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Last modified Fri May 25 23:36:24 2012
00001 /* 00002 ----------------------------------------------------------------------------- 00003 This source file is part of OGRE 00004 (Object-oriented Graphics Rendering Engine) 00005 For the latest info, see http://www.ogre3d.org/ 00006 00007 Copyright (c) 2000-2012 Torus Knot Software Ltd 00008 00009 Permission is hereby granted, free of charge, to any person obtaining a copy 00010 of this software and associated documentation files (the "Software"), to deal 00011 in the Software without restriction, including without limitation the rights 00012 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 00013 copies of the Software, and to permit persons to whom the Software is 00014 furnished to do so, subject to the following conditions: 00015 00016 The above copyright notice and this permission notice shall be included in 00017 all copies or substantial portions of the Software. 00018 00019 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00020 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00021 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 00022 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00023 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00024 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 00025 THE SOFTWARE. 00026 ----------------------------------------------------------------------------- 00027 */ 00028 #ifndef __Matrix4__ 00029 #define __Matrix4__ 00030 00031 // Precompiler options 00032 #include "OgrePrerequisites.h" 00033 00034 #include "OgreVector3.h" 00035 #include "OgreMatrix3.h" 00036 #include "OgreVector4.h" 00037 #include "OgrePlane.h" 00038 namespace Ogre 00039 { 00078 class _OgreExport Matrix4 00079 { 00080 protected: 00082 union { 00083 Real m[4][4]; 00084 Real _m[16]; 00085 }; 00086 public: 00091 inline Matrix4() 00092 { 00093 } 00094 00095 inline Matrix4( 00096 Real m00, Real m01, Real m02, Real m03, 00097 Real m10, Real m11, Real m12, Real m13, 00098 Real m20, Real m21, Real m22, Real m23, 00099 Real m30, Real m31, Real m32, Real m33 ) 00100 { 00101 m[0][0] = m00; 00102 m[0][1] = m01; 00103 m[0][2] = m02; 00104 m[0][3] = m03; 00105 m[1][0] = m10; 00106 m[1][1] = m11; 00107 m[1][2] = m12; 00108 m[1][3] = m13; 00109 m[2][0] = m20; 00110 m[2][1] = m21; 00111 m[2][2] = m22; 00112 m[2][3] = m23; 00113 m[3][0] = m30; 00114 m[3][1] = m31; 00115 m[3][2] = m32; 00116 m[3][3] = m33; 00117 } 00118 00122 inline Matrix4(const Matrix3& m3x3) 00123 { 00124 operator=(IDENTITY); 00125 operator=(m3x3); 00126 } 00127 00131 inline Matrix4(const Quaternion& rot) 00132 { 00133 Matrix3 m3x3; 00134 rot.ToRotationMatrix(m3x3); 00135 operator=(IDENTITY); 00136 operator=(m3x3); 00137 } 00138 00139 00142 inline void swap(Matrix4& other) 00143 { 00144 std::swap(m[0][0], other.m[0][0]); 00145 std::swap(m[0][1], other.m[0][1]); 00146 std::swap(m[0][2], other.m[0][2]); 00147 std::swap(m[0][3], other.m[0][3]); 00148 std::swap(m[1][0], other.m[1][0]); 