00001 #ifndef AI__MATRIX44_H
00002 #define AI__MATRIX44_H
00003
00012 #include "AI_TVector4.h"
00013 #include "AI_TVector3.h"
00014 #include "AI_Quaternion.h"
00015 #include "euler.h"
00016
00017 static float ai_matrix44_ident[16] =
00018 {
00019 1.0f, 0.0f, 0.0f, 0.0f,
00020 0.0f, 1.0f, 0.0f, 0.0f,
00021 0.0f, 0.0f, 1.0f, 0.0f,
00022 0.0f, 0.0f, 0.0f, 1.0f,
00023 };
00024
00025 class AI_TMatrix44
00026 {
00027 public:
00029 AI_TMatrix44();
00031 AI_TMatrix44(const AI_TVector4& v0, const AI_TVector4& v1, const AI_TVector4& v2, const AI_TVector4& v3);
00033 AI_TMatrix44(const AI_TMatrix44& m1);
00035 AI_TMatrix44(float _m11, float _m12, float _m13, float _m14,
00036 float _m21, float _m22, float _m23, float _m24,
00037 float _m31, float _m32, float _m33, float _m34,
00038 float _m41, float _m42, float _m43, float _m44);
00040 AI_TMatrix44(const AI_Quaternion& q);
00042 AI_Quaternion get_quaternion() const;
00044 void set(const AI_TVector4& v0, const AI_TVector4& v1, const AI_TVector4& v2, const AI_TVector4& v3);
00046 void set(const AI_TMatrix44& m1);
00048 void set(float _m11, float _m12, float _m13, float _m14,
00049 float _m21, float _m22, float _m23, float _m24,
00050 float _m31, float _m32, float _m33, float _m34,
00051 float _m41, float _m42, float _m43, float _m44);
00053 void set(const AI_Quaternion& q);
00055 void ident();
00057 void transpose();
00059 float det();
00061 void invert(void);
00063 void invert_simple(void);
00065 void mult_simple(const AI_TMatrix44& m1);
00067 AI_TVector3 transform_coord(const AI_TVector3& v) const;
00069 AI_TVector3& x_component() const;
00071 AI_TVector3& y_component() const;
00073 AI_TVector3& z_component() const;
00075 AI_TVector3& pos_component() const;
00077 void rotate_x(const float a);
00079 void rotate_y(const float a);
00081 void rotate_z(const float a);
00083 void rotate(const AI_TVector3& vec, float a);
00085 void translate(const AI_TVector3& t);
00087 void set_translation(const AI_TVector3& t);
00089 void scale(const AI_TVector3& s);
00091 void lookatLh(const AI_TVector3& to, const AI_TVector3& up);
00093 void lookatRh(const AI_TVector3& to, const AI_TVector3& up);
00095 void perspFovLh(float fovY, float aspect, float zn, float zf);
00097 void perspFovRh(float fovY, float aspect, float zn, float zf);
00099 void perspOffCenterLh(float minX, float maxX, float minY, float maxY, float zn, float zf);
00101 void perspOffCenterRh(float minX, float maxX, float minY, float maxY, float zn, float zf);
00103 void orthoLh(float w, float h, float zn, float zf);
00105 void orthoRh(float w, float h, float zn, float zf);
00107 void billboard(const AI_TVector3& to, const AI_TVector3& up);
00109 void operator *= (const AI_TMatrix44& m1);
00111 void mult(const AI_TVector4& src, AI_TVector4& dst) const;
00113 void mult(const AI_TVector3& src, AI_TVector3& dst) const;
00114
00115 float m[4][4];
00116 };
00117
00118
00121 inline
00122 AI_TMatrix44::AI_TMatrix44()
00123 {
00124 memcpy(&(m[0][0]), ai_matrix44_ident, sizeof(ai_matrix44_ident));
00125 }
00126
00127
00130 inline
00131 AI_TMatrix44::AI_TMatrix44(const AI_TVector4& v0, const AI_TVector4& v1, const AI_TVector4& v2, const AI_TVector4& v3)
