.set(0, 1, 0);
00365 k.set(0, 0, 1);
00366 }
00367 }
00368 <font class="comment">// ======================================================================================================</font>
<a name="l00369"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_1">00369</a> <font class="keywordtype">void</font> CMatrix::getRot(<font class="keywordtype">float</font> m33[9])<font class="keyword"> const</font>
00370 <font class="keyword"></font>{
00371 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00372 {
00373 m33[0]= <a class="code" href="matrix_8cpp.html#a9">a11</a>;
00374 m33[1]= <a class="code" href="matrix_8cpp.html#a10">a21</a>;
00375 m33[2]= <a class="code" href="matrix_8cpp.html#a11">a31</a>;
00376
00377 m33[3]= <a class="code" href="matrix_8cpp.html#a13">a12</a>;
00378 m33[4]= <a class="code" href="matrix_8cpp.html#a14">a22</a>;
00379 m33[5]= <a class="code" href="matrix_8cpp.html#a15">a32</a>;
00380
00381 m33[6]= <a class="code" href="matrix_8cpp.html#a17">a13</a>;
00382 m33[7]= <a class="code" href="matrix_8cpp.html#a18">a23</a>;
00383 m33[8]= <a class="code" href="matrix_8cpp.html#a19">a33</a>;
00384 }
00385 <font class="keywordflow">else</font>
00386 {
00387 m33[0]= 1;
00388 m33[1]= 0;
00389 m33[2]= 0;
00390
00391 m33[3]= 0;
00392 m33[4]= 1;
00393 m33[5]= 0;
00394
00395 m33[6]= 0;
00396 m33[7]= 0;
00397 m33[8]= 1;
00398 }
00399 }
00400 <font class="comment">// ======================================================================================================</font>
<a name="l00401"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_6">00401</a> <font class="keywordtype">void</font> CMatrix::getProj(<font class="keywordtype">float</font> proj[4])<font class="keyword"> const</font>
00402 <font class="keyword"></font>{
00403 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
00404 {
00405 proj[0]= <a class="code" href="matrix_8cpp.html#a12">a41</a>;
00406 proj[1]= <a class="code" href="matrix_8cpp.html#a16">a42</a>;
00407 proj[2]= <a class="code" href="matrix_8cpp.html#a20">a43</a>;
00408 proj[3]= <a class="code" href="matrix_8cpp.html#a24">a44</a>;
00409 }
00410 <font class="keywordflow">else</font>
00411 {
00412 proj[0]= 0;
00413 proj[1]= 0;
00414 proj[2]= 0;
00415 proj[3]= 1;
00416 }
00417 }
00418 <font class="comment">// ======================================================================================================</font>
<a name="l00419"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">00419</a> CVector CMatrix::getI()<font class="keyword"> const</font>
00420 <font class="keyword"></font>{
00421 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00422 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
00423 <font class="keywordflow">else</font>
00424 <font class="keywordflow">return</font> CVector(1, 0, 0);
00425 }
00426 <font class="comment">// ======================================================================================================</font>
<a name="l00427"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">00427</a> CVector CMatrix::getJ()<font class="keyword"> const</font>
00428 <font class="keyword"></font>{
00429 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00430 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>);
00431 <font class="keywordflow">else</font>
00432 <font class="keywordflow">return</font> CVector(0, 1, 0);
00433 }
00434 <font class="comment">// ======================================================================================================</font>
<a name="l00435"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">00435</a> CVector CMatrix::getK()<font class="keyword"> const</font>
00436 <font class="keyword"></font>{
00437 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
00438 <font class="keywordflow">return</font> CVector(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
00439 <font class="keywordflow">else</font>
00440 <font class="keywordflow">return</font> CVector(0, 0, 1);
00441 }
00442 <font class="comment">// ======================================================================================================</font>
<a name="l00443"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_10">00443</a> <font class="keywordtype">void</font> CMatrix::get(<font class="keywordtype">float</font> m44[16])<font class="keyword"> const</font>
00444 <font class="keyword"></font>{
00445 <font class="comment">// \todo yoyo: TODO_OPTIMIZE_it.</font>
00446 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00447 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
00448 memcpy(m44, <a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>, 16*<font class="keyword">sizeof</font>(<font class="keywordtype">float</font>));
00449 }
00450 <font class="comment">// ======================================================================================================</font>
<a name="l00451"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_11">00451</a> <font class="keyword">const</font> <font class="keywordtype">float</font> *CMatrix::get()<font class="keyword"> const</font>
00452 <font class="keyword"></font>{
00453 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00454 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
00455 <font class="keywordflow">return</font> <a class="code" href="classNLMISC_1_1CMatrix.html#o0">M</a>;
00456 }
00457 <font class="comment">/*// ======================================================================================================</font>
00458 <font class="comment">CVector CMatrix::toEuler(TRotOrder ro) const</font>
00459 <font class="comment">{</font>
00460 <font class="comment"></font>
00461 <font class="comment">}*/</font>
00462
00463
00464 <font class="comment">// ======================================================================================================</font>
00465 <font class="comment">// ======================================================================================================</font>
00466 <font class="comment">// ======================================================================================================</font>
00467
00468
00469 <font class="comment">// ======================================================================================================</font>
<a name="l00470"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_0">00470</a> <font class="keywordtype">void</font> CMatrix::translate(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00471 {
00472 <font class="comment">// SetTrans.</font>
00473 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00474 {
00475 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00476 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00477 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00478 }
00479 <font class="keywordflow">else</font>
00480 {
00481 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00482 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00483 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00484 }
00485
00486 <font class="comment">// SetProj.</font>
00487 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00488 <a class="code" href="matrix_8cpp.html#a24">a44</a>+= <a class="code" href="matrix_8cpp.html#a12">a41</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a16">a42</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a20">a43</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00489
00490 <font class="comment">// Check Trans.</font>
00491 <font class="keywordflow">if</font>(<a class="code" href="matrix_8cpp.html#a21">a14</a>!=0 || <a class="code" href="matrix_8cpp.html#a22">a24</a>!=0 || <a class="code" href="matrix_8cpp.html#a23">a34</a>!=0)
00492 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00493 <font class="keywordflow">else</font>
00494 <font class="comment">// The trans is identity, and is correcly setup!</font>
00495 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
00496 }
00497 <font class="comment">// ======================================================================================================</font>
<a name="l00498"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_1">00498</a> <font class="keywordtype">void</font> CMatrix::rotateX(<font class="keywordtype">float</font> a)
00499 {
00500
00501 <font class="keywordflow">if</font>(a==0)
00502 <font class="keywordflow">return</font>;
00503 <font class="keywordtype">double</font> ca,sa;
00504 ca=cos(a);
00505 sa=sin(a);
00506
00507 <font class="comment">// SetRot.</font>
00508 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00509 {
00510 <font class="keywordtype">float</font> b12=<a class="code" href="matrix_8cpp.html#a13">a12</a>, b22=<a class="code" href="matrix_8cpp.html#a14">a22</a>, b32=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
00511 <font class="keywordtype">float</font> b13=<a class="code" href="matrix_8cpp.html#a17">a13</a>, b23=<a class="code" href="matrix_8cpp.html#a18">a23</a>, b33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
00512 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)(b12*ca + b13*sa);
00513 <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)(b22*ca + b23*sa);
00514 <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)(b32*ca + b33*sa);
00515 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)(b13*ca - b12*sa);
00516 <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)(b23*ca - b22*sa);
