00001 #pragma once
00002
00003 #include "common.h"
00004 #include <math.h>
00005 #include "Vector.h"
00006 #include "Quaternion.h"
00007
00008
00009 class Matrix
00010 {
00011 public:
00012
00013 Matrix()
00014 {
00015 m_vfElements.m_vfElements16[0]=m_vfElements.m_vfElements16[5]=m_vfElements.m_vfElements16[10]=m_vfElements.m_vfElements16[15]=1.0f;
00016 m_vfElements.m_vfElements16[1]=m_vfElements.m_vfElements16[2]=m_vfElements.m_vfElements16[3]=m_vfElements.m_vfElements16[4]=m_vfElements.m_vfElements16[6]=m_vfElements.m_vfElements16[7]=m_vfElements.m_vfElements16[8]=m_vfElements.m_vfElements16[9]=m_vfElements.m_vfElements16[11]=m_vfElements.m_vfElements16[12]=m_vfElements.m_vfElements16[13]=m_vfElements.m_vfElements16[14]=0.0f;
00017 };
00018
00019 Matrix( const float & fElement0, const float & fElement4, const float & fElement8, const float & fElement12,
00020 const float & fElement1, const float & fElement5, const float & fElement9, const float & fElement13,
00021 const float & fElement2, const float & fElement6, const float & fElement10, const float & fElement14,
00022 const float & fElement3, const float & fElement7, const float & fElement11, const float & fElement15)
00023 {
00024 m_vfElements.m_vfElements16[0]=fElement0; m_vfElements.m_vfElements16[4]=fElement4; m_vfElements.m_vfElements16[8]=fElement8; m_vfElements.m_vfElements16[12]=fElement12;
00025 m_vfElements.m_vfElements16[1]=fElement1; m_vfElements.m_vfElements16[5]=fElement5; m_vfElements.m_vfElements16[9]=fElement9; m_vfElements.m_vfElements16[13]=fElement13;
00026 m_vfElements.m_vfElements16[2]=fElement2; m_vfElements.m_vfElements16[6]=fElement6; m_vfElements.m_vfElements16[10]=fElement10; m_vfElements.m_vfElements16[14]=fElement14;
00027 m_vfElements.m_vfElements16[3]=fElement3; m_vfElements.m_vfElements16[7]=fElement7; m_vfElements.m_vfElements16[11]=fElement11; m_vfElements.m_vfElements16[15]=fElement15;
00028 };
00029
00030 Matrix(const Vector & vecOne, const Vector & vecTwo, const Vector & vecThree, const Vector & vecFour = Vector(0.0f,0.0f,0.0f))
00031 {
00032
00033 m_vfElements.m_vfElements16[0]=vecOne.GetX(); m_vfElements.m_vfElements16[4]=vecOne.GetY(); m_vfElements.m_vfElements16[8]=vecOne.GetZ(); m_vfElements.m_vfElements16[12]=0.0f;
00034 m_vfElements.m_vfElements16[1]=vecTwo.GetX(); m_vfElements.m_vfElements16[5]=vecTwo.GetY(); m_vfElements.m_vfElements16[9]=vecTwo.GetZ(); m_vfElements.m_vfElements16[13]=0.0f;
00035 m_vfElements.m_vfElements16[2]=vecThree.GetX(); m_vfElements.m_vfElements16[6]=vecThree.GetY(); m_vfElements.m_vfElements16[10]=vecThree.GetZ(); m_vfElements.m_vfElements16[14]=0.0f;
00036 m_vfElements.m_vfElements16[3]=0.0f; m_vfElements.m_vfElements16[7]=0.0f; m_vfElements.m_vfElements16[11]=0.0f; m_vfElements.m_vfElements16[15]=1.0f;
00037 };
00038
00039 Matrix(const float *pElements)
00040 {
00041 memcpy((void*)m_vfElements.m_vfElements16, (void *)pElements, 16*sizeof(float));
00042 };
00043
00044 Matrix(const float vfElements[4][4])
00045 {
00046 memcpy((void*)m_vfElements.m_vfElements16, (void *)vfElements, 16*sizeof(float));
00047 };
00048
00049 Matrix(const Quaternion & quaRotation)
00050 {
00051 m_vfElements.m_vfElements16[0]=m_vfElements.m_vfElements16[5]=m_vfElements.m_vfElements16[10]=m_vfElements.m_vfElements16[15]=1.0f;
00052 m_vfElements.m_vfElements16[1]=m_vfElements.m_vfElements16[2]=m_vfElements.m_vfElements16[3]=m_vfElements.m_vfElements16[4]=m_vfElements.m_vfElements16[6]=m_vfElements.m_vfElements16[7]=m_vfElements.m_vfElements16[8]=m_vfElements.m_vfElements16[9]=m_vfElements.m_vfElements16[11]=m_vfElements.m_vfElements16[12]=m_vfElements.m_vfElements16[13]=m_vfElements.m_vfElements16[14]=0.0f;
00053 rotate(quaRotation);
00054 };
00055
00056 ~Matrix()
00057 {
00058 };
00059
00060 void Set(const float *pElements)
00061 {
00062 memcpy((void*)m_vfElements.m_vfElements16, (void *)pElements, 16*sizeof(float));
00063 };
00064