00132 {
00133 m[0][0] = v0.x; m[0][1] = v0.y; m[0][2] = v0.z; m[0][3] = v0.w;
00134 m[1][0] = v1.x; m[1][1] = v1.y; m[1][2] = v1.z; m[1][3] = v1.w;
00135 m[2][0] = v2.x; m[2][1] = v2.y; m[2][2] = v2.z; m[2][3] = v2.w;
00136 m[3][0] = v3.x; m[3][1] = v3.y; m[3][2] = v3.z; m[3][3] = v3.w;
00137 }
00138
00139
00142 inline
00143 AI_TMatrix44::AI_TMatrix44(const AI_TMatrix44& m1)
00144 {
00145 memcpy(m, &(m1.m[0][0]), 16 * sizeof(float));
00146 }
00147
00148
00151 inline
00152 AI_TMatrix44::AI_TMatrix44(float _m11, float _m12, float _m13, float _m14,
00153 float _m21, float _m22, float _m23, float _m24,
00154 float _m31, float _m32, float _m33, float _m34,
00155 float _m41, float _m42, float _m43, float _m44)
00156 {
00157 m[0][0] = _m11; m[0][1] = _m12; m[0][2] = _m13; m[0][3] = _m14;
00158 m[1][0] = _m21; m[1][1] = _m22; m[1][2] = _m23; m[1][3] = _m24;
00159 m[2][0] = _m31; m[2][1] = _m32; m[2][2] = _m33; m[2][3] = _m34;
00160 m[3][0] = _m41; m[3][1] = _m42; m[3][2] = _m43; m[3][3] = _m44;
00161 }
00162
00163
00166 inline
00167 AI_TMatrix44::AI_TMatrix44(const AI_Quaternion& q)
00168 {
00169 float wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
00170 x2 = q.x + q.x; y2 = q.y + q.y; z2 = q.z + q.z;
00171 xx = q.x * x2; xy = q.x * y2; xz = q.x * z2;
00172 yy = q.y * y2; yz = q.y * z2; zz = q.z * z2;
00173 wx = q.w * x2; wy = q.w * y2; wz = q.w * z2;
00174
00175 m[0][0] = 1.0f - (yy + zz);
00176 m[1][0] = xy - wz;
00177 m[2][0] = xz + wy;
00178
00179 m[0][1] = xy + wz;
00180 m[1][1] = 1.0f - (xx + zz);
00181 m[2][1] = yz - wx;
00182
00183 m[0][2] = xz - wy;
00184 m[1][2] = yz + wx;
00185 m[2][2] = 1.0f - (xx + yy);
00186
00187 m[3][0] = m[3][1] = m[3][2] = 0.0f;
00188 m[0][3] = m[1][3] = m[2][3] = 0.0f;
00189 m[3][3] = 1.0f;
00190 }
00191
00192
00197 inline
00198 AI_Quaternion
00199 AI_TMatrix44::get_quaternion() const
00200 {
00201 float qa[4];
00202 float tr = m[0][0] + m[1][1] + m[2][2];
00203 if (tr > 0.0f)
00204 {
00205 float s = ai_sqrt (tr + 1.0f);
00206 qa[3] = s * 0.5f;
00207 s = 0.5f / s;
00208 qa[0] = (m[1][2] - m[2][1]) * s;
00209 qa[1] = (m[2][0] - m[0][2]) * s;
00210 qa[2] = (m[0][1] - m[1][0]) * s;
00211 }
00212 else
00213 {
00214 int i, j, k, nxt[3] = {1,2,0};
00215 i = 0;
00216 if (m[1][1] > m[0][0]) i=1;
00217 if (m[2][2] > m[i][i]) i=2;
00218 j = nxt[i];
00219 k = nxt[j];
00220 float s = ai_sqrt((m[i][i] - (m[j][j] + m[k][k])) + 1.0f);
00221 qa[i] = s * 0.5f;
00222 s = 0.5f / s;
00223 qa[3] = (m[j][k] - m[k][j])* s;
00224 qa[j] = (m[i][j] + m[j][i]) * s;
00225 qa[k] = (m[i][k] + m[k][i]) * s;
00226 }
00227 AI_Quaternion q(qa[0],qa[1],qa[2],qa[3]);
00228 return q;
00229 }
00230
00231
00234 inline
00235 void
00236 AI_TMatrix44::set(const AI_TVector4& v0, const AI_TVector4& v1, const AI_TVector4& v2, const AI_TVector4& v3)
00237 {
00238 m[0][0]=v0.x; m[0][1]=v0.y; m[0][2]=v0.z, m[0][3]=v0.w;
00239 m[1][0]=v1.x; m[1][1]=v1.y; m[1][2]=v1.z; m[1][3]=v1.w;
00240 m[2][0]=v2.x; m[2][1]=v2.y; m[2][2]=v2.z; m[2][3]=v2.w;
00241 m[3][0]=v3.x; m[3][1]=v3.y; m[3][2]=v3.z; m[3][3]=v3.w;
00242 }
00243
00244
00247 inline
00248 void
