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Fixed and improved Matrix class (See description) 

-Added ApplyScale
-Added Destroy()
-Added GetInverseAffine
-Added Inverse(Affine)
-Added (Make)Transform method, generating a TRS transform matrix
-Fixed COW
-Inverse methods now takes an optionnal boolean pointer


Former-commit-id: 84e7c679c242876f9b0888875b37afa12eed311a
This commit is contained in:
Lynix 2012-10-24 22:32:46 +02:00
parent 5f95dbe82e
commit 61c081ace3
2 changed files with 397 additions and 74 deletions
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44
include/Nazara/Math/Matrix4.hpp
View File

@ -38,11 +38,16 @@ class NzMatrix4
NzMatrix4(NzMatrix4&& matrix) noexcept; NzMatrix4(NzMatrix4&& matrix) noexcept;
~NzMatrix4(); ~NzMatrix4();
NzMatrix4& ApplyScale(const NzVector3<T>& scale);
NzMatrix4 Concatenate(const NzMatrix4& matrix) const; NzMatrix4 Concatenate(const NzMatrix4& matrix) const;
NzMatrix4 ConcatenateAffine(const NzMatrix4& matrix) const; NzMatrix4 ConcatenateAffine(const NzMatrix4& matrix) const;
void Destroy();
T GetDeterminant() const; T GetDeterminant() const;
NzMatrix4 GetInverse() const; NzMatrix4 GetInverse(bool* succeeded = nullptr) const;
NzMatrix4 GetInverseAffine(bool* succeeded = nullptr) const;
NzQuaternion<T> GetRotation() const; NzQuaternion<T> GetRotation() const;
//NzMatrix3 GetRotationMatrix() const; //NzMatrix3 GetRotationMatrix() const;
NzVector3<T> GetScale() const; NzVector3<T> GetScale() const;
@ -52,30 +57,34 @@ class NzMatrix4
bool HasNegativeScale() const; bool HasNegativeScale() const;
bool HasScale() const; bool HasScale() const;
NzMatrix4& Inverse(bool* succeeded = nullptr);
NzMatrix4& InverseAffine(bool* succeeded = nullptr);
bool IsAffine() const; bool IsAffine() const;
bool IsDefined() const; bool IsDefined() const;
void MakeIdentity(); NzMatrix4& MakeIdentity();
void MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up = NzVector3<T>::Up()); NzMatrix4& MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up = NzVector3<T>::Up());
void MakeOrtho(T left, T top, T width, T height, T zNear = -1.0, T zFar = 1.0); NzMatrix4& MakeOrtho(T left, T top, T width, T height, T zNear = -1.0, T zFar = 1.0);
void MakePerspective(T angle, T ratio, T zNear, T zFar); NzMatrix4& MakePerspective(T angle, T ratio, T zNear, T zFar);
void MakeRotation(const NzQuaternion<T>& rotation); NzMatrix4& MakeRotation(const NzQuaternion<T>& rotation);
void MakeScale(const NzVector3<T>& scale); NzMatrix4& MakeScale(const NzVector3<T>& scale);
void MakeTranslation(const NzVector3<T>& translation); NzMatrix4& MakeTranslation(const NzVector3<T>& translation);
void MakeZero(); NzMatrix4& MakeTransform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation);
NzMatrix4& MakeZero();
void Set(T r11, T r12, T r13, T r14, NzMatrix4& Set(T r11, T r12, T r13, T r14,
T r21, T r22, T r23, T r24, T r21, T r22, T r23, T r24,
T r31, T r32, T r33, T r34, T r31, T r32, T r33, T r34,
T r41, T r42, T r43, T r44); T r41, T r42, T r43, T r44);
void Set(const T matrix[16]); NzMatrix4& Set(const T matrix[16]);
//NzMatrix4(const NzMatrix3<T>& matrix); //NzMatrix4(const NzMatrix3<T>& matrix);
void Set(const NzMatrix4& matrix); NzMatrix4& Set(const NzMatrix4& matrix);
void Set(NzMatrix4&& matrix); NzMatrix4& Set(NzMatrix4&& matrix);
template<typename U> void Set(const NzMatrix4<U>& matrix); template<typename U> NzMatrix4& Set(const NzMatrix4<U>& matrix);
void SetRotation(const NzQuaternion<T>& rotation); NzMatrix4& SetRotation(const NzQuaternion<T>& rotation);
void SetScale(const NzVector3<T>& scale); NzMatrix4& SetScale(const NzVector3<T>& scale);
void SetTranslation(const NzVector3<T>& translation); NzMatrix4& SetTranslation(const NzVector3<T>& translation);
NzString ToString() const; NzString ToString() const;
@ -117,6 +126,7 @@ class NzMatrix4
static NzMatrix4 Rotate(const NzQuaternion<T>& rotation); static NzMatrix4 Rotate(const NzQuaternion<T>& rotation);
static NzMatrix4 Scale(const NzVector3<T>& scale); static NzMatrix4 Scale(const NzVector3<T>& scale);
static NzMatrix4 Translate(const NzVector3<T>& translation); static NzMatrix4 Translate(const NzVector3<T>& translation);
static NzMatrix4 Transform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation);
static NzMatrix4 Zero(); static NzMatrix4 Zero();
struct SharedMatrix struct SharedMatrix

427
include/Nazara/Math/Matrix4.inl
View File

@ -16,7 +16,7 @@
#include <limits> #include <limits>
#include <stdexcept> #include <stdexcept>
//#include <Nazara/Core/Debug.hpp> //#include <Nazara/Core/Debug.hpp>
///FIXME: Le MLT détecte de faux-leaks ici (Problème lié aux inline ?) ///FIXME: Le MLT détecte des leaks ici, mais dont la véracité n'a pu être prouvée (Problème lié aux classes inlines ?)