00149 std::swap(m[1][1], other.m[1][1]); 00150 std::swap(m[1][2], other.m[1][2]); 00151 std::swap(m[1][3], other.m[1][3]); 00152 std::swap(m[2][0], other.m[2][0]); 00153 std::swap(m[2][1], other.m[2][1]); 00154 std::swap(m[2][2], other.m[2][2]); 00155 std::swap(m[2][3], other.m[2][3]); 00156 std::swap(m[3][0], other.m[3][0]); 00157 std::swap(m[3][1], other.m[3][1]); 00158 std::swap(m[3][2], other.m[3][2]); 00159 std::swap(m[3][3], other.m[3][3]); 00160 } 00161 00162 inline Real* operator [] ( size_t iRow ) 00163 { 00164 assert( iRow < 4 ); 00165 return m[iRow]; 00166 } 00167 00168 inline const Real *operator [] ( size_t iRow ) const 00169 { 00170 assert( iRow < 4 ); 00171 return m[iRow]; 00172 } 00173 00174 inline Matrix4 concatenate(const Matrix4 &m2) const 00175 { 00176 Matrix4 r; 00177 r.m[0][0] = m[0][0] * m2.m[0][0] + m[0][1] * m2.m[1][0] + m[0][2] * m2.m[2][0] + m[0][3] * m2.m[3][0]; 00178 r.m[0][1] = m[0][0] * m2.m[0][1] + m[0][1] * m2.m[1][1] + m[0][2] * m2.m[2][1] + m[0][3] * m2.m[3][1]; 00179 r.m[0][2] = m[0][0] * m2.m[0][2] + m[0][1] * m2.m[1][2] + m[0][2] * m2.m[2][2] + m[0][3] * m2.m[3][2]; 00180 r.m[0][3] = m[0][0] * m2.m[0][3] + m[0][1] * m2.m[1][3] + m[0][2] * m2.m[2][3] + m[0][3] * m2.m[3][3]; 00181 00182 r.m[1][0] = m[1][0] * m2.m[0][0] + m[1][1] * m2.m[1][0] + m[1][2] * m2.m[2][0] + m[1][3] * m2.m[3][0]; 00183 r.m[1][1] = m[1][0] * m2.m[0][1] + m[1][1] * m2.m[1][1] + m[1][2] * m2.m[2][1] + m[1][3] * m2.m[3][1]; 00184 r.m[1][2] = m[1][0] * m2.m[0][2] + m[1][1] * m2.m[1][2] + m[1][2] * m2.m[2][2] + m[1][3] * m2.m[3][2]; 00185 r.m[1][3] = m[1][0] * m2.m[0][3] + m[1][1] * m2.m[1][3] + m[1][2] * m2.m[2][3] + m[1][3] * m2.m[3][3]; 00186 00187 r.m[2][0] = m[2][0] * m2.m[0][0] + m[2][1] * m2.m[1][0] + m[2][2] * m2.m[2][0] + m[2][3] * m2.m[3][0]; 00188 r.m[2][1] = m[2][0] * m2.m[0][1] + m[2][1] * m2.m[1][1] + m[2][2] * m2.m[2][1] + m[2][3] * m2.m[3][1]; 00189 r.m[2][2] = m[2][0] * m2.m[0][2] + m[2][1] * m2.m[1][2] + m[2][2] * m2.m[2][2] + m[2][3] * m2.m[3][2]; 00190 r.m[2][3] = m[2][0] * m2.m[0][3] + m[2][1] * m2.m[1][3] + m[2][2] * m2.m[2][3] + m[2][3] * m2.m[3][3]; 00191 00192 r.m[3][0] = m[3][0] * m2.m[0][0] + m[3][1] * m2.m[1][0] + m[3][2] * m2.m[2][0] + m[3][3] * m2.m[3][0]; 00193 r.m[3][1] = m[3][0] * m2.m[0][1] + m[3][1] * m2.m[1][1] + m[3][2] * m2.m[2][1] + m[3][3] * m2.m[3][1]; 00194 r.m[3][2] = m[3][0] * m2.m[0][2] + m[3][1] * m2.m[1][2] + m[3][2] * m2.m[2][2] + m[3][3] * m2.m[3][2]; 00195 r.m[3][3] = m[3][0] * m2.m[0][3] + m[3][1] * m2.m[1][3] + m[3][2] * m2.m[2][3] + m[3][3] * m2.m[3][3]; 00196 00197 return r; 00198 } 00199 00202 inline Matrix4 operator * ( const Matrix4 &m2 ) const 00203 { 00204 return concatenate( m2 ); 00205 } 00206 00216 inline Vector3 operator * ( const Vector3 &v ) const 00217 { 00218 Vector3 r; 00219 00220 Real fInvW = 1.0f / ( m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] ); 00221 00222 r.x = ( m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] ) * fInvW; 00223 r.y = ( m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] ) * fInvW; 00224 r.z = ( m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] ) * fInvW; 00225 00226 return r; 00227 } 00228 inline Vector4 operator * (const Vector4& v) const 00229 { 00230 return Vector4( 00231 m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w, 00232 m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w, 00233 m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w, 00234 m[3][0] * v.x + m[3][1] * v.y + m[3][2] * v.z + m[3][3] * v.w 00235 ); 00236 } 00237 inline Plane operator * (const Plane& p) const 00238 { 00239 Plane ret; 00240 Matrix4 invTrans = inverse().transpose(); 00241 Vector4 v4( p.normal.x, p.normal.y, p.normal.z, p.d ); 00242 v4 = invTrans * v4; 00243 ret.normal.x = v4.x; 00244 ret.normal.y = v4.y; 00245 ret.normal.z = v4.z; 00246 ret.d = v4.w / ret.normal.normalise(); 00247 00248 return ret; 00249 } 00250 00251 00254 inline Matrix4 operator + ( const Matrix4 &m2 ) const 00255 { 00256 Matrix4 r; 00257 00258 r.m[0][0] = m[0][0] + m2.m[0][0]; 00259 r.m[0][1] = m[0][1] + m2.m[0][1]; 00260 r.m[0][2] = m[0][2] + m2.m[0][2]; 00261 r.m[0][3] = m[0][3] + m2.m[0][3]; 00262 00263 r.m[1][0] = m[1][0] + m2.m[1][0]; 00264 r.m[1][1] = m[1][1] + m2.m[1][1]; 00265 r.m[1][2] = m[1][2] + m2.m[1][2]; 00266 r.m[1][3] = m[1][3] + m2.m[1][3]; 00267 00268 r.m[2][0] = m[2][0] + m2.m[2][0]; 00269 r.m[2][1] = m[2][1] + m2.m[2][1]; 00270 r.m[2][2] = m[2][2] + m2.m[2][2]; 00271 r.m[2][3] = m[2][3] + m2.m[2][3]; 00272 00273 r.m[3][0] = m[3][0] + m2.m[3][0]; 00274 r.m[3][1] = m[3][1] + m2.m[3][1]; 00275 r.m[3][2] = m[3][2] + m2.m[3][2]; 00276 r.m[3][3] = m[3][3] + m2.m[3][3]; 00277 00278 return r; 00279 } 00280 00283 inline Matrix4 operator - ( const Matrix4 &m2 ) const 00284 { 00285 Matrix4 r; 00286 r.m[0][0] = m[0][0] - m2.m[0][0]; 00287 r.m[0][1] = m[0][1] - m2.m[0][1]; 00288 r.m[0][2] = m[0][2] - m2.m[0][2]; 00289 r.m[0][3] = m[0][3] - m2.m[0][3]; 00290 00291 r.m[1][0] = m[1][0] - m2.m[1][0]; 00292 r.m[1][1] = m[1][1] - m2.m[1][1]; 00293 r.m[1][2] = m[1][2] - m2.m[1][2]; 00294 r.m[1][3] = m[1][3] - m2.m[1][3]; 00295 00296 r.m[2][0] = m[2][0] - m2.m[2][0]; 00297 r.m[2][1] = m[2][1] - m2.m[2][1]; 00298 r.m[2][2] = m[2][2] - m2.m[2][2]; 00299 r.m[2][3] = m[2][3] - m2.m[2][3]; 00300 00301 r.m[3][0] = m[3][0] - m2.m[3][0]; 00302 r.m[3][1] = m[3][1] - m2.m[3][1]; 00303 r.m[3][2] = m[3][2] - m2.m[3][2]; 00304 r.m[3][3] = m[3][3] - m2.m[3][3]; 00305 00306 return r; 00307 } 00308 00311 inline bool operator == ( const Matrix4& m2 ) const 00312 { 00313 if( 00314 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00315 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00316 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00317 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00318 return false; 00319 return true; 00320 } 00321 00324 inline bool operator != ( const Matrix4& m2 ) const 00325 { 00326 if( 00327 m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || 00328 m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || 00329 m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || 00330 m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) 00331 return true; 00332 return false; 00333 } 00334 00337 inline void operator = ( const Matrix3& mat3 ) 00338 { 00339 m[0][0] = mat3.m[0][0]; m[0][1] = mat3.m[0][1]; m[0][2] = mat3.m[0][2]; 00340 m[1][0] = mat3.m[1][0]; m[1][1] = mat3.m[1][1]; m[1][2] = mat3.m[1][2]; 00341 m[2][0] = mat3.m[2][0]; m[2][1] = mat3.m[2][1]; m[2][2] = mat3.m[2][2]; 00342 } 00343 00344 inline Matrix4 transpose(void) const 00345 { 00346 return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0], 00347 m[0][1], m[1][1], m[2][1], m[3][1], 00348 m[0][2], m[1][2], m[2][2], m[3][2], 00349 m[0][3], m[1][3], m[2][3], m[3][3]); 00350 } 00351 00352 /* 00353 ----------------------------------------------------------------------- 00354 Translation Transformation 00355 ----------------------------------------------------------------------- 00356 */ 00359 inline void setTrans( const Vector3& v ) 00360 { 00361 m[0][3] = v.x; 00362 m[1][3] = v.y; 00363 m[2][3] = v.z; 00364 } 00365 00368 inline Vector3 getTrans() const 00369 { 00370 return Vector3(m[0][3], m[1][3], m[2][3]); 00371 } 00372 00373 00376 inline void makeTrans( const Vector3& v ) 00377 { 00378 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = v.x; 00379 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = v.y; 00380 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = v.z; 00381 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00382 } 00383 00384 inline void makeTrans( Real tx, Real ty, Real tz ) 00385 { 00386 m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx; 00387 m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = ty; 00388 m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = tz; 00389 m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; 00390 } 00391 00394 inline static Matrix4 getTrans( const Vector3& v ) 00395 { 00396 Matrix4 r; 00397 00398 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = v.x; 00399 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = v.y; 00400 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = v.z; 00401 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00402 00403 return r; 00404 } 00405 00408 inline static Matrix4 getTrans( Real t_x, Real t_y, Real t_z ) 00409 { 00410 Matrix4 r; 00411 00412 r.m[0][0] = 1.0; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = t_x; 00413 r.m[1][0] = 0.0; r.m[1][1] = 1.0; r.m[1][2] = 0.0; r.m[1][3] = t_y; 00414 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = 1.0; r.m[2][3] = t_z; 00415 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00416 00417 return r; 00418 } 00419 00420 /* 00421 ----------------------------------------------------------------------- 00422 Scale Transformation 00423 ----------------------------------------------------------------------- 00424 */ 00427 inline void setScale( const Vector3& v ) 00428 { 00429 m[0][0] = v.x; 00430 m[1][1] = v.y; 00431 m[2][2] = v.z; 