00517 <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)(b33*ca - b32*sa);
00518 }
00519 <font class="keywordflow">else</font>
00520 {
00521 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00522 <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0.0f; <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)sa;
00523 <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0.0f; <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)-sa; <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)ca;
00524 }
00525
00526 <font class="comment">// SetProj.</font>
00527 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00528 {
00529 <font class="keywordtype">float</font> b42=<a class="code" href="matrix_8cpp.html#a16">a42</a>, b43=<a class="code" href="matrix_8cpp.html#a20">a43</a>;
00530 <a class="code" href="matrix_8cpp.html#a16">a42</a>= (float)(b42*ca + b43*sa);
00531 <a class="code" href="matrix_8cpp.html#a20">a43</a>= (float)(b43*ca - b42*sa);
00532 }
00533
00534 <font class="comment">// set Rot.</font>
00535 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00536 }
00537 <font class="comment">// ======================================================================================================</font>
<a name="l00538"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_2">00538</a> <font class="keywordtype">void</font> CMatrix::rotateY(<font class="keywordtype">float</font> a)
00539 {
00540
00541 <font class="keywordflow">if</font>(a==0)
00542 <font class="keywordflow">return</font>;
00543 <font class="keywordtype">double</font> ca,sa;
00544 ca=cos(a);
00545 sa=sin(a);
00546
00547 <font class="comment">// SetRot.</font>
00548 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
00549 {
00550 <font class="keywordtype">float</font> b11=<a class="code" href="matrix_8cpp.html#a9">a11</a>, b21=<a class="code" href="matrix_8cpp.html#a10">a21</a>, b31=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
00551 <font class="keywordtype">float</font> b13=<a class="code" href="matrix_8cpp.html#a17">a13</a>, b23=<a class="code" href="matrix_8cpp.html#a18">a23</a>, b33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
00552 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)(b11*ca - b13*sa);
00553 <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)(b21*ca - b23*sa);
00554 <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)(b31*ca - b33*sa);
00555 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)(b13*ca + b11*sa);
00556 <a class="code" href="matrix_8cpp.html#a18">a23</a>= (float)(b23*ca + b21*sa);
00557 <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)(b33*ca + b31*sa);
00558 }
00559 <font class="keywordflow">else</font>
00560 {
00561 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00562 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a10">a21</a>=0.0f; <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)-sa;
00563 <a class="code" href="matrix_8cpp.html#a17">a13</a>= (float)sa; <a class="code" href="matrix_8cpp.html#a18">a23</a>=0.0f; <a class="code" href="matrix_8cpp.html#a19">a33</a>= (float)ca;
00564 }
00565
00566 <font class="comment">// SetProj.</font>
00567 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00568 {
00569 <font class="keywordtype">float</font> b41=<a class="code" href="matrix_8cpp.html#a12">a41</a>, b43=<a class="code" href="matrix_8cpp.html#a20">a43</a>;
00570 <a class="code" href="matrix_8cpp.html#a12">a41</a>= (float)(b41*ca - b43*sa);
00571 <a class="code" href="matrix_8cpp.html#a20">a43</a>= (float)(b43*ca + b41*sa);
00572 }
00573
00574 <font class="comment">// set Rot.</font>
00575 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00576 }
00577 <font class="comment">// ======================================================================================================</font>
<a name="l00578"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_3">00578</a> <font class="keywordtype">void</font> CMatrix::rotateZ(<font class="keywordtype">float</font> a)
00579 {
00580
00581 <font class="keywordflow">if</font>(a==0)
00582 <font class="keywordflow">return</font>;
00583 <font class="keywordtype">double</font> ca,sa;
00584 ca=cos(a);
00585 sa=sin(a);
00586
00587 <font class="comment">// SetRot.</font>
00588 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00589 {
00590 <font class="keywordtype">float</font> b11=<a class="code" href="matrix_8cpp.html#a9">a11</a>, b21=<a class="code" href="matrix_8cpp.html#a10">a21</a>, b31=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
00591 <font class="keywordtype">float</font> b12=<a class="code" href="matrix_8cpp.html#a13">a12</a>, b22=<a class="code" href="matrix_8cpp.html#a14">a22</a>, b32=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
00592 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)(b11*ca + b12*sa);
00593 <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)(b21*ca + b22*sa);
00594 <a class="code" href="matrix_8cpp.html#a11">a31</a>= (float)(b31*ca + b32*sa);
00595 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)(b12*ca - b11*sa);
00596 <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)(b22*ca - b21*sa);
00597 <a class="code" href="matrix_8cpp.html#a15">a32</a>= (float)(b32*ca - b31*sa);
00598 }
00599 <font class="keywordflow">else</font>
00600 {
00601 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00602 <a class="code" href="matrix_8cpp.html#a9">a11</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a10">a21</a>= (float)sa; <a class="code" href="matrix_8cpp.html#a11">a31</a>=0.0f;
00603 <a class="code" href="matrix_8cpp.html#a13">a12</a>= (float)-sa; <a class="code" href="matrix_8cpp.html#a14">a22</a>= (float)ca; <a class="code" href="matrix_8cpp.html#a15">a32</a>=0.0f;
00604 }
00605
00606 <font class="comment">// SetProj.</font>
00607 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00608 {
00609 <font class="keywordtype">float</font> b41=<a class="code" href="matrix_8cpp.html#a12">a41</a>, b42=<a class="code" href="matrix_8cpp.html#a16">a42</a>;
00610 <a class="code" href="matrix_8cpp.html#a12">a41</a>= (float)(b41*ca + b42*sa);
00611 <a class="code" href="matrix_8cpp.html#a16">a42</a>= (float)(b42*ca - b41*sa);
00612 }
00613
00614 <font class="comment">// set Rot.</font>
00615 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
00616 }
00617 <font class="comment">// ======================================================================================================</font>
<a name="l00618"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_4">00618</a> <font class="keywordtype">void</font> CMatrix::rotate(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>, TRotOrder ro)
00619 {
00620 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> rot;
00621 rot.identity();
00622 <font class="keywordflow">switch</font>(ro)
00623 {
00624 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s0">XYZ</a>: rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); <font class="keywordflow">break</font>;
00625 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s1">XZY</a>: rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); <font class="keywordflow">break</font>;
00626 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s2">YXZ</a>: rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); <font class="keywordflow">break</font>;
00627 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s3">YZX</a>: rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); <font class="keywordflow">break</font>;
00628 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s4">ZXY</a>: rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); <font class="keywordflow">break</font>;
00629 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>: rot.rotateZ(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z); rot.rotateY(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y); rot.rotateX(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x); <font class="keywordflow">break</font>;
00630 }
00631
00632 (*this)*= rot;
00633 }
00634
00635 <font class="comment">// ======================================================================================================</font>
<a name="l00636"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_5">00636</a> <font class="keywordtype">void</font> CMatrix::rotate(<font class="keyword">const</font> CQuat &quat)
00637 {
00638 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> rot;
00639 rot.setRot(quat);
00640 (*this)*= rot;
00641 }
00642
00643 <font class="comment">// ======================================================================================================</font>
<a name="l00644"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">00644</a> <font class="keywordtype">void</font> CMatrix::scale(<font class="keywordtype">float</font> f)
00645 {
00646
00647 <font class="keywordflow">if</font>(f==1.0f) <font class="keywordflow">return</font>;
00648 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)
00649 {
00650 <a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">scale</a>(CVector(f,f,f));
00651 }
00652 <font class="keywordflow">else</font>
00653 {
00654 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00655 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>;
00656 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>*=f;
00657 <a class="code" href="matrix_8cpp.html#a9">a11</a>*= f; <a class="code" href="matrix_8cpp.html#a13">a12</a>*=f; <a class="code" href="matrix_8cpp.html#a17">a13</a>*=f;