#define F(a) static_cast<T>(a) #define F(a) static_cast<T>(a)
@ -68,6 +68,24 @@ NzMatrix4<T>::~NzMatrix4()
ReleaseMatrix(); ReleaseMatrix();
} }
template<typename T>
NzMatrix4<T>& NzMatrix4<T>::ApplyScale(const NzVector3<T>& scale)
{
m_sharedMatrix->m11 *= scale.x;
m_sharedMatrix->m12 *= scale.x;
m_sharedMatrix->m13 *= scale.x;
m_sharedMatrix->m21 *= scale.y;
m_sharedMatrix->m22 *= scale.y;
m_sharedMatrix->m23 *= scale.y;
m_sharedMatrix->m31 *= scale.z;
m_sharedMatrix->m32 *= scale.z;
m_sharedMatrix->m33 *= scale.z;
return *this;
}
template<typename T> template<typename T>
NzMatrix4<T> NzMatrix4<T>::Concatenate(const NzMatrix4& matrix) const NzMatrix4<T> NzMatrix4<T>::Concatenate(const NzMatrix4& matrix) const
{ {
@ -80,6 +98,12 @@ NzMatrix4<T> NzMatrix4<T>::ConcatenateAffine(const NzMatrix4& matrix) const
return ConcatenateAffine(*this, matrix); return ConcatenateAffine(*this, matrix);
} }
template<typename T>
void NzMatrix4<T>::Destroy()
{
ReleaseMatrix();
}
template<typename T> template<typename T>
T NzMatrix4<T>::GetDeterminant() const T NzMatrix4<T>::GetDeterminant() const
{ {
@ -100,45 +124,17 @@ T NzMatrix4<T>::GetDeterminant() const
} }
template<typename T> template<typename T>
NzMatrix4<T> NzMatrix4<T>::GetInverse() const NzMatrix4<T> NzMatrix4<T>::GetInverse(bool* succeeded) const
{ {
#if NAZARA_MATH_SAFE NzMatrix4f matInv(*this);
if (!IsDefined()) return matInv.Inverse(succeeded);
{ }
NazaraError("Matrix not defined");
return NzMatrix4();
}
#endif
T det = GetDeterminant(); template<typename T>
if (!NzNumberEquals(det, F(0.0))) NzMatrix4<T> NzMatrix4<T>::GetInverseAffine(bool* succeeded) const
{ {
return NzMatrix4((m_sharedMatrix->m22*(m_sharedMatrix->m33*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m43) - m_sharedMatrix->m32*(m_sharedMatrix->m23*m_sharedMatrix->m44 - m_sharedMatrix->m43*m_sharedMatrix->m24) + m_sharedMatrix->m42*(m_sharedMatrix->m23*m_sharedMatrix->m34 - m_sharedMatrix->m33*m_sharedMatrix->m24)) / det, NzMatrix4f matInv(*this);
-(m_sharedMatrix->m12*(m_sharedMatrix->m33*m_sharedMatrix->m44 - m_sharedMatrix->m43*m_sharedMatrix->m34) - m_sharedMatrix->m32*(m_sharedMatrix->m13*m_sharedMatrix->m44 - m_sharedMatrix->m43*m_sharedMatrix->m14) + m_sharedMatrix->m42*(m_sharedMatrix->m13*m_sharedMatrix->m34 - m_sharedMatrix->m33*m_sharedMatrix->m14)) / det, return matInv.InverseAffine(succeeded);
(m_sharedMatrix->m12*(m_sharedMatrix->m23*m_sharedMatrix->m44 - m_sharedMatrix->m43*m_sharedMatrix->m24) - m_sharedMatrix->m22*(m_sharedMatrix->m13*m_sharedMatrix->m44 - m_sharedMatrix->m43*m_sharedMatrix->m14) + m_sharedMatrix->m42*(m_sharedMatrix->m13*m_sharedMatrix->m24 - m_sharedMatrix->m23*m_sharedMatrix->m14)) / det,
-(m_sharedMatrix->m12*(m_sharedMatrix->m23*m_sharedMatrix->m34 - m_sharedMatrix->m33*m_sharedMatrix->m24) - m_sharedMatrix->m22*(m_sharedMatrix->m13*m_sharedMatrix->m34 - m_sharedMatrix->m33*m_sharedMatrix->m14) + m_sharedMatrix->m32*(m_sharedMatrix->m13*m_sharedMatrix->m24 - m_sharedMatrix->m23*m_sharedMatrix->m14)) / det,
-(m_sharedMatrix->m21*(m_sharedMatrix->m33*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m43) - m_sharedMatrix->m23*(m_sharedMatrix->m31*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m41) + m_sharedMatrix->m24*(m_sharedMatrix->m31*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m41)) / det,
(m_sharedMatrix->m11*(m_sharedMatrix->m33*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m43) - m_sharedMatrix->m13*(m_sharedMatrix->m31*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m41) + m_sharedMatrix->m14*(m_sharedMatrix->m31*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m41)) / det,
-(m_sharedMatrix->m11*(m_sharedMatrix->m23*m_sharedMatrix->m44 - m_sharedMatrix->m24*m_sharedMatrix->m43) - m_sharedMatrix->m13*(m_sharedMatrix->m21*m_sharedMatrix->m44 - m_sharedMatrix->m24*m_sharedMatrix->m41) + m_sharedMatrix->m14*(m_sharedMatrix->m21*m_sharedMatrix->m43 - m_sharedMatrix->m23*m_sharedMatrix->m41)) / det,
