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#ifndef MATH_MATRIX4_H
#define MATH_MATRIX4_H
/*
GLT OpenGL C++ Toolkit (LGPL)
Copyright (C) 2000-2002 Nigel Stewart
Email: nigels@nigels.com
WWW: http://www.nigels.com/glt/
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*! \file
\brief 4x4 Matrix
\ingroup Math
*/
#include <iosfwd>
#include <math/real.h>
#include <math/vector3.h>
////////////////////////// Matrix /////////////////////////////////
/*! \class Matrix
\brief 4x4 Matrix
\ingroup Math
\author Nigel Stewart, RMIT (nigels@nigels.com)
\todo Nice pictures and explanation for 4x4 transformation matrices.
*/
class UnMatrix;
class Matrix
{
friend Matrix matrixScale(const double sf);
friend Matrix matrixScale(const Vector sf);
friend Matrix matrixTranslate(const Vector trans);
friend Matrix matrixTranslate(const real x,const real y,const real z);
friend Matrix matrixRotate(const Vector axis,const double angle);
friend Matrix matrixRotate(const double azimuth,const double elevation);
friend Matrix matrixOrient(const Vector &x,const Vector &y,const Vector &z);
friend Matrix matrixOrient(const Vector &direction,const Vector &up);
friend std::ostream &operator<<(std::ostream &os,const Matrix &m);
friend std::istream &operator>>(std::istream &is, Matrix &m);
public:
/// Default constructor
Matrix();
/// Copy constructor
Matrix(const Matrix &matrix);
/// Construct from array
Matrix(const float *matrix);
/// Construct from array
Matrix(const double *matrix);
/// Construct from OpenGL GL_MODELVIEW_MATRIX or GL_PROJECTION_MATRIX
Matrix(const unsigned int glMatrix);
/// Construct from string
Matrix(const std::string &str);
/// Assignment operator
Matrix &operator=(const Matrix &);
/// Matrix multiplication
Matrix operator*(const Matrix &) const;
/// In-place matrix multiplication
Matrix &operator*=(const Matrix &);
/// Matrix transformation of 3D vector
Vector operator*(const Vector &) const;
/// Reset to identity matrix
void reset();
/// Reset to identity matrix
void identity();
/// Is this matrix identity?
bool isIdentity() const;
/// Access i'th element of matrix
double &operator[](const int i);
/// Access i'th element of matrix
const double &operator[](const int i) const;
/// Access as array
operator double * ();
/// Access as array
operator const double * () const;
/// Equality operator
bool operator==(const Matrix &) const;
/// Not-equal operator
bool operator!=(const Matrix &) const;
/// Calculate matrix inverse
Matrix inverse() const;
/// Calculate matrix transpose
Matrix transpose() const;
/// Calculate unmatrix
UnMatrix unmatrix() const;
/// Calculate matrix determinant
double det() const;
/// Mult current OpenGL matrix
void glMultMatrix() const;
/// Load current OpenGL matrix
void glLoadMatrix() const;
/// Is this an orthographic projection matrix?
bool isOrtho() const;
/// Is this a perspective projection matrix?
bool isPerspective() const;
/// Write matrix in Povray format
std::ostream &writePov(std::ostream &os) const;
private:
double _matrix[16];
static double _identity[16];
inline void set(const int col,const int row,const double val)
{
_matrix[col*4+row] = val;
}
inline double get(const int col,const int row) const
{
return _matrix[col*4+row];
}
inline double &element(const int col,const int row)
{
return _matrix[col*4+row];
}
// From Mesa-2.2\src\glu\project.c
static void invertMatrixGeneral( const double *m, double *out );
static void invertMatrix( const double *m, double *out );
// From Graphics Gems GEMSI\MATINV.C
double
det3x3
(
const double a1,
const double a2,
const double a3,
const double b1,
const double b2,
const double b3,
const double c1,
const double c2,
const double c3
) const;
double
det2x2
(
const double a,
const double b,
const double c,
const double d
) const;
};
#endif
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