1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
|
<!doctype html public "-//W3C//DTD HTML 4.0 Transitional//EN" "http://www.w3.org/TR/REC-html40/loose.dtd">
<HTML>
<HEAD>
<TITLE>nevrax.org : docs</TITLE>
<LINK REL=stylesheet TYPE="text/css" HREF="/inc/css/nevrax.css">
<link href="doxygen.css" rel="stylesheet" type="text/css">
</HEAD>
<BODY MARGINHEIGHT="0" MARGINWIDTH="0">
<!-- uplinks -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0>
<TR>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD><IMG width=6 height=14 SRC="/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF=><b>Home</B></FONT></A> </TD>
<TD><IMG width=6 height=14 SRC="/inc/img/reddots.gif" ALT="#" VSPACE=2 HSPACE=2 BORDER=0 ></TD><TD VALIGN=middle> <A CLASS=uplinks HREF=><b>nevrax.com</B></FONT></A> </TD>
</TR>
</TABLE>
<!-- banner Nevrax -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0 WIDTH=100%>
<TR><TD BGCOLOR="#000000" BACKGROUND="/inc/img/black_banner.jpg"><A HREF=""><IMG SRC="/inc/img/nevrax.gif" WIDTH="170" HEIGHT="45" BORDER=0 ALT="Nevrax" ></A></TD></TR>
</TABLE>
<!-- main table -->
<TABLE CELLSPACING=0 CELLPADDING=0 BORDER=0 height=100%>
<TR>
<TD WIDTH=16><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="10" BORDER=0 ALT=""></TD>
<TD WIDTH=140 BGCOLOR=#dddddd VALIGN=TOP ALIGN=middle><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="10" BORDER=0 ALT="">
<!------ Begin Box ------>
<TABLE BORDER=0 CELLSPACING=0 CELLPADDING=0 BGCOLOR=black><TR><TD><TABLE border=0 cellspacing=2 cellpadding=0 width=120><tr><TD ALIGN=middle bgcolor=black>
<FONT COLOR=white FACE="sans-serif"><B>Nevrax.org</B></FONT></TD></TR><tr><td colspan=2 bgcolor=#FFFFFF>
<TABLE cellspacing=0 cellpadding=1 border=0>
<tr><td ALIGN=middle><a class='linkbox' href="/news/" TITLE="Rubrique news"><img width=13 height=15 hspace=5 border=0 src=/inc/img/picto-news.gif ALT=#></A></td><td><a class='linkbox' href="/news/" TITLE="News">News</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/mail/" TITLE="Rubrique mail"><img width=15 height=11 hspace=5 border=0 src=/inc/img/picto-mail.gif ALT=#></A></td><td><a class='linkbox' href="/mail/" TITLE="Mailing list archive">Mailing-list</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/docs/" TITLE="Rubrique docs"><img width=14 height=16 hspace=5 border=0 src=/inc/img/picto-docs.gif ALT=#></A></td><td><a class='linkbox' href="/docs/" TITLE="Documentation">Documentation</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/cvs/" TITLE="Rubrique cvs"><img width=13 height=17 hspace=5 border=0 src=/inc/img/picto-cvs.gif ALT=#></A></td><td><a class='linkbox' href="/cvs/" TITLE="CVS Web">CVS</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/bugs/" TITLE="Rubrique bugs"><img width=20 height=16 hspace=5 border=0 src=/inc/img/picto-bugs.gif ALT=#></A></td><td><a class='linkbox' href="/bugs/" TITLE="Bugtracking">Bugs</a></td></tr>
<tr><td ALIGN=middle><a class='linkbox' href="/GPL.php3" TITLE="Rubrique license"><img width=18 height=12 hspace=5 border=0 src=/inc/img/picto-gpl.gif ALT=#></A></td><td><a class='linkbox' href="/GPL.php3" TITLE="License">License</a></td></tr>
</TABLE>
</TD></TR></TABLE></TD></TR></TABLE>
<!------ End Box ------>
</TD>
<TD WIDTH=15><IMG SRC="/inc/img/pixel.gif" WIDTH="16" HEIGHT="16" BORDER=0 ALT=""></TD>
<TD ALIGN=left valign=top><IMG SRC="/inc/img/pixel.gif" WIDTH="140" HEIGHT="10" BORDER=0 ALT="">
<!-- title -->
<TABLE background="/inc/img/redline.gif" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td>
<A HREF="/docs/"><img src="/inc/img/t_docs.gif" ALT="Docs" HEIGHT=20 BORDER=0></A>
</td><td><IMG SRC="/inc/img/pixel.gif" WIDTH="1" HEIGHT="1" BORDER=0 ALT="">
</td></tr></table>
<!-- block -->
<TABLE bgcolor="#dddddd" CELLSPACING=0 CELLPADDING=0 BORDER=0 width=100%><tr><td width=1% valign=middle><img width=6 height=14 hspace=2 vspace=2 src="/inc/img/reddots.gif"></TD>
<TD><B>Documentation</B></TD>
<TD ALIGN=RIGHT> </td>
</tr></table>
<!-- Generated by Doxygen 1.2.14 -->
<center>
<a class="qindex" href="index.html">Main Page</a> <a class="qindex" href="namespaces.html">Namespace List</a> <a class="qindex" href="hierarchy.html">Class Hierarchy</a> <a class="qindex" href="classes.html">Alphabetical List</a> <a class="qindex" href="annotated.html">Compound List</a> <a class="qindex" href="files.html">File List</a> <a class="qindex" href="namespacemembers.html">Namespace Members</a> <a class="qindex" href="functions.html">Compound Members</a> <a class="qindex" href="globals.html">File Members</a> <a class="qindex" href="pages.html">Related Pages</a> <a class="qindexRef" doxygen="_cgi:/cgi-bin/nel-search.cgi" href="/cgi-bin/nel-search.cgi">Search</a> </center>
<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
</pre></div>
<!-- footer -->
<BR><FONT Size=+5> </FONT>
</TD>
<TD WIDTH=15><IMG SRC=/inc/img/pixel.gif WIDTH=15 HEIGHT=15 BORDER=0 ALT=""></TD>
</TR>
</TABLE>
</BODY>
</HTML>
|
