/////////////////////////////////////////////////////////////////////////////////////////////////// // OpenGL Mathematics Copyright (c) 2005 - 2008 G-Truc Creation (www.g-truc.net) /////////////////////////////////////////////////////////////////////////////////////////////////// // Created : 2005-01-27 // Updated : 2007-03-01 // Licence : This source is under GNU LGPL licence // File : _xmat4.inl /////////////////////////////////////////////////////////////////////////////////////////////////// #ifndef __mat4_inl__ #define __mat4_inl__ #include "./_xmat4.h" #include "./_func.h" namespace glm{ namespace detail{ template const typename _xmat4::size_type _xmat4::value_size = 4; template const typename _xmat4::size_type _xmat4::col_size = 4; template const typename _xmat4::size_type _xmat4::row_size = 4; ////////////////////////////////////////////////////////////// // mat4 constructors template inline _xmat4::_xmat4() { this->value[0] = _xvec4(1, 0, 0, 0); this->value[1] = _xvec4(0, 1, 0, 0); this->value[2] = _xvec4(0, 0, 1, 0); this->value[3] = _xvec4(0, 0, 0, 1); } template inline _xmat4::_xmat4(const T f) { this->value[0] = _xvec4(f, 0, 0, 0); this->value[1] = _xvec4(0, f, 0, 0); this->value[2] = _xvec4(0, 0, f, 0); this->value[3] = _xvec4(0, 0, 0, f); } template inline _xmat4::_xmat4 ( const T x0, const T y0, const T z0, const T w0, const T x1, const T y1, const T z1, const T w1, const T x2, const T y2, const T z2, const T w2, const T x3, const T y3, const T z3, const T w3 ) { this->value[0] = _xvec4(x0, y0, z0, w0); this->value[1] = _xvec4(x1, y1, z1, w1); this->value[2] = _xvec4(x2, y2, z2, w2); this->value[3] = _xvec4(x3, y3, z3, w3); } template inline _xmat4::_xmat4 ( const _xvec4& v0, const _xvec4& v1, const _xvec4& v2, const _xvec4& v3 ) { this->value[0] = v0; this->value[1] = v1; this->value[2] = v2; this->value[3] = v3; } template template inline _xmat4::_xmat4(const _xmat4& m) { this->value[0] = _xvec4(m[0]); this->value[1] = _xvec4(m[1]); this->value[2] = _xvec4(m[2]); this->value[3] = _xvec4(m[3]); } template inline _xmat4::_xmat4(const _xmat2& m) { this->value[0] = _xvec4(m[0], _xvec2(0)); this->value[1] = _xvec4(m[1], _xvec2(0)); this->value[2] = _xvec4(_xvec3(0), T(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat3& m) { this->value[0] = _xvec4(m[0], T(0)); this->value[1] = _xvec4(m[1], T(0)); this->value[2] = _xvec4(m[2], T(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat2x3& m) { this->value[0] = _xvec4(m[0], T(0)); this->value[1] = _xvec4(m[1], T(0)); this->value[2] = _xvec4(T(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat3x2& m) { this->value[0] = _xvec4(m[0], _xvec2(0)); this->value[1] = _xvec4(m[1], _xvec2(0)); this->value[2] = _xvec4(m[2], _xvec2(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat2x4& m) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = _xvec4(T(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat4x2& m) { this->value[0] = _xvec4(m[0], _xvec2(0)); this->value[1] = _xvec4(m[1], _xvec2(0)); this->value[2] = _xvec4(T(0)); this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat3x4& m) { this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = m[2]; this->value[3] = _xvec4(_xvec3(0), T(1)); } template