00065 void clearMatrix()
00066 {
00067 m_vfElements.m_vfElements16[0]=m_vfElements.m_vfElements16[5]=m_vfElements.m_vfElements16[10]=m_vfElements.m_vfElements16[15]=1.0f;
00068 m_vfElements.m_vfElements16[1]=m_vfElements.m_vfElements16[2]=m_vfElements.m_vfElements16[3]=m_vfElements.m_vfElements16[4]=m_vfElements.m_vfElements16[6]=m_vfElements.m_vfElements16[7]=m_vfElements.m_vfElements16[8]=m_vfElements.m_vfElements16[9]=m_vfElements.m_vfElements16[11]=m_vfElements.m_vfElements16[12]=m_vfElements.m_vfElements16[13]=m_vfElements.m_vfElements16[14]=0.0f;
00069 };
00070
00071 const float * Get() const
00072 {
00073 return (float *) m_vfElements.m_vfElements16;
00074 };
00075
00076 void Set(const unsigned int i, const unsigned int j, const float & fValue)
00077 {
00078 m_vfElements.m_vfElements44[i][j] = fValue;
00079 };
00080
00081 const float & Get(const unsigned int i, const unsigned int j) const
00082 {
00083 return m_vfElements.m_vfElements44[i][j];
00084 };
00085
00086 const float & Get(const unsigned int i) const
00087 {
00088 return m_vfElements.m_vfElements16[i];
00089 };
00090
00091 void SetRow(const unsigned int i, const float vfValues[4])
00092 {
00093 m_vfElements.m_vfElements16[ i+0] = vfValues[0];
00094 m_vfElements.m_vfElements16[ i+4] = vfValues[1];
00095 m_vfElements.m_vfElements16[ i+8] = vfValues[2];
00096 m_vfElements.m_vfElements16[i+12] = vfValues[3];
00097 };
00098
00099 void SetColumn(const unsigned int i, const float vfValues[4])
00100 {
00101 m_vfElements.m_vfElements16[i*4+0] = vfValues[0];
00102 m_vfElements.m_vfElements16[i*4+1] = vfValues[1];
00103 m_vfElements.m_vfElements16[i*4+2] = vfValues[2];
00104 m_vfElements.m_vfElements16[i*4+3] = vfValues[3];
00105 };
00106
00107 void SetRow(const unsigned int i, const Vector & vecVector)
00108 {
00109 m_vfElements.m_vfElements16[ i+0] = vecVector.GetX();
00110 m_vfElements.m_vfElements16[ i+4] = vecVector.GetY();
00111 m_vfElements.m_vfElements16[ i+8] = vecVector.GetZ();
00112 };
00113
00114 void SetColumn(const unsigned int i, const Vector & vecVector)
00115 {
00116 m_vfElements.m_vfElements16[i*4+0] = vecVector.GetX();
00117 m_vfElements.m_vfElements16[i*4+1] = vecVector.GetY();
00118 m_vfElements.m_vfElements16[i*4+2] = vecVector.GetZ();
00119 };
00120
00121 float & operator()(const unsigned int i, const unsigned int j)
00122 {
00123 return m_vfElements.m_vfElements44[i][j];
00124 };
00125
00126 const float & operator()(const unsigned int i, const unsigned int j) const
00127 {
00128 return m_vfElements.m_vfElements44[i][j];
00129 };
00130
00131 void SetTranslation(const Vector & vecTranslation)
00132 {
00133 m_vfElements.m_vfElements16[12] = vecTranslation.GetX();
00134 m_vfElements.m_vfElements16[13] = vecTranslation.GetY();
00135 m_vfElements.m_vfElements16[14] = vecTranslation.GetZ();
00136 m_vfElements.m_vfElements16[15] = 1.0f;
00137 };
00138
00139 const Vector GetTranslation() const
00140 {
00141 return Vector(m_vfElements.m_vfElements16[12],m_vfElements.m_vfElements16[13],m_vfElements.m_vfElements16[14]);
00142 };
00143
00144 const Quaternion GetRotation() const
00145 {
00146 const float fTrace = m_vfElements.m_vfElements16[0] + m_vfElements.m_vfElements16[5] + m_vfElements.m_vfElements16[10] + 1.0f;
00147
00148 if (fTrace > 0.0f)
00149 {
00150 const float fS = 0.5f / sqrt(fTrace);
00151 const float fW = 0.25f / fS;
00152 const float fX = ( m_vfElements.m_vfElements16[6] - m_vfElements.m_vfElements16[9] ) * fS;
00153 const float fY = ( m_vfElements.m_vfElements16[8] - m_vfElements.m_vfElements16[2] ) * fS;
00154 const float fZ = ( m_vfElements.m_vfElements16[1] - m_vfElements.m_vfElements16[4] ) * fS;
00155 return Quaternion(Vector(fX,fY,fZ).GetNormalized(),fW);
00156 }
00157 else
00158 {
00159 const float fMaximum = std::max(m_vfElements.m_vfElements44[0][0],std::max(m_vfElements.m_vfElements44[1][1],m_vfElements.m_vfElements44[2][2]));
00160