00249 AI_TMatrix44::set(const AI_TMatrix44& m1)
00250 {
00251 memcpy(m, &(m1.m[0][0]), 16*sizeof(float));
00252 }
00253
00254
00257 inline
00258 void
00259 AI_TMatrix44::set(float _m11, float _m12, float _m13, float _m14,
00260 float _m21, float _m22, float _m23, float _m24,
00261 float _m31, float _m32, float _m33, float _m34,
00262 float _m41, float _m42, float _m43, float _m44)
00263 {
00264 m[0][0]=_m11; m[0][1]=_m12; m[0][2]=_m13; m[0][3]=_m14;
00265 m[1][0]=_m21; m[1][1]=_m22; m[1][2]=_m23; m[1][3]=_m24;
00266 m[2][0]=_m31; m[2][1]=_m32; m[2][2]=_m33; m[2][3]=_m34;
00267 m[3][0]=_m41; m[3][1]=_m42; m[3][2]=_m43; m[3][3]=_m44;
00268 }
00269
00270
00273 inline
00274 void
00275 AI_TMatrix44::set(const AI_Quaternion& q)
00276 {
00277 float wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
00278 x2 = q.x + q.x; y2 = q.y + q.y; z2 = q.z + q.z;
00279 xx = q.x * x2; xy = q.x * y2; xz = q.x * z2;
00280 yy = q.y * y2; yz = q.y * z2; zz = q.z * z2;
00281 wx = q.w * x2; wy = q.w * y2; wz = q.w * z2;
00282
00283 m[0][0] = 1.0f - (yy + zz);
00284 m[1][0] = xy - wz;
00285 m[2][0] = xz + wy;
00286
00287 m[0][1] = xy + wz;
00288 m[1][1] = 1.0f - (xx + zz);
00289 m[2][1] = yz - wx;
00290
00291 m[0][2] = xz - wy;
00292 m[1][2] = yz + wx;
00293 m[2][2] = 1.0f - (xx + yy);
00294
00295 m[3][0] = m[3][1] = m[3][2] = 0.0f;
00296 m[0][3] = m[1][3] = m[2][3] = 0.0f;
00297 m[3][3] = 1.0f;
00298 }
00299
00300
00303 inline
00304 void
00305 AI_TMatrix44::ident()
00306 {
00307 memcpy(&(m[0][0]), ai_matrix44_ident, sizeof(ai_matrix44_ident));
00308 }
00309
00310
00313 inline
00314 void
00315 AI_TMatrix44::transpose()
00316 {
00317 #undef n_swap
00318 #define n_swap(x,y) { float t=x; x=y; y=t; }
00319 n_swap(m[0][1], m[1][0]);
00320 n_swap(m[0][2], m[2][0]);
00321 n_swap(m[0][3], m[3][0]);
00322 n_swap(m[1][2], m[2][1]);
00323 n_swap(m[1][3], m[3][1]);
00324 n_swap(m[2][3], m[3][2]);
00325 }
00326
00327
00330 inline
00331 float
00332 AI_TMatrix44::det()
00333 {
00334 return
00335 (m[0][0] * m[1][1] - m[0][1] * m[1][0]) * (m[2][2] * m[3][3] - m[2][3] * m[3][2])
00336 -(m[0][0] * m[1][2] - m[0][2] * m[1][0]) * (m[2][1] * m[3][3] - m[2][3] * m[3][1])
00337 +(m[0][0] * m[1][3] - m[0][3] * m[1][0]) * (m[2][1] * m[3][2] - m[2][2] * m[3][1])
00338 +(m[0][1] * m[1][2] - m[0][2] * m[1][1]) * (m[2][0] * m[3][3] - m[2][3] * m[3][0])
00339 -(m[0][1] * m[1][3] - m[0][3] * m[1][1]) * (m[2][0] * m[3][2] - m[2][2] * m[3][0])
00340 +(m[0][2] * m[1][3] - m[0][3] * m[1][2]) * (m[2][0] * m[3][1] - m[2][1] * m[3][0]);
00341 }
00342
00343
00346 inline
00347 void
00348 AI_TMatrix44::invert()
00349 {
00350 float s = det();
00351 if (s == 0.0) return;
00352 s = 1/s;
00353 this->set(
00354 s*(m[1][1]*(m[2][2]*m[3][3] - m[2][3]*m[3][2]) + m[1][2]*(m[2][3]*m[3][1] - m[2][1]*m[3][3]) + m[1][3]*(m[2][1]*m[3][2] - m[2][2]*m[3][1])),
00355 s*(m[2][1]*(m[0][2]*m[3][3] - m[0][3]*m[3][2]) + m[2][2]*(m[0][3]*m[3][1] - m[0][1]*m[3][3]) + m[2][3]*(m[0][1]*m[3][2] - m[0][2]*m[3][1])),
00356 s*(m[3][1]*(m[0][2]*m[1][3] - m[0][3]*m[1][2]) + m[3][2]*(m[0][3]*m[1][1] - m[0][1]*m[1][3]) + m[3][3]*(m[0][1]*m[1][2] - m[0][2]*m[1][1])),