(m_sharedMatrix->m11*(m_sharedMatrix->m23*m_sharedMatrix->m34 - m_sharedMatrix->m24*m_sharedMatrix->m33) - m_sharedMatrix->m13*(m_sharedMatrix->m21*m_sharedMatrix->m34 - m_sharedMatrix->m24*m_sharedMatrix->m31) + m_sharedMatrix->m14*(m_sharedMatrix->m21*m_sharedMatrix->m33 - m_sharedMatrix->m23*m_sharedMatrix->m31)) / det,
(m_sharedMatrix->m21*(m_sharedMatrix->m32*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m42) - m_sharedMatrix->m22*(m_sharedMatrix->m31*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m41) + m_sharedMatrix->m24*(m_sharedMatrix->m31*m_sharedMatrix->m42 - m_sharedMatrix->m32*m_sharedMatrix->m41)) / det,
-(m_sharedMatrix->m11*(m_sharedMatrix->m32*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m42) - m_sharedMatrix->m12*(m_sharedMatrix->m31*m_sharedMatrix->m44 - m_sharedMatrix->m34*m_sharedMatrix->m41) + m_sharedMatrix->m14*(m_sharedMatrix->m31*m_sharedMatrix->m42 - m_sharedMatrix->m32*m_sharedMatrix->m41)) / det,
(m_sharedMatrix->m11*(m_sharedMatrix->m22*m_sharedMatrix->m44 - m_sharedMatrix->m24*m_sharedMatrix->m42) - m_sharedMatrix->m12*(m_sharedMatrix->m21*m_sharedMatrix->m44 - m_sharedMatrix->m24*m_sharedMatrix->m41) + m_sharedMatrix->m14*(m_sharedMatrix->m21*m_sharedMatrix->m42 - m_sharedMatrix->m22*m_sharedMatrix->m41)) / det,
-(m_sharedMatrix->m11*(m_sharedMatrix->m22*m_sharedMatrix->m34 - m_sharedMatrix->m24*m_sharedMatrix->m32) - m_sharedMatrix->m12*(m_sharedMatrix->m21*m_sharedMatrix->m34 - m_sharedMatrix->m24*m_sharedMatrix->m31) + m_sharedMatrix->m14*(m_sharedMatrix->m21*m_sharedMatrix->m32 - m_sharedMatrix->m22*m_sharedMatrix->m31)) / det,
-(m_sharedMatrix->m21*(m_sharedMatrix->m32*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m42) - m_sharedMatrix->m22*(m_sharedMatrix->m31*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m41) + m_sharedMatrix->m23*(m_sharedMatrix->m31*m_sharedMatrix->m42 - m_sharedMatrix->m32*m_sharedMatrix->m41)) / det,
(m_sharedMatrix->m11*(m_sharedMatrix->m32*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m42) - m_sharedMatrix->m12*(m_sharedMatrix->m31*m_sharedMatrix->m43 - m_sharedMatrix->m33*m_sharedMatrix->m41) + m_sharedMatrix->m13*(m_sharedMatrix->m31*m_sharedMatrix->m42 - m_sharedMatrix->m32*m_sharedMatrix->m41)) / det,
-(m_sharedMatrix->m11*(m_sharedMatrix->m22*m_sharedMatrix->m43 - m_sharedMatrix->m23*m_sharedMatrix->m42) - m_sharedMatrix->m12*(m_sharedMatrix->m21*m_sharedMatrix->m43 - m_sharedMatrix->m23*m_sharedMatrix->m41) + m_sharedMatrix->m13*(m_sharedMatrix->m21*m_sharedMatrix->m42 - m_sharedMatrix->m22*m_sharedMatrix->m41)) / det,
(m_sharedMatrix->m11*(m_sharedMatrix->m22*m_sharedMatrix->m33 - m_sharedMatrix->m23*m_sharedMatrix->m32) - m_sharedMatrix->m12*(m_sharedMatrix->m21*m_sharedMatrix->m33 - m_sharedMatrix->m23*m_sharedMatrix->m31) + m_sharedMatrix->m13*(m_sharedMatrix->m21*m_sharedMatrix->m32 - m_sharedMatrix->m22*m_sharedMatrix->m31)) / det);
}
else
{
NazaraError("Matrix has no inverse");
return Identity();
}
} }
template<typename T> template<typename T>
@ -220,6 +216,259 @@ bool NzMatrix4<T>::HasScale() const
return false; return false;
} }
template<typename T>
NzMatrix4<T>& NzMatrix4<T>::Inverse(bool* succeeded)
{
#if NAZARA_MATH_SAFE
if (!IsDefined())
{
NazaraError("Matrix not defined");
if (succeeded)
*succeeded = false;
return *this;
}
#endif
T det = GetDeterminant();
if (!NzNumberEquals(det, F(0.0)))
{
// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
T inv[16];
inv[0] = m_sharedMatrix->m22 * m_sharedMatrix->m33 * m_sharedMatrix->m44 -
m_sharedMatrix->m22 * m_sharedMatrix->m34 * m_sharedMatrix->m43 -
m_sharedMatrix->m32 * m_sharedMatrix->m23 * m_sharedMatrix->m44 +
m_sharedMatrix->m32 * m_sharedMatrix->m24 * m_sharedMatrix->m43 +
m_sharedMatrix->m42 * m_sharedMatrix->m23 * m_sharedMatrix->m34 -
m_sharedMatrix->m42 * m_sharedMatrix->m24 * m_sharedMatrix->m33;
inv[1] = -m_sharedMatrix->m12 * m_sharedMatrix->m33 * m_sharedMatrix->m44 +
m_sharedMatrix->m12 * m_sharedMatrix->m34 * m_sharedMatrix->m43 +
