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Diffstat (limited to 'core/math/matrix3.h')
| -rw-r--r-- | core/math/matrix3.h | 230 |
1 files changed, 230 insertions, 0 deletions
diff --git a/core/math/matrix3.h b/core/math/matrix3.h new file mode 100644 index 0000000000..f68703ca23 --- /dev/null +++ b/core/math/matrix3.h @@ -0,0 +1,230 @@ +/*************************************************************************/ +/* matrix3.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ +#ifndef MATRIX3_H +#define MATRIX3_H + +#include "vector3.h" +#include "quat.h" + +/** + @author Juan Linietsky <reduzio@gmail.com> +*/ +class Matrix3 { +public: + + Vector3 elements[3]; + + _FORCE_INLINE_ const Vector3& operator[](int axis) const { + + return elements[axis]; + } + _FORCE_INLINE_ Vector3& operator[](int axis) { + + return elements[axis]; + } + + void invert(); + void transpose(); + + Matrix3 inverse() const; + Matrix3 transposed() const; + + _FORCE_INLINE_ float determinant() const; + + void from_z(const Vector3& p_z); + + _FORCE_INLINE_ Vector3 get_axis(int p_axis) const { + // get actual basis axis (elements is transposed for performance) + return Vector3( elements[0][p_axis], elements[1][p_axis], elements[2][p_axis] ); + } + _FORCE_INLINE_ void set_axis(int p_axis, const Vector3& p_value) { + // get actual basis axis (elements is transposed for performance) + elements[0][p_axis]=p_value.x; + elements[1][p_axis]=p_value.y; + elements[2][p_axis]=p_value.z; + } + + void rotate(const Vector3& p_axis, real_t p_phi); + Matrix3 rotated(const Vector3& p_axis, real_t p_phi) const; + + void scale( const Vector3& p_scale ); + Matrix3 scaled( const Vector3& p_scale ) const; + Vector3 get_scale() const; + + Vector3 get_euler() const; + void set_euler(const Vector3& p_euler); + + // transposed dot products + _FORCE_INLINE_ real_t tdotx(const Vector3& v) const { + return elements[0][0] * v[0] + elements[1][0] * v[1] + elements[2][0] * v[2]; + } + _FORCE_INLINE_ real_t tdoty(const Vector3& v) const { + return elements[0][1] * v[0] + elements[1][1] * v[1] + elements[2][1] * v[2]; + } + _FORCE_INLINE_ real_t tdotz(const Vector3& v) const { + return elements[0][2] * v[0] + elements[1][2] * v[1] + elements[2][2] * v[2]; + } + + bool operator==(const Matrix3& p_matrix) const; + bool operator!=(const Matrix3& p_matrix) const; + + _FORCE_INLINE_ Vector3 xform(const Vector3& p_vector) const; + _FORCE_INLINE_ Vector3 xform_inv(const Vector3& p_vector) const; + _FORCE_INLINE_ void operator*=(const Matrix3& p_matrix); + _FORCE_INLINE_ Matrix3 operator*(const Matrix3& p_matrix) const; + + int get_orthogonal_index() const; + void set_orthogonal_index(int p_index); + + operator String() const; + + void get_axis_and_angle(Vector3 &r_axis,real_t& r_angle) const; + + /* create / set */ + + + _FORCE_INLINE_ void set(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) { + + elements[0][0]=xx; + elements[0][1]=xy; + elements[0][2]=xz; + elements[1][0]=yx; + elements[1][1]=yy; + elements[1][2]=yz; + elements[2][0]=zx; + elements[2][1]=zy; + elements[2][2]=zz; + } + _FORCE_INLINE_ Vector3 get_column(int i) const { + + return Vector3(elements[0][i],elements[1][i],elements[2][i]); + } + + _FORCE_INLINE_ Vector3 get_row(int i) const { + + return Vector3(elements[i][0],elements[i][1],elements[i][2]); + } + _FORCE_INLINE_ void set_row(int i, const Vector3& p_row) { + elements[i][0]=p_row.x; + elements[i][1]=p_row.y; + elements[i][2]=p_row.z; + } + + _FORCE_INLINE_ void set_zero() { + elements[0].zero(); + elements[1].zero(); + elements[2].zero(); + } + + _FORCE_INLINE_ Matrix3 transpose_xform(const Matrix3& m) const + { + return Matrix3( + elements[0].x * m[0].x + elements[1].x * m[1].x + elements[2].x * m[2].x, + elements[0].x * m[0].y + elements[1].x * m[1].y + elements[2].x * m[2].y, + elements[0].x * m[0].z + elements[1].x * m[1].z + elements[2].x * m[2].z, + elements[0].y * m[0].x + elements[1].y * m[1].x + elements[2].y * m[2].x, + elements[0].y * m[0].y + elements[1].y * m[1].y + elements[2].y * m[2].y, + elements[0].y * m[0].z + elements[1].y * m[1].z + elements[2].y * m[2].z, + elements[0].z * m[0].x + elements[1].z * m[1].x + elements[2].z * m[2].x, + elements[0].z * m[0].y + elements[1].z * m[1].y + elements[2].z * m[2].y, + elements[0].z * m[0].z + elements[1].z * m[1].z + elements[2].z * m[2].z); + } + Matrix3(real_t xx, real_t xy, real_t xz, real_t yx, real_t yy, real_t yz, real_t zx, real_t zy, real_t zz) { + + set(xx, xy, xz, yx, yy, yz, zx, zy, zz); + } + + void orthonormalize(); + Matrix3 orthonormalized() const; + + operator Quat() const; + + Matrix3(const Quat& p_quat); // euler + Matrix3(const Vector3& p_euler); // euler + Matrix3(const Vector3& p_axis, real_t p_phi); + + _FORCE_INLINE_ Matrix3() { + + elements[0][0]=1; + elements[0][1]=0; + elements[0][2]=0; + elements[1][0]=0; + elements[1][1]=1; + elements[1][2]=0; + elements[2][0]=0; + elements[2][1]=0; + elements[2][2]=1; + } + + +}; + +_FORCE_INLINE_ void Matrix3::operator*=(const Matrix3& p_matrix) { + + set( + p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]), + p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]), + p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2])); + +} + +_FORCE_INLINE_ Matrix3 Matrix3::operator*(const Matrix3& p_matrix) const { + + return Matrix3( + p_matrix.tdotx(elements[0]), p_matrix.tdoty(elements[0]), p_matrix.tdotz(elements[0]), + p_matrix.tdotx(elements[1]), p_matrix.tdoty(elements[1]), p_matrix.tdotz(elements[1]), + p_matrix.tdotx(elements[2]), p_matrix.tdoty(elements[2]), p_matrix.tdotz(elements[2]) ); + +} + +Vector3 Matrix3::xform(const Vector3& p_vector) const { + + return Vector3( + elements[0].dot(p_vector), + elements[1].dot(p_vector), + elements[2].dot(p_vector) + ); +} + +Vector3 Matrix3::xform_inv(const Vector3& p_vector) const { + + return Vector3( + (elements[0][0]*p_vector.x ) + ( elements[1][0]*p_vector.y ) + ( elements[2][0]*p_vector.z ), + (elements[0][1]*p_vector.x ) + ( elements[1][1]*p_vector.y ) + ( elements[2][1]*p_vector.z ), + (elements[0][2]*p_vector.x ) + ( elements[1][2]*p_vector.y ) + ( elements[2][2]*p_vector.z ) + ); +} + +float Matrix3::determinant() const { + + return elements[0][0]*(elements[1][1]*elements[2][2] - elements[2][1]*elements[1][2]) - + elements[1][0]*(elements[0][1]*elements[2][2] - elements[2][1]*elements[0][2]) + + elements[2][0]*(elements[0][1]*elements[1][2] - elements[1][1]*elements[0][2]); +} +#endif |