00357 s*(m[0][1]*(m[1][3]*m[2][2] - m[1][2]*m[2][3]) + m[0][2]*(m[1][1]*m[2][3] - m[1][3]*m[2][1]) + m[0][3]*(m[1][2]*m[2][1] - m[1][1]*m[2][2])),
00358 s*(m[1][2]*(m[2][0]*m[3][3] - m[2][3]*m[3][0]) + m[1][3]*(m[2][2]*m[3][0] - m[2][0]*m[3][2]) + m[1][0]*(m[2][3]*m[3][2] - m[2][2]*m[3][3])),
00359 s*(m[2][2]*(m[0][0]*m[3][3] - m[0][3]*m[3][0]) + m[2][3]*(m[0][2]*m[3][0] - m[0][0]*m[3][2]) + m[2][0]*(m[0][3]*m[3][2] - m[0][2]*m[3][3])),
00360 s*(m[3][2]*(m[0][0]*m[1][3] - m[0][3]*m[1][0]) + m[3][3]*(m[0][2]*m[1][0] - m[0][0]*m[1][2]) + m[3][0]*(m[0][3]*m[1][2] - m[0][2]*m[1][3])),
00361 s*(m[0][2]*(m[1][3]*m[2][0] - m[1][0]*m[2][3]) + m[0][3]*(m[1][0]*m[2][2] - m[1][2]*m[2][0]) + m[0][0]*(m[1][2]*m[2][3] - m[1][3]*m[2][2])),
00362 s*(m[1][3]*(m[2][0]*m[3][1] - m[2][1]*m[3][0]) + m[1][0]*(m[2][1]*m[3][3] - m[2][3]*m[3][1]) + m[1][1]*(m[2][3]*m[3][0] - m[2][0]*m[3][3])),
00363 s*(m[2][3]*(m[0][0]*m[3][1] - m[0][1]*m[3][0]) + m[2][0]*(m[0][1]*m[3][3] - m[0][3]*m[3][1]) + m[2][1]*(m[0][3]*m[3][0] - m[0][0]*m[3][3])),
00364 s*(m[3][3]*(m[0][0]*m[1][1] - m[0][1]*m[1][0]) + m[3][0]*(m[0][1]*m[1][3] - m[0][3]*m[1][1]) + m[3][1]*(m[0][3]*m[1][0] - m[0][0]*m[1][3])),
00365 s*(m[0][3]*(m[1][1]*m[2][0] - m[1][0]*m[2][1]) + m[0][0]*(m[1][3]*m[2][1] - m[1][1]*m[2][3]) + m[0][1]*(m[1][0]*m[2][3] - m[1][3]*m[2][0])),
00366 s*(m[1][0]*(m[2][2]*m[3][1] - m[2][1]*m[3][2]) + m[1][1]*(m[2][0]*m[3][2] - m[2][2]*m[3][0]) + m[1][2]*(m[2][1]*m[3][0] - m[2][0]*m[3][1])),
00367 s*(m[2][0]*(m[0][2]*m[3][1] - m[0][1]*m[3][2]) + m[2][1]*(m[0][0]*m[3][2] - m[0][2]*m[3][0]) + m[2][2]*(m[0][1]*m[3][0] - m[0][0]*m[3][1])),
00368 s*(m[3][0]*(m[0][2]*m[1][1] - m[0][1]*m[1][2]) + m[3][1]*(m[0][0]*m[1][2] - m[0][2]*m[1][0]) + m[3][2]*(m[0][1]*m[1][0] - m[0][0]*m[1][1])),
00369 s*(m[0][0]*(m[1][1]*m[2][2] - m[1][2]*m[2][1]) + m[0][1]*(m[1][2]*m[2][0] - m[1][0]*m[2][2]) + m[0][2]*(m[1][0]*m[2][1] - m[1][1]*m[2][0])));
00370 }
00371
00372
00378 inline
00379 void
00380 AI_TMatrix44::invert_simple()
00381 {
00382 float s = det();
00383 if (s == 0.0f) return;
00384 s = 1.0f/s;
00385 this->set(
00386 s * ((m[1][1] * m[2][2]) - (m[1][2] * m[2][1])),
00387 s * ((m[2][1] * m[0][2]) - (m[2][2] * m[0][1])),
00388 s * ((m[0][1] * m[1][2]) - (m[0][2] * m[1][1])),
00389 0.0f,
00390 s * ((m[1][2] * m[2][0]) - (m[1][0] * m[2][2])),
00391 s * ((m[2][2] * m[0][0]) - (m[2][0] * m[0][2])),
00392 s * ((m[0][2] * m[1][0]) - (m[0][0] * m[1][2])),
00393 0.0f,
00394 s * ((m[1][0] * m[2][1]) - (m[1][1] * m[2][0])),
00395 s * ((m[2][0] * m[0][1]) - (m[2][1] * m[0][0])),
00396 s * ((m[0][0] * m[1][1]) - (m[0][1] * m[1][0])),
00397 0.0f,
00398 s * (m[1][0]*(m[2][2]*m[3][1] - m[2][1]*m[3][2]) + m[1][1]*(m[2][0]*m[3][2] - m[2][2]*m[3][0]) + m[1][2]*(m[2][1]*m[3][0] - m[2][0]*m[3][1])),
00399 s * (m[2][0]*(m[0][2]*m[3][1] - m[0][1]*m[3][2]) + m[2][1]*(m[0][0]*m[3][2] - m[0][2]*m[3][0]) + m[2][2]*(m[0][1]*m[3][0] - m[0][0]*m[3][1])),
00400 s * (m[3][0]*(m[0][2]*m[1][1] - m[0][1]*m[1][2]) + m[3][1]*(m[0][0]*m[1][2] - m[0][2]*m[1][0]) + m[3][2]*(m[0][1]*m[1][0] - m[0][0]*m[1][1])),
00401 1.0f);
00402 }
00403
00404
00408 inline
00409 void
00410 AI_TMatrix44::mult_simple(const AI_TMatrix44& m1)