inline _xmat4::_xmat4(const _xmat4x3& m) { this->value[0] = _xvec4(m[0], T(0)); this->value[1] = _xvec4(m[1], T(0)); this->value[2] = _xvec4(m[2], T(0)); this->value[3] = _xvec4(m[3], T(1)); } /* template inline _xmat4::_xmat4(const T* a) { this->value[0] = _xvec4(a[0], a[1], a[2], a[3]); this->value[1] = _xvec4(a[4], a[5], a[6], a[7]); this->value[2] = _xvec4(a[8], a[9], a[10], a[11]); this->value[4] = _xvec4(a[12], a[13], a[14], a[15]); } */ /* // GL_GTX_euler_angles template inline _xmat4::_xmat4(const _xvec3 & angles) { T ch = cos(angles.x); T sh = sin(angles.x); T cp = cos(angles.y); T sp = sin(angles.y); T cb = cos(angles.z); T sb = sin(angles.z); value[0][0] = ch * cb + sh * sp * sb; value[0][1] = sb * cp; value[0][2] = -sh * cb + ch * sp * sb; value[0][3] = 0.0f; value[1][0] = -ch * sb + sh * sp * cb; value[1][1] = cb * cp; value[1][2] = sb * sh + ch * sp * cb; value[1][3] = 0.0f; value[2][0] = sh * cp; value[2][1] = -sp; value[2][2] = ch * cp; value[2][3] = 0.0f; value[3][0] = 0.0f; value[3][1] = 0.0f; value[3][2] = 0.0f; value[3][3] = 1.0f; } */ ////////////////////////////////////////////////////////////// // mat4 conversion /* template inline _xmat4::_xmat4(const _xquat & q) { *this = _xmat4(1); this->value[0][0] = 1 - 2 * q.y * q.y - 2 * q.z * q.z; this->value[0][1] = 2 * q.x * q.y + 2 * q.w * q.z; this->value[0][2] = 2 * q.x * q.z - 2 * q.w * q.y; this->value[1][0] = 2 * q.x * q.y - 2 * q.w * q.z; this->value[1][1] = 1 - 2 * q.x * q.x - 2 * q.z * q.z; this->value[1][2] = 2 * q.y * q.z + 2 * q.w * q.x; this->value[2][0] = 2 * q.x * q.z + 2 * q.w * q.y; this->value[2][1] = 2 * q.y * q.z - 2 * q.w * q.x; this->value[2][2] = 1 - 2 * q.x * q.x - 2 * q.y * q.y; } */ ////////////////////////////////////////////////////////////// // mat4 operators // This function shouldn't required but it seems that VC7.1 have an optimisation bug if this operator wasn't declared template inline _xmat4& _xmat4::operator= (const _xmat4& m) { //memcpy could be faster //memcpy(&this->value, &m.value, 16 * sizeof(T)); this->value[0] = m[0]; this->value[1] = m[1]; this->value[2] = m[2]; this->value[3] = m[3]; return *this; } template inline _xmat4& _xmat4::operator+= (const T s) { this->value[0] += s; this->value[1] += s; this->value[2] += s; this->value[3] += s; return *this; } template inline _xmat4& _xmat4::operator+= (const _xmat4& m) { this->value[0] += m[0]; this->value[1] += m[1]; this->value[2] += m[2]; this->value[3] += m[3]; return *this; } template inline _xmat4& _xmat4::operator-= (const T s) { this->value[0] -= s; this->value[1] -= s; this->value[2] -= s; this->value[3] -= s; return *this; } template inline _xmat4& _xmat4::operator-= (const _xmat4& m) { this->value[0] -= m[0]; this->value[1] -= m[1]; this->value[2] -= m[2]; this->value[3] -= m[3]; return *this; } template inline _xmat4& _xmat4::operator*= (const T s) { this->value[0] *= s; this->value[1] *= s; this->value[2] *= s; this->value[3] *= s; return *this; } template inline _xmat4& _xmat4::operator*= (const _xmat4& m) { return (*this = *this * m); } template inline _xmat4 & _xmat4::operator/= (const T s) { this->value[0] /= s; this->value[1] /= s; this->value[2] /= s; this->value[3] /= s; return *this; } template inline _xmat4& _xmat4::operator/= (const _xmat4& m) { return (*this = *this / m); } template inline _xmat4& _xmat4::operator-- () { --this->value[0]; --this->value[1]; --this->value[2]; --this->value[3]; return *this; } template inline _xmat4& _xmat4::operator++ () { ++this->value[0]; ++this->value[1]; ++this->value[2]; ++this->value[3]; return *this; } // Private functions template inline _xmat4 _xmat4::_inverse() const { // Calculate all mat2 determinants T SubFactor00 = this->value[2][2] * this->value[3][3] - this->value[3][2] * this->value[2][3]; T SubFactor01 = this->value[2][1] * this->value[3][3] - this->value[3][1] * this->value[2][3]; T SubFactor02 = this->value[2][1] * this->value[3][2] - this->value[3][1] * this->value[2][2]; T SubFactor03 = this->value[2][0] * this->value[3][3] - this->value[3][0] * this->value[2][3]; T SubFactor04 = this->value[2][0] * this->value[3][2] - this->value[3][0] * this->value[2][2]; T SubFactor05 = this->value[2][0] * this->value[3][1] - this->value[3][0] * this->value[2][1]; T SubFactor06 = this->value[1][2] * this->value[3][3] - this->value[3][2] * this->value[1][3]; T SubFactor07 = this->value[1][1] * this->value[3][3] - this->value[3][1] * this->value[1][3]; T SubFactor08 = this->value[1][1] * this->value[3][2] - this->value[3][1] * this->value[1][2]; T SubFactor09 = this->value[1][0] * this->value[3][3] - this->value[3][0] * this->value[1][3]; T SubFactor10 = this->value[1][0] * this->value[3][2] - this->value[3][0] * this->value[1][2]; T SubFactor11 = this->value[1][1] * this->value[3][3] - this->value[3][1] * this->value[1][3]; T SubFactor12 = this->value[1][0] * this->value[3][1] - this->value[3][0] * this->value[1][1]; T SubFactor13 = this->value[1][2] * this->value[2][3] - this->value[2][2] * this->value[1][3]; T SubFactor14 = this->value[1][1] * this->value[2][3] - this->value[2][1] * this->value[1][3]; T SubFactor15 = this->value[1][1] * this->value[2][2] - this->value[2][1] * this->value[1][2]; T SubFactor16 = this->value[1][0] * this->value[2][3] - this->value[2][0] * this->value[1][3]; T SubFactor17 = this->value[1][0] * this->value[2][2] - this->value[2][0] * this->value[1][2]; T SubFactor18 = this->value[1][0] * this->value[2][1] - this->value[2][0] * this->value[1][1]; _xmat4 Inverse( + (this->value[1][1] * SubFactor00 - this->value[1][2] * SubFactor01 + this->value[1][3] * SubFactor02), - (this->value[1][0] * SubFactor00 - this->value[1][2] * SubFactor03 + this->value[1][3] * SubFactor04), + (this->value[1][0] * SubFactor01 - this->value[1][1] * SubFactor03 + this->value[1][3] * SubFactor05), - (this->value[1][0] * SubFactor02 - this->value[1][1] * SubFactor04 + this->value[1][2] * SubFactor05), - (this->value[0][1] * SubFactor00 - this->value[0][2] * SubFactor01 + this->value[0][3] * SubFactor02), + (this->value[0][0] * SubFactor00 - this->value[0][2] * SubFactor03 + this->value[0][3] * SubFactor04), - (this->value[0][0] * SubFactor01 - this->value[0][1] * SubFactor03 + this->value[0][3] * SubFactor05), + (this->value[0][0] * SubFactor02 - this->value[0][1] * SubFactor04 + this->value[0][2] * SubFactor05), + (this->value[0][1] * SubFactor06 - this->value[0][2] * SubFactor07 + this->value[0][3] * SubFactor08), - (this->value[0][0] * SubFactor06 - this->value[0][2] * SubFactor09 + this->value[0][3] * SubFactor10), + (this->value[0][0] * SubFactor11 - this->value[0][1] * SubFactor09 + this->value[0][3] * SubFactor12), - (this->value[0][0] * SubFactor08 - this->value[0][1] * SubFactor10 + this->value[0][2] * SubFactor12), - (this->value[0][1] * SubFactor13 - this->value[0][2] * SubFactor14 + this->value[0][3] * SubFactor15), + (this->value[0][0] * SubFactor13 - this->value[0][2] * SubFactor16 + this->value[0][3] * SubFactor17), - (this->value[0][0] * SubFactor14 - this->value[0][1] * SubFactor16 + this->value[0][3] * SubFactor18), + (this->value[0][0] * SubFactor15 - this->value[0][1] * SubFactor17 + this->value[0][2] * SubFactor18)); T Determinant = this->value[0][0] * Inverse[0][0] + this->value[0][1] * Inverse[1][0] + this->value[0][2] * Inverse[2][0] + this->value[0][3] * Inverse[3][0]; Inverse /= Determinant; return Inverse; } // Binary operators template inline _xmat4 operator+ (const _xmat4& m, const T s) { return _xmat4( m[0] + s, m[1] + s, m[2] + s, m[3] + s); } template inline _xmat4 operator+ (const T s, const _xmat4& m) { return _xmat4( m[0] + s, m[1] + s, m[2] + s, m[3] + s); } template inline _xvec4 operator+ (const _xmat4& m, const _xvec4& v) { } template inline _xvec4 operator+ (const _xvec4& v, const _xmat4& m) { } template inline _xmat4 operator+ (const _xmat4& m1, const _xmat4& m2) { return _xmat4( m1[0] + m2[0], m1[1] + m2[1], m1[2] + m2[2], m1[3] + m2[3]); } template inline _xmat4 operator- (const _xmat4& m, const T s) { return _xmat4( m[0] - s, m[1] - s, m[2] - s, m[3] - s); } template inline _xmat4 operator- (const T s, const _xmat4& m) { return _xmat4( s - m[0], s - m[1], s - m[2], s - m[3]); } template inline _xvec4 operator- (const _xmat4& m, const _xvec4& v) { } template inline _xvec4 operator- (const _xvec4& v, const _xmat4& m) { } template inline _xmat4 operator- (const _xmat4& m1, const _xmat4& m2) { return _xmat4( m1[0] - m2[0], m1[1] - m2[1], m1[2] - m2[2], m1[3] - m2[3]); } template inline _xmat4 operator* (const _xmat4& m, const T s) { return _xmat4( m[0] * s, m[1] * s, m[2] * s, m[3] * s); } template inline _xmat4 operator* (const T s, const _xmat4& m) { return _xmat4( m[0] * s, m[1] * s, m[2] * s, m[3] * s); } template inline _xvec4 operator* (const _xmat4& m, const _xvec4& v) { return _xvec4( m[0][0] * v.x + m[1][0] * v.y + m[2][0] * v.z + m[3][0] * v.w, m[0][1] * v.x + m[1][1] * v.y + m[2][1] * v.z + m[3][1] * v.w, m[0][2] * v.x + m[1][2] * v.y + m[2][2] * v.z + m[3][2] * v.w, m[0][3] * v.x + m[1][3] * v.y + m[2][3] * v.z + m[3][3] * v.w); } template inline _xvec4 operator* (const _xvec4& v, const _xmat4& m) { return _xvec4( m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w, m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w, m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w, m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w); } template inline _xmat4 operator* (const _xmat4& m1, const _xmat4& m2) { const T SrcA00 = m1[0][0]; const T SrcA01 = m1[0][1]; const T SrcA02 = m1[0][2]; const T SrcA03 = m1[0][3]; const T