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gszauer/Matrix Cpp

Created June 6, 2013 00:29
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Matrix Cpp
#include "Matrix.h"
#include <string.h>
#include <cmath>
#define MATRIXELEMENT(mat, row, col) mat[row * 4 + col]
const Matrix Matrix::zero;
const Matrix Matrix::identity(1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f );
Matrix::Matrix() {
memset(mat, 0, sizeof(float) * 16);
}
Matrix::Matrix(float _0, float _1, float _2, float _3, float _4, float _5, float _6, float _7, float _8, float _9, float _10, float _11, float _12, float _13, float _14, float _15) {
mat[0] = _0;
mat[1] = _1;
mat[2] = _2;
mat[3] = _3;
mat[4] = _4;
mat[5] = _5;
mat[6] = _6;
mat[7] = _7;
mat[8] = _8;
mat[9] = _9;
mat[10] = _10;
mat[11] = _11;
mat[12] = _12;
mat[13] = _13;
mat[14] = _14;
mat[15] = _15;
}
Matrix::~Matrix() { }
Matrix::Matrix(const Matrix& m) {
memcpy(mat, m.mat, sizeof(float) * 16);
}
Matrix& Matrix::operator=(const Matrix& m) {
if (this == &m) return *this;
memcpy(mat, m.mat, sizeof(float) * 16);
return *this;
}
Matrix& Matrix::operator*=(Matrix& rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs.mat[0] + mat[1] * rhs.mat[4] + mat[2] * rhs.mat[8] + mat[3] * rhs.mat[12];
newMatrix.mat[1] = mat[0] * rhs.mat[1] + mat[1] * rhs.mat[5] + mat[2] * rhs.mat[9] + mat[3] * rhs.mat[13];
newMatrix.mat[2] = mat[0] * rhs.mat[2] + mat[1] * rhs.mat[6] + mat[2] * rhs.mat[10] + mat[3] * rhs.mat[14];
newMatrix.mat[3] = mat[0] * rhs.mat[3] + mat[1] * rhs.mat[7] + mat[2] * rhs.mat[11] + mat[3] * rhs.mat[15];
newMatrix.mat[4] = mat[4] * rhs.mat[0] + mat[5] * rhs.mat[4] + mat[6] * rhs.mat[8] + mat[7] * rhs.mat[12];
newMatrix.mat[5] = mat[4] * rhs.mat[1] + mat[5] * rhs.mat[5] + mat[6] * rhs.mat[9] + mat[7] * rhs.mat[13];
newMatrix.mat[6] = mat[4] * rhs.mat[2] + mat[5] * rhs.mat[6] + mat[6] * rhs.mat[10] + mat[7] * rhs.mat[14];
newMatrix.mat[7] = mat[4] * rhs.mat[3] + mat[5] * rhs.mat[7] + mat[6] * rhs.mat[11] + mat[7] * rhs.mat[15];
newMatrix.mat[8] = mat[8] * rhs.mat[0] + mat[9] * rhs.mat[4] + mat[10] * rhs.mat[8] + mat[11] * rhs.mat[12];
newMatrix.mat[9] = mat[8] * rhs.mat[1] + mat[9] * rhs.mat[5] + mat[10] * rhs.mat[9] + mat[11] * rhs.mat[13];
newMatrix.mat[10] = mat[8] * rhs.mat[2] + mat[9] * rhs.mat[6] + mat[10] * rhs.mat[10] + mat[11] * rhs.mat[14];
newMatrix.mat[11] = mat[8] * rhs.mat[3] + mat[9] * rhs.mat[7] + mat[10] * rhs.mat[11] + mat[11] * rhs.mat[15];
newMatrix.mat[12] = mat[12] * rhs.mat[0] + mat[13] * rhs.mat[4] + mat[14] * rhs.mat[8] + mat[15] * rhs.mat[12];
newMatrix.mat[13] = mat[12] * rhs.mat[1] + mat[13] * rhs.mat[5] + mat[14] * rhs.mat[9] + mat[15] * rhs.mat[13];
newMatrix.mat[14] = mat[12] * rhs.mat[2] + mat[13] * rhs.mat[6] + mat[14] * rhs.mat[10] + mat[15] * rhs.mat[14];
newMatrix.mat[15] = mat[12] * rhs.mat[3] + mat[13] * rhs.mat[7] + mat[14] * rhs.mat[11] + mat[15] * rhs.mat[15];
*this = newMatrix;
return *this;
}
Matrix& Matrix::operator*=(const Matrix& rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs.mat[0] + mat[1] * rhs.mat[4] + mat[2] * rhs.mat[8] + mat[3] * rhs.mat[12];