00411 {
00412 int i;
00413 for (i=0; i<4; i++)
00414 {
00415 float mi0 = m[i][0];
00416 float mi1 = m[i][1];
00417 float mi2 = m[i][2];
00418 m[i][0] = mi0*m1.m[0][0] + mi1*m1.m[1][0] + mi2*m1.m[2][0];
00419 m[i][1] = mi0*m1.m[0][1] + mi1*m1.m[1][1] + mi2*m1.m[2][1];
00420 m[i][2] = mi0*m1.m[0][2] + mi1*m1.m[1][2] + mi2*m1.m[2][2];
00421 }
00422 m[3][0] += m1.m[3][0];
00423 m[3][1] += m1.m[3][1];
00424 m[3][2] += m1.m[3][2];
00425 m[0][3] = 0.0f;
00426 m[1][3] = 0.0f;
00427 m[2][3] = 0.0f;
00428 m[3][3] = 1.0f;
00429 }
00430
00431
00435 inline
00436 AI_TVector3
00437 AI_TMatrix44::transform_coord(const AI_TVector3& v) const
00438 {
00439 float d = 1.0f / (m[0][3]*v.x + m[1][3]*v.y + m[2][3]*v.z + m[3][3]);
00440 return AI_TVector3(
00441 (m[0][0]*v.x + m[1][0]*v.y + m[2][0]*v.z + m[3][0]) * d,
00442 (m[0][1]*v.x + m[1][1]*v.y + m[2][1]*v.z + m[3][1]) * d,
00443 (m[0][2]*v.x + m[1][2]*v.y + m[2][2]*v.z + m[3][2]) * d);
00444 }
00445
00446
00449 inline
00450 AI_TVector3&
00451 AI_TMatrix44::x_component() const
00452 {
00453 return *(AI_TVector3*)&m[0][0];
00454 }
00455
00456
00459 inline
00460 AI_TVector3&
00461 AI_TMatrix44::y_component() const
00462 {
00463 return *(AI_TVector3*)&m[1][0];
00464 }
00465
00466
00469 inline
00470 AI_TVector3&
00471 AI_TMatrix44::z_component() const
00472 {
00473 return *(AI_TVector3*)&m[2][0];
00474 }
00475
00476
00479 inline
00480 AI_TVector3&
00481 AI_TMatrix44::pos_component() const
00482 {
00483 return *(AI_TVector3*)&m[3][0];
00484 }
00485
00486
00489 inline
00490 void
00491 AI_TMatrix44::rotate_x(const float a)
00492 {
00493 float c = ai_cos(a);
00494 float s = ai_sin(a);
00495 int i;
00496 for (i=0; i<4; i++) {
00497 float mi1 = m[i][1];
00498 float mi2 = m[i][2];
00499 m[i][1] = mi1*c + mi2*-s;
00500 m[i][2] = mi1*s + mi2*c;
00501 }
00502 }
00503
00504
00507 inline
00508 void
00509 AI_TMatrix44::rotate_y(const float a)
00510 {
00511 float c = ai_cos(a);
00512 float s = ai_sin(a);
00513 int i;
00514 for (i=0; i<4; i++) {
00515 float mi0 = m[i][0];
00516 float mi2 = m[i][2];
00517 m[i][0] = mi0*c + mi2*s;
00518 m[i][2] = mi0*-s + mi2*c;
00519 }
00520 }
00521
00522
00525 inline
00526 void
00527 AI_TMatrix44::rotate_z(const float a)
00528 {
00529 float c = ai_cos(a);
00530 float s = ai_sin(a);
00531 int i;
00532 for (i=0; i<4; i++) {
00533 float mi0 = m[i][0];
00534 float mi1 = m[i][1];
00535 m[i][0] = mi0*c + mi1*-s;
00536 m[i][1] = mi0*s + mi1*c;
00537 }
00538 }
00539
00540
00543 inline
00544 void
00545 AI_TMatrix44::translate(const AI_TVector3& t)
00546 {
00547 m[3][0] += t.x;
00548 m[3][1] += t.y;
00549 m[3][2] += t.z;
00550 }
00551
00552
00555 inline
00556 void
00557 AI_TMatrix44::set_translation(const AI_TVector3& t)
00558 {
00559 m[3][0] = t.x;
00560 m[3][1] = t.y;
00561 m[3][2] = t.z;
00562 };
00563
00564
00567 inline
00568 void
00569 AI_TMatrix44::scale(const AI_TVector3& s)
00570 {
00571 int i;
00572 for (i=0; i<4; i++)
00573 {
00574 m[i][0] *= s.x;
00575 m[i][1] *= s.y;
00576 m[i][2] *= s.z;
00577 }
00578 }
00579
00580
00583 inline
00584 void
00585 AI_TMatrix44::lookatRh(const AI_TVector3& at, const AI_TVector3& up)
00586 {
