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math/matrix3.h

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+/* ScummVM - Graphic Adventure Engine
+ *
+ * ScummVM is the legal property of its developers, whose names
+ * are too numerous to list here. Please refer to the COPYRIGHT
+ * file distributed with this source distribution.
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program 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 General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#ifndef MATH_MATRIX3_H
+#define MATH_MATRIX3_H
+
+#include "math/rotation3d.h"
+#include "math/squarematrix.h"
+#include "math/vector3d.h"
+
+namespace Math {
+
+template<>
+class Matrix<3, 3> : public MatrixType<3, 3>, public Rotation3D<Matrix<3, 3> > {
+public:
+	Matrix() : MatrixType<3, 3>(), Rotation3D<Matrix<3, 3> >() {}
+	Matrix(const MatrixBase<3, 3> &m) :
+		MatrixType<3, 3>(m), Rotation3D<Matrix<3, 3> >() {
+	}
+
+	void transpose();
+
+
+	/**
+	 * Builds a matrix that maps the given local space forward direction vector to point towards the given
+	 * target direction, and the given local up direction towards the given target world up direction.
+	 *
+	 * @param modelForward The forward direction in the local space of the object.
+	 * @param targetDirection The desired world space direction the object should look at.
+	 * @param modelUp The up direction in the local space of the object. This vector must be
+	 *                perpendicular to the vector localForward.
+	 * @param worldUp The global up direction of the scene in world space. The worldUp and targetDirection
+	 *                vectors cannot be collinear, but they do not need to be perpendicular either.
+	 * All the parameters MUST be normalized.
+	 */
+	void buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
+	                        const Math::Vector3d &modelUp, const Math::Vector3d &worldUp);
+
+	inline Matrix<3, 3> operator*(const Matrix<3, 3> &m2) const {
+		Matrix<3, 3> result;
+		const float *d1 = getData();
+		const float *d2 = m2.getData();
+		float *r = result.getData();
+
+		for (int i = 0; i < 9; i += 3) {
+			for (int j = 0; j < 3; ++j) {
+				r[i + j] = (d1[i + 0] * d2[j + 0])
+				         + (d1[i + 1] * d2[j + 3])
+				         + (d1[i + 2] * d2[j + 6]);
+			}
+		}
+
+		return result;
+	}
+};
+
+typedef Matrix<3, 3> Matrix3;
+
+} // end of namespace Math
+
+#endif
+