m_sharedMatrix->m32 * m_sharedMatrix->m13 * m_sharedMatrix->m44 -
m_sharedMatrix->m32 * m_sharedMatrix->m14 * m_sharedMatrix->m43 -
m_sharedMatrix->m42 * m_sharedMatrix->m13 * m_sharedMatrix->m34 +
m_sharedMatrix->m42 * m_sharedMatrix->m14 * m_sharedMatrix->m33;
inv[2] = m_sharedMatrix->m12 * m_sharedMatrix->m23 * m_sharedMatrix->m44 -
m_sharedMatrix->m12 * m_sharedMatrix->m24 * m_sharedMatrix->m43 -
m_sharedMatrix->m22 * m_sharedMatrix->m13 * m_sharedMatrix->m44 +
m_sharedMatrix->m22 * m_sharedMatrix->m14 * m_sharedMatrix->m43 +
m_sharedMatrix->m42 * m_sharedMatrix->m13 * m_sharedMatrix->m24 -
m_sharedMatrix->m42 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
inv[3] = -m_sharedMatrix->m12 * m_sharedMatrix->m23 * m_sharedMatrix->m34 +
m_sharedMatrix->m12 * m_sharedMatrix->m24 * m_sharedMatrix->m33 +
m_sharedMatrix->m22 * m_sharedMatrix->m13 * m_sharedMatrix->m34 -
m_sharedMatrix->m22 * m_sharedMatrix->m14 * m_sharedMatrix->m33 -
m_sharedMatrix->m32 * m_sharedMatrix->m13 * m_sharedMatrix->m24 +
m_sharedMatrix->m32 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
inv[4] = -m_sharedMatrix->m21 * m_sharedMatrix->m33 * m_sharedMatrix->m44 +
m_sharedMatrix->m21 * m_sharedMatrix->m34 * m_sharedMatrix->m43 +
m_sharedMatrix->m31 * m_sharedMatrix->m23 * m_sharedMatrix->m44 -
m_sharedMatrix->m31 * m_sharedMatrix->m24 * m_sharedMatrix->m43 -
m_sharedMatrix->m41 * m_sharedMatrix->m23 * m_sharedMatrix->m34 +
m_sharedMatrix->m41 * m_sharedMatrix->m24 * m_sharedMatrix->m33;
inv[5] = m_sharedMatrix->m11 * m_sharedMatrix->m33 * m_sharedMatrix->m44 -
m_sharedMatrix->m11 * m_sharedMatrix->m34 * m_sharedMatrix->m43 -
m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m44 +
m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m43 +
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m34 -
m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m33;
inv[6] = -m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m44 +
m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m43 +
m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m44 -
m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m43 -
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m24 +
m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
inv[7] = m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m34 -
m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m33 -
m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m34 +
m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m33 +
m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m24 -
m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
inv[8] = m_sharedMatrix->m21 * m_sharedMatrix->m32 * m_sharedMatrix->m44 -
m_sharedMatrix->m21 * m_sharedMatrix->m34 * m_sharedMatrix->m42 -
m_sharedMatrix->m31 * m_sharedMatrix->m22 * m_sharedMatrix->m44 +
m_sharedMatrix->m31 * m_sharedMatrix->m24 * m_sharedMatrix->m42 +
m_sharedMatrix->m41 * m_sharedMatrix->m22 * m_sharedMatrix->m34 -
m_sharedMatrix->m41 * m_sharedMatrix->m24 * m_sharedMatrix->m32;
inv[9] = -m_sharedMatrix->m11 * m_sharedMatrix->m32 * m_sharedMatrix->m44 +
m_sharedMatrix->m11 * m_sharedMatrix->m34 * m_sharedMatrix->m42 +
m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m44 -
m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m42 -
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m34 +
m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m32;
inv[10] = m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m44 -
m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m42 -
m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m44 +
m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m42 +
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m24 -
m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m22;
inv[11] = -m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m34 +
m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m32 +
m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m34 -