00587 AI_TVector3 eye(m[3][0], m[3][1], m[3][2]);
00588 AI_TVector3 zaxis = eye - at;
00589 zaxis.norm();
00590 AI_TVector3 xaxis = up * zaxis;
00591 xaxis.norm();
00592 AI_TVector3 yaxis = zaxis * xaxis;
00593 m[0][0] = xaxis.x; m[0][1] = xaxis.y; m[0][2] = xaxis.z; m[0][3] = 0.0f;
00594 m[1][0] = yaxis.x; m[1][1] = yaxis.y; m[1][2] = yaxis.z; m[1][3] = 0.0f;
00595 m[2][0] = zaxis.x; m[2][1] = zaxis.y; m[2][2] = zaxis.z; m[2][3] = 0.0f;
00596 }
00597
00598
00601 inline
00602 void
00603 AI_TMatrix44::lookatLh(const AI_TVector3& at, const AI_TVector3& up)
00604 {
00605 AI_TVector3 eye(m[3][0], m[3][1], m[3][2]);
00606 AI_TVector3 zaxis = at - eye;
00607 zaxis.norm();
00608 AI_TVector3 xaxis = up * zaxis;
00609 xaxis.norm();
00610 AI_TVector3 yaxis = zaxis * xaxis;
00611 m[0][0] = xaxis.x; m[0][1] = yaxis.x; m[0][2] = zaxis.x; m[0][3] = 0.0f;
00612 m[1][0] = xaxis.y; m[1][1] = yaxis.y; m[1][2] = zaxis.y; m[1][3] = 0.0f;
00613 m[2][0] = xaxis.z; m[2][1] = yaxis.z; m[2][2] = zaxis.z; m[2][3] = 0.0f;
00614 }
00615
00616
00619 inline
00620 void
00621 AI_TMatrix44::perspFovLh(float fovY, float aspect, float zn, float zf)
00622 {
00623 float h = float(1.0 / tan(fovY * 0.5f));
00624 float w = h / aspect;
00625 m[0][0] = w; m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f;
00626 m[1][0] = 0.0f; m[1][1] = h; m[1][2] = 0.0f; m[1][3] = 0.0f;
00627 m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = zf / (zf - zn); m[2][3] = 1.0f;
00628 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = -zn * (zf / (zf - zn)); m[3][3] = 0.0f;
00629 }
00630
00631
00634 inline
00635 void
00636 AI_TMatrix44::perspFovRh(float fovY, float aspect, float zn, float zf)
00637 {
00638 float h = float(1.0 / tan(fovY * 0.5f));
00639 float w = h / aspect;
00640 m[0][0] = w; m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f;
00641 m[1][0] = 0.0f; m[1][1] = h; m[1][2] = 0.0f; m[1][3] = 0.0f;
00642 m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = zf / (zn - zf); m[2][3] = -1.0f;
00643 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = zn * (zf / (zn - zf)); m[3][3] = 0.0f;
00644 }
00645
00646
00649 inline
00650 void
00651 AI_TMatrix44::perspOffCenterLh(float minX, float maxX, float minY, float maxY, float zn, float zf)
00652 {
00653 m[0][0] = 2.0f * zn / (maxX - minX); m[0][1] = 0.0f, m[0][2] = 0.0f; m[0][3] = 0.0f;
00654 m[1][0] = 0.0f; m[1][1] = 2.0f * zn / (maxY - minY); m[1][2] = 0.0f; m[1][3] = 0.0f;
00655 m[2][0] = (minX + maxX) / (minX - maxX); m[2][1] = (maxY + minY) / (minY - maxY); m[2][2] = zf / (zf - zn); m[2][3] = 1.0f;
00656 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = zn * zf / (zn - zf); m[3][3] = 0.0f;
00657 }
00658
00659
00662 inline
00663 void
00664 AI_TMatrix44::perspOffCenterRh(float minX, float maxX, float minY, float maxY, float zn, float zf)
00665 {
00666 m[0][0] = 2.0f * zn / (maxX - minX); m[0][1] = 0.0f, m[0][2] = 0.0f; m[0][3] = 0.0f;
00667 m[1][0] = 0.0f; m[1][1] = 2.0f * zn / (maxY - minY); m[1][2] = 0.0f; m[1][3] = 0.0f;
00668 m[2][0] = (minX + maxX) / (maxX - minX); m[2][1] = (maxY + minY) / (maxY - minY); m[2][2] = zf / (zn - zf); m[2][3] = -1.0f;