newMatrix.mat[1] = mat[0] * rhs.mat[1] + mat[1] * rhs.mat[5] + mat[2] * rhs.mat[9] + mat[3] * rhs.mat[13];
newMatrix.mat[2] = mat[0] * rhs.mat[2] + mat[1] * rhs.mat[6] + mat[2] * rhs.mat[10] + mat[3] * rhs.mat[14];
newMatrix.mat[3] = mat[0] * rhs.mat[3] + mat[1] * rhs.mat[7] + mat[2] * rhs.mat[11] + mat[3] * rhs.mat[15];
newMatrix.mat[4] = mat[4] * rhs.mat[0] + mat[5] * rhs.mat[4] + mat[6] * rhs.mat[8] + mat[7] * rhs.mat[12];
newMatrix.mat[5] = mat[4] * rhs.mat[1] + mat[5] * rhs.mat[5] + mat[6] * rhs.mat[9] + mat[7] * rhs.mat[13];
newMatrix.mat[6] = mat[4] * rhs.mat[2] + mat[5] * rhs.mat[6] + mat[6] * rhs.mat[10] + mat[7] * rhs.mat[14];
newMatrix.mat[7] = mat[4] * rhs.mat[3] + mat[5] * rhs.mat[7] + mat[6] * rhs.mat[11] + mat[7] * rhs.mat[15];
newMatrix.mat[8] = mat[8] * rhs.mat[0] + mat[9] * rhs.mat[4] + mat[10] * rhs.mat[8] + mat[11] * rhs.mat[12];
newMatrix.mat[9] = mat[8] * rhs.mat[1] + mat[9] * rhs.mat[5] + mat[10] * rhs.mat[9] + mat[11] * rhs.mat[13];
newMatrix.mat[10] = mat[8] * rhs.mat[2] + mat[9] * rhs.mat[6] + mat[10] * rhs.mat[10] + mat[11] * rhs.mat[14];
newMatrix.mat[11] = mat[8] * rhs.mat[3] + mat[9] * rhs.mat[7] + mat[10] * rhs.mat[11] + mat[11] * rhs.mat[15];
newMatrix.mat[12] = mat[12] * rhs.mat[0] + mat[13] * rhs.mat[4] + mat[14] * rhs.mat[8] + mat[15] * rhs.mat[12];
newMatrix.mat[13] = mat[12] * rhs.mat[1] + mat[13] * rhs.mat[5] + mat[14] * rhs.mat[9] + mat[15] * rhs.mat[13];
newMatrix.mat[14] = mat[12] * rhs.mat[2] + mat[13] * rhs.mat[6] + mat[14] * rhs.mat[10] + mat[15] * rhs.mat[14];
newMatrix.mat[15] = mat[12] * rhs.mat[3] + mat[13] * rhs.mat[7] + mat[14] * rhs.mat[11] + mat[15] * rhs.mat[15];
*this = newMatrix;
return *this;
}
Matrix Matrix::operator*(Matrix& rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs.mat[0] + mat[1] * rhs.mat[4] + mat[2] * rhs.mat[8] + mat[3] * rhs.mat[12];
newMatrix.mat[1] = mat[0] * rhs.mat[1] + mat[1] * rhs.mat[5] + mat[2] * rhs.mat[9] + mat[3] * rhs.mat[13];
newMatrix.mat[2] = mat[0] * rhs.mat[2] + mat[1] * rhs.mat[6] + mat[2] * rhs.mat[10] + mat[3] * rhs.mat[14];
newMatrix.mat[3] = mat[0] * rhs.mat[3] + mat[1] * rhs.mat[7] + mat[2] * rhs.mat[11] + mat[3] * rhs.mat[15];
newMatrix.mat[4] = mat[4] * rhs.mat[0] + mat[5] * rhs.mat[4] + mat[6] * rhs.mat[8] + mat[7] * rhs.mat[12];
newMatrix.mat[5] = mat[4] * rhs.mat[1] + mat[5] * rhs.mat[5] + mat[6] * rhs.mat[9] + mat[7] * rhs.mat[13];
newMatrix.mat[6] = mat[4] * rhs.mat[2] + mat[5] * rhs.mat[6] + mat[6] * rhs.mat[10] + mat[7] * rhs.mat[14];
newMatrix.mat[7] = mat[4] * rhs.mat[3] + mat[5] * rhs.mat[7] + mat[6] * rhs.mat[11] + mat[7] * rhs.mat[15];
newMatrix.mat[8] = mat[8] * rhs.mat[0] + mat[9] * rhs.mat[4] + mat[10] * rhs.mat[8] + mat[11] * rhs.mat[12];
newMatrix.mat[9] = mat[8] * rhs.mat[1] + mat[9] * rhs.mat[5] + mat[10] * rhs.mat[9] + mat[11] * rhs.mat[13];
newMatrix.mat[10] = mat[8] * rhs.mat[2] + mat[9] * rhs.mat[6] + mat[10] * rhs.mat[10] + mat[11] * rhs.mat[14];