00658 <a class="code" href="matrix_8cpp.html#a10">a21</a>*= f; <a class="code" href="matrix_8cpp.html#a14">a22</a>*=f; <a class="code" href="matrix_8cpp.html#a18">a23</a>*=f;
00659 <a class="code" href="matrix_8cpp.html#a11">a31</a>*= f; <a class="code" href="matrix_8cpp.html#a15">a32</a>*=f; <a class="code" href="matrix_8cpp.html#a19">a33</a>*=f;
00660
00661 <font class="comment">// SetProj.</font>
00662 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00663 {
00664 <a class="code" href="matrix_8cpp.html#a12">a41</a>*=f; <a class="code" href="matrix_8cpp.html#a16">a42</a>*=f; <a class="code" href="matrix_8cpp.html#a20">a43</a>*=f;
00665 }
00666 }
00667 }
00668 <font class="comment">// ======================================================================================================</font>
<a name="l00669"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z292_7">00669</a> <font class="keywordtype">void</font> CMatrix::scale(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)
00670 {
00671
00672 <font class="keywordflow">if</font>( <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>==CVector(1,1,1) ) <font class="keywordflow">return</font>;
00673 <font class="keywordflow">if</font>( !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) && <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x==<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y && <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x==<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z)
00674 {
00675 <a class="code" href="classNLMISC_1_1CMatrix.html#z292_6">scale</a>(<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x);
00676 }
00677 <font class="keywordflow">else</font>
00678 {
00679 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00680 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00681 <a class="code" href="matrix_8cpp.html#a9">a11</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a17">a13</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00682 <a class="code" href="matrix_8cpp.html#a10">a21</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a14">a22</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00683 <a class="code" href="matrix_8cpp.html#a11">a31</a>*= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x; <a class="code" href="matrix_8cpp.html#a15">a32</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y; <a class="code" href="matrix_8cpp.html#a19">a33</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00684
00685 <font class="comment">// SetProj.</font>
00686 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
00687 {
00688 <a class="code" href="matrix_8cpp.html#a12">a41</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x;
00689 <a class="code" href="matrix_8cpp.html#a16">a42</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y;
00690 <a class="code" href="matrix_8cpp.html#a20">a43</a>*=<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
00691 }
00692 }
00693 }
00694
00695
00696 <font class="comment">// ======================================================================================================</font>
00697 <font class="comment">// ======================================================================================================</font>
00698 <font class="comment">// ======================================================================================================</font>
00699
00700
00701 <font class="comment">// ***************************************************************************</font>
<a name="l00702"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_3">00702</a> <font class="keywordtype">void</font> CMatrix::setMulMatrixNoProj(<font class="keyword">const</font> CMatrix &m1, <font class="keyword">const</font> CMatrix &m2)
00703 {
00704 <font class="comment">// Do *this= m1*m2</font>
00705 <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
00706 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= (m1.StateBit | m2.StateBit) & (~MAT_PROJ);
00707 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00708
00709
00710 <font class="comment">// Build Rot part.</font>
00711 <font class="comment">//===============</font>
00712 <font class="keywordtype">bool</font> M1Identity= ! m1.hasRot();
00713 <font class="keywordtype">bool</font> M2Identity= ! m2.hasRot();
00714 <font class="keywordtype">bool</font> M1ScaleOnly= ! (m1.StateBit & <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00715 <font class="keywordtype">bool</font> M2ScaleOnly= ! (m2.StateBit & <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00716 <font class="keywordtype">bool</font> MGeneralCase= !M1Identity && !M2Identity && !M1ScaleOnly && !M2ScaleOnly;
00717
00718
00719 <font class="comment">// Manage the most common general case first (optim the if ): blending of two rotations.</font>
00720 <font class="keywordflow">if</font>( MGeneralCase )
00721 {
00722 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11 + m1.a12*m2.a21 + m1.a13*m2.a31;
00723 <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12 + m1.a12*m2.a22 + m1.a13*m2.a32;
00724 <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13 + m1.a12*m2.a23 + m1.a13*m2.a33;
00725
00726 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11 + m1.a22*m2.a21 + m1.a23*m2.a31;
00727 <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a21*m2.a12 + m1.a22*m2.a22 + m1.a23*m2.a32;
00728 <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a21*m2.a13 + m1.a22*m2.a23 + m1.a23*m2.a33;
00729
00730 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11 + m1.a32*m2.a21 + m1.a33*m2.a31;
00731 <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a31*m2.a12 + m1.a32*m2.a22 + m1.a33*m2.a32;
00732 <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a31*m2.a13 + m1.a32*m2.a23 + m1.a33*m2.a33;
00733 }
00734 <font class="comment">// If one of the 3x3 matrix is an identity, just do a copy</font>
00735 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1Identity || M2Identity )
00736 {
00737 <font class="comment">// If both identity, then me too.</font>
00738 <font class="keywordflow">if</font>( M1Identity && M2Identity )
00739 {
00740 <font class="comment">// just expand me (important because validated below)</font>
00741 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00742 }
00743 <font class="keywordflow">else</font>
00744 {
00745 <font class="comment">// Copy the non identity matrix.</font>
00746 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *c= M2Identity? &m1 : &m2;
00747 <a class="code" href="matrix_8cpp.html#a9">a11</a>= c->a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= c->a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= c->a13;
00748 <a class="code" href="matrix_8cpp.html#a10">a21</a>= c->a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= c->a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= c->a23;
00749 <a class="code" href="matrix_8cpp.html#a11">a31</a>= c->a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= c->a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= c->a33;
00750 }
00751 }
00752 <font class="comment">// If two 3x3 matrix are just scaleOnly matrix, do a scaleFact.</font>
00753 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly && M2ScaleOnly )
00754 {
00755 <font class="comment">// same process for scaleUni or scaleAny.</font>
00756 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0;
00757 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0;
00758 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00759 }
00760 <font class="comment">// If one of the matrix is a scaleOnly matrix, do a scale*Rot.</font>
00761 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly && !M2ScaleOnly )
00762 {
00763 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13;
00764 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a22*m2.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a22*m2.a23;
00765 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a33*m2.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a33*m2.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00766 }
00767 <font class="keywordflow">else</font>
00768 {
00769 <font class="comment">// This must be this case</font>
00770 <a class="code" href="debug_8h.html#a6">nlassert</a>(!M1ScaleOnly && M2ScaleOnly);
00771 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a12*m2.a22; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a13*m2.a33;
00772 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a23*m2.a33;
00773 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a32*m2.a22; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00774 }
00775
00776 <font class="comment">// Modify Scale.</font>
00777 <font class="keywordflow">if</font>( (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>) && !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00778 {
00779 <font class="comment">// Must have correct Scale33</font>
00780 m1.testExpandRot();
00781 m2.testExpandRot();
00782 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m1.Scale33*m2.Scale33;
00783 }
00784 <font class="keywordflow">else</font>
00785 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
00786
00787 <font class="comment">// In every case, I am valid now!</font>
00788 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00789
00790
00791 <font class="comment">// Build Trans part.</font>
