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
parent
5f95dbe82e
commit
61c081ace3
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@ -38,11 +38,16 @@ class NzMatrix4
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NzMatrix4(NzMatrix4&& matrix) noexcept;
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~NzMatrix4();
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NzMatrix4& ApplyScale(const NzVector3<T>& scale);
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NzMatrix4 Concatenate(const NzMatrix4& matrix) const;
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NzMatrix4 ConcatenateAffine(const NzMatrix4& matrix) const;
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void Destroy();
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T GetDeterminant() const;
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NzMatrix4 GetInverse() const;
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NzMatrix4 GetInverse(bool* succeeded = nullptr) const;
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NzMatrix4 GetInverseAffine(bool* succeeded = nullptr) const;
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NzQuaternion<T> GetRotation() const;
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//NzMatrix3 GetRotationMatrix() const;
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NzVector3<T> GetScale() const;
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@ -52,30 +57,34 @@ class NzMatrix4
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bool HasNegativeScale() const;
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bool HasScale() const;
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NzMatrix4& Inverse(bool* succeeded = nullptr);
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NzMatrix4& InverseAffine(bool* succeeded = nullptr);
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bool IsAffine() const;
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bool IsDefined() const;
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void MakeIdentity();
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void MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up = NzVector3<T>::Up());
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void MakeOrtho(T left, T top, T width, T height, T zNear = -1.0, T zFar = 1.0);
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void MakePerspective(T angle, T ratio, T zNear, T zFar);
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void MakeRotation(const NzQuaternion<T>& rotation);
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void MakeScale(const NzVector3<T>& scale);
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void MakeTranslation(const NzVector3<T>& translation);
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void MakeZero();
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NzMatrix4& MakeIdentity();
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NzMatrix4& MakeLookAt(const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up = NzVector3<T>::Up());
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NzMatrix4& MakeOrtho(T left, T top, T width, T height, T zNear = -1.0, T zFar = 1.0);
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NzMatrix4& MakePerspective(T angle, T ratio, T zNear, T zFar);
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NzMatrix4& MakeRotation(const NzQuaternion<T>& rotation);
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NzMatrix4& MakeScale(const NzVector3<T>& scale);
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NzMatrix4& MakeTranslation(const NzVector3<T>& translation);
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NzMatrix4& MakeTransform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation);
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NzMatrix4& MakeZero();
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void Set(T r11, T r12, T r13, T r14,
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NzMatrix4& Set(T r11, T r12, T r13, T r14,
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T r21, T r22, T r23, T r24,
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T r31, T r32, T r33, T r34,
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T r41, T r42, T r43, T r44);
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void Set(const T matrix[16]);
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NzMatrix4& Set(const T matrix[16]);
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//NzMatrix4(const NzMatrix3<T>& matrix);
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void Set(const NzMatrix4& matrix);
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void Set(NzMatrix4&& matrix);
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template<typename U> void Set(const NzMatrix4<U>& matrix);
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void SetRotation(const NzQuaternion<T>& rotation);
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void SetScale(const NzVector3<T>& scale);
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void SetTranslation(const NzVector3<T>& translation);
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NzMatrix4& Set(const NzMatrix4& matrix);
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NzMatrix4& Set(NzMatrix4&& matrix);
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template<typename U> NzMatrix4& Set(const NzMatrix4<U>& matrix);
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NzMatrix4& SetRotation(const NzQuaternion<T>& rotation);
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NzMatrix4& SetScale(const NzVector3<T>& scale);
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NzMatrix4& SetTranslation(const NzVector3<T>& translation);
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NzString ToString() const;
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@ -117,6 +126,7 @@ class NzMatrix4
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static NzMatrix4 Rotate(const NzQuaternion<T>& rotation);
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static NzMatrix4 Scale(const NzVector3<T>& scale);
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static NzMatrix4 Translate(const NzVector3<T>& translation);
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static NzMatrix4 Transform(const NzVector3<T>& translation, const NzVector3<T>& scale, const NzQuaternion<T>& rotation);
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static NzMatrix4 Zero();
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struct SharedMatrix
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@ -16,7 +16,7 @@
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#include <limits>
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#include <stdexcept>
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//#include <Nazara/Core/Debug.hpp>
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///FIXME: Le MLT détecte de faux-leaks ici (Problème lié aux inline ?)
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///FIXME: Le MLT détecte des leaks ici, mais dont la véracité n'a pu être prouvée (Problème lié aux classes inlines ?)