newMatrix.mat[11] = mat[8] * rhs.mat[3] + mat[9] * rhs.mat[7] + mat[10] * rhs.mat[11] + mat[11] * rhs.mat[15];
newMatrix.mat[12] = mat[12] * rhs.mat[0] + mat[13] * rhs.mat[4] + mat[14] * rhs.mat[8] + mat[15] * rhs.mat[12];
newMatrix.mat[13] = mat[12] * rhs.mat[1] + mat[13] * rhs.mat[5] + mat[14] * rhs.mat[9] + mat[15] * rhs.mat[13];
newMatrix.mat[14] = mat[12] * rhs.mat[2] + mat[13] * rhs.mat[6] + mat[14] * rhs.mat[10] + mat[15] * rhs.mat[14];
newMatrix.mat[15] = mat[12] * rhs.mat[3] + mat[13] * rhs.mat[7] + mat[14] * rhs.mat[11] + mat[15] * rhs.mat[15];
return newMatrix;
}
const Matrix Matrix::operator*(const Matrix& rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs.mat[0] + mat[1] * rhs.mat[4] + mat[2] * rhs.mat[8] + mat[3] * rhs.mat[12];
newMatrix.mat[1] = mat[0] * rhs.mat[1] + mat[1] * rhs.mat[5] + mat[2] * rhs.mat[9] + mat[3] * rhs.mat[13];
newMatrix.mat[2] = mat[0] * rhs.mat[2] + mat[1] * rhs.mat[6] + mat[2] * rhs.mat[10] + mat[3] * rhs.mat[14];
newMatrix.mat[3] = mat[0] * rhs.mat[3] + mat[1] * rhs.mat[7] + mat[2] * rhs.mat[11] + mat[3] * rhs.mat[15];
newMatrix.mat[4] = mat[4] * rhs.mat[0] + mat[5] * rhs.mat[4] + mat[6] * rhs.mat[8] + mat[7] * rhs.mat[12];
newMatrix.mat[5] = mat[4] * rhs.mat[1] + mat[5] * rhs.mat[5] + mat[6] * rhs.mat[9] + mat[7] * rhs.mat[13];
newMatrix.mat[6] = mat[4] * rhs.mat[2] + mat[5] * rhs.mat[6] + mat[6] * rhs.mat[10] + mat[7] * rhs.mat[14];
newMatrix.mat[7] = mat[4] * rhs.mat[3] + mat[5] * rhs.mat[7] + mat[6] * rhs.mat[11] + mat[7] * rhs.mat[15];
newMatrix.mat[8] = mat[8] * rhs.mat[0] + mat[9] * rhs.mat[4] + mat[10] * rhs.mat[8] + mat[11] * rhs.mat[12];
newMatrix.mat[9] = mat[8] * rhs.mat[1] + mat[9] * rhs.mat[5] + mat[10] * rhs.mat[9] + mat[11] * rhs.mat[13];
newMatrix.mat[10] = mat[8] * rhs.mat[2] + mat[9] * rhs.mat[6] + mat[10] * rhs.mat[10] + mat[11] * rhs.mat[14];
newMatrix.mat[11] = mat[8] * rhs.mat[3] + mat[9] * rhs.mat[7] + mat[10] * rhs.mat[11] + mat[11] * rhs.mat[15];
newMatrix.mat[12] = mat[12] * rhs.mat[0] + mat[13] * rhs.mat[4] + mat[14] * rhs.mat[8] + mat[15] * rhs.mat[12];
newMatrix.mat[13] = mat[12] * rhs.mat[1] + mat[13] * rhs.mat[5] + mat[14] * rhs.mat[9] + mat[15] * rhs.mat[13];
newMatrix.mat[14] = mat[12] * rhs.mat[2] + mat[13] * rhs.mat[6] + mat[14] * rhs.mat[10] + mat[15] * rhs.mat[14];
newMatrix.mat[15] = mat[12] * rhs.mat[3] + mat[13] * rhs.mat[7] + mat[14] * rhs.mat[11] + mat[15] * rhs.mat[15];
return newMatrix;
}
bool Matrix::IsIdentity() {
bool row1 = mat[0] == 1.0f && mat[1] == 0.0f && mat[2] == 0.0f && mat[3] == 0.0f;
bool row2 = mat[4] == 0.0f && mat[5] == 1.0f && mat[6] == 0.0f && mat[7] == 0.0f;
bool row3 = mat[8] == 0.0f && mat[9] == 0.0f && mat[10]== 1.0f && mat[11]== 0.0f;
bool row4 = mat[12]== 0.0f && mat[13]== 0.0f && mat[14]== 0.0f && mat[15]== 1.0f;
return (row1 && row2 && row3 && row4);
}
float Matrix::Element(int row, int col) {
return MATRIXELEMENT(mat, row, col);
}
Vector Matrix::Row(int row) {
return Vector(MATRIXELEMENT(mat, row, 0), MATRIXELEMENT(mat, row, 1), MATRIXELEMENT(mat, row, 2));
}
Vector Matrix::Column(int col) {