00161 if (fMaximum == m_vfElements.m_vfElements44[0][0])
00162 {
00163 const float fS = sqrtf( 1.0f + m_vfElements.m_vfElements16[0] - m_vfElements.m_vfElements16[5] - m_vfElements.m_vfElements16[10] ) * 2.0f;
00164 const float fX = 0.5f / fS;
00165 const float fY = (m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[1] ) / fS;
00166 const float fZ = (m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[2] ) / fS;
00167 const float fW = (m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[6] ) / fS;
00168 return Quaternion(Vector(fX,fY,fZ).GetNormalized(),fW);
00169 }
00170 else if (fMaximum == m_vfElements.m_vfElements44[1][1])
00171 {
00172 const float fS = sqrtf( 1.0f + m_vfElements.m_vfElements16[5] - m_vfElements.m_vfElements16[0] - m_vfElements.m_vfElements16[10] ) * 2.0f;
00173 const float fX = (m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[1] ) / fS;
00174 const float fY = 0.5f / fS;
00175 const float fZ = (m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[6] ) / fS;
00176 const float fW = (m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[2] ) / fS;
00177 return Quaternion(Vector(fX,fY,fZ).GetNormalized(),fW);
00178 }
00179 else
00180 {
00181 const float fS = sqrtf( 1.0f + m_vfElements.m_vfElements16[10] - m_vfElements.m_vfElements16[0] - m_vfElements.m_vfElements16[5] ) * 2.0f;
00182 const float fX = (m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[2] ) / fS;
00183 const float fY = (m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[6] ) / fS;
00184 const float fZ = 0.5f / fS;
00185 const float fW = (m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[1] ) / fS;
00186 return Quaternion(Vector(fX,fY,fZ).GetNormalized(),fW);
00187 }
00188 }
00189 };
00190
00191 const Matrix GetTranslated(const Vector & vecTranslation) const
00192 {
00193 return (*this) * Matrix(1.0f,0.0f,0.0f,vecTranslation.GetX(), 0.0f,1.0f,0.0f,vecTranslation.GetY(), 0.0f,0.0f,1.0f,vecTranslation.GetZ(), 0.0f, 0.0f,0.0f,1.0f);
00194 };
00195
00196 void translate(const Vector &vecTranslation)
00197 {
00198 *this = GetTranslated(vecTranslation);
00199 };
00200
00201 const Matrix GetScaled(const Vector &vecScale) const
00202 {
00203 return (*this) * Matrix( vecScale.GetX(),0.0f,0.0f,0.0f, 0.0f,vecScale.GetY(),0.0f,0.0f, 0.0f,0.0f,vecScale.GetZ(),0.0f, 0.0f,0.0f,0.0f,1.0f);
00204 };
00205
00206 void scale(const Vector &vecScale)
00207 {
00208 *this = GetScaled(vecScale);
00209 };
00210
00211 const Matrix GetRotated(const Quaternion & quaRotation) const
00212 {
00213 const float fXX = quaRotation.GetVector().GetX() * quaRotation.GetVector().GetX();
00214 const float fXY = quaRotation.GetVector().GetX() * quaRotation.GetVector().GetY();
00215 const float fXZ = quaRotation.GetVector().GetX() * quaRotation.GetVector().GetZ();
00216 const float fXW = quaRotation.GetVector().GetX() * quaRotation.GetScalar();
00217 const float fYY = quaRotation.GetVector().GetY() * quaRotation.GetVector().GetY();
00218 const float fYZ = quaRotation.GetVector().GetY() * quaRotation.GetVector().GetZ();
00219 const float fYW = quaRotation.GetVector().GetY() * quaRotation.GetScalar();
00220 const float fZZ = quaRotation.GetVector().GetZ() * quaRotation.GetVector().GetZ();
00221 const float fZW = quaRotation.GetVector().GetZ() * quaRotation.GetScalar();
00222
00223 return (*this) * Matrix(1.0f - 2.0f * (fYY + fZZ), 2.0f * (fXY - fZW), 2.0f * (fXZ + fYW), 0.0f, 2.0f * (fXY + fZW), 1.0f - 2.0f * (fXX + fZZ), 2.0f * (fYZ - fXW), 0.0f, 2.0f * (fXZ - fYW), 2.0f * (fYZ + fXW), 1.0f - 2.0f * (fXX + fYY), 0.0f, 0.0f, 0.0f, 0.0f, 1.0f);
00224 };
00225
00226 void rotate(const Quaternion & quaRotation)
00227 {
00228 *this = GetRotated(quaRotation);
00229 };
00230
00231 const Matrix GetInverse() const
00232 {
00233 const float fTmp1 = m_vfElements.m_vfElements44[2][2]*m_vfElements.m_vfElements44[3][3];
00234 const float fTmp2 = m_vfElements.m_vfElements44[0][1]*fTmp1;
