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/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HSMATRIX44_inc
#define HSMATRIX44_inc
#include "hsTypes.h"
#include "hsGeometry3.h"
class hsQuat;
////////////////////////////////////////////////////////////////////////////
class hsStream;
struct hsMatrix44 {
enum {
kIsIdent = 0x1
};
enum {
kRight = 0,
kUp,
kView
};
hsScalar fMap[4][4];
UInt32 fFlags;
hsMatrix44() : fFlags(0) {}
hsMatrix44(const hsScalarTriple &translate, const hsQuat &rotate);
void DecompRigid(hsScalarTriple &translate, hsQuat &rotate) const;
static const hsMatrix44& IdentityMatrix();
// worldToCameras and cameraToWorlds are arrays of 6 matrices. Returned are LEFT,RIGHT,FRONT,BACK,TOP,BOTTOM.
static void MakeEnvMapMatrices(const hsPoint3& pos, hsMatrix44* worldToCameras, hsMatrix44* cameraToWorlds);
static void MakeCameraMatrices(const hsPoint3& from, const hsPoint3& at, const hsVector3& up, hsMatrix44& worldToCamera, hsMatrix44& cameraToWorld);
// Concat transform
hsMatrix44& Translate(const hsVector3 *);
hsMatrix44& Scale(const hsVector3 *);
hsMatrix44& Rotate(int axis, hsScalar radians);
hsMatrix44& Reset(hsBool asIdent=true)
{
fMap[0][0] = 1.0f; fMap[0][1] = 0.0f; fMap[0][2] = 0.0f; fMap[0][3] = 0.0f;
fMap[1][0] = 0.0f; fMap[1][1] = 1.0f; fMap[1][2] = 0.0f; fMap[1][3] = 0.0f;
fMap[2][0] = 0.0f; fMap[2][1] = 0.0f; fMap[2][2] = 1.0f; fMap[2][3] = 0.0f;
fMap[3][0] = 0.0f; fMap[3][1] = 0.0f; fMap[3][2] = 0.0f; fMap[3][3] = 1.0f;
fFlags = asIdent ? kIsIdent : 0;
return *this;
}
// Create matrix from scratch
hsMatrix44& MakeTranslateMat(const hsVector3 *trans);
hsMatrix44& MakeScaleMat(const hsVector3 *scale);
hsMatrix44& MakeRotateMat(int axis, hsScalar radians);
hsMatrix44& Make(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up); // Not a camera matrix
hsMatrix44& MakeUpPreserving(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up); // Not a camera matrix
// Camera matrix
hsMatrix44& MakeCamera(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up);
hsMatrix44& MakeCameraUpPreserving(const hsPoint3* from, const hsPoint3* at,
const hsVector3* up);
hsBool GetParity() const;
hsScalar GetDeterminant() const;
hsMatrix44* GetInverse(hsMatrix44* inverse) const;
hsMatrix44* GetTranspose(hsMatrix44* inverse) const;
hsMatrix44* GetAdjoint(hsMatrix44* adjoint) const;
hsVector3* GetTranslate(hsVector3 *pt) const;
hsPoint3* GetTranslate(hsPoint3 *pt) const
{ return (hsPoint3*)GetTranslate((hsVector3*)pt); }
const hsPoint3 GetTranslate() const;
void GetAxis(hsVector3* view, hsVector3 *up, hsVector3* right);
void GetAxisFromCamera(hsVector3* view, hsVector3 *up, hsVector3* right);
const hsVector3 GetAxis(int i) const;
// Change component of matrix
hsMatrix44& SetTranslate(const hsScalarTriple *);
hsMatrix44& SetScale(const hsVector3 *);
hsMatrix44& SetRotate(int axis, hsScalar radians);
hsVector3 RemoveScale(); // returns old scale
void MakeXRotation(hsScalar radians);
void MakeYRotation(hsScalar radians);
void MakeZRotation(hsScalar radians);
#if 0 // Havok reeks
friend hsPoint3 operator*(const hsMatrix44& m, const hsPoint3& p)
{
if( m.fFlags & hsMatrix44::kIsIdent )
return p;
hsPoint3 rVal;
rVal.fX = hsScalarMul(p.fX, m.fMap[0][0]) + hsScalarMul(p.fY, m.fMap[0][1]) + hsScalarMul(p.fZ, m.fMap[0][2]) + m.fMap[0][3];
rVal.fY = hsScalarMul(p.fX, m.fMap[1][0]) + hsScalarMul(p.fY, m.fMap[1][1]) + hsScalarMul(p.fZ, m.fMap[1][2]) + m.fMap[1][3];
rVal.fZ = hsScalarMul(p.fX, m.fMap[2][0]) + hsScalarMul(p.fY, m.fMap[2][1]) + hsScalarMul(p.fZ, m.fMap[2][2]) + m.fMap[2][3];
return rVal;
}
friend hsVector3 operator*(const hsMatrix44& m, const hsVector3& p);
friend hsMatrix44 operator*(const hsMatrix44& a, const hsMatrix44& b);
#else // Havok reeks
hsPoint3 operator*(const hsPoint3& p) const
{
if( fFlags & hsMatrix44::kIsIdent )
return p;
hsPoint3 rVal;
rVal.fX = hsScalarMul(p.fX, fMap[0][0]) + hsScalarMul(p.fY, fMap[0][1]) + hsScalarMul(p.fZ, fMap[0][2]) + fMap[0][3];
rVal.fY = hsScalarMul(p.fX, fMap[1][0]) + hsScalarMul(p.fY, fMap[1][1]) + hsScalarMul(p.fZ, fMap[1][2]) + fMap[1][3];
rVal.fZ = hsScalarMul(p.fX, fMap[2][0]) + hsScalarMul(p.fY, fMap[2][1]) + hsScalarMul(p.fZ, fMap[2][2]) + fMap[2][3];
return rVal;
}
hsVector3 operator*(const hsVector3& p) const;
hsMatrix44 operator*(const hsMatrix44& b) const;
#endif // Havok reeks
hsPoint3* MapPoints(long count, hsPoint3 points[]) const;
hsBool IsIdentity(void);
void NotIdentity() { fFlags &= ~kIsIdent; }
#if 0 // Havok reeks
friend int operator==(const hsMatrix44& s, const hsMatrix44& t);
friend int operator!=(const hsMatrix44& s, const hsMatrix44& t);
#else // Havok reeks
hsBool operator==(const hsMatrix44& ss) const;
hsBool operator!=(const hsMatrix44& ss) const { return !(ss == *this); }
#endif // Havok reeks
void Read(hsStream *stream);
void Write(hsStream *stream);
};
#if 0 // Havok reeks
inline int operator!=(const hsMatrix44& s, const hsMatrix44& t)
{
return (!(s==t));
}
#endif // Havok reeks
////////////////////////////////////////////////////////////////////////////
#endif