return Vector(MATRIXELEMENT(mat, 0, col), MATRIXELEMENT(mat, 1, col), MATRIXELEMENT(mat, 2, col));
}
void Matrix::Row(int row, Vector& value) {
MATRIXELEMENT(mat, row, 0) = value.x;
MATRIXELEMENT(mat, row, 1) = value.y;
MATRIXELEMENT(mat, row, 2) = value.z;
}
void Matrix::Column(int col, Vector& value) {
MATRIXELEMENT(mat, 0, col) = value.x;
MATRIXELEMENT(mat, 1, col) = value.y;
MATRIXELEMENT(mat, 2, col) = value.z;
}
void Matrix::SetTRS(Vector& position, Vector& rotation, Vector& scale) {
*this = Matrix::TRS(position, rotation, scale);
}
Matrix Matrix::MakeScale(Vector& scale) {
Matrix newMatrix(scale.x, 0.0f, 0.0f, 0.0f,
0.0f, scale.y, 0.0f, 0.0f,
0.0f, 0.0f, scale.z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
return newMatrix;
}
Matrix Matrix::MakeScale(float x, float y, float z) {
Matrix newMatrix(x, 0.0f, 0.0f, 0.0f,
0.0f, y, 0.0f, 0.0f,
0.0f, 0.0f, z, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
return newMatrix;
}
Matrix Matrix::MakeTransform(Vector& transform) {
Matrix newMatrix(1.0f, 0.0f, 0.0f, transform.x,
0.0f, 1.0f, 0.0f, transform.y,
0.0f, 0.0f, 1.0f, transform.z,
0.0f, 0.0f, 0.0f, 1.0f);
return newMatrix;
}
Matrix Matrix::MakeTransform(float x, float y, float z) {
Matrix newMatrix(1.0f, 0.0f, 0.0f, x,
0.0f, 1.0f, 0.0f, y,
0.0f, 0.0f, 1.0f, z,
0.0f, 0.0f, 0.0f, 1.0f);
return newMatrix;
}
Matrix Matrix::TRS(Vector& position, Vector& rotation, Vector& scale) {
Matrix T = Matrix::MakeTransform(position);
Matrix R = Matrix::EulerRotation(rotation.x, rotation.y, rotation.z);
Matrix S = Matrix::MakeScale(scale);
return T * R * S;
}
Matrix Matrix::Perspective(float fov, float aspect, float zNear, float zFar) {
float top = zNear * float(tanf(fov * 3.14159265f / 360.0f));
float bottom = -1.0f * top;
float left = bottom * aspect;
float right = -1.0f * left;
Matrix projectionMatrix = Matrix::identity;
projectionMatrix.mat[0] = (2.0f * zNear) / (right - left);
projectionMatrix.mat[5] = (2.0f * zNear) / (top - bottom);
projectionMatrix.mat[8] = (right + left) / (right - left);
projectionMatrix.mat[9] = (top + bottom) / (top - bottom);
projectionMatrix.mat[10] = -1.0f * ((zFar + zNear) / (zFar - zNear));
projectionMatrix.mat[11] = -1.0f;
projectionMatrix.mat[14] = -1.0f * ((2.0f * (zFar + zNear)) / (zFar - zNear));
projectionMatrix.mat[15] = 0.0f;
return projectionMatrix;
}
Matrix Matrix::Ortho(float left, float right, float bottom, float top, float zNear, float zFar) {
Matrix projectionMatrix = Matrix::identity;
projectionMatrix.mat[0] = 2.0f / (right - left);
projectionMatrix.mat[1] = 0.0f;
projectionMatrix.mat[2] = 0.0f;
projectionMatrix.mat[3] = 0.0f;
projectionMatrix.mat[4] = 0.0f;
projectionMatrix.mat[5] = 2.0f / (top - bottom);
projectionMatrix.mat[6] = 0.0f;
projectionMatrix.mat[7] = 0.0f;
projectionMatrix.mat[8] = 0.0f;
projectionMatrix.mat[9] = 0.0f;
projectionMatrix.mat[10] = -2.0f / (zFar - zNear);
projectionMatrix.mat[11] = 0.0f;
projectionMatrix.mat[12] = (right + left) / (right - left);
projectionMatrix.mat[13] = (top + bottom) / (top - bottom);