00235 const float fTmp4 = m_vfElements.m_vfElements44[2][3]*m_vfElements.m_vfElements44[3][2];
00236 const float fTmp5 = m_vfElements.m_vfElements44[0][1]*fTmp4;
00237 const float fTmp6 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[3][3];
00238 const float fTmp7 = m_vfElements.m_vfElements44[2][1]*fTmp6;
00239 const float fTmp8 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[3][2];
00240 const float fTmp9 = m_vfElements.m_vfElements44[2][1]*fTmp8;
00241 const float fTmp11 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[2][3];
00242 const float fTmp12 = m_vfElements.m_vfElements44[3][1]*fTmp11;
00243 const float fTmp14 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[2][2];
00244 const float fTmp15 = m_vfElements.m_vfElements44[3][1]*fTmp14;
00245 const float fTmp17 = m_vfElements.m_vfElements44[1][1]*fTmp1;
00246 const float fTmp19 = m_vfElements.m_vfElements44[1][1]*fTmp4;
00247 const float fTmp22 = m_vfElements.m_vfElements44[1][2]*m_vfElements.m_vfElements44[3][3];
00248 const float fTmp23 = m_vfElements.m_vfElements44[2][1]*fTmp22;
00249 const float fTmp26 = m_vfElements.m_vfElements44[1][3]*m_vfElements.m_vfElements44[3][2];
00250 const float fTmp27 = m_vfElements.m_vfElements44[2][1]*fTmp26;
00251 const float fTmp29 = m_vfElements.m_vfElements44[1][2]*m_vfElements.m_vfElements44[2][3];
00252 const float fTmp30 = m_vfElements.m_vfElements44[3][1]*fTmp29;
00253 const float fTmp32 = m_vfElements.m_vfElements44[1][3]*m_vfElements.m_vfElements44[2][2];
00254 const float fTmp33 = m_vfElements.m_vfElements44[3][1]*fTmp32;
00255 const float fTmp48 = m_vfElements.m_vfElements44[0][1]*fTmp22;
00256 const float fTmp50 = m_vfElements.m_vfElements44[0][1]*fTmp26;
00257 const float fTmp53 = m_vfElements.m_vfElements44[1][1]*fTmp6;
00258 const float fTmp56 = m_vfElements.m_vfElements44[1][1]*fTmp8;
00259 const float fTmp58 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[1][3];
00260 const float fTmp59 = m_vfElements.m_vfElements44[3][1]*fTmp58;
00261 const float fTmp61 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[1][2];
00262 const float fTmp62 = m_vfElements.m_vfElements44[3][1]*fTmp61;
00263 const float fTmp66 = m_vfElements.m_vfElements44[0][1]*fTmp29;
00264 const float fTmp69 = m_vfElements.m_vfElements44[0][1]*fTmp32;
00265 const float fTmp71 = m_vfElements.m_vfElements44[1][1]*fTmp11;
00266 const float fTmp73 = m_vfElements.m_vfElements44[1][1]*fTmp14;
00267 const float fTmp76 = m_vfElements.m_vfElements44[2][1]*fTmp58;
00268 const float fTmp79 = m_vfElements.m_vfElements44[2][1]*fTmp61;
00269 const float fTmp84 = 1.0f/(m_vfElements.m_vfElements44[0][0]*fTmp17-m_vfElements.m_vfElements44[0][0]*fTmp19-m_vfElements.m_vfElements44[0][0]*fTmp23+m_vfElements.m_vfElements44[0][0]*fTmp27+m_vfElements.m_vfElements44[0][0]*fTmp30-m_vfElements.m_vfElements44[0][0]*fTmp33-m_vfElements.m_vfElements44[1][0]*fTmp2+m_vfElements.m_vfElements44[1][0]*fTmp5+m_vfElements.m_vfElements44[1][0]*fTmp7-m_vfElements.m_vfElements44[1][0]*fTmp9-m_vfElements.m_vfElements44[1][0]*fTmp12+m_vfElements.m_vfElements44[1][0]*fTmp15+m_vfElements.m_vfElements44[2][0]*fTmp48-m_vfElements.m_vfElements44[2][0]*fTmp50-m_vfElements.m_vfElements44[2][0]*fTmp53+m_vfElements.m_vfElements44[2][0]*fTmp56+m_vfElements.m_vfElements44[2][0]*fTmp59-m_vfElements.m_vfElements44[2][0]*fTmp62-m_vfElements.m_vfElements44[3][0]*fTmp66+m_vfElements.m_vfElements44[3][0]*fTmp69+m_vfElements.m_vfElements44[3][0]*fTmp71-m_vfElements.m_vfElements44[3][0]*fTmp73-m_vfElements.m_vfElements44[3][0]*fTmp76+m_vfElements.m_vfElements44[3][0]*fTmp79);
00270 const float fTmp116 = m_vfElements.m_vfElements44[2][1]*m_vfElements.m_vfElements44[3][2];
00271 const float fTmp118 = m_vfElements.m_vfElements44[2][2]*m_vfElements.m_vfElements44[3][1];
00272 const float fTmp121 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[3][2];
00273 const float fTmp124 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[3][1];