m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m32 -
m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m24 +
m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m22;
inv[12] = -m_sharedMatrix->m21 * m_sharedMatrix->m32 * m_sharedMatrix->m43 +
m_sharedMatrix->m21 * m_sharedMatrix->m33 * m_sharedMatrix->m42 +
m_sharedMatrix->m31 * m_sharedMatrix->m22 * m_sharedMatrix->m43 -
m_sharedMatrix->m31 * m_sharedMatrix->m23 * m_sharedMatrix->m42 -
m_sharedMatrix->m41 * m_sharedMatrix->m22 * m_sharedMatrix->m33 +
m_sharedMatrix->m41 * m_sharedMatrix->m23 * m_sharedMatrix->m32;
inv[13] = m_sharedMatrix->m11 * m_sharedMatrix->m32 * m_sharedMatrix->m43 -
m_sharedMatrix->m11 * m_sharedMatrix->m33 * m_sharedMatrix->m42 -
m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m43 +
m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m42 +
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m33 -
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m32;
inv[14] = -m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m43 +
m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m42 +
m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m43 -
m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m42 -
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m23 +
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m22;
inv[15] = m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m33 -
m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m32 -
m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m33 +
m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m32 +
m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m23 -
m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m22;
T invDet = F(1.0) / det;
for (unsigned int i = 0; i < 16; ++i)
inv[i] *= invDet;
Set(inv);
if (succeeded)
*succeeded = true;
}
else
{
NazaraError("Matrix has no inverse");
if (succeeded)
*succeeded = false;
}
return *this;
}
template<typename T>
NzMatrix4<T>& NzMatrix4<T>::InverseAffine(bool* succeeded)
{
#if NAZARA_MATH_SAFE
if (!IsDefined())
{
NazaraError("Matrix not defined");
if (succeeded)
*succeeded = false;
return *this;
}
if (!IsAffine())
{
NazaraError("Matrix not affine");
if (succeeded)
*succeeded = false;
return *this;
}
#endif
T det = GetDeterminant();
if (!NzNumberEquals(det, F(0.0)))
{
// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
T inv[16];
inv[0] = m_sharedMatrix->m22 * m_sharedMatrix->m33 -
m_sharedMatrix->m32 * m_sharedMatrix->m23;
inv[1] = -m_sharedMatrix->m12 * m_sharedMatrix->m33 +
m_sharedMatrix->m32 * m_sharedMatrix->m13;
inv[2] = m_sharedMatrix->m12 * m_sharedMatrix->m23 -
m_sharedMatrix->m22 * m_sharedMatrix->m13;
inv[3] = F(0.0);
inv[4] = -m_sharedMatrix->m21 * m_sharedMatrix->m33 +
m_sharedMatrix->m31 * m_sharedMatrix->m23;
inv[5] = m_sharedMatrix->m11 * m_sharedMatrix->m33 -
m_sharedMatrix->m31 * m_sharedMatrix->m13;
inv[6] = -m_sharedMatrix->m11 * m_sharedMatrix->m23 +
m_sharedMatrix->m21 * m_sharedMatrix->m13;
inv[7] = F(0.0);
inv[8] = m_sharedMatrix->m21 * m_sharedMatrix->m32 -
m_sharedMatrix->m31 * m_sharedMatrix->m22;
inv[9] = -m_sharedMatrix->m11 * m_sharedMatrix->m32 +
m_sharedMatrix->m31 * m_sharedMatrix->m12;
inv[10] = m_sharedMatrix->m11 * m_sharedMatrix->m22 -
m_sharedMatrix->m21 * m_sharedMatrix->m12;
inv[11] = F(0.0);
inv[12] = -m_sharedMatrix->m21 * m_sharedMatrix->m32 * m_sharedMatrix->m43 +
m_sharedMatrix->m21 * m_sharedMatrix->m33 * m_sharedMatrix->m42 +
m_sharedMatrix->m31 * m_sharedMatrix->m22 * m_sharedMatrix->m43 -
m_sharedMatrix->m31 * m_sharedMatrix->m23 * m_sharedMatrix->m42 -
m_sharedMatrix->m41 * m_sharedMatrix->m22 * m_sharedMatrix->m33 +
m_sharedMatrix->m41 * m_sharedMatrix->m23 * m_sharedMatrix->m32;
inv[13] = m_sharedMatrix->m11 * m_sharedMatrix->m32 * m_sharedMatrix->m43 -
m_sharedMatrix->m11 * m_sharedMatrix->m33 * m_sharedMatrix->m42 -
m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m43 +
m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m42 +