projectionMatrix.mat[14] = (zFar + zNear) / (zFar - zNear);
projectionMatrix.mat[15] = 1.0f;
return projectionMatrix;
}
float Matrix::Determinant() {
#define _(x) mat[x]
return (
_(0) * (_(5) * (_(10) * _(15) - _(11) * _(14)) - _(6) * (_( 9) * _(15) - _(11) * _(13)) + _(7) * (_( 9) * _(14) - _(10) * _(13))) -
_(1) * (_(4) * (_(10) * _(15) - _(11) * _(14)) - _(6) * (_( 8) * _(15) - _(11) * _(12)) + _(7) * (_( 8) * _(14) - _(10) * _(12))) +
_(2) * (_(4) * (_( 9) * _(15) - _(11) * _(13)) - _(5) * (_( 8) * _(15) - _(11) * _(12)) + _(7) * (_( 8) * _(13) - _( 9) * _(12))) -
_(3) * (_(4) * (_( 9) * _(14) - _(10) * _(13)) - _(5) * (_( 8) * _(14) - _(10) * _(12)) + _(6) * (_( 8) * _(13) - _( 9) * _(12)))
);
#undef _
}
float Matrix::Determinant(Matrix& m) {
#define _(x) m.mat[x]
return (
_(0) * (_(5) * (_(10) * _(15) - _(11) * _(14)) - _(6) * (_( 9) * _(15) - _(11) * _(13)) + _(7) * (_( 9) * _(14) - _(10) * _(13))) -
_(1) * (_(4) * (_(10) * _(15) - _(11) * _(14)) - _(6) * (_( 8) * _(15) - _(11) * _(12)) + _(7) * (_( 8) * _(14) - _(10) * _(12))) +
_(2) * (_(4) * (_( 9) * _(15) - _(11) * _(13)) - _(5) * (_( 8) * _(15) - _(11) * _(12)) + _(7) * (_( 8) * _(13) - _( 9) * _(12))) -
_(3) * (_(4) * (_( 9) * _(14) - _(10) * _(13)) - _(5) * (_( 8) * _(14) - _(10) * _(12)) + _(6) * (_( 8) * _(13) - _( 9) * _(12)))
);
#undef _
}
Matrix Matrix::Transpose() {
Matrix transposeMatrix;
transposeMatrix.mat[0] = mat[0];
transposeMatrix.mat[1] = mat[4];
transposeMatrix.mat[2] = mat[8];
transposeMatrix.mat[3] = mat[12];
transposeMatrix.mat[4] = mat[1];
transposeMatrix.mat[5] = mat[5];
transposeMatrix.mat[6] = mat[9];
transposeMatrix.mat[7] = mat[13];
transposeMatrix.mat[8] = mat[2];
transposeMatrix.mat[9] = mat[6];
transposeMatrix.mat[10] = mat[10];
transposeMatrix.mat[11] = mat[14];
transposeMatrix.mat[12] = mat[3];
transposeMatrix.mat[13] = mat[7];
transposeMatrix.mat[14] = mat[11];
transposeMatrix.mat[15] = mat[15];
return transposeMatrix;
}
Matrix Matrix::Cofactor() {
#define _(x) mat[x]
#define det(_0, _1, _2, _3, _4, _5, _6, _7, _8) (_(_0) * (_(_4) * _(_8) - _(_5) * _(_7)) - _(_1) * (_(_3) * _(_8) - _(_5) * _(_6)) + _(_2) * (_(_3) * _(_7) - _(_4) * _(_6)))
Matrix cofactorMatrix;
cofactorMatrix.mat[0] = det( 5, 6, 7, 9, 10, 11, 13, 14, 15);
cofactorMatrix.mat[1] = det( 4, 6, 7, 8, 10, 11, 12, 14, 15);
cofactorMatrix.mat[2] = det( 4, 5, 7, 8, 9, 11, 12, 13, 15);
cofactorMatrix.mat[3] = det( 4, 5, 6, 8, 9, 10, 12, 13, 14);
cofactorMatrix.mat[4] = det( 1, 2, 3, 9, 10, 11, 13, 14, 15);
cofactorMatrix.mat[5] = det( 0, 2, 3, 8, 10, 11, 12, 14, 15);
cofactorMatrix.mat[6] = det( 0, 1, 3, 8, 9, 11, 12, 13, 15);
cofactorMatrix.mat[7] = det( 0, 1, 2, 8, 9, 10, 12, 13, 14);
cofactorMatrix.mat[8] = det( 1, 2, 3, 5, 6, 7, 13, 14, 15);
cofactorMatrix.mat[9] = det( 0, 2, 3, 4, 6, 7, 12, 14, 15);
cofactorMatrix.mat[10] = det( 0, 1, 3, 4, 5, 7, 12, 13, 15);
cofactorMatrix.mat[11] = det( 0, 1, 2, 4, 5, 6, 12, 13, 14);
cofactorMatrix.mat[12] = det( 1, 2, 3, 5, 6, 7, 9, 10, 11);
