1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
|
/*************************************************************************/
/* matrix3.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2017 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
|