112 lines
3.1 KiB
C++
112 lines
3.1 KiB
C++
#pragma once
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#define _USE_MATH_DEFINES
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#include <math.h>
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#include "Vector3f.h"
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class Matrix4f
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{
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public:
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enum
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{
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TX=3,
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TY=7,
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TZ=11,
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D0=0, D1=5, D2=10, D3=15,
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SX=D0, SY=D1, SZ=D2,
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W=D3
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};
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Matrix4f() { Identity(); }
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float& operator [] ( int a_N ) { return cell[a_N]; }
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void Identity()
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{
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cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] =
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cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0;
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cell[D0] = cell[D1] = cell[D2] = cell[W] = 1;
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}
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void Init( Vector3f a_Pos, float a_RX, float a_RY, float a_RZ )
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{
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Matrix4f t;
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t.RotateX( a_RZ );
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RotateY( a_RY );
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Concatenate( t );
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t.RotateZ( a_RX );
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Concatenate( t );
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Translate( a_Pos );
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}
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void RotateX( float a_RX )
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{
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float sx = (float)sin( a_RX * M_PI / 180 );
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float cx = (float)cos( a_RX * M_PI / 180 );
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Identity();
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cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx;
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}
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void RotateY( float a_RY )
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{
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float sy = (float)sin( a_RY * M_PI / 180 );
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float cy = (float)cos( a_RY * M_PI / 180 );
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Identity ();
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cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy;
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}
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void RotateZ( float a_RZ )
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{
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float sz = (float)sin( a_RZ * M_PI / 180 );
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float cz = (float)cos( a_RZ * M_PI / 180 );
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Identity ();
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cell[0] = cz, cell[1] = sz, cell[4] = -sz, cell[5] = cz;
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}
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void Translate( Vector3f a_Pos ) { cell[TX] += a_Pos.x; cell[TY] += a_Pos.y; cell[TZ] += a_Pos.z; }
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void SetTranslation( Vector3f a_Pos ) { cell[TX] = a_Pos.x; cell[TY] = a_Pos.y; cell[TZ] = a_Pos.z; }
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void Concatenate( const Matrix4f& m2 )
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{
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Matrix4f res;
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int c;
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for ( c = 0; c < 4; c++ ) for ( int r = 0; r < 4; r++ )
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res.cell[r * 4 + c] = cell[r * 4] * m2.cell[c] +
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cell[r * 4 + 1] * m2.cell[c + 4] +
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cell[r * 4 + 2] * m2.cell[c + 8] +
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cell[r * 4 + 3] * m2.cell[c + 12];
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for ( c = 0; c < 16; c++ ) cell[c] = res.cell[c];
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}
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Vector3f Transform( const Vector3f& v ) const
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{
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float x = cell[0] * v.x + cell[1] * v.y + cell[2] * v.z + cell[3];
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float y = cell[4] * v.x + cell[5] * v.y + cell[6] * v.z + cell[7];
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float z = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11];
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return Vector3f( x, y, z );
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}
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void Invert()
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{
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Matrix4f t;
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int h, i;
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float tx = -cell[3], ty = -cell[7], tz = -cell[11];
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for ( h = 0; h < 3; h++ ) for ( int v = 0; v < 3; v++ ) t.cell[h + v * 4] = cell[v + h * 4];
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for ( i = 0; i < 11; i++ ) cell[i] = t.cell[i];
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cell[3] = tx * cell[0] + ty * cell[1] + tz * cell[2];
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cell[7] = tx * cell[4] + ty * cell[5] + tz * cell[6];
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cell[11] = tx * cell[8] + ty * cell[9] + tz * cell[10];
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}
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Vector3f GetXColumn() { return Vector3f( cell[0], cell[1], cell[2] ); }
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Vector3f GetYColumn() { return Vector3f( cell[4], cell[5], cell[6] ); }
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Vector3f GetZColumn() { return Vector3f( cell[8], cell[9], cell[10] ); }
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void SetXColumn( const Vector3f & a_X )
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{
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cell[0] = a_X.x;
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cell[1] = a_X.y;
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cell[2] = a_X.z;
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}
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void SetYColumn( const Vector3f & a_Y )
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{
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cell[4] = a_Y.x;
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cell[5] = a_Y.y;
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cell[6] = a_Y.z;
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}
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void SetZColumn( const Vector3f & a_Z )
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{
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cell[8] = a_Z.x;
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cell[9] = a_Z.y;
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cell[10] = a_Z.z;
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}
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float cell[16];
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};
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