cofactorMatrix.mat[13] = det( 0, 2, 3, 4, 6, 7, 8, 10, 11);
cofactorMatrix.mat[14] = det( 0, 1, 3, 4, 5, 7, 8, 9, 11);
cofactorMatrix.mat[15] = det( 0, 1, 2, 4, 5, 6, 8, 9, 10);
return cofactorMatrix;
#undef det
#undef _
}
Matrix Matrix::Adjoint() {
#define _(x) mat[x]
#define det(_0, _1, _2, _3, _4, _5, _6, _7, _8) (_(_0) * (_(_4) * _(_8) - _(_5) * _(_7)) - _(_1) * (_(_3) * _(_8) - _(_5) * _(_6)) + _(_2) * (_(_3) * _(_7) - _(_4) * _(_6)))
Matrix transposedCofactorMatrix;
transposedCofactorMatrix.mat[0] = (det( 5, 6, 7, 9, 10, 11, 13, 14, 15));
transposedCofactorMatrix.mat[4] = -1 * (det( 4, 6, 7, 8, 10, 11, 12, 14, 15));
transposedCofactorMatrix.mat[8] = (det( 4, 5, 7, 8, 9, 11, 12, 13, 15));
transposedCofactorMatrix.mat[12] = -1 * (det( 4, 5, 6, 8, 9, 10, 12, 13, 14));
transposedCofactorMatrix.mat[1] = -1 * (det( 1, 2, 3, 9, 10, 11, 13, 14, 15));
transposedCofactorMatrix.mat[5] = (det( 0, 2, 3, 8, 10, 11, 12, 14, 15));
transposedCofactorMatrix.mat[9] = -1 * (det( 0, 1, 3, 8, 9, 11, 12, 13, 15));
transposedCofactorMatrix.mat[13] = (det( 0, 1, 2, 8, 9, 10, 12, 13, 14));
transposedCofactorMatrix.mat[2] = (det( 1, 2, 3, 5, 6, 7, 13, 14, 15));
transposedCofactorMatrix.mat[6] = -1 * (det( 0, 2, 3, 4, 6, 7, 12, 14, 15));
transposedCofactorMatrix.mat[10] = (det( 0, 1, 3, 4, 5, 7, 12, 13, 15));
transposedCofactorMatrix.mat[14] = -1 * (det( 0, 1, 2, 4, 5, 6, 12, 13, 14));
transposedCofactorMatrix.mat[3] = -1 * (det( 1, 2, 3, 5, 6, 7, 9, 10, 11));
transposedCofactorMatrix.mat[7] = (det( 0, 2, 3, 4, 6, 7, 8, 10, 11));
transposedCofactorMatrix.mat[11] = -1 * (det( 0, 1, 3, 4, 5, 7, 8, 9, 11));
transposedCofactorMatrix.mat[15] = (det( 0, 1, 2, 4, 5, 6, 8, 9, 10));
return transposedCofactorMatrix;
#undef det
#undef _
}
Matrix Matrix::Inverse() {
float determinant = this->Determinant();
Matrix adjoint = this->Adjoint();
return (1.0f / determinant) * adjoint;
}
Matrix& Matrix::operator*=(const float rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs;
newMatrix.mat[1] = mat[1] * rhs;
newMatrix.mat[2] = mat[2] * rhs;
newMatrix.mat[3] = mat[3] * rhs;
newMatrix.mat[4] = mat[4] * rhs;
newMatrix.mat[5] = mat[5] * rhs;
newMatrix.mat[6] = mat[6] * rhs;
newMatrix.mat[7] = mat[7] * rhs;
newMatrix.mat[8] = mat[8] * rhs;
newMatrix.mat[9] = mat[9] * rhs;
newMatrix.mat[10] = mat[10] * rhs;
newMatrix.mat[11] = mat[11] * rhs;
newMatrix.mat[12] = mat[12] * rhs;
newMatrix.mat[13] = mat[13] * rhs;
newMatrix.mat[14] = mat[14] * rhs;
newMatrix.mat[15] = mat[15] * rhs;
*this = newMatrix;
return *this;
}
const Matrix Matrix::operator*(const float rhs) {
Matrix newMatrix;
newMatrix.mat[0] = mat[0] * rhs;
newMatrix.mat[1] = mat[1] * rhs;
newMatrix.mat[2] = mat[2] * rhs;
newMatrix.mat[3] = mat[3] * rhs;
newMatrix.mat[4] = mat[4] * rhs;
newMatrix.mat[5] = mat[5] * rhs;
newMatrix.mat[6] = mat[6] * rhs;
newMatrix.mat[7] = mat[7] * rhs;
newMatrix.mat[8] = mat[8] * rhs;
newMatrix.mat[9] = mat[9] * rhs;
newMatrix.mat[10] = mat[10] * rhs;
newMatrix.mat[11] = mat[11] * rhs;
newMatrix.mat[12] = mat[12] * rhs;
newMatrix.mat[13] = mat[13] * rhs;