00274 const float fTmp126 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[2][2];
00275 const float fTmp128 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[2][1];
00276 const float fTmp133 = m_vfElements.m_vfElements44[2][1]*m_vfElements.m_vfElements44[3][3];
00277 const float fTmp135 = m_vfElements.m_vfElements44[2][3]*m_vfElements.m_vfElements44[3][1];
00278 const float fTmp138 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[3][3];
00279 const float fTmp141 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[3][1];
00280 const float fTmp143 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[2][3];
00281 const float fTmp145 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[2][1];
00282 const float fTmp151 = m_vfElements.m_vfElements44[1][1]*m_vfElements.m_vfElements44[2][2];
00283 const float fTmp153 = m_vfElements.m_vfElements44[1][2]*m_vfElements.m_vfElements44[2][1];
00284 const float fTmp159 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[1][2];
00285 const float fTmp161 = m_vfElements.m_vfElements44[0][2]*m_vfElements.m_vfElements44[1][1];
00286 const float fTmp166 = m_vfElements.m_vfElements44[1][1]*m_vfElements.m_vfElements44[3][3];
00287 const float fTmp168 = m_vfElements.m_vfElements44[1][3]*m_vfElements.m_vfElements44[3][1];
00288 const float fTmp174 = m_vfElements.m_vfElements44[0][1]*m_vfElements.m_vfElements44[1][3];
00289 const float fTmp176 = m_vfElements.m_vfElements44[0][3]*m_vfElements.m_vfElements44[1][1];
00290 const float fTmp187 = m_vfElements.m_vfElements44[1][1]*m_vfElements.m_vfElements44[2][3];
00291 const float fTmp189 = m_vfElements.m_vfElements44[1][3]*m_vfElements.m_vfElements44[2][1];
00292 const float fTmp212 = m_vfElements.m_vfElements44[1][1]*m_vfElements.m_vfElements44[3][2];
00293 const float fTmp214 = m_vfElements.m_vfElements44[1][2]*m_vfElements.m_vfElements44[3][1];
00294
00295 Matrix matNew;
00296 matNew.m_vfElements.m_vfElements44[0][1] = (-fTmp2+fTmp5+fTmp7-fTmp9-fTmp12+fTmp15)*fTmp84;
00297 matNew.m_vfElements.m_vfElements44[0][2] = -(-fTmp48+fTmp50+fTmp53-fTmp56-fTmp59+fTmp62)*fTmp84;
00298 matNew.m_vfElements.m_vfElements44[1][2] = -(m_vfElements.m_vfElements44[0][0]*fTmp22-m_vfElements.m_vfElements44[0][0]*fTmp26-m_vfElements.m_vfElements44[1][0]*fTmp6+m_vfElements.m_vfElements44[1][0]*fTmp8+m_vfElements.m_vfElements44[3][0]*fTmp58-m_vfElements.m_vfElements44[3][0]*fTmp61)*fTmp84;
00299 matNew.m_vfElements.m_vfElements44[1][3] = -(-m_vfElements.m_vfElements44[0][0]*fTmp29+m_vfElements.m_vfElements44[0][0]*fTmp32+m_vfElements.m_vfElements44[1][0]*fTmp11-m_vfElements.m_vfElements44[1][0]*fTmp14-m_vfElements.m_vfElements44[2][0]*fTmp58+m_vfElements.m_vfElements44[2][0]*fTmp61)*fTmp84;
00300 matNew.m_vfElements.m_vfElements44[3][1] = (m_vfElements.m_vfElements44[0][0]*fTmp116-m_vfElements.m_vfElements44[0][0]*fTmp118-m_vfElements.m_vfElements44[2][0]*fTmp121+m_vfElements.m_vfElements44[2][0]*fTmp124+m_vfElements.m_vfElements44[3][0]*fTmp126-m_vfElements.m_vfElements44[3][0]*fTmp128)*fTmp84;
00301 matNew.m_vfElements.m_vfElements44[2][1] = -(m_vfElements.m_vfElements44[0][0]*fTmp133-m_vfElements.m_vfElements44[0][0]*fTmp135-m_vfElements.m_vfElements44[2][0]*fTmp138+m_vfElements.m_vfElements44[2][0]*fTmp141+m_vfElements.m_vfElements44[3][0]*fTmp143-m_vfElements.m_vfElements44[3][0]*fTmp145)*fTmp84;
00302 matNew.m_vfElements.m_vfElements44[3][3] = (m_vfElements.m_vfElements44[0][0]*fTmp151-m_vfElements.m_vfElements44[0][0]*fTmp153-m_vfElements.m_vfElements44[1][0]*fTmp126+m_vfElements.m_vfElements44[1][0]*fTmp128+m_vfElements.m_vfElements44[2][0]*fTmp159-m_vfElements.m_vfElements44[2][0]*fTmp161)*fTmp84;
00303 matNew.m_vfElements.m_vfElements44[2][2] = (m_vfElements.m_vfElements44[0][0]*fTmp166-m_vfElements.m_vfElements44[0][0]*fTmp168-m_vfElements.m_vfElements44[1][0]*fTmp138+m_vfElements.m_vfElements44[1][0]*fTmp141+m_vfElements.m_vfElements44[3][0]*fTmp174-m_vfElements.m_vfElements44[3][0]*fTmp176)*fTmp84;