00792 <font class="comment">//=================</font>
00793 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
00794 {
00795 <font class="comment">// Compose M2 part. NB: always suppose MAT_TRANS, for optim consideration.</font>
00796 <font class="comment">// NB: the translation part is always valid, even if identity()</font>
00797 <font class="keywordflow">if</font>( M1Identity )
00798 {
00799 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m2.a14 + m1.a14;
00800 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m2.a24 + m1.a24;
00801 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m2.a34 + m1.a34;
00802 }
00803 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (M1ScaleOnly )
00804 {
00805 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a14;
00806 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a22*m2.a24 + m1.a24;
00807 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a33*m2.a34 + m1.a34;
00808 }
00809 <font class="keywordflow">else</font>
00810 {
00811 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a12*m2.a24 + m1.a13*m2.a34 + m1.a14;
00812 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a21*m2.a14 + m1.a22*m2.a24 + m1.a23*m2.a34 + m1.a24;
00813 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a31*m2.a14 + m1.a32*m2.a24 + m1.a33*m2.a34 + m1.a34;
00814 }
00815 }
00816
00817 }
00818
00819
00820 <font class="comment">// ***************************************************************************</font>
<a name="l00821"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_0">00821</a> <font class="keywordtype">void</font> CMatrix::setMulMatrix(<font class="keyword">const</font> CMatrix &m1, <font class="keyword">const</font> CMatrix &m2)
00822 {
00823 <font class="comment">// Do *this= m1*m2</font>
00824 <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
00825 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>= m1.StateBit | m2.StateBit;
00826 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a7">MAT_VALIDALL</a>;
00827
00828 <font class="comment">// Build Rot part.</font>
00829 <font class="comment">//===============</font>
00830 <font class="keywordtype">bool</font> M1Identity= ! m1.hasRot();
00831 <font class="keywordtype">bool</font> M2Identity= ! m2.hasRot();
00832 <font class="keywordtype">bool</font> M1ScaleOnly= ! (m1.StateBit & <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00833 <font class="keywordtype">bool</font> M2ScaleOnly= ! (m2.StateBit & <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>);
00834 <font class="keywordtype">bool</font> MGeneralCase= !M1Identity && !M2Identity && !M1ScaleOnly && !M2ScaleOnly;
00835
00836
00837 <font class="comment">// Manage the most common general case first (optim the if ): blending of two rotations.</font>
00838 <font class="keywordflow">if</font>( MGeneralCase )
00839 {
00840 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11 + m1.a12*m2.a21 + m1.a13*m2.a31;
00841 <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12 + m1.a12*m2.a22 + m1.a13*m2.a32;
00842 <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13 + m1.a12*m2.a23 + m1.a13*m2.a33;
00843
00844 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11 + m1.a22*m2.a21 + m1.a23*m2.a31;
00845 <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a21*m2.a12 + m1.a22*m2.a22 + m1.a23*m2.a32;
00846 <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a21*m2.a13 + m1.a22*m2.a23 + m1.a23*m2.a33;
00847
00848 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11 + m1.a32*m2.a21 + m1.a33*m2.a31;
00849 <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a31*m2.a12 + m1.a32*m2.a22 + m1.a33*m2.a32;
00850 <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a31*m2.a13 + m1.a32*m2.a23 + m1.a33*m2.a33;
00851 }
00852 <font class="comment">// If one of the 3x3 matrix is an identity, just do a copy</font>
00853 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1Identity || M2Identity )
00854 {
00855 <font class="comment">// If both identity, then me too.</font>
00856 <font class="keywordflow">if</font>( M1Identity && M2Identity )
00857 {
00858 <font class="comment">// just expand me (important because validated below)</font>
00859 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
00860 }
00861 <font class="keywordflow">else</font>
00862 {
00863 <font class="comment">// Copy the non identity matrix.</font>
00864 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *c= M2Identity? &m1 : &m2;
00865 <a class="code" href="matrix_8cpp.html#a9">a11</a>= c->a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= c->a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= c->a13;
00866 <a class="code" href="matrix_8cpp.html#a10">a21</a>= c->a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= c->a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= c->a23;
00867 <a class="code" href="matrix_8cpp.html#a11">a31</a>= c->a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= c->a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= c->a33;
00868 }
00869 }
00870 <font class="comment">// If two 3x3 matrix are just scaleOnly matrix, do a scaleFact.</font>
00871 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly && M2ScaleOnly )
00872 {
00873 <font class="comment">// same process for scaleUni or scaleAny.</font>
00874 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0;
00875 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0;
00876 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00877 }
00878 <font class="comment">// If one of the matrix is a scaleOnly matrix, do a scale*Rot.</font>
00879 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( M1ScaleOnly && !M2ScaleOnly )
00880 {
00881 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a11*m2.a12; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a11*m2.a13;
00882 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a22*m2.a21; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a22*m2.a23;
00883 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a33*m2.a31; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a33*m2.a32; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00884 }
00885 <font class="keywordflow">else</font>
00886 {
00887 <font class="comment">// This must be this case</font>
00888 <a class="code" href="debug_8h.html#a6">nlassert</a>(!M1ScaleOnly && M2ScaleOnly);
00889 <a class="code" href="matrix_8cpp.html#a9">a11</a>= m1.a11*m2.a11; <a class="code" href="matrix_8cpp.html#a13">a12</a>= m1.a12*m2.a22; <a class="code" href="matrix_8cpp.html#a17">a13</a>= m1.a13*m2.a33;
00890 <a class="code" href="matrix_8cpp.html#a10">a21</a>= m1.a21*m2.a11; <a class="code" href="matrix_8cpp.html#a14">a22</a>= m1.a22*m2.a22; <a class="code" href="matrix_8cpp.html#a18">a23</a>= m1.a23*m2.a33;
00891 <a class="code" href="matrix_8cpp.html#a11">a31</a>= m1.a31*m2.a11; <a class="code" href="matrix_8cpp.html#a15">a32</a>= m1.a32*m2.a22; <a class="code" href="matrix_8cpp.html#a19">a33</a>= m1.a33*m2.a33;
00892 }
00893
00894 <font class="comment">// If M1 has translate and M2 has projective, rotation is modified.</font>
00895 <font class="keywordflow">if</font>( m1.hasTrans() && m2.hasProj())
00896 {
00897 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>;
00898
00899 <a class="code" href="matrix_8cpp.html#a9">a11</a>+= m1.a14*m2.a41;
00900 <a class="code" href="matrix_8cpp.html#a13">a12</a>+= m1.a14*m2.a42;
00901 <a class="code" href="matrix_8cpp.html#a17">a13</a>+= m1.a14*m2.a43;
00902
00903 <a class="code" href="matrix_8cpp.html#a10">a21</a>+= m1.a24*m2.a41;
00904 <a class="code" href="matrix_8cpp.html#a14">a22</a>+= m1.a24*m2.a42;
00905 <a class="code" href="matrix_8cpp.html#a18">a23</a>+= m1.a24*m2.a43;
00906
00907 <a class="code" href="matrix_8cpp.html#a11">a31</a>+= m1.a34*m2.a41;
00908 <a class="code" href="matrix_8cpp.html#a15">a32</a>+= m1.a34*m2.a42;
00909 <a class="code" href="matrix_8cpp.html#a19">a33</a>+= m1.a34*m2.a43;
00910 }
00911
00912 <font class="comment">// Modify Scale.</font>
00913 <font class="keywordflow">if</font>( (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>) && !(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
00914 {
00915 <font class="comment">// Must have correct Scale33</font>
00916 m1.testExpandRot();
00917 m2.testExpandRot();
00918 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= m1.Scale33*m2.Scale33;
00919 }
00920 <font class="keywordflow">else</font>
00921 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
00922
00923 <font class="comment">// In every case, I am valid now!</font>
00924 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|=<a class="code" href="matrix_8cpp.html#a5">MAT_VALIDROT</a>;
00925
00926
00927 <font class="comment">// Build Trans part.</font>
00928 <font class="comment">//=================</font>
00929 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
00930 {
00931 <font class="comment">// Compose M2 part.</font>
00932 <font class="keywordflow">if</font>( M1Identity )
00933 {
00934 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m2.a14;
00935 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m2.a24;
00936 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m2.a34;
00937 }
00938 <font class="keywordflow">else</font> <font class="keywordflow">if</font> (M1ScaleOnly )
00939 {
00940 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14;
00941 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a22*m2.a24;