00669 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = zn * zf / (zn - zf); m[3][3] = 0.0f;
00670 }
00671
00672
00675 inline
00676 void
00677 AI_TMatrix44::orthoLh(float w, float h, float zn, float zf)
00678 {
00679 m[0][0] = 2.0f / w; m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f;
00680 m[1][0] = 0.0f; m[1][1] = 2.0f / h; m[1][2] = 0.0f; m[1][3] = 0.0f;
00681 m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = 1.0f / (zf - zn); m[2][3] = 0.0f;
00682 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = zn / (zn - zf); m[3][3] = 1.0f;
00683 }
00684
00685
00688 inline
00689 void
00690 AI_TMatrix44::orthoRh(float w, float h, float zn, float zf)
00691 {
00692 m[0][0] = 2.0f / w; m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f;
00693 m[1][0] = 0.0f; m[1][1] = 2.0f / h; m[1][2] = 0.0f; m[1][3] = 0.0f;
00694 m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = 1.0f / (zn - zf); m[2][3] = 0.0f;
00695 m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = zn / (zn - zf); m[3][3] = 1.0f;
00696 }
00697
00698
00701 inline
00702 void
00703 AI_TMatrix44::billboard(const AI_TVector3& to, const AI_TVector3& up)
00704 {
00705 AI_TVector3 from(m[3][0], m[3][1], m[3][2]);
00706 AI_TVector3 z(from - to);
00707 z.norm();
00708 AI_TVector3 y(up);
00709 y.norm();
00710 AI_TVector3 x(y * z);
00711 z = x * y;
00712
00713 m[0][0]=x.x; m[0][1]=x.y; m[0][2]=x.z; m[0][3]=0.0f;
00714 m[1][0]=y.x; m[1][1]=y.y; m[1][2]=y.z; m[1][3]=0.0f;
00715 m[2][0]=z.x; m[2][1]=z.y; m[2][2]=z.z; m[2][3]=0.0f;
00716 }
00717
00718
00721 inline
00722 void
00723 AI_TMatrix44::operator *= (const AI_TMatrix44& m1)
00724 {
00725 int i;
00726 for (i=0; i<4; i++)
00727 {
00728 float mi0 = m[i][0];
00729 float mi1 = m[i][1];
00730 float mi2 = m[i][2];
00731 float mi3 = m[i][3];
00732 m[i][0] = mi0*m1.m[0][0] + mi1*m1.m[1][0] + mi2*m1.m[2][0] + mi3*m1.m[3][0];
00733 m[i][1] = mi0*m1.m[0][1] + mi1*m1.m[1][1] + mi2*m1.m[2][1] + mi3*m1.m[3][1];
00734 m[i][2] = mi0*m1.m[0][2] + mi1*m1.m[1][2] + mi2*m1.m[2][2] + mi3*m1.m[3][2];
00735 m[i][3] = mi0*m1.m[0][3] + mi1*m1.m[1][3] + mi2*m1.m[2][3] + mi3*m1.m[3][3];
00736 }
00737 }
00738
00739
00742 inline
00743 void
00744 AI_TMatrix44::rotate(const AI_TVector3& vec, float a)
00745 {
00746 AI_TVector3 v(vec);
00747 v.norm();
00748 float sa = (float) ai_sin(a);
00749 float ca = (float) ai_cos(a);
00750
00751 AI_TMatrix44 rotM;
00752 rotM.m[0][0] = ca + (1.0f - ca) * v.x * v.x;
00753 rotM.m[0][1] = (1.0f - ca) * v.x * v.y - sa * v.z;
00754 rotM.m[0][2] = (1.0f - ca) * v.z * v.x + sa * v.y;
00755 rotM.m[1][0] = (1.0f - ca) * v.x * v.y + sa * v.z;
00756 rotM.m[1][1] = ca + (1.0f - ca) * v.y * v.y;
00757 rotM.m[1][2] = (1.0f - ca) * v.y * v.z - sa * v.x;
00758 rotM.m[2][0] = (1.0f - ca) * v.z * v.x - sa * v.y;
00759 rotM.m[2][1] = (1.0f - ca) * v.y * v.z + sa * v.x;
00760 rotM.m[2][2] = ca + (1.0f - ca) * v.z * v.z;
00761
00762 (*this) *= rotM;
00763 }
00764
00765
00768 inline
00769 void
00770 AI_TMatrix44::mult(const AI_TVector4& src, AI_TVector4& dst) const
00771 {
00772 dst.x = m[0][0]*src.x + m[1][0]*src.y + m[2][0]*src.z + m[3][0]*src.w;
00773 dst.y = m[0][1]*src.x + m[1][1]*src.y + m[2][1]*src.z + m[3][1]*src.w;