00304 matNew.m_vfElements.m_vfElements44[2][0] = (m_vfElements.m_vfElements44[1][0]*fTmp133-m_vfElements.m_vfElements44[1][0]*fTmp135-m_vfElements.m_vfElements44[2][0]*fTmp166+m_vfElements.m_vfElements44[2][0]*fTmp168+m_vfElements.m_vfElements44[3][0]*fTmp187-m_vfElements.m_vfElements44[3][0]*fTmp189)*fTmp84;
00305 matNew.m_vfElements.m_vfElements44[1][0] = -(m_vfElements.m_vfElements44[1][0]*fTmp1-m_vfElements.m_vfElements44[1][0]*fTmp4-m_vfElements.m_vfElements44[2][0]*fTmp22+m_vfElements.m_vfElements44[2][0]*fTmp26+m_vfElements.m_vfElements44[3][0]*fTmp29-m_vfElements.m_vfElements44[3][0]*fTmp32)*fTmp84;
00306 matNew.m_vfElements.m_vfElements44[0][3] = -(fTmp66-fTmp69-fTmp71+fTmp73+fTmp76-fTmp79)*fTmp84;
00307 matNew.m_vfElements.m_vfElements44[3][2] = -(m_vfElements.m_vfElements44[0][0]*fTmp212-m_vfElements.m_vfElements44[0][0]*fTmp214-m_vfElements.m_vfElements44[1][0]*fTmp121+m_vfElements.m_vfElements44[1][0]*fTmp124+m_vfElements.m_vfElements44[3][0]*fTmp159-m_vfElements.m_vfElements44[3][0]*fTmp161)*fTmp84;
00308 matNew.m_vfElements.m_vfElements44[0][0] = (fTmp17-fTmp19-fTmp23+fTmp27+fTmp30-fTmp33)*fTmp84;
00309 matNew.m_vfElements.m_vfElements44[2][3] = -(m_vfElements.m_vfElements44[0][0]*fTmp187-m_vfElements.m_vfElements44[0][0]*fTmp189-m_vfElements.m_vfElements44[1][0]*fTmp143+m_vfElements.m_vfElements44[1][0]*fTmp145+m_vfElements.m_vfElements44[2][0]*fTmp174-m_vfElements.m_vfElements44[2][0]*fTmp176)*fTmp84;
00310 matNew.m_vfElements.m_vfElements44[3][0] = -(m_vfElements.m_vfElements44[1][0]*fTmp116-m_vfElements.m_vfElements44[1][0]*fTmp118-m_vfElements.m_vfElements44[2][0]*fTmp212+m_vfElements.m_vfElements44[2][0]*fTmp214+m_vfElements.m_vfElements44[3][0]*fTmp151-m_vfElements.m_vfElements44[3][0]*fTmp153)*fTmp84;
00311 matNew.m_vfElements.m_vfElements44[1][1] = (m_vfElements.m_vfElements44[0][0]*fTmp1-m_vfElements.m_vfElements44[0][0]*fTmp4-m_vfElements.m_vfElements44[2][0]*fTmp6+m_vfElements.m_vfElements44[2][0]*fTmp8+m_vfElements.m_vfElements44[3][0]*fTmp11-m_vfElements.m_vfElements44[3][0]*fTmp14)*fTmp84;
00312
00313 return matNew;
00314 };
00315
00316 void invert()
00317 {
00318 (*this) = GetInverse();
00319 }
00320
00321 const Matrix GetTransposed() const
00322 {
00323 return Matrix(
00324 m_vfElements.m_vfElements16[0],m_vfElements.m_vfElements16[1],m_vfElements.m_vfElements16[2],m_vfElements.m_vfElements16[3],
00325 m_vfElements.m_vfElements16[4],m_vfElements.m_vfElements16[5],m_vfElements.m_vfElements16[6],m_vfElements.m_vfElements16[7],
00326 m_vfElements.m_vfElements16[8],m_vfElements.m_vfElements16[9],m_vfElements.m_vfElements16[10],m_vfElements.m_vfElements16[11],
00327 m_vfElements.m_vfElements16[12],m_vfElements.m_vfElements16[13],m_vfElements.m_vfElements16[14],m_vfElements.m_vfElements16[15]);
00328 };
00329
00330 void transpose()
00331 {
00332 (*this) = GetTransposed();
00333 };
00334
00335 const Vector GetRotated(const Vector & vecOther) const
00336 {
00337 return Vector(
00338 (m_vfElements.m_vfElements16[0]*vecOther.GetX() + m_vfElements.m_vfElements16[4]*vecOther.GetY() + m_vfElements.m_vfElements16[8]*vecOther.GetZ()),
00339 (m_vfElements.m_vfElements16[1]*vecOther.GetX() + m_vfElements.m_vfElements16[5]*vecOther.GetY() + m_vfElements.m_vfElements16[9]*vecOther.GetZ()),
00340 (m_vfElements.m_vfElements16[2]*vecOther.GetX() + m_vfElements.m_vfElements16[6]*vecOther.GetY() + m_vfElements.m_vfElements16[10]*vecOther.GetZ()));
00341 };
00342
00343 const bool operator==(const Matrix & matOther) const
00344 {
00345 for (unsigned int i=0;i < 16; i++)
00346 {
00347 if (m_vfElements.m_vfElements16[i] != matOther.m_vfElements.m_vfElements16[i])
00348 return false;
00349 }
00350
00351 return true;
00352 };
00353
00354 const bool operator!=(const Matrix & matOther) const
00355 {
00356 return !(*this == matOther);
00357 };
00358