00942 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a33*m2.a34;
00943 }
00944 <font class="keywordflow">else</font>
00945 {
00946 <a class="code" href="matrix_8cpp.html#a21">a14</a>= m1.a11*m2.a14 + m1.a12*m2.a24 + m1.a13*m2.a34;
00947 <a class="code" href="matrix_8cpp.html#a22">a24</a>= m1.a21*m2.a14 + m1.a22*m2.a24 + m1.a23*m2.a34;
00948 <a class="code" href="matrix_8cpp.html#a23">a34</a>= m1.a31*m2.a14 + m1.a32*m2.a24 + m1.a33*m2.a34;
00949 }
00950 <font class="comment">// Compose M1 part.</font>
00951 <font class="keywordflow">if</font>(m1.StateBit & <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)
00952 {
00953 <font class="keywordflow">if</font>(m2.StateBit & <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)
00954 {
00955 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= m1.a14*m2.a44;
00956 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= m1.a24*m2.a44;
00957 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= m1.a34*m2.a44;
00958 }
00959 <font class="keywordflow">else</font>
00960 {
00961 <a class="code" href="matrix_8cpp.html#a21">a14</a>+= m1.a14;
00962 <a class="code" href="matrix_8cpp.html#a22">a24</a>+= m1.a24;
00963 <a class="code" href="matrix_8cpp.html#a23">a34</a>+= m1.a34;
00964 }
00965 }
00966 }
00967
00968
00969 <font class="comment">// Build Proj part.</font>
00970 <font class="comment">//=================</font>
00971 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a> )
00972 {
00973 <font class="comment">// optimise nothing... (projection matrix are rare).</font>
00974 m1.testExpandRot();
00975 m1.testExpandProj();
00976 m2.testExpandRot();
00977 m2.testExpandProj();
00978 <a class="code" href="matrix_8cpp.html#a12">a41</a>= m1.a41*m2.a11 + m1.a42*m2.a21 + m1.a43*m2.a31 + m1.a44*m2.a41;
00979 <a class="code" href="matrix_8cpp.html#a16">a42</a>= m1.a41*m2.a12 + m1.a42*m2.a22 + m1.a43*m2.a32 + m1.a44*m2.a42;
00980 <a class="code" href="matrix_8cpp.html#a20">a43</a>= m1.a41*m2.a13 + m1.a42*m2.a23 + m1.a43*m2.a33 + m1.a44*m2.a43;
00981 <a class="code" href="matrix_8cpp.html#a24">a44</a>= m1.a41*m2.a14 + m1.a42*m2.a24 + m1.a43*m2.a34 + m1.a44*m2.a44;
00982 <font class="comment">// The proj is valid now</font>
00983 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a6">MAT_VALIDPROJ</a>;
00984 }
00985 <font class="keywordflow">else</font>
00986 {
00987 <font class="comment">// Don't copy proj part, and leave MAT_VALIDPROJ not set</font>
00988 }
00989 }
00990 <font class="comment">// ======================================================================================================</font>
<a name="l00991"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_6">00991</a> <font class="keywordtype">void</font> CMatrix::invert()
00992 {
00993
00994 *<font class="keyword">this</font>= <a class="code" href="classNLMISC_1_1CMatrix.html#z293_7">inverted</a>();
00995 }
00996
00997
00998 <font class="comment">// ======================================================================================================</font>
<a name="l00999"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_4">00999</a> <font class="keywordtype">void</font> CMatrix::transpose3x3()
01000 {
01001 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>())
01002 {
01003 <font class="comment">// swap values.</font>
01004 swap(<a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a10">a21</a>);
01005 swap(<a class="code" href="matrix_8cpp.html#a17">a13</a>, <a class="code" href="matrix_8cpp.html#a11">a31</a>);
01006 swap(<a class="code" href="matrix_8cpp.html#a15">a32</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>);
01007 <font class="comment">// Scale mode (none, uni, or any) is conserved. Scale33 too...</font>
01008 }
01009 }
01010
01011 <font class="comment">// ======================================================================================================</font>
<a name="l01012"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_5">01012</a> <font class="keywordtype">void</font> CMatrix::transpose()
01013 {
01014 <a class="code" href="classNLMISC_1_1CMatrix.html#z293_4">transpose3x3</a>();
01015 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() || <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
01016 {
01017 <font class="comment">// if necessary, Get valid 0 on proj part.</font>
01018 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01019 <font class="comment">// swap values</font>
01020 swap(<a class="code" href="matrix_8cpp.html#a12">a41</a>, <a class="code" href="matrix_8cpp.html#a21">a14</a>);
01021 swap(<a class="code" href="matrix_8cpp.html#a16">a42</a>, <a class="code" href="matrix_8cpp.html#a22">a24</a>);
01022 swap(<a class="code" href="matrix_8cpp.html#a20">a43</a>, <a class="code" href="matrix_8cpp.html#a23">a34</a>);
01023 <font class="comment">// swap StateBit flags, if not both were sets...</font>
01024 <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() || !<a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>())
01025 {
01026 <font class="comment">// swap StateBit flags (swap trans with proj).</font>
01027 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>())
01028 {
01029 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01030 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01031 }
01032 <font class="keywordflow">else</font>
01033 {
01034 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01035 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01036 }
01037 }
01038 <font class="comment">// reset validity. NB, maybe not usefull, but simpler, and bugfree.</font>
01039 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(MAT_VALIDPROJ);
01040 }
01041 <font class="comment">// NB: if no Trans or no Proj, do nothing, so don't need to modify VALIDTRANS and VALIDPROJ too.</font>
01042 }
01043
01044
01045 <font class="comment">// ======================================================================================================</font>
<a name="l01046"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c0">01046</a> <font class="keywordtype">void</font> CMatrix::fastInvert33(CMatrix &ret)<font class="keyword"> const</font>
01047 <font class="keyword"></font>{
01048 <font class="comment">// Fast invert of 3x3 rot matrix.</font>
01049 <font class="comment">// Work if no scale and if MAT_SCALEUNI. doesn't work if MAT_SCALEANY.</font>
01050
01051 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>)
01052 {
01053 <font class="keywordtype">double</font> <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>,S; <font class="comment">// important for precision.</font>
01054 <font class="comment">// Must divide the matrix by 1/Scale 2 times, to set unit, and to have a Scale=1/Scale.</font>
01055 S=1.0/<a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>;
01056 ret.Scale33= (float)S;
01057 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=S*S;
01058 <font class="comment">// The matrix is a base, so just transpose it.</font>
01059 ret.a11= (float)(<a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a12= (float)(<a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a13= (float)(<a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01060 ret.a21= (float)(<a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a22= (float)(<a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a23= (float)(<a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01061 ret.a31= (float)(<a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a32= (float)(<a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a33= (float)(<a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01062 }
01063 <font class="keywordflow">else</font>
01064 {
01065 ret.Scale33=1;
01066 <font class="comment">// The matrix is a base, so just transpose it.</font>
01067 ret.a11= <a class="code" href="matrix_8cpp.html#a9">a11</a>; ret.a12= <a class="code" href="matrix_8cpp.html#a10">a21</a>; ret.a13=<a class="code" href="matrix_8cpp.html#a11">a31</a>;
01068 ret.a21= <a class="code" href="matrix_8cpp.html#a13">a12</a>; ret.a22= <a class="code" href="matrix_8cpp.html#a14">a22</a>; ret.a23=<a class="code" href="matrix_8cpp.html#a15">a32</a>;
01069 ret.a31= <a class="code" href="matrix_8cpp.html#a17">a13</a>; ret.a32= <a class="code" href="matrix_8cpp.html#a18">a23</a>; ret.a33=<a class="code" href="matrix_8cpp.html#a19">a33</a>;
01070 }
01071
01072 <font class="comment">// 15 cycles if no scale.</font>
01073 <font class="comment">// 35 cycles if scale.</font>
01074 }
01075 <font class="comment">// ======================================================================================================</font>
<a name="l01076"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c1">01076</a> <font class="keywordtype">bool</font> CMatrix::slowInvert33(CMatrix &ret)<font class="keyword"> const</font>
01077 <font class="keyword"></font>{
01078 CVector invi,invj,invk;
01079 CVector i,j,k;
01080 <font class="keywordtype">double</font> <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01081
01082 i= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">getI</a>();
01083 j= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">getJ</a>();
01084 k= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">getK</a>();
01085 <font class="comment">// Compute cofactors (minors *(-1)^(i+j)).</font>
01086 invi.x= j.y*k.z - k.y*j.z;
01087 invi.y= j.z*k.x - k.z*j.x;
01088 invi.z= j.x*k.y - k.x*j.y;