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m33 -
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m32;
inv[14] = -m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m43 +
m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m42 +
m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m43 -
m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m42 -
m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m23 +
m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m22;
inv[15] = F(0.0);
T invDet = F(1.0) / det;
for (unsigned int i = 0; i < 16; ++i)
inv[i] *= invDet;
inv[15] = F(1.0);
Set(inv);
if (succeeded)
*succeeded = true;
}
else
{
NazaraError("Matrix has no inverse");
if (succeeded)
*succeeded = false;
}
return *this;
}
template<typename T> template<typename T>
bool NzMatrix4<T>::IsAffine() const bool NzMatrix4<T>::IsAffine() const
{ {
@ -244,26 +493,30 @@ bool NzMatrix4<T>::IsDefined() const
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeIdentity() NzMatrix4<T>& NzMatrix4<T>::MakeIdentity()
{ {
Set(F(1.0), F(0.0), F(0.0), F(0.0), Set(F(1.0), F(0.0), F(0.0), F(0.0),
F(0.0), F(1.0), F(0.0), F(0.0), F(0.0), F(1.0), F(0.0), F(0.0),
F(0.0), F(0.0), F(1.0), F(0.0), F(0.0), F(0.0), F(1.0), F(0.0),
F(0.0), F(0.0), F(0.0), F(1.0)); F(0.0), F(0.0), F(0.0), F(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeOrtho(T left, T top, T width, T height, T zNear, T zFar) NzMatrix4<T>& NzMatrix4<T>::MakeOrtho(T left, T top, T width, T height, T zNear, T zFar)
{ {
// http://msdn.microsoft.com/en-us/library/windows/desktop/bb204941(v=vs.85).aspx // http://msdn.microsoft.com/en-us/library/windows/desktop/bb204941(v=vs.85).aspx
Set(F(2.0)/(width-left), F(0.0), F(0.0), -(width+left)/(width-left), Set(F(2.0)/(width-left), F(0.0), F(0.0), -(width+left)/(width-left),
F(0.0), F(2.0)/(top-height), F(0.0), -(top+height)/(top-height), F(0.0), F(2.0)/(top-height), F(0.0), -(top+height)/(top-height),
F(0.0), F(0.0), F(-2.0)/(zFar-zNear), -(zFar+zNear)/(zFar-zNear), F(0.0), F(0.0), F(-2.0)/(zFar-zNear), -(zFar+zNear)/(zFar-zNear),
F(0.0), F(0.0), F(0.0), F(1.0)); F(0.0), F(0.0), F(0.0), F(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up) NzMatrix4<T>& NzMatrix4<T>::MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up)
{ {
NzVector3<T> f = NzVector3<T>::Normalize(target - eye); NzVector3<T> f = NzVector3<T>::Normalize(target - eye);
NzVector3<T> u(up.GetNormal()); NzVector3<T> u(up.GetNormal());
@ -274,10 +527,12 @@ void NzMatrix4<T>::MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& targe
s.y, u.y, -f.y, T(0.0), s.y, u.y, -f.y, T(0.0),
s.z, u.z, -f.z, T(0.0), s.z, u.z, -f.z, T(0.0),
-s.DotProduct(eye), -u.DotProduct(eye), f.DotProduct(eye), T(1.0)); -s.DotProduct(eye), -u.DotProduct(eye), f.DotProduct(eye), T(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakePerspective(T angle, T ratio, T zNear, T zFar) NzMatrix4<T>& NzMatrix4<T>::MakePerspective(T angle, T ratio, T zNear, T zFar)
{ {
// http://msdn.microsoft.com/en-us/library/windows/desktop/bb204944(v=vs.85).aspx // http://msdn.microsoft.com/en-us/library/windows/desktop/bb204944(v=vs.85).aspx
#if NAZARA_MATH_ANGLE_RADIAN #if NAZARA_MATH_ANGLE_RADIAN
@ -292,10 +547,12 @@ void NzMatrix4<T>::MakePerspective(T angle, T ratio, T zNear, T zFar)
F(0.0), yScale, F(0.0), F(0.0), F(0.0), yScale, F(0.0), F(0.0),
F(0.0), F(0.0), zFar / (zNear-zFar), F(-1.0), F(0.0), F(0.0), zFar / (zNear-zFar), F(-1.0),
F(0.0), F(0.0), (zNear*zFar) / (zNear-zFar), F(0.0)); F(0.0), F(0.0), (zNear*zFar) / (zNear-zFar), F(0.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeRotation(const NzQuaternion<T>& rotation) NzMatrix4<T>& NzMatrix4<T>::MakeRotation(const NzQuaternion<T>& rotation)
{ {
// http://www.flipcode.com/documents/matrfaq.html#Q54 // http://www.flipcode.com/documents/matrfaq.html#Q54
/* /*
@ -329,43 +586,71 @@ void NzMatrix4<T>::MakeRotation(const NzQuaternion<T>& rotation)
F(0.0), F(0.0),
F(0.0), F(0.0),