00359 const Matrix operator*(const Matrix & matOther) const
00360 {
00361 return Matrix(
00362 m_vfElements.m_vfElements16[0]*matOther.m_vfElements.m_vfElements16[0] + m_vfElements.m_vfElements16[4]*matOther.m_vfElements.m_vfElements16[1] + m_vfElements.m_vfElements16[8]*matOther.m_vfElements.m_vfElements16[2] + m_vfElements.m_vfElements16[12]*matOther.m_vfElements.m_vfElements16[3],
00363 m_vfElements.m_vfElements16[0]*matOther.m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[4]*matOther.m_vfElements.m_vfElements16[5] + m_vfElements.m_vfElements16[8]*matOther.m_vfElements.m_vfElements16[6] + m_vfElements.m_vfElements16[12]*matOther.m_vfElements.m_vfElements16[7],
00364 m_vfElements.m_vfElements16[0]*matOther.m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[4]*matOther.m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[8]*matOther.m_vfElements.m_vfElements16[10] + m_vfElements.m_vfElements16[12]*matOther.m_vfElements.m_vfElements16[11],
00365 m_vfElements.m_vfElements16[0]*matOther.m_vfElements.m_vfElements16[12] + m_vfElements.m_vfElements16[4]*matOther.m_vfElements.m_vfElements16[13] + m_vfElements.m_vfElements16[8]*matOther.m_vfElements.m_vfElements16[14] + m_vfElements.m_vfElements16[12]*matOther.m_vfElements.m_vfElements16[15],
00366
00367 m_vfElements.m_vfElements16[1]*matOther.m_vfElements.m_vfElements16[0] + m_vfElements.m_vfElements16[5]*matOther.m_vfElements.m_vfElements16[1] + m_vfElements.m_vfElements16[9]*matOther.m_vfElements.m_vfElements16[2] + m_vfElements.m_vfElements16[13]*matOther.m_vfElements.m_vfElements16[3],
00368 m_vfElements.m_vfElements16[1]*matOther.m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[5]*matOther.m_vfElements.m_vfElements16[5] + m_vfElements.m_vfElements16[9]*matOther.m_vfElements.m_vfElements16[6] + m_vfElements.m_vfElements16[13]*matOther.m_vfElements.m_vfElements16[7],
00369 m_vfElements.m_vfElements16[1]*matOther.m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[5]*matOther.m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[9]*matOther.m_vfElements.m_vfElements16[10] + m_vfElements.m_vfElements16[13]*matOther.m_vfElements.m_vfElements16[11],
00370 m_vfElements.m_vfElements16[1]*matOther.m_vfElements.m_vfElements16[12] + m_vfElements.m_vfElements16[5]*matOther.m_vfElements.m_vfElements16[13] + m_vfElements.m_vfElements16[9]*matOther.m_vfElements.m_vfElements16[14] + m_vfElements.m_vfElements16[13]*matOther.m_vfElements.m_vfElements16[15],
00371
00372 m_vfElements.m_vfElements16[2]*matOther.m_vfElements.m_vfElements16[0] + m_vfElements.m_vfElements16[6]*matOther.m_vfElements.m_vfElements16[1] + m_vfElements.m_vfElements16[10]*matOther.m_vfElements.m_vfElements16[2] + m_vfElements.m_vfElements16[14]*matOther.m_vfElements.m_vfElements16[3],
00373 m_vfElements.m_vfElements16[2]*matOther.m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[6]*matOther.m_vfElements.m_vfElements16[5] + m_vfElements.m_vfElements16[10]*matOther.m_vfElements.m_vfElements16[6] + m_vfElements.m_vfElements16[14]*matOther.m_vfElements.m_vfElements16[7],
00374 m_vfElements.m_vfElements16[2]*matOther.m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[6]*matOther.m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[10]*matOther.m_vfElements.m_vfElements16[10] + m_vfElements.m_vfElements16[14]*matOther.m_vfElements.m_vfElements16[11],
00375 m_vfElements.m_vfElements16[2]*matOther.m_vfElements.m_vfElements16[12] + m_vfElements.m_vfElements16[6]*matOther.m_vfElements.m_vfElements16[13] + m_vfElements.m_vfElements16[10]*matOther.m_vfElements.m_vfElements16[14] + m_vfElements.m_vfElements16[14]*matOther.m_vfElements.m_vfElements16[15],
00376
00377 m_vfElements.m_vfElements16[3]*matOther.m_vfElements.m_vfElements16[0] + m_vfElements.m_vfElements16[7]*matOther.m_vfElements.m_vfElements16[1] + m_vfElements.m_vfElements16[11]*matOther.m_vfElements.m_vfElements16[2] + m_vfElements.m_vfElements16[15]*matOther.m_vfElements.m_vfElements16[3],