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#define F(a) static_cast<T>(a)
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@ -68,6 +68,24 @@ NzMatrix4<T>::~NzMatrix4()
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ReleaseMatrix();
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::ApplyScale(const NzVector3<T>& scale)
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{
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m_sharedMatrix->m11 *= scale.x;
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m_sharedMatrix->m12 *= scale.x;
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m_sharedMatrix->m13 *= scale.x;
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m_sharedMatrix->m21 *= scale.y;
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m_sharedMatrix->m22 *= scale.y;
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m_sharedMatrix->m23 *= scale.y;
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m_sharedMatrix->m31 *= scale.z;
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m_sharedMatrix->m32 *= scale.z;
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m_sharedMatrix->m33 *= scale.z;
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return *this;
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}
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template<typename T>
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NzMatrix4<T> NzMatrix4<T>::Concatenate(const NzMatrix4& matrix) const
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{
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@ -80,6 +98,12 @@ NzMatrix4<T> NzMatrix4<T>::ConcatenateAffine(const NzMatrix4& matrix) const
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return ConcatenateAffine(*this, matrix);
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}
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template<typename T>
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void NzMatrix4<T>::Destroy()
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{
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ReleaseMatrix();
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}
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template<typename T>
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T NzMatrix4<T>::GetDeterminant() const
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{
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@ -100,45 +124,17 @@ T NzMatrix4<T>::GetDeterminant() const
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}
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template<typename T>
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NzMatrix4<T> NzMatrix4<T>::GetInverse() const
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NzMatrix4<T> NzMatrix4<T>::GetInverse(bool* succeeded) const
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{
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#if NAZARA_MATH_SAFE
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if (!IsDefined())
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{
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NazaraError("Matrix not defined");
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return NzMatrix4();
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}
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#endif
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NzMatrix4f matInv(*this);
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return matInv.Inverse(succeeded);
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}
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T det = GetDeterminant();
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if (!NzNumberEquals(det, F(0.0)))
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{
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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,
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-(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,
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(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,
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-(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,
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-(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,
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(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,
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-(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,
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(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,
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(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,
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-(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,
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(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,
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-(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,
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-(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,
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(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,
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-(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,
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(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);
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}
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else
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{
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NazaraError("Matrix has no inverse");
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return Identity();
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}
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template<typename T>
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NzMatrix4<T> NzMatrix4<T>::GetInverseAffine(bool* succeeded) const
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{
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NzMatrix4f matInv(*this);
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return matInv.InverseAffine(succeeded);
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}
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template<typename T>
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@ -220,6 +216,259 @@ bool NzMatrix4<T>::HasScale() const
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return false;
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}
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template<typename T>
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NzMatrix4<T>& NzMatrix4<T>::Inverse(bool* succeeded)
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{
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#if NAZARA_MATH_SAFE