01089 invj.x= k.y*i.z - i.y*k.z;
01090 invj.y= k.z*i.x - i.z*k.x;
01091 invj.z= k.x*i.y - i.x*k.y;
01092 invk.x= i.y*j.z - j.y*i.z;
01093 invk.y= i.z*j.x - j.z*i.x;
01094 invk.z= i.x*j.y - j.x*i.y;
01095 <font class="comment">// compute determinant.</font>
01096 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>= invi.x*i.x + invj.x*j.x + invk.x*k.x;
01097 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>==0)
01098 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01099 <font class="comment">// Transpose the Comatrice, and divide by determinant.</font>
01100 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=1.0/<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01101 ret.a11= (float)(invi.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a12= (float)(invi.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a13= (float)(invi.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01102 ret.a21= (float)(invj.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a22= (float)(invj.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a23= (float)(invj.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01103 ret.a31= (float)(invk.x*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a32= (float)(invk.y*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>); ret.a33= (float)(invk.z*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01104
01105 <font class="keywordflow">return</font> <font class="keyword">true</font>;
01106 <font class="comment">// Roundly 82 cycles. (1Div=10 cycles).</font>
01107 }
01108 <font class="comment">// ======================================================================================================</font>
<a name="l01109"></a><a class="code" href="classNLMISC_1_1CMatrix.html#c2">01109</a> <font class="keywordtype">bool</font> CMatrix::slowInvert44(CMatrix &ret)<font class="keyword"> const</font>
01110 <font class="keyword"></font>{
01111 sint i,j;
01112 <font class="keywordtype">double</font> <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01113
01114 <font class="comment">// Compute Cofactors</font>
01115 <font class="comment">//==================</font>
01116 <font class="keywordflow">for</font>(i=0;i<=3;i++)
01117 {
01118 <font class="keywordflow">for</font>(j=0;j<=3;j++)
01119 {
01120 sint l1,l2,l3;
01121 sint c1,c2,c3;
01122 <a class="code" href="classNLMISC_1_1CMatrix.html#c5">getCofactIndex</a>(i,l1,l2,l3);
01123 <a class="code" href="classNLMISC_1_1CMatrix.html#c5">getCofactIndex</a>(j,c1,c2,c3);
01124
01125 ret.mat(i,j)= 0;
01126 ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c3);
01127 ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c1);
01128 ret.mat(i,j)+= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c2);
01129
01130 ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c2);
01131 ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c3);
01132 ret.mat(i,j)-= <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l1,c3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l2,c2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(l3,c1);
01133
01134 <font class="keywordflow">if</font>( (i+j)&1 )
01135 ret.mat(i,j)=-ret.mat(i,j);
01136 }
01137 }
01138
01139 <font class="comment">// Compute determinant.</font>
01140 <font class="comment">//=====================</font>
01141 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>= ret.mat(0,0) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,0) + ret.mat(0,1) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,1) + ret.mat(0,2) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,2) + ret.mat(0,3) * <a class="code" href="classNLMISC_1_1CMatrix.html#c3">mat</a>(0,3);
01142 <font class="keywordflow">if</font>(<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>==0)
01143 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01144
01145 <font class="comment">// Divide by determinant.</font>
01146 <font class="comment">//=======================</font>
01147 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>=1.0/<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01148 <font class="keywordflow">for</font>(i=0;i<=3;i++)
01149 {
01150 <font class="keywordflow">for</font>(j=0;j<=3;j++)
01151 ret.mat(i,j)= (float)(ret.mat(i,j)*<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>);
01152 }
01153
01154 <font class="comment">// Transpose the comatrice.</font>
01155 <font class="comment">//=========================</font>
01156 <font class="keywordflow">for</font>(i=0;i<=3;i++)
01157 {
01158 <font class="keywordflow">for</font>(j=i+1;j<=3;j++)
01159 {
01160 swap(ret.mat(i,j), ret.mat(j,i));
01161 }
01162 }
01163
01164 <font class="keywordflow">return</font> <font class="keyword">true</font>;
01165 }
01166 <font class="comment">// ======================================================================================================</font>
<a name="l01167"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_7">01167</a> CMatrix CMatrix::inverted()<font class="keyword"> const</font>
01168 <font class="keyword"></font>{
01169
01170 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> ret;
01171
01172 <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01173 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01174 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01175
01176 <font class="comment">// Do a conventionnal 44 inversion.</font>
01177 <font class="comment">//=================================</font>
01178 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>)
01179 {
01180 <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c2">slowInvert44</a>(ret))
01181 {
01182 ret.identity();
01183 <font class="keywordflow">return</font> ret;
01184 }
01185
01186 <font class="comment">// Well, don't know what happens to matrix, so set all StateBit :).</font>
01187 ret.StateBit= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>|<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01188
01189 <font class="comment">// Check Trans state.</font>
01190 <font class="keywordflow">if</font>(ret.a14!=0 || ret.a24!=0 || ret.a34!=0)
01191 ret.StateBit|= <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01192 <font class="keywordflow">else</font>
01193 ret.StateBit&= ~<a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>;
01194
01195 <font class="comment">// Check Proj state.</font>
01196 <font class="keywordflow">if</font>(ret.a41!=0 || ret.a42!=0 || ret.a43!=0 || ret.a44!=1)
01197 ret.StateBit|= <a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01198 <font class="keywordflow">else</font>
01199 ret.StateBit&= ~<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>;
01200 }
01201
01202 <font class="comment">// Do a speed 34 inversion.</font>
01203 <font class="comment">//=========================</font>
01204 <font class="keywordflow">else</font>
01205 {
01206 <font class="comment">// Invert the rotation part.</font>
01207 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>)
01208 {
01209 <font class="keywordflow">if</font>(!<a class="code" href="classNLMISC_1_1CMatrix.html#c1">slowInvert33</a>(ret))
01210 {
01211 ret.identity();
01212 <font class="keywordflow">return</font> ret;
01213 }
01214 }
01215 <font class="keywordflow">else</font>
01216 <a class="code" href="classNLMISC_1_1CMatrix.html#c0">fastInvert33</a>(ret);
01217 <font class="comment">// Scale33 is updated in fastInvert33().</font>
01218
01219 <font class="comment">// Invert the translation part.</font>
01220 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a>)
01221 {
01222 <font class="comment">// Invert the translation part.</font>
01223 <font class="comment">// This can only work if 4th line is 0 0 0 1.</font>
01224 <font class="comment">// formula: InvVp= InvVi*(-Vp.x) + InvVj*(-Vp.y) + InvVk*(-Vp.z)</font>
01225 ret.a14= ret.a11*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a12*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a13*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01226 ret.a24= ret.a21*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a22*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a23*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01227 ret.a34= ret.a31*(-<a class="code" href="matrix_8cpp.html#a21">a14</a>) + ret.a32*(-<a class="code" href="matrix_8cpp.html#a22">a24</a>) + ret.a33*(-<a class="code" href="matrix_8cpp.html#a23">a34</a>);
01228 }
01229 <font class="keywordflow">else</font>
01230 {
01231 ret.a14= 0;
01232 ret.a24= 0;
01233 ret.a34= 0;
01234 }
01235
01236 <font class="comment">// The projection part is unmodified.</font>
01237 ret.a41= 0; ret.a42= 0; ret.a43= 0; ret.a44= 1;
01238
01239 <font class="comment">// The matrix inverted keep the same state bits.</font>
01240 ret.StateBit= <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>;
01241 }
01242
01243
01244 <font class="keywordflow">return</font> ret;
01245 }
01246 <font class="comment">// ======================================================================================================</font>
<a name="l01247"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z293_8">01247</a> <font class="keywordtype">bool</font> CMatrix::normalize(TRotOrder ro)
01248 {
01249
01250 CVector ti,tj,tk;
01251 ti= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_7">getI</a>();
01252 tj= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_8">getJ</a>();
01253 tk= <a class="code" href="classNLMISC_1_1CMatrix.html#z291_9">getK</a>();
