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math/matrix4.cpp

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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/>.
+ *
+ */
+
+#include "math/matrix4.h"
+#include "math/vector4d.h"
+#include "math/squarematrix.h"
+
+namespace Math {
+
+Matrix<4, 4>::Matrix() :
+	MatrixType<4, 4>(), Rotation3D<Matrix4>() {
+}
+
+Matrix<4, 4>::Matrix(const MatrixBase<4, 4> &m) :
+	MatrixType<4, 4>(m), Rotation3D<Matrix4>() {
+}
+
+void Matrix<4, 4>::transform(Vector3d *v, bool trans) const {
+	Vector4d m;
+	m(0, 0) = v->x();
+	m(1, 0) = v->y();
+	m(2, 0) = v->z();
+	m(3, 0) = (trans ? 1.f : 0.f);
+
+	m = *this * m;
+
+	v->set(m(0, 0), m(1, 0), m(2, 0));
+}
+
+Vector3d Matrix<4, 4>::getPosition() const {
+	return Vector3d(getValue(0, 3), getValue(1, 3), getValue(2, 3));
+}
+
+void Matrix<4, 4>::setPosition(const Vector3d &v) {
+	setValue(0, 3, v.x());
+	setValue(1, 3, v.y());
+	setValue(2, 3, v.z());
+}
+
+Matrix3 Matrix<4, 4>::getRotation() const{
+	Matrix3 m2;
+
+	m2.setValue(0, 0, getValue(0, 0));
+	m2.setValue(0, 1, getValue(0, 1));
+	m2.setValue(0, 2, getValue(0, 2));
+	m2.setValue(1, 0, getValue(1, 0));
+	m2.setValue(1, 1, getValue(1, 1));
+	m2.setValue(1, 2, getValue(1, 2));
+	m2.setValue(2, 0, getValue(2, 0));
+	m2.setValue(2, 1, getValue(2, 1));
+	m2.setValue(2, 2, getValue(2, 2));
+
+	return m2;
+}
+
+void Matrix<4, 4>::setRotation(const Matrix3 &m) {
+	setValue(0, 0, m.getValue(0, 0));
+	setValue(0, 1, m.getValue(0, 1));
+	setValue(0, 2, m.getValue(0, 2));
+	setValue(1, 0, m.getValue(1, 0));
+	setValue(1, 1, m.getValue(1, 1));
+	setValue(1, 2, m.getValue(1, 2));
+	setValue(2, 0, m.getValue(2, 0));
+	setValue(2, 1, m.getValue(2, 1));
+	setValue(2, 2, m.getValue(2, 2));
+}
+
+void Matrix<4, 4>::translate(const Vector3d &vec) {
+	Vector3d v(vec);
+	transform(&v, false);
+
+	operator()(0, 3) += v.x();
+	operator()(1, 3) += v.y();
+	operator()(2, 3) += v.z();
+}
+
+/**
+ * Generates a lookat matrix. For reference, see
+ * https://clb.confined.space/MathGeoLib/nightly/docs/float3x3_LookAt.php
+ */
+void Matrix<4, 4>::buildFromTargetDir(const Math::Vector3d &modelForward, const Math::Vector3d &targetDirection,
+                                      const Math::Vector3d &modelUp, const Math::Vector3d &worldUp) {
+	Matrix3 rotation;
+	rotation.buildFromTargetDir(modelForward, targetDirection, modelUp, worldUp);
+	this->setRotation(rotation);
+}
+
+void Matrix<4, 4>::invertAffineOrthonormal() {
+	Matrix3 rotation(getRotation());
+	rotation.transpose();
+
+	Vector3d position(getPosition().getNegative());
+
+	rotation.transformVector(&position);
+	setRotation(rotation);
+	setPosition(position);
+}
+
+void swap(float &a, float &b);
+
+void Matrix<4, 4>::transpose() {
+	swap(operator ()(0,1), operator ()(1,0));
+	swap(operator ()(0,2), operator ()(2,0));
+	swap(operator ()(0,3), operator ()(3,0));
+
+	swap(operator ()(1,2), operator ()(2,1));
+	swap(operator ()(1,3), operator ()(3,1));
+	swap(operator ()(2,3), operator ()(3,2));
+}
+
+} // end of namespace Math
+