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if (!IsDefined())
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{
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NazaraError("Matrix not defined");
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if (succeeded)
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*succeeded = false;
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return *this;
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}
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#endif
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T det = GetDeterminant();
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if (!NzNumberEquals(det, F(0.0)))
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{
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// http://stackoverflow.com/questions/1148309/inverting-a-4x4-matrix
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T inv[16];
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inv[0] = m_sharedMatrix->m22 * m_sharedMatrix->m33 * m_sharedMatrix->m44 -
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m_sharedMatrix->m22 * m_sharedMatrix->m34 * m_sharedMatrix->m43 -
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m_sharedMatrix->m32 * m_sharedMatrix->m23 * m_sharedMatrix->m44 +
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m_sharedMatrix->m32 * m_sharedMatrix->m24 * m_sharedMatrix->m43 +
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m_sharedMatrix->m42 * m_sharedMatrix->m23 * m_sharedMatrix->m34 -
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m_sharedMatrix->m42 * m_sharedMatrix->m24 * m_sharedMatrix->m33;
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inv[1] = -m_sharedMatrix->m12 * m_sharedMatrix->m33 * m_sharedMatrix->m44 +
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m_sharedMatrix->m12 * m_sharedMatrix->m34 * m_sharedMatrix->m43 +
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m_sharedMatrix->m32 * m_sharedMatrix->m13 * m_sharedMatrix->m44 -
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m_sharedMatrix->m32 * m_sharedMatrix->m14 * m_sharedMatrix->m43 -
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m_sharedMatrix->m42 * m_sharedMatrix->m13 * m_sharedMatrix->m34 +
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m_sharedMatrix->m42 * m_sharedMatrix->m14 * m_sharedMatrix->m33;
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inv[2] = m_sharedMatrix->m12 * m_sharedMatrix->m23 * m_sharedMatrix->m44 -
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m_sharedMatrix->m12 * m_sharedMatrix->m24 * m_sharedMatrix->m43 -
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m_sharedMatrix->m22 * m_sharedMatrix->m13 * m_sharedMatrix->m44 +
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m_sharedMatrix->m22 * m_sharedMatrix->m14 * m_sharedMatrix->m43 +
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m_sharedMatrix->m42 * m_sharedMatrix->m13 * m_sharedMatrix->m24 -
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m_sharedMatrix->m42 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
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inv[3] = -m_sharedMatrix->m12 * m_sharedMatrix->m23 * m_sharedMatrix->m34 +
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m_sharedMatrix->m12 * m_sharedMatrix->m24 * m_sharedMatrix->m33 +
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m_sharedMatrix->m22 * m_sharedMatrix->m13 * m_sharedMatrix->m34 -
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m_sharedMatrix->m22 * m_sharedMatrix->m14 * m_sharedMatrix->m33 -
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m_sharedMatrix->m32 * m_sharedMatrix->m13 * m_sharedMatrix->m24 +
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m_sharedMatrix->m32 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
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inv[4] = -m_sharedMatrix->m21 * m_sharedMatrix->m33 * m_sharedMatrix->m44 +
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m_sharedMatrix->m21 * m_sharedMatrix->m34 * m_sharedMatrix->m43 +
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m_sharedMatrix->m31 * m_sharedMatrix->m23 * m_sharedMatrix->m44 -
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m_sharedMatrix->m31 * m_sharedMatrix->m24 * m_sharedMatrix->m43 -
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m_sharedMatrix->m41 * m_sharedMatrix->m23 * m_sharedMatrix->m34 +
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m_sharedMatrix->m41 * m_sharedMatrix->m24 * m_sharedMatrix->m33;
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inv[5] = m_sharedMatrix->m11 * m_sharedMatrix->m33 * m_sharedMatrix->m44 -
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m_sharedMatrix->m11 * m_sharedMatrix->m34 * m_sharedMatrix->m43 -
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m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m44 +
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m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m43 +
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m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m34 -
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m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m33;
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inv[6] = -m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m44 +
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m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m43 +
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m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m44 -
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m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m43 -
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m_sharedMatrix->m41 * m_sharedMatrix->m13 * m_sharedMatrix->m24 +
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m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
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inv[7] = m_sharedMatrix->m11 * m_sharedMatrix->m23 * m_sharedMatrix->m34 -
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m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m33 -
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m_sharedMatrix->m21 * m_sharedMatrix->m13 * m_sharedMatrix->m34 +
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m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m33 +
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m_sharedMatrix->m31 * m_sharedMatrix->m13 * m_sharedMatrix->m24 -
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m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m23;
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inv[8] = m_sharedMatrix->m21 * m_sharedMatrix->m32 * m_sharedMatrix->m44 -
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m_sharedMatrix->m21 * m_sharedMatrix->m34 * m_sharedMatrix->m42 -
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m_sharedMatrix->m31 * m_sharedMatrix->m22 * m_sharedMatrix->m44 +