01254
01255 <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01256 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01257
01258 <font class="comment">// Normalize with help of ro</font>
01259 <font class="keywordflow">switch</font>(ro)
01260 {
01261 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s0">XYZ</a>:
01262 ti.normalize();
01263 tk= ti^tj;
01264 tk.normalize();
01265 tj= tk^ti;
01266 <font class="keywordflow">break</font>;
01267 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s1">XZY</a>:
01268 ti.normalize();
01269 tj= tk^ti;
01270 tj.normalize();
01271 tk= ti^tj;
01272 <font class="keywordflow">break</font>;
01273 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s2">YXZ</a>:
01274 tj.normalize();
01275 tk= ti^tj;
01276 tk.normalize();
01277 ti= tj^tk;
01278 <font class="keywordflow">break</font>;
01279 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s3">YZX</a>:
01280 tj.normalize();
01281 ti= tj^tk;
01282 ti.normalize();
01283 tk= ti^tj;
01284 <font class="keywordflow">break</font>;
01285 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s4">ZXY</a>:
01286 tk.normalize();
01287 tj= tk^ti;
01288 tj.normalize();
01289 ti= tj^tk;
01290 <font class="keywordflow">break</font>;
01291 <font class="keywordflow">case</font> <a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>:
01292 tk.normalize();
01293 ti= tj^tk;
01294 ti.normalize();
01295 tj= tk^ti;
01296 <font class="keywordflow">break</font>;
01297 }
01298
01299 <font class="comment">// Check, and set result.</font>
01300 <font class="keywordflow">if</font>( ti.isNull() || tj.isNull() || tk.isNull() )
01301 <font class="keywordflow">return</font> <font class="keyword">false</font>;
01302 <a class="code" href="matrix_8cpp.html#a9">a11</a>= ti.x; <a class="code" href="matrix_8cpp.html#a13">a12</a>= tj.x; <a class="code" href="matrix_8cpp.html#a17">a13</a>= tk.x;
01303 <a class="code" href="matrix_8cpp.html#a10">a21</a>= ti.y; <a class="code" href="matrix_8cpp.html#a14">a22</a>= tj.y; <a class="code" href="matrix_8cpp.html#a18">a23</a>= tk.y;
01304 <a class="code" href="matrix_8cpp.html#a11">a31</a>= ti.z; <a class="code" href="matrix_8cpp.html#a15">a32</a>= tj.z; <a class="code" href="matrix_8cpp.html#a19">a33</a>= tk.z;
01305 <font class="comment">// Scale is reseted.</font>
01306 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>);
01307 <font class="comment">// Rot is setup...</font>
01308 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
01309 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>=1;
01310
01311 <font class="keywordflow">return</font> <font class="keyword">true</font>;
01312 }
01313
01314
01315 <font class="comment">// ======================================================================================================</font>
01316 <font class="comment">// ======================================================================================================</font>
01317 <font class="comment">// ======================================================================================================</font>
01318
01319
01320 <font class="comment">// ======================================================================================================</font>
<a name="l01321"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_0">01321</a> CVector CMatrix::mulVector(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01322 <font class="keyword"></font>{
01323
01324 CVector ret;
01325
01326 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01327 {
01328 ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01329 ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01330 ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01331 <font class="keywordflow">return</font> ret;
01332 }
01333 <font class="keywordflow">else</font>
01334 <font class="keywordflow">return</font> <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
01335 }
01336
01337 <font class="comment">// ======================================================================================================</font>
<a name="l01338"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_1">01338</a> CVector CMatrix::mulPoint(<font class="keyword">const</font> CVector &<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01339 <font class="keyword"></font>{
01340
01341 CVector ret;
01342
01343 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01344 {
01345 ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01346 ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01347 ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z;
01348 }
01349 <font class="keywordflow">else</font>
01350 {
01351 ret= <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>;
01352 }
01353 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() )
01354 {
01355 ret.x+= <a class="code" href="matrix_8cpp.html#a21">a14</a>;
01356 ret.y+= <a class="code" href="matrix_8cpp.html#a22">a24</a>;
01357 ret.z+= <a class="code" href="matrix_8cpp.html#a23">a34</a>;
01358 }
01359
01360 <font class="keywordflow">return</font> ret;
01361 }
01362
01363
01364 <font class="comment">/*</font>
01365 <font class="comment"> * Multiply</font>
01366 <font class="comment"> */</font>
<a name="l01367"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z294_3">01367</a> CVectorH CMatrix::operator*(<font class="keyword">const</font> CVectorH& <a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>)<font class="keyword"> const</font>
01368 <font class="keyword"></font>{
01369
01370 CVectorH ret;
01371
01372 <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01373 <a class="code" href="classNLMISC_1_1CMatrix.html#c10">testExpandRot</a>();
01374 <a class="code" href="classNLMISC_1_1CMatrix.html#c11">testExpandProj</a>();
01375
01376 ret.x= <a class="code" href="matrix_8cpp.html#a9">a11</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a13">a12</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a17">a13</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a21">a14</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01377 ret.y= <a class="code" href="matrix_8cpp.html#a10">a21</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a14">a22</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a18">a23</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a22">a24</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01378 ret.z= <a class="code" href="matrix_8cpp.html#a11">a31</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a15">a32</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a19">a33</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a23">a34</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01379 ret.w= <a class="code" href="matrix_8cpp.html#a12">a41</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.x + <a class="code" href="matrix_8cpp.html#a16">a42</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.y + <a class="code" href="matrix_8cpp.html#a20">a43</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.z + <a class="code" href="matrix_8cpp.html#a24">a44</a>*<a class="code" href="driver__opengl__extension__def_8h.html#a368">v</a>.w;
01380 <font class="keywordflow">return</font> ret;
01381 }
01382
01383
01384 <font class="comment">// ======================================================================================================</font>
<a name="l01385"></a><a class="code" href="classNLMISC_1_1CMatrix.html#a301">01385</a> CPlane <a class="code" href="namespaceNLMISC.html#a273">operator*</a>(<font class="keyword">const</font> CPlane &p, <font class="keyword">const</font> CMatrix &m)
01386 {
01387 <font class="comment">// \todo yoyo: TODO_OPTIMIZE it...</font>
01388 m.testExpandRot();
01389 m.testExpandProj();
01390
01391
01392 CPlane ret;
01393
01394 <font class="keywordflow">if</font>( m.StateBit & (<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>|<a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a4">MAT_PROJ</a>) )
01395 {
01396 <font class="comment">// Compose with translation too.</font>
01397 ret.a= p.a*m.a11 + p.b*m.a21 + p.c*m.a31 + p.d*m.a41;
01398 ret.b= p.a*m.a12 + p.b*m.a22 + p.c*m.a32 + p.d*m.a42;
01399 ret.c= p.a*m.a13 + p.b*m.a23 + p.c*m.a33 + p.d*m.a43;
01400 ret.d= p.a*m.a14 + p.b*m.a24 + p.c*m.a34 + p.d*m.a44;
01401 <font class="keywordflow">return</font> ret;
01402 }
01403 <font class="keywordflow">else</font> <font class="keywordflow">if</font>( m.StateBit & <a class="code" href="matrix_8cpp.html#a0">MAT_TRANS</a> )
01404 {
01405
01406 <font class="comment">// Compose just with a translation.</font>
01407 ret.a= p.a;
01408 ret.b= p.b;
01409 ret.c= p.c;
01410 ret.d= p.a*m.a14 + p.b*m.a24 + p.c*m.a34 + p.d*m.a44;
01411 <font class="keywordflow">return</font> ret;
01412 }
01413 <font class="keywordflow">else</font> <font class="comment">// Identity!!</font>
01414 <font class="keywordflow">return</font> p;
01415 }
01416
01417
01418 <font class="comment">// ======================================================================================================</font>
01419 <font class="comment">// ======================================================================================================</font>
01420 <font class="comment">// ======================================================================================================</font>
01421
01422
01423 <font class="comment">// ======================================================================================================</font>