00432 } 00433 00436 inline static Matrix4 getScale( const Vector3& v ) 00437 { 00438 Matrix4 r; 00439 r.m[0][0] = v.x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00440 r.m[1][0] = 0.0; r.m[1][1] = v.y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00441 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = v.z; r.m[2][3] = 0.0; 00442 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00443 00444 return r; 00445 } 00446 00449 inline static Matrix4 getScale( Real s_x, Real s_y, Real s_z ) 00450 { 00451 Matrix4 r; 00452 r.m[0][0] = s_x; r.m[0][1] = 0.0; r.m[0][2] = 0.0; r.m[0][3] = 0.0; 00453 r.m[1][0] = 0.0; r.m[1][1] = s_y; r.m[1][2] = 0.0; r.m[1][3] = 0.0; 00454 r.m[2][0] = 0.0; r.m[2][1] = 0.0; r.m[2][2] = s_z; r.m[2][3] = 0.0; 00455 r.m[3][0] = 0.0; r.m[3][1] = 0.0; r.m[3][2] = 0.0; r.m[3][3] = 1.0; 00456 00457 return r; 00458 } 00459 00463 inline void extract3x3Matrix(Matrix3& m3x3) const 00464 { 00465 m3x3.m[0][0] = m[0][0]; 00466 m3x3.m[0][1] = m[0][1]; 00467 m3x3.m[0][2] = m[0][2]; 00468 m3x3.m[1][0] = m[1][0]; 00469 m3x3.m[1][1] = m[1][1]; 00470 m3x3.m[1][2] = m[1][2]; 00471 m3x3.m[2][0] = m[2][0]; 00472 m3x3.m[2][1] = m[2][1]; 00473 m3x3.m[2][2] = m[2][2]; 00474 00475 } 00476 00478 inline bool hasScale() const 00479 { 00480 // check magnitude of column vectors (==local axes) 00481 Real t = m[0][0] * m[0][0] + m[1][0] * m[1][0] + m[2][0] * m[2][0]; 00482 if (!Math::RealEqual(t, 1.0, (Real)1e-04)) 00483 return true; 00484 t = m[0][1] * m[0][1] + m[1][1] * m[1][1] + m[2][1] * m[2][1]; 00485 if (!Math::RealEqual(t, 1.0, (Real)1e-04)) 00486 return true; 00487 t = m[0][2] * m[0][2] + m[1][2] * m[1][2] + m[2][2] * m[2][2]; 00488 if (!Math::RealEqual(t, 1.0, (Real)1e-04)) 00489 return true; 00490 00491 return false; 00492 } 00493 00495 inline bool hasNegativeScale() const 00496 { 00497 return determinant() < 0; 00498 } 00499 00502 inline Quaternion extractQuaternion() const 00503 { 00504 Matrix3 m3x3; 00505 extract3x3Matrix(m3x3); 00506 return Quaternion(m3x3); 00507 } 00508 00509 static const Matrix4 ZERO; 00510 static const Matrix4 ZEROAFFINE; 00511 static const Matrix4 IDENTITY; 00514 static const Matrix4 CLIPSPACE2DTOIMAGESPACE; 00515 00516 inline Matrix4 operator*(Real scalar) const 00517 { 00518 return Matrix4( 00519 scalar*m[0][0], scalar*m[0][1], scalar*m[0][2], scalar*m[0][3], 00520 scalar*m[1][0], scalar*m[1][1], scalar*m[1][2], scalar*m[1][3], 00521 scalar*m[2][0], scalar*m[2][1], scalar*m[2][2], scalar*m[2][3], 00522 scalar*m[3][0], scalar*m[3][1], scalar*m[3][2], scalar*m[3][3]); 00523 } 00524 00527 inline _OgreExport friend std::ostream& operator << 00528 ( std::ostream& o, const Matrix4& mat ) 00529 { 00530 o << "Matrix4("; 00531 for (size_t i = 0; i < 4; ++i) 00532 { 00533 o << " row" << (unsigned)i << "{"; 00534 for(size_t j = 0; j < 4; ++j) 00535 { 00536 o << mat[i][j] << " "; 00537 } 00538 o << "}"; 00539 } 00540 o << ")"; 00541 return o; 00542 } 00543 00544 Matrix4 adjoint() const; 00545 Real determinant() const; 00546 Matrix4 