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m_sharedMatrix->m31 * m_sharedMatrix->m24 * m_sharedMatrix->m42 +
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m_sharedMatrix->m41 * m_sharedMatrix->m22 * m_sharedMatrix->m34 -
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m_sharedMatrix->m41 * m_sharedMatrix->m24 * m_sharedMatrix->m32;
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inv[9] = -m_sharedMatrix->m11 * m_sharedMatrix->m32 * m_sharedMatrix->m44 +
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m_sharedMatrix->m11 * m_sharedMatrix->m34 * m_sharedMatrix->m42 +
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m_sharedMatrix->m31 * m_sharedMatrix->m12 * m_sharedMatrix->m44 -
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m_sharedMatrix->m31 * m_sharedMatrix->m14 * m_sharedMatrix->m42 -
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m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m34 +
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m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m32;
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inv[10] = m_sharedMatrix->m11 * m_sharedMatrix->m22 * m_sharedMatrix->m44 -
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m_sharedMatrix->m11 * m_sharedMatrix->m24 * m_sharedMatrix->m42 -
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m_sharedMatrix->m21 * m_sharedMatrix->m12 * m_sharedMatrix->m44 +
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m_sharedMatrix->m21 * m_sharedMatrix->m14 * m_sharedMatrix->m42 +
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m_sharedMatrix->m41 * m_sharedMatrix->m12 * m_sharedMatrix->m24 -
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m_sharedMatrix->m41 * m_sharedMatrix->m14 * m_sharedMatrix->m22;
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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>
|
||||
bool NzMatrix4<T>::IsAffine() const
|
||||
{
|
||||
|
|
@ -244,26 +493,30 @@ bool NzMatrix4<T>::IsDefined() const
|
|||
}
|
||||
|
||||
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),
|
||||
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(0.0), F(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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
|
||||
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(0.0), F(-2.0)/(zFar-zNear), -(zFar+zNear)/(zFar-zNear),
|
||||
F(0.0), F(0.0), F(0.0), F(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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> 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.z, u.z, -f.z, T(0.0),
|
||||
-s.DotProduct(eye), -u.DotProduct(eye), f.DotProduct(eye), T(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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
|
||||
#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), F(0.0), zFar / (zNear-zFar), F(-1.0),
|
||||
F(0.0), F(0.0), (zNear*zFar) / (zNear-zFar), F(0.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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
|
||||
/*
|
||||
|
|
@ -329,43 +586,71 @@ void NzMatrix4<T>::MakeRotation(const NzQuaternion<T>& rotation)
|
|||
F(0.0),
|
||||
F(0.0),
|
||||
F(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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),
|
||||
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), F(0.0), F(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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),
|
||||
F(0.0), F(1.0), F(0.0), F(0.0),
|
||||
F(0.0), F(0.0), F(1.0), F(0.0),
|
||||
translation.x, translation.y, translation.z, F(1.0));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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),
|
||||
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>
|
||||
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 r31, T r32, T r33, T r34,
|
||||
T r41, T r42, T r43, T r44)
|
||||
{
|
||||
EnsureOwnership();
|
||||
ReleaseMatrix();
|
||||
|
||||
m_sharedMatrix = new SharedMatrix;
|
||||
m_sharedMatrix->m11 = r11;
|
||||
m_sharedMatrix->m12 = r12;
|
||||
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->m43 = r43;
|
||||
m_sharedMatrix->m44 = r44;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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
|
||||
std::memcpy(&m_sharedMatrix->m11, matrix, 16*sizeof(T));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
void NzMatrix4<T>::Set(const NzMatrix4& matrix)
|
||||
NzMatrix4<T>& NzMatrix4<T>::Set(const NzMatrix4& matrix)
|
||||
{
|
||||
ReleaseMatrix();
|
||||
|
||||
|
|
@ -405,26 +695,32 @@ void NzMatrix4<T>::Set(const NzMatrix4& matrix)
|
|||
m_sharedMatrix->refCount++;
|
||||
NazaraMutexUnlock(m_sharedMatrix->mutex);
|
||||
}
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
void NzMatrix4<T>::Set(NzMatrix4&& matrix)
|
||||
NzMatrix4<T>& NzMatrix4<T>::Set(NzMatrix4&& matrix)
|
||||
{
|
||||
std::swap(m_sharedMatrix, matrix.m_sharedMatrix);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
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),
|
||||
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->m41), F(matrix.m_sharedMatrix->m42), F(matrix.m_sharedMatrix->m43), F(matrix.m_sharedMatrix->m44));
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
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
|
||||
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->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;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
void NzMatrix4<T>::SetScale(const NzVector3<T>& scale)
|
||||
NzMatrix4<T>& NzMatrix4<T>::SetScale(const NzVector3<T>& scale)
|
||||
{
|
||||
EnsureOwnership();
|
||||
|
||||
m_sharedMatrix->m11 = scale.x;
|
||||
m_sharedMatrix->m22 = scale.y;
|
||||
m_sharedMatrix->m33 = scale.z;
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
void NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation)
|
||||
NzMatrix4<T>& NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation)
|
||||
{
|
||||
EnsureOwnership();
|
||||
|
||||
|
|
@ -460,6 +760,8 @@ void NzMatrix4<T>::SetTranslation(const NzVector3<T>& translation)
|
|||
m_sharedMatrix->m42 = translation.y;
|
||||
m_sharedMatrix->m43 = translation.z;
|
||||
m_sharedMatrix->m44 = F(1.0);
|
||||
|
||||
return *this;
|
||||
}
|
||||
|
||||
template<typename T>
|
||||
|
|
@ -734,7 +1036,7 @@ bool NzMatrix4<T>::operator==(const NzMatrix4& mat) const
|
|||
return false;
|
||||
|
||||
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 true;
|
||||
|
|
@ -904,6 +1206,15 @@ NzMatrix4<T> NzMatrix4<T>::Translate(const NzVector3<T>& translation)
|
|||
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>
|
||||
NzMatrix4<T> NzMatrix4<T>::Zero()
|
||||
{
|
||||
|
|
@ -937,6 +1248,8 @@ void NzMatrix4<T>::EnsureOwnership()
|
|||
|
||||
SharedMatrix* sharedMatrix = new SharedMatrix;
|
||||
std::memcpy(&sharedMatrix->m11, &m_sharedMatrix->m11, 16*sizeof(T));
|
||||
|
||||
m_sharedMatrix = sharedMatrix;
|
||||
}
|
||||
}
|
||||
else
|
||||
|
|
|
|||
Loading…
Reference in New Issue