<a name="l01424"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z290_4">01424</a> <font class="keywordtype">void</font> CMatrix::setRot(<font class="keyword">const</font> CQuat &quat)
01425 {
01426 <font class="comment">// A quaternion do not have scale.</font>
01427 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>&= ~(<a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>|<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a>);
01428 <a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>= 1.0f;
01429 <font class="keywordflow">if</font>(quat.isIdentity())
01430 {
01431 <a class="code" href="matrix_8cpp.html#a9">a11</a>= 1; <a class="code" href="matrix_8cpp.html#a13">a12</a>= 0; <a class="code" href="matrix_8cpp.html#a17">a13</a>= 0;
01432 <a class="code" href="matrix_8cpp.html#a10">a21</a>= 0; <a class="code" href="matrix_8cpp.html#a14">a22</a>= 1; <a class="code" href="matrix_8cpp.html#a18">a23</a>= 0;
01433 <a class="code" href="matrix_8cpp.html#a11">a31</a>= 0; <a class="code" href="matrix_8cpp.html#a15">a32</a>= 0; <a class="code" href="matrix_8cpp.html#a19">a33</a>= 1;
01434 }
01435 <font class="keywordflow">else</font>
01436 {
01437 <a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>|= <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>;
01438 <font class="keywordtype">float</font> wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
01439
01440 <font class="comment">// calculate coefficients</font>
01441 x2 = quat.x + quat.x; y2 = quat.y + quat.y;
01442 z2 = quat.z + quat.z;
01443 xx = quat.x * x2; xy = quat.x * y2; xz = quat.x * z2;
01444 yy = quat.y * y2; yz = quat.y * z2; zz = quat.z * z2;
01445 wx = quat.w * x2; wy = quat.w * y2; wz = quat.w * z2;
01446
01447 <a class="code" href="matrix_8cpp.html#a9">a11</a> = 1.0f - (yy + zz);
01448 <a class="code" href="matrix_8cpp.html#a13">a12</a> = xy - wz;
01449 <a class="code" href="matrix_8cpp.html#a17">a13</a> = xz + wy;
01450
01451 <a class="code" href="matrix_8cpp.html#a10">a21</a> = xy + wz;
01452 <a class="code" href="matrix_8cpp.html#a14">a22</a> = 1.0f - (xx + zz);
01453 <a class="code" href="matrix_8cpp.html#a18">a23</a> = yz - wx;
01454
01455 <a class="code" href="matrix_8cpp.html#a11">a31</a> = xz - wy;
01456 <a class="code" href="matrix_8cpp.html#a15">a32</a> = yz + wx;
01457 <a class="code" href="matrix_8cpp.html#a19">a33</a> = 1.0f - (xx + yy);
01458 }
01459 }
01460
01461
01462 <font class="comment">// ======================================================================================================</font>
<a name="l01463"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z291_2">01463</a> <font class="keywordtype">void</font> CMatrix::getRot(CQuat &quat)<font class="keyword"> const</font>
01464 <font class="keyword"></font>{
01465 <font class="keyword">const</font> <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> *pmat= <font class="keyword">this</font>;
01466 <a class="code" href="classNLMISC_1_1CMatrix.html#z289_0">CMatrix</a> MatNormed;
01467
01468
01469 <font class="comment">// Rot Indentity?</font>
01470 <font class="keywordflow">if</font>(! (<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & <a class="code" href="matrix_8cpp.html#a1">MAT_ROT</a>))
01471 {
01472 quat= CQuat::Identity;
01473 <font class="keywordflow">return</font>;
01474 }
01475
01476 <font class="comment">// Must normalize the matrix??</font>
01477 <font class="keywordflow">if</font>(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a> & (<a class="code" href="matrix_8cpp.html#a2">MAT_SCALEUNI</a> | <a class="code" href="matrix_8cpp.html#a3">MAT_SCALEANY</a>) )
01478 {
01479 MatNormed= *<font class="keyword">this</font>;
01480 MatNormed.normalize(<a class="code" href="classNLMISC_1_1CMatrix.html#s6s5">ZYX</a>);
01481 pmat= &MatNormed;
01482 }
01483
01484 <font class="comment">// Compute quaternion.</font>
01485 <font class="keywordtype">float</font> tr, <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>, <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[4];
01486
01487 tr = pmat->a11 + pmat->a22 + pmat->a33;
01488
01489 <font class="comment">// check the diagonal</font>
01490 <font class="keywordflow">if</font> (tr > 0.0)
01491 {
01492 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = (float)sqrt (tr + 1.0f);
01493 quat.w = <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> / 2.0f;
01494 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = 0.5f / <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01495 quat.x = (pmat->a32 - pmat->a23) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01496 quat.y = (pmat->a13 - pmat->a31) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01497 quat.z = (pmat->a21 - pmat->a12) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01498 }
01499 <font class="keywordflow">else</font>
01500 {
01501 sint i, j, k;
01502 sint nxt[3] = {1, 2, 0};
01503
01504 <font class="comment">// diagonal is negative</font>
01505 i = 0;
01506 <font class="keywordflow">if</font> (pmat->a22 > pmat->a11) i = 1;
01507 <font class="keywordflow">if</font> (pmat->a33 > pmat->mat(i,i) ) i = 2;
01508 j = nxt[i];
01509 k = nxt[j];
01510
01511 <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = (float) sqrt ( (pmat->mat(i,i) - (pmat->mat(j,j) + pmat->mat(k,k)) ) + 1.0);
01512
01513 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[i] = <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> * 0.5f;
01514
01515 <font class="keywordflow">if</font> (<a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> != 0.0f) <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a> = 0.5f / <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01516
01517 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[j] = (pmat->mat(j,i) + pmat->mat(i,j)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01518 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[k] = (pmat->mat(k,i) + pmat->mat(i,k)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01519 <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[3] = (pmat->mat(k,j) - pmat->mat(j,k)) * <a class="code" href="driver__opengl__extension__def_8h.html#a383">s</a>;
01520
01521 quat.x = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[0];
01522 quat.y = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[1];
01523 quat.z = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[2];
01524 quat.w = <a class="code" href="driver__opengl__extension__def_8h.html#a386">q</a>[3];
01525 }
01526
01527 }
01528
01529
01530 <font class="comment">// ======================================================================================================</font>
01531 <font class="comment">// ======================================================================================================</font>
01532 <font class="comment">// ======================================================================================================</font>
01533
01534
01535 <font class="comment">// ======================================================================================================</font>
<a name="l01536"></a><a class="code" href="classNLMISC_1_1CMatrix.html#z295_0">01536</a> <font class="keywordtype">void</font> CMatrix::serial(IStream &f)
01537 {
01538 <font class="comment">// Use versionning, maybe for futur improvement.</font>
01539 (void)f.serialVersion(0);
01540
01541 <font class="keywordflow">if</font>(f.isReading())
01542 <a class="code" href="classNLMISC_1_1CMatrix.html#z290_0">identity</a>();
01543 f.serial(<a class="code" href="classNLMISC_1_1CMatrix.html#o2">StateBit</a>);
01544 f.serial(<a class="code" href="classNLMISC_1_1CMatrix.html#o1">Scale33</a>);
01545 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c7">hasRot</a>() )
01546 {
01547 f.serial(<a class="code" href="matrix_8cpp.html#a9">a11</a>, <a class="code" href="matrix_8cpp.html#a13">a12</a>, <a class="code" href="matrix_8cpp.html#a17">a13</a>);
01548 f.serial(<a class="code" href="matrix_8cpp.html#a10">a21</a>, <a class="code" href="matrix_8cpp.html#a14">a22</a>, <a class="code" href="matrix_8cpp.html#a18">a23</a>);
01549 f.serial(<a class="code" href="matrix_8cpp.html#a11">a31</a>, <a class="code" href="matrix_8cpp.html#a15">a32</a>, <a class="code" href="matrix_8cpp.html#a19">a33</a>);
01550 }
01551 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c6">hasTrans</a>() )
01552 {
01553 f.serial(<a class="code" href="matrix_8cpp.html#a21">a14</a>, <a class="code" href="matrix_8cpp.html#a22">a24</a>, <a class="code" href="matrix_8cpp.html#a23">a34</a>);
01554 }
01555 <font class="keywordflow">else</font> <font class="keywordflow">if</font>(f.isReading())
01556 {
01557 <font class="comment">// must reset because Pos must always be valid</font>
01558 <a class="code" href="matrix_8cpp.html#a21">a14</a>= <a class="code" href="matrix_8cpp.html#a22">a24</a>= <a class="code" href="matrix_8cpp.html#a23">a34</a>= 0;
01559 }
01560 <font class="keywordflow">if</font>( <a class="code" href="classNLMISC_1_1CMatrix.html#c8">hasProj</a>() )
01561 {
01562 f.serial(<a class="code" href="matrix_8cpp.html#a12">a41</a>, <a class="code" href="matrix_8cpp.html#a16">a42</a>, <a class="code" href="matrix_8cpp.html#a20">a43</a>, <a class="code" href="matrix_8cpp.html#a24">a44</a>);
01563 }
01564 }
01565
01566
01567
01568
01569 }
01570
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