inverse() const; 00547 00554 void makeTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation); 00555 00561 void makeInverseTransform(const Vector3& position, const Vector3& scale, const Quaternion& orientation); 00562 00565 void decomposition(Vector3& position, Vector3& scale, Quaternion& orientation) const; 00566 00572 inline bool isAffine(void) const 00573 { 00574 return m[3][0] == 0 && m[3][1] == 0 && m[3][2] == 0 && m[3][3] == 1; 00575 } 00576 00581 Matrix4 inverseAffine(void) const; 00582 00587 inline Matrix4 concatenateAffine(const Matrix4 &m2) const 00588 { 00589 assert(isAffine() && m2.isAffine()); 00590 00591 return Matrix4( 00592 m[0][0] * m2.m[0][0] + m[0][1] * m2.m[1][0] + m[0][2] * m2.m[2][0], 00593 m[0][0] * m2.m[0][1] + m[0][1] * m2.m[1][1] + m[0][2] * m2.m[2][1], 00594 m[0][0] * m2.m[0][2] + m[0][1] * m2.m[1][2] + m[0][2] * m2.m[2][2], 00595 m[0][0] * m2.m[0][3] + m[0][1] * m2.m[1][3] + m[0][2] * m2.m[2][3] + m[0][3], 00596 00597 m[1][0] * m2.m[0][0] + m[1][1] * m2.m[1][0] + m[1][2] * m2.m[2][0], 00598 m[1][0] * m2.m[0][1] + m[1][1] * m2.m[1][1] + m[1][2] * m2.m[2][1], 00599 m[1][0] * m2.m[0][2] + m[1][1] * m2.m[1][2] + m[1][2] * m2.m[2][2], 00600 m[1][0] * m2.m[0][3] + m[1][1] * m2.m[1][3] + m[1][2] * m2.m[2][3] + m[1][3], 00601 00602 m[2][0] * m2.m[0][0] + m[2][1] * m2.m[1][0] + m[2][2] * m2.m[2][0], 00603 m[2][0] * m2.m[0][1] + m[2][1] * m2.m[1][1] + m[2][2] * m2.m[2][1], 00604 m[2][0] * m2.m[0][2] + m[2][1] * m2.m[1][2] + m[2][2] * m2.m[2][2], 00605 m[2][0] * m2.m[0][3] + m[2][1] * m2.m[1][3] + m[2][2] * m2.m[2][3] + m[2][3], 00606 00607 0, 0, 0, 1); 00608 } 00609 00617 inline Vector3 transformAffine(const Vector3& v) const 00618 { 00619 assert(isAffine()); 00620 00621 return Vector3( 00622 m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3], 00623 m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3], 00624 m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3]); 00625 } 00626 00631 inline Vector4 transformAffine(const Vector4& v) const 00632 { 00633 assert(isAffine()); 00634 00635 return Vector4( 00636 m[0][0] * v.x + m[0][1] * v.y + m[0][2] * v.z + m[0][3] * v.w, 00637 m[1][0] * v.x + m[1][1] * v.y + m[1][2] * v.z + m[1][3] * v.w, 00638 m[2][0] * v.x + m[2][1] * v.y + m[2][2] * v.z + m[2][3] * v.w, 00639 v.w); 00640 } 00641 }; 00642 00643 /* Removed from Vector4 and made a non-member here because otherwise 00644 OgreMatrix4.h and OgreVector4.h have to try to include and inline each 00645 other, which frankly doesn't work ;) 00646 */ 00647 inline Vector4 operator * (const Vector4& v, const Matrix4& mat) 00648 { 00649 return Vector4( 00650 v.x*mat[0][0] + v.y*mat[1][0] + v.z*mat[2][0] + v.w*mat[3][0], 00651 v.x*mat[0][1] + v.y*mat[1][1] + v.z*mat[2][1] + v.w*mat[3][1], 00652 v.x*mat[0][2] + v.y*mat[1][2] + v.z*mat[2][2] + v.w*mat[3][2], 00653 v.x*mat[0][3] + v.y*mat[1][3] + v.z*mat[2][3] + v.w*mat[3][3] 00654 ); 00655 } 00659 } 00660 #endif
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Last modified Fri May 25 23:36:24 2012