00378 m_vfElements.m_vfElements16[3]*matOther.m_vfElements.m_vfElements16[4] + m_vfElements.m_vfElements16[7]*matOther.m_vfElements.m_vfElements16[5] + m_vfElements.m_vfElements16[11]*matOther.m_vfElements.m_vfElements16[6] + m_vfElements.m_vfElements16[15]*matOther.m_vfElements.m_vfElements16[7],
00379 m_vfElements.m_vfElements16[3]*matOther.m_vfElements.m_vfElements16[8] + m_vfElements.m_vfElements16[7]*matOther.m_vfElements.m_vfElements16[9] + m_vfElements.m_vfElements16[11]*matOther.m_vfElements.m_vfElements16[10] + m_vfElements.m_vfElements16[15]*matOther.m_vfElements.m_vfElements16[11],
00380 m_vfElements.m_vfElements16[3]*matOther.m_vfElements.m_vfElements16[12] + m_vfElements.m_vfElements16[7]*matOther.m_vfElements.m_vfElements16[13] + m_vfElements.m_vfElements16[11]*matOther.m_vfElements.m_vfElements16[14] + m_vfElements.m_vfElements16[15]*matOther.m_vfElements.m_vfElements16[15] );
00381 };
00382
00383 const Matrix & operator*=(const Matrix & matOther)
00384 {
00385 *this = (*this) * matOther;
00386 return *this;
00387 };
00388
00389 const Vector operator* (const Vector &vecOther) const
00390 {
00391 const float fW = m_vfElements.m_vfElements16[3]*vecOther.GetX() + m_vfElements.m_vfElements16[7]*vecOther.GetY() + m_vfElements.m_vfElements16[11]*vecOther.GetZ() + m_vfElements.m_vfElements16[15];
00392 return Vector(
00393 (m_vfElements.m_vfElements16[0]*vecOther.GetX() + m_vfElements.m_vfElements16[4]*vecOther.GetY() + m_vfElements.m_vfElements16[8]*vecOther.GetZ() + m_vfElements.m_vfElements16[12]) / fW,
00394 (m_vfElements.m_vfElements16[1]*vecOther.GetX() + m_vfElements.m_vfElements16[5]*vecOther.GetY() + m_vfElements.m_vfElements16[9]*vecOther.GetZ() + m_vfElements.m_vfElements16[13]) / fW,
00395 (m_vfElements.m_vfElements16[2]*vecOther.GetX() + m_vfElements.m_vfElements16[6]*vecOther.GetY() + m_vfElements.m_vfElements16[10]*vecOther.GetZ() + m_vfElements.m_vfElements16[14]) / fW );
00396 };
00397
00398 private:
00399
00400 union
00401 {
00402 float m_vfElements16[16];
00403 float m_vfElements44[4][4];
00404 } m_vfElements;
00405 };
00406
00407 inline std::ostream & operator << (std::ostream & os, const Matrix & matMatrix)
00408 {
00409 os << "((" << matMatrix.Get(0,0) << ";" << matMatrix.Get(0,1) << ";" << matMatrix.Get(0,2) << ";" << matMatrix.Get(0,3) << ")" << ";"
00410 << "(" << matMatrix.Get(1,0) << ";" << matMatrix.Get(1,1) << ";" << matMatrix.Get(1,2) << ";" << matMatrix.Get(1,3) << ")" << ";"
00411 << "(" << matMatrix.Get(2,0) << ";" << matMatrix.Get(2,1) << ";" << matMatrix.Get(2,2) << ";" << matMatrix.Get(2,3) << ")" << ";"
00412 << "(" << matMatrix.Get(3,0) << ";" << matMatrix.Get(3,1) << ";" << matMatrix.Get(3,2) << ";" << matMatrix.Get(3,3) << "))";
00413 return os;
00414 }
00415
00416 inline std::istream & operator>> (std::istream & is, Matrix & matMatrix)
00417 {
00418 float f00, f01, f02, f03;
00419 float f10, f11, f12, f13;
00420 float f20, f21, f22, f23;
00421 float f30, f31, f32, f33;
00422
00423 if (is
00424 >> eat ("(")
00425 >> eat("(") >> f00 >> eat(";") >> f01 >> eat(";") >> f02 >> eat(";") >> f03 >> eat(")") >> eat(";")
00426 >> eat("(") >> f10 >> eat(";") >> f11 >> eat(";") >> f12 >> eat(";") >> f13 >> eat(")") >> eat(";")
00427 >> eat("(") >> f20 >> eat(";") >> f21 >> eat(";") >> f22 >> eat(";") >> f23 >> eat(")") >> eat(";")
00428 >> eat("(") >> f30 >> eat(";") >> f31 >> eat(";") >> f32 >> eat(";") >> f33 >> eat(")")
00429 >> eat(")"))
00430 {
00431 matMatrix.Set(0,0,f00); matMatrix.Set(0,1,f01); matMatrix.Set(0,2,f02); matMatrix.Set(0,3,f03);
00432 matMatrix.Set(1,0,f10); matMatrix.Set(1,1,f11); matMatrix.Set(1,2,f12); matMatrix.Set(1,3,f13);
00433 matMatrix.Set(2,0,f20); matMatrix.Set(2,1,f21); matMatrix.Set(2,2,f22); matMatrix.Set(2,3,f23);
00434 matMatrix.Set(3,0,f30); matMatrix.Set(3,1,f31); matMatrix.Set(3,2,f32); matMatrix.Set(3,3,f33);
00435
00436 }
00437
00438 return is;
00439 }