F(1.0)); F(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeScale(const NzVector3<T>& scale) NzMatrix4<T>& NzMatrix4<T>::MakeScale(const NzVector3<T>& scale)
{ {
Set(scale.x, F(0.0), F(0.0), F(0.0), Set(scale.x, F(0.0), F(0.0), F(0.0),
F(0.0), scale.y, F(0.0), F(0.0), F(0.0), scale.y, F(0.0), F(0.0),
F(0.0), F(0.0), scale.z, F(0.0), F(0.0), F(0.0), scale.z, F(0.0),
F(0.0), F(0.0), F(0.0), F(1.0)); F(0.0), F(0.0), F(0.0), F(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeTranslation(const NzVector3<T>& translation) NzMatrix4<T>& NzMatrix4<T>::MakeTranslation(const NzVector3<T>& translation)
{ {
Set(F(1.0), F(0.0), F(0.0), F(0.0), Set(F(1.0), F(0.0), F(0.0), F(0.0),
F(0.0), F(1.0), F(0.0), F(0.0), F(0.0), F(1.0), F(0.0), F(0.0),
F(0.0), F(0.0), F(1.0), F(0.0), F(0.0), F(0.0), F(1.0), F(0.0),
translation.x, translation.y, translation.z, F(1.0)); translation.x, translation.y, translation.z, F(1.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::MakeZero() NzMatrix4<T>& NzMatrix4<T>::MakeTransform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation)
{
// La rotation et la translation peuvent être appliquées directement
SetRotation(rotation);
SetTranslation(translation);
// On complète la matrice (les transformations sont affines)
m_sharedMatrix->m14 = F(0.0);
m_sharedMatrix->m24 = F(0.0);
m_sharedMatrix->m34 = F(0.0);
m_sharedMatrix->m44 = F(1.0);
// Ensuite on fait une mise à l'échelle des valeurs déjà présentes
ApplyScale(scale);
return *this;
}
template<typename T>
NzMatrix4<T>& NzMatrix4<T>::MakeZero()
{ {
Set(F(0.0), F(0.0), F(0.0), F(0.0), Set(F(0.0), F(0.0), F(0.0), F(0.0),
F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0),
F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0), F(0.0),
F(0.0), F(0.0), F(0.0), F(0.0)); F(0.0), F(0.0), F(0.0), F(0.0));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::Set(T r11, T r12, T r13, T r14, NzMatrix4<T>& NzMatrix4<T>::Set(T r11, T r12, T r13, T r14,
T r21, T r22, T r23, T r24, T r21, T r22, T r23, T r24,
T r31, T r32, T r33, T r34, T r31, T r32, T r33, T r34,
T r41, T r42, T r43, T r44) T r41, T r42, T r43, T r44)
{ {
EnsureOwnership(); ReleaseMatrix();
m_sharedMatrix = new SharedMatrix;
m_sharedMatrix->m11 = r11; m_sharedMatrix->m11 = r11;
m_sharedMatrix->m12 = r12; m_sharedMatrix->m12 = r12;
m_sharedMatrix->m13 = r13; m_sharedMatrix->m13 = r13;
@ -382,19 +667,24 @@ void NzMatrix4<T>::Set(T r11, T r12, T r13, T r14,
m_sharedMatrix->m42 = r42; m_sharedMatrix->m42 = r42;
m_sharedMatrix->m43 = r43; m_sharedMatrix->m43 = r43;
m_sharedMatrix->m44 = r44; m_sharedMatrix->m44 = r44;
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::Set(const T matrix[16]) NzMatrix4<T>& NzMatrix4<T>::Set(const T matrix[16])
{ {
EnsureOwnership(); ReleaseMatrix();
m_sharedMatrix = new SharedMatrix;
// Ici nous sommes certains de la continuité des éléments en mémoire // Ici nous sommes certains de la continuité des éléments en mémoire
std::memcpy(&m_sharedMatrix->m11, matrix, 16*sizeof(T)); std::memcpy(&m_sharedMatrix->m11, matrix, 16*sizeof(T));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::Set(const NzMatrix4& matrix) NzMatrix4<T>& NzMatrix4<T>::Set(const NzMatrix4& matrix)
{ {
ReleaseMatrix(); ReleaseMatrix();
@ -405,26 +695,32 @@ void NzMatrix4<T>::Set(const NzMatrix4& matrix)
m_sharedMatrix->refCount++; m_sharedMatrix->refCount++;
NazaraMutexUnlock(m_sharedMatrix->mutex); NazaraMutexUnlock(m_sharedMatrix->mutex);
} }
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::Set(NzMatrix4&& matrix) NzMatrix4<T>& NzMatrix4<T>::Set(NzMatrix4&& matrix)
{ {
std::swap(m_sharedMatrix, matrix.m_sharedMatrix); std::swap(m_sharedMatrix, matrix.m_sharedMatrix);
return *this;
} }
template<typename T> template<typename T>
template<typename U> template<typename U>
void NzMatrix4<T>::Set(const NzMatrix4<U>& matrix) NzMatrix4<T>& NzMatrix4<T>::Set(const NzMatrix4<U>& matrix)
{ {