newMatrix.mat[14] = mat[14] * rhs;
newMatrix.mat[15] = mat[15] * rhs;
return newMatrix;
}
const Matrix operator*(float rhs, const Matrix& lhs) {
Matrix newMatrix;
newMatrix.mat[0] = lhs.mat[0] * rhs;
newMatrix.mat[1] = lhs.mat[1] * rhs;
newMatrix.mat[2] = lhs.mat[2] * rhs;
newMatrix.mat[3] = lhs.mat[3] * rhs;
newMatrix.mat[4] = lhs.mat[4] * rhs;
newMatrix.mat[5] = lhs.mat[5] * rhs;
newMatrix.mat[6] = lhs.mat[6] * rhs;
newMatrix.mat[7] = lhs.mat[7] * rhs;
newMatrix.mat[8] = lhs.mat[8] * rhs;
newMatrix.mat[9] = lhs.mat[9] * rhs;
newMatrix.mat[10] = lhs.mat[10] * rhs;
newMatrix.mat[11] = lhs.mat[11] * rhs;
newMatrix.mat[12] = lhs.mat[12] * rhs;
newMatrix.mat[13] = lhs.mat[13] * rhs;
newMatrix.mat[14] = lhs.mat[14] * rhs;
newMatrix.mat[15] = lhs.mat[15] * rhs;
return newMatrix;
}
Matrix operator*(float rhs, Matrix& lhs) {
Matrix newMatrix;
newMatrix.mat[0] = lhs.mat[0] * rhs;
newMatrix.mat[1] = lhs.mat[1] * rhs;
newMatrix.mat[2] = lhs.mat[2] * rhs;
newMatrix.mat[3] = lhs.mat[3] * rhs;
newMatrix.mat[4] = lhs.mat[4] * rhs;
newMatrix.mat[5] = lhs.mat[5] * rhs;
newMatrix.mat[6] = lhs.mat[6] * rhs;
newMatrix.mat[7] = lhs.mat[7] * rhs;
newMatrix.mat[8] = lhs.mat[8] * rhs;
newMatrix.mat[9] = lhs.mat[9] * rhs;
newMatrix.mat[10] = lhs.mat[10] * rhs;
newMatrix.mat[11] = lhs.mat[11] * rhs;
newMatrix.mat[12] = lhs.mat[12] * rhs;
newMatrix.mat[13] = lhs.mat[13] * rhs;
newMatrix.mat[14] = lhs.mat[14] * rhs;
newMatrix.mat[15] = lhs.mat[15] * rhs;
return newMatrix;
}
Matrix Matrix::MakeXRotation(float degrees) {
Matrix rotation = Matrix::identity;
degrees *= 0.0174532925f; // To radians!
rotation[5] = cosf(degrees);
rotation[6] = sinf(degrees);
rotation[9] = -1.0f * sin(degrees);
rotation[10] = cosf(degrees);
return rotation;
}
Matrix Matrix::MakeYRotation(float degrees) {
Matrix rotation = Matrix::identity;
degrees *= 0.0174532925f; // To radians!
rotation[0] = cosf(degrees);
rotation[2] = -1.0f * sinf(degrees);
rotation[8] = sinf(degrees);
rotation[10] = cosf(degrees);
return rotation;
}
Matrix Matrix::MakeZRotation(float degrees) {
Matrix rotation = Matrix::identity;
degrees *= 0.0174532925f; // To radians!
rotation[0] = cosf(degrees);
rotation[1] = sinf(degrees);
rotation[4] = -sinf(degrees);
rotation[5] = cosf(degrees);
return rotation;
}
Matrix Matrix::AxisAngleRotation(Vector& rotate, float degrees) {
Vector nr = rotate.Normalized();
#define x nr.x
#define y nr.y
#define z nr.z
degrees *= 0.0174532925f; // To radians!
float c, s, t;
c = cos(degrees);
s = sin(degrees);
t = 1 - c;
Matrix rotation = Matrix::identity;
rotation.mat[0] = t * x * x + c;
rotation.mat[1] = t * x * y - s * z;
rotation.mat[2] = t * x * z + s * y;
rotation.mat[4] = t * x * y + s * z;
rotation.mat[5] = t * y * y + c;
rotation.mat[6] = t * y * z - s * x;
rotation.mat[8] = t * x * z - s * y;
rotation.mat[9] = t * y * z + s * x;
rotation.mat[10] = t * z * z + c;
return rotation;
#undef x
#undef y
#undef z
}
Matrix Matrix::EulerRotation(float x, float y, float z) {
x *= 0.0174532925f; // To radians!