00774 dst.z = m[0][2]*src.x + m[1][2]*src.y + m[2][2]*src.z + m[3][2]*src.w;
00775 dst.w = m[0][3]*src.x + m[1][3]*src.y + m[2][3]*src.z + m[3][3]*src.w;
00776 }
00777
00778
00781 inline
00782 void
00783 AI_TMatrix44::mult(const AI_TVector3& src, AI_TVector3& dst) const
00784 {
00785 dst.x = m[0][0]*src.x + m[1][0]*src.y + m[2][0]*src.z + m[3][0];
00786 dst.y = m[0][1]*src.x + m[1][1]*src.y + m[2][1]*src.z + m[3][1];
00787 dst.z = m[0][2]*src.x + m[1][2]*src.y + m[2][2]*src.z + m[3][2];
00788 }
00789
00790
00793 static
00794 inline
00795 AI_TMatrix44 operator * (const AI_TMatrix44& m0, const AI_TMatrix44& m1)
00796 {
00797 AI_TMatrix44 m2(
00798 m0.m[0][0]*m1.m[0][0] + m0.m[0][1]*m1.m[1][0] + m0.m[0][2]*m1.m[2][0] + m0.m[0][3]*m1.m[3][0],
00799 m0.m[0][0]*m1.m[0][1] + m0.m[0][1]*m1.m[1][1] + m0.m[0][2]*m1.m[2][1] + m0.m[0][3]*m1.m[3][1],
00800 m0.m[0][0]*m1.m[0][2] + m0.m[0][1]*m1.m[1][2] + m0.m[0][2]*m1.m[2][2] + m0.m[0][3]*m1.m[3][2],
00801 m0.m[0][0]*m1.m[0][3] + m0.m[0][1]*m1.m[1][3] + m0.m[0][2]*m1.m[2][3] + m0.m[0][3]*m1.m[3][3],
00802
00803 m0.m[1][0]*m1.m[0][0] + m0.m[1][1]*m1.m[1][0] + m0.m[1][2]*m1.m[2][0] + m0.m[1][3]*m1.m[3][0],
00804 m0.m[1][0]*m1.m[0][1] + m0.m[1][1]*m1.m[1][1] + m0.m[1][2]*m1.m[2][1] + m0.m[1][3]*m1.m[3][1],
00805 m0.m[1][0]*m1.m[0][2] + m0.m[1][1]*m1.m[1][2] + m0.m[1][2]*m1.m[2][2] + m0.m[1][3]*m1.m[3][2],
00806 m0.m[1][0]*m1.m[0][3] + m0.m[1][1]*m1.m[1][3] + m0.m[1][2]*m1.m[2][3] + m0.m[1][3]*m1.m[3][3],
00807
00808 m0.m[2][0]*m1.m[0][0] + m0.m[2][1]*m1.m[1][0] + m0.m[2][2]*m1.m[2][0] + m0.m[2][3]*m1.m[3][0],
00809 m0.m[2][0]*m1.m[0][1] + m0.m[2][1]*m1.m[1][1] + m0.m[2][2]*m1.m[2][1] + m0.m[2][3]*m1.m[3][1],
00810 m0.m[2][0]*m1.m[0][2] + m0.m[2][1]*m1.m[1][2] + m0.m[2][2]*m1.m[2][2] + m0.m[2][3]*m1.m[3][2],
00811 m0.m[2][0]*m1.m[0][3] + m0.m[2][1]*m1.m[1][3] + m0.m[2][2]*m1.m[2][3] + m0.m[2][3]*m1.m[3][3],
00812
00813 m0.m[3][0]*m1.m[0][0] + m0.m[3][1]*m1.m[1][0] + m0.m[3][2]*m1.m[2][0] + m0.m[3][3]*m1.m[3][0],
00814 m0.m[3][0]*m1.m[0][1] + m0.m[3][1]*m1.m[1][1] + m0.m[3][2]*m1.m[2][1] + m0.m[3][3]*m1.m[3][1],
00815 m0.m[3][0]*m1.m[0][2] + m0.m[3][1]*m1.m[1][2] + m0.m[3][2]*m1.m[2][2] + m0.m[3][3]*m1.m[3][2],
00816 m0.m[3][0]*m1.m[0][3] + m0.m[3][1]*m1.m[1][3] + m0.m[3][2]*m1.m[2][3] + m0.m[3][3]*m1.m[3][3]);
00817 return m2;
00818 }
00819
00820
00823 static
00824 inline
00825 AI_TVector3 operator * (const AI_TMatrix44& m, const AI_TVector3& v)
00826 {
00827 return AI_TVector3(
00828 m.m[0][0]*v.x + m.m[1][0]*v.y + m.m[2][0]*v.z + m.m[3][0],
00829 m.m[0][1]*v.x + m.m[1][1]*v.y + m.m[2][1]*v.z + m.m[3][1],
00830 m.m[0][2]*v.x + m.m[1][2]*v.y + m.m[2][2]*v.z + m.m[3][2]);
00831 }
00832
00833
00836 static
00837 inline
00838 AI_TVector4 operator * (const AI_TMatrix44& m, const AI_TVector4& v)
00839 {
00840 return AI_TVector4(
00841 m.m[0][0]*v.x + m.m[1][0]*v.y + m.m[2][0]*v.z + m.m[3][0]*v.w,
00842 m.m[0][1]*v.x + m.m[1][1]*v.y + m.m[2][1]*v.z + m.m[3][1]*v.w,
00843 m.m[0][2]*v.x + m.m[1][2]*v.y + m.m[2][2]*v.z + m.m[3][2]*v.w,
00844 m.m[0][3]*v.x + m.m[1][3]*v.y + m.m[2][3]*v.z + m.m[3][3]*v.w);
00845 };
00846
00847
00848 #endif