SrcA10 = m1[1][0]; const T SrcA11 = m1[1][1]; const T SrcA12 = m1[1][2]; const T SrcA13 = m1[1][3]; const T SrcA20 = m1[2][0]; const T SrcA21 = m1[2][1]; const T SrcA22 = m1[2][2]; const T SrcA23 = m1[2][3]; const T SrcA30 = m1[3][0]; const T SrcA31 = m1[3][1]; const T SrcA32 = m1[3][2]; const T SrcA33 = m1[3][3]; const T SrcB00 = m2[0][0]; const T SrcB01 = m2[0][1]; const T SrcB02 = m2[0][2]; const T SrcB03 = m2[0][3]; const T SrcB10 = m2[1][0]; const T SrcB11 = m2[1][1]; const T SrcB12 = m2[1][2]; const T SrcB13 = m2[1][3]; const T SrcB20 = m2[2][0]; const T SrcB21 = m2[2][1]; const T SrcB22 = m2[2][2]; const T SrcB23 = m2[2][3]; const T SrcB30 = m2[3][0]; const T SrcB31 = m2[3][1]; const T SrcB32 = m2[3][2]; const T SrcB33 = m2[3][3]; _xmat4 Result; Result[0][0] = SrcA00 * SrcB00 + SrcA10 * SrcB01 + SrcA20 * SrcB02 + SrcA30 * SrcB03; Result[0][1] = SrcA01 * SrcB00 + SrcA11 * SrcB01 + SrcA21 * SrcB02 + SrcA31 * SrcB03; Result[0][2] = SrcA02 * SrcB00 + SrcA12 * SrcB01 + SrcA22 * SrcB02 + SrcA32 * SrcB03; Result[0][3] = SrcA03 * SrcB00 + SrcA13 * SrcB01 + SrcA23 * SrcB02 + SrcA33 * SrcB03; Result[1][0] = SrcA00 * SrcB10 + SrcA10 * SrcB11 + SrcA20 * SrcB12 + SrcA30 * SrcB13; Result[1][1] = SrcA01 * SrcB10 + SrcA11 * SrcB11 + SrcA21 * SrcB12 + SrcA31 * SrcB13; Result[1][2] = SrcA02 * SrcB10 + SrcA12 * SrcB11 + SrcA22 * SrcB12 + SrcA32 * SrcB13; Result[1][3] = SrcA03 * SrcB10 + SrcA13 * SrcB11 + SrcA23 * SrcB12 + SrcA33 * SrcB13; Result[2][0] = SrcA00 * SrcB20 + SrcA10 * SrcB21 + SrcA20 * SrcB22 + SrcA30 * SrcB23; Result[2][1] = SrcA01 * SrcB20 + SrcA11 * SrcB21 + SrcA21 * SrcB22 + SrcA31 * SrcB23; Result[2][2] = SrcA02 * SrcB20 + SrcA12 * SrcB21 + SrcA22 * SrcB22 + SrcA32 * SrcB23; Result[2][3] = SrcA03 * SrcB20 + SrcA13 * SrcB21 + SrcA23 * SrcB22 + SrcA33 * SrcB23; Result[3][0] = SrcA00 * SrcB30 + SrcA10 * SrcB31 + SrcA20 * SrcB32 + SrcA30 * SrcB33; Result[3][1] = SrcA01 * SrcB30 + SrcA11 * SrcB31 + SrcA21 * SrcB32 + SrcA31 * SrcB33; Result[3][2] = SrcA02 * SrcB30 + SrcA12 * SrcB31 + SrcA22 * SrcB32 + SrcA32 * SrcB33; Result[3][3] = SrcA03 * SrcB30 + SrcA13 * SrcB31 + SrcA23 * SrcB32 + SrcA33 * SrcB33; return Result; } template inline _xmat4 operator/ (const _xmat4& m, const T s) { return _xmat4( m[0] / s, m[1] / s, m[2] / s, m[3] / s); } template inline _xmat4 operator/ (const T s, const _xmat4& m) { return _xmat4( s / m[0], s / m[1], s / m[2], s / m[3]); } template inline _xvec4 operator/ (const _xmat4& m, const _xvec4& v) { return m._inverse() * v; } template inline _xvec4 operator/ (const _xvec4& v, const _xmat4& m) { return v * m._inverse(); } template inline _xmat4 operator/ (const _xmat4& m1, const _xmat4& m2) { return m1 * m2._inverse(); } // Unary constant operators template inline const _xmat4 operator- (const _xmat4& m) { return _xmat4( -m.value[0], -m.value[1], -m.value[2], -m.value[3]); } template inline const _xmat4 operator++ (const _xmat4& m, int) { return _xmat4( m.value[0] + 1, m.value[1] + 1, m.value[2] + 1, m.value[3] + 1); } template inline const _xmat4 operator-- (const _xmat4& m, int) { return _xmat4( m.value[0] - 1, m.value[1] - 1, m.value[2] - 1, m.value[3] - 1); } } //namespace detail } //namespace glm #endif //__mat4_inl__