y *= 0.0174532925f; // To radians!
z *= 0.0174532925f; // To radians!
float a = cosf(x);
float b = sinf(x);
float c = cosf(y);
float d = sinf(y);
float e = cosf(z);
float f = sinf(z);
float ad = a * d;
float bd = b * d;
Matrix rotation = Matrix::identity;
rotation.mat[0] = c * e;
rotation.mat[1] = c * f;
rotation.mat[2] = -1.0f * d;
rotation.mat[4] = bd * e + a * (-1.0f * f);
rotation.mat[5] = bd * f + a * e;
rotation.mat[6] = b * c;
rotation.mat[8] = ad * e + (-1.0f * b) * (-1.0f * f);
rotation.mat[9] = ad * f + (-1.0f * b) * e;
rotation.mat[10] = a * c;
return rotation;
}
Vector Matrix::operator*(Vector& v) {
float x = v.x * mat[0] + v.y * mat[1] + v.z * mat[2];
float y = v.x * mat[4] + v.y * mat[5] + v.z * mat[6];
float z = v.x * mat[8] + v.y * mat[9] + v.z * mat[10];
return Vector(x, y, z);
}
const Vector Matrix::operator*(const Vector& v) {
float x = v.x * mat[0] + v.y * mat[1] + v.z * mat[2];
float y = v.x * mat[4] + v.y * mat[5] + v.z * mat[6];
float z = v.x * mat[8] + v.y * mat[9] + v.z * mat[10];
return Vector(x, y, z);
}
const Vector operator*(Vector& v, const Matrix& m) {
float x = v.x * m.mat[0] + v.y * m.mat[1] + v.z * m.mat[2];
float y = v.x * m.mat[4] + v.y * m.mat[5] + v.z * m.mat[6];
float z = v.x * m.mat[8] + v.y * m.mat[9] + v.z * m.mat[10];
return Vector(x, y, z);
}
Vector operator*(Vector& v, Matrix& m) {
float x = v.x * m.mat[0] + v.y * m.mat[1] + v.z * m.mat[2];
float y = v.x * m.mat[4] + v.y * m.mat[5] + v.z * m.mat[6];
float z = v.x * m.mat[8] + v.y * m.mat[9] + v.z * m.mat[10];
return Vector(x, y, z);
}
float& Matrix::operator[](int i) {
return mat[i];
}
Raw
Matrix H
#ifndef _H_MATRIX_
#define _H_MATRIX_
#ifndef _H_VECTOR_
#include "Vector.h"
#endif
class Matrix {
public:
float mat[16];
public:
Matrix();
Matrix(float _0, float _1, float _2, float _3, float _4, float _5, float _6, float _7, float _8, float _9, float _10, float _11, float _12, float _13, float _14, float _15);
~Matrix();
Matrix(const Matrix& m);
Matrix& operator=(const Matrix& m);
Matrix& operator*=(Matrix& rhs);
Matrix& operator*=(const Matrix& rhs);
Matrix operator*(Matrix& rhs);
const Matrix operator*(const Matrix& rhs);
Matrix& operator*=(const float rhs);
const Matrix operator*(const float rhs);
Vector operator*(Vector& v);
const Vector operator*(const Vector& v);
float& operator[](int i);
Matrix Transpose();
Matrix Inverse();
Matrix Cofactor();
Matrix Adjoint();
float Determinant();
bool IsIdentity();
float Element(int row, int col);
Vector Row(int row);
Vector Column(int col);
void Row(int row, Vector& value);
void Column(int col, Vector& value);
void SetTRS(Vector& position, Vector& rotation, Vector& scale);
static Matrix AxisAngleRotation(Vector& rotate, float degrees);
static Matrix EulerRotation(float x, float y, float z);
static Matrix MakeXRotation(float degrees);
static Matrix MakeYRotation(float degrees);
static Matrix MakeZRotation(float degrees);
static Matrix MakeScale(Vector& scale);
static Matrix MakeScale(float x, float y, float z);
static Matrix MakeTransform(Vector& transform);
static Matrix MakeTransform(float x, float y, float z);
static Matrix TRS(Vector& position, Vector& rotation, Vector& scale);
static Matrix Ortho(float left, float right, float bottom, float top, float zNear, float zFar);
static Matrix Perspective(float fov, float aspect, float zNear, float zFar);
static float Determinant(Matrix& m);
static const Matrix zero;
static const Matrix identity;
};
const Matrix operator*(float lhs, const Matrix& rhs);
Matrix operator*(float lhs, Matrix& rhs);
const Vector operator*(Vector& v, const Matrix& m);
Vector operator*(Vector& v, Matrix& m);
#endif
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