Set(F(matrix.m_sharedMatrix->m11), F(matrix.m_sharedMatrix->m12), F(matrix.m_sharedMatrix->m13), F(matrix.m_sharedMatrix->m14), Set(F(matrix.m_sharedMatrix->m11), F(matrix.m_sharedMatrix->m12), F(matrix.m_sharedMatrix->m13), F(matrix.m_sharedMatrix->m14),
F(matrix.m_sharedMatrix->m21), F(matrix.m_sharedMatrix->m22), F(matrix.m_sharedMatrix->m23), F(matrix.m_sharedMatrix->m24), F(matrix.m_sharedMatrix->m21), F(matrix.m_sharedMatrix->m22), F(matrix.m_sharedMatrix->m23), F(matrix.m_sharedMatrix->m24),
F(matrix.m_sharedMatrix->m31), F(matrix.m_sharedMatrix->m32), F(matrix.m_sharedMatrix->m33), F(matrix.m_sharedMatrix->m34), F(matrix.m_sharedMatrix->m31), F(matrix.m_sharedMatrix->m32), F(matrix.m_sharedMatrix->m33), F(matrix.m_sharedMatrix->m34),
F(matrix.m_sharedMatrix->m41), F(matrix.m_sharedMatrix->m42), F(matrix.m_sharedMatrix->m43), F(matrix.m_sharedMatrix->m44)); F(matrix.m_sharedMatrix->m41), F(matrix.m_sharedMatrix->m42), F(matrix.m_sharedMatrix->m43), F(matrix.m_sharedMatrix->m44));
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::SetRotation(const NzQuaternion<T>& rotation) NzMatrix4<T>& NzMatrix4<T>::SetRotation(const NzQuaternion<T>& rotation)
{ {
// http://www.flipcode.com/documents/matrfaq.html#Q54 // http://www.flipcode.com/documents/matrfaq.html#Q54
EnsureOwnership(); EnsureOwnership();
@ -439,20 +735,24 @@ void NzMatrix4<T>::SetRotation(const NzQuaternion<T>& rotation)
m_sharedMatrix->m23 = F(2.0)*rotation.y*rotation.z - F(2.0)*rotation.x*rotation.w; m_sharedMatrix->m23 = F(2.0)*rotation.y*rotation.z - F(2.0)*rotation.x*rotation.w;
m_sharedMatrix->m31 = F(2.0)*rotation.x*rotation.z - F(2.0)*rotation.y*rotation.w; m_sharedMatrix->m31 = F(2.0)*rotation.x*rotation.z - F(2.0)*rotation.y*rotation.w;
m_sharedMatrix->m32 = F(2.0)*rotation.y*rotation.z + F(2.0)*rotation.x*rotation.w; m_sharedMatrix->m32 = F(2.0)*rotation.y*rotation.z + F(2.0)*rotation.x*rotation.w;
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::SetScale(const NzVector3<T>& scale) NzMatrix4<T>& NzMatrix4<T>::SetScale(const NzVector3<T>& scale)
{ {
EnsureOwnership(); EnsureOwnership();
m_sharedMatrix->m11 = scale.x; m_sharedMatrix->m11 = scale.x;
m_sharedMatrix->m22 = scale.y; m_sharedMatrix->m22 = scale.y;
m_sharedMatrix->m33 = scale.z; m_sharedMatrix->m33 = scale.z;
return *this;
} }
template<typename T> template<typename T>
void NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation) NzMatrix4<T>& NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation)
{ {
EnsureOwnership(); EnsureOwnership();
@ -460,6 +760,8 @@ void NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation)
m_sharedMatrix->m42 = translation.y; m_sharedMatrix->m42 = translation.y;
m_sharedMatrix->m43 = translation.z; m_sharedMatrix->m43 = translation.z;
m_sharedMatrix->m44 = F(1.0); m_sharedMatrix->m44 = F(1.0);
return *this;
} }
template<typename T> template<typename T>
@ -734,7 +1036,7 @@ bool NzMatrix4<T>::operator==(const NzMatrix4& mat) const
return false; return false;
for (unsigned int i = 0; i < 16; ++i) for (unsigned int i = 0; i < 16; ++i)
if (!NzNumberEquals((&m_sharedMatrix->m11)[i])) if (!NzNumberEquals((&m_sharedMatrix->m11)[i], (&mat.m_sharedMatrix->m11)[i]))
return false; return false;
return true; return true;
@ -904,6 +1206,15 @@ NzMatrix4<T> NzMatrix4<T>::Translate(const NzVector3<T>& translation)
return mat; return mat;
} }
template<typename T>
NzMatrix4<T> NzMatrix4<T>::Transform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation)
{
NzMatrix4 mat;
mat.MakeTransform(translation, scale, rotation);
return mat;
}
template<typename T> template<typename T>
NzMatrix4<T> NzMatrix4<T>::Zero() NzMatrix4<T> NzMatrix4<T>::Zero()
{ {
@ -937,6 +1248,8 @@ void NzMatrix4<T>::EnsureOwnership()
SharedMatrix* sharedMatrix = new SharedMatrix; SharedMatrix* sharedMatrix = new SharedMatrix;
std::memcpy(&sharedMatrix->m11, &m_sharedMatrix->m11, 16*sizeof(T)); std::memcpy(&sharedMatrix->m11, &m_sharedMatrix->m11, 16*sizeof(T));
m_sharedMatrix = sharedMatrix;
} }
} }
else else