| 1 | /****************************************************************************** |
| 2 | * Arachnoid Graphics Plugin for Mupen64Plus |
| 3 | * http://bitbucket.org/wahrhaft/mupen64plus-video-arachnoid/ |
| 4 | * |
| 5 | * Copyright (C) 2007 Kristofer Karlsson, Rickard Niklasson |
| 6 | * |
| 7 | * This program is free software; you can redistribute it and/or |
| 8 | * modify it under the terms of the GNU General Public License |
| 9 | * as published by the Free Software Foundation; either version 2 |
| 10 | * of the License, or (at your option) any later version. |
| 11 | * |
| 12 | * This program is distributed in the hope that it will be useful, |
| 13 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
| 14 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| 15 | * GNU General Public License for more details. |
| 16 | * |
| 17 | * You should have received a copy of the GNU General Public License |
| 18 | * along with this program; if not, write to the Free Software |
| 19 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. |
| 20 | *****************************************************************************/ |
| 21 | |
| 22 | #ifndef MATRIX_4_H_ |
| 23 | #define MATRIX_4_H_ |
| 24 | |
| 25 | #include <iostream> |
| 26 | #include <ostream> |
| 27 | |
| 28 | //***************************************************************************** |
| 29 | //* Matrix4 |
| 30 | //! Math class defining a 4x4 matrix or an array of 16 float. |
| 31 | //! @details Used for viewprojection matrix and vertex transformation. |
| 32 | //***************************************************************************** |
| 33 | class Matrix4 |
| 34 | { |
| 35 | public: |
| 36 | |
| 37 | //! The matrix entries, indexed by [row][col]. |
| 38 | union { |
| 39 | float m[4][4]; |
| 40 | float _m[16]; |
| 41 | }; |
| 42 | |
| 43 | public: |
| 44 | |
| 45 | //! Default constructor. |
| 46 | inline Matrix4() { operator=(IDENTITY); } |
| 47 | inline Matrix4( |
| 48 | float m00, float m01, float m02, float m03, |
| 49 | float m10, float m11, float m12, float m13, |
| 50 | float m20, float m21, float m22, float m23, |
| 51 | float m30, float m31, float m32, float m33 ) |
| 52 | { |
| 53 | m[0][0] = m00; |
| 54 | m[0][1] = m01; |
| 55 | m[0][2] = m02; |
| 56 | m[0][3] = m03; |
| 57 | m[1][0] = m10; |
| 58 | m[1][1] = m11; |
| 59 | m[1][2] = m12; |
| 60 | m[1][3] = m13; |
| 61 | m[2][0] = m20; |
| 62 | m[2][1] = m21; |
| 63 | m[2][2] = m22; |
| 64 | m[2][3] = m23; |
| 65 | m[3][0] = m30; |
| 66 | m[3][1] = m31; |
| 67 | m[3][2] = m32; |
| 68 | m[3][3] = m33; |
| 69 | } |
| 70 | |
| 71 | //! Matrix multiplication |
| 72 | inline Matrix4 operator * ( const Matrix4 &m2 ) const |
| 73 | { |
| 74 | Matrix4 r; |
| 75 | r.m[0][0] = m[0][0] * m2.m[0][0] + m[0][1] * m2.m[1][0] + m[0][2] * m2.m[2][0] + m[0][3] * m2.m[3][0]; |
| 76 | r.m[0][1] = m[0][0] * m2.m[0][1] + m[0][1] * m2.m[1][1] + m[0][2] * m2.m[2][1] + m[0][3] * m2.m[3][1]; |
| 77 | r.m[0][2] = m[0][0] * m2.m[0][2] + m[0][1] * m2.m[1][2] + m[0][2] * m2.m[2][2] + m[0][3] * m2.m[3][2]; |
| 78 | r.m[0][3] = m[0][0] * m2.m[0][3] + m[0][1] * m2.m[1][3] + m[0][2] * m2.m[2][3] + m[0][3] * m2.m[3][3]; |
| 79 | |
| 80 | r.m[1][0] = m[1][0] * m2.m[0][0] + m[1][1] * m2.m[1][0] + m[1][2] * m2.m[2][0] + m[1][3] * m2.m[3][0]; |
| 81 | r.m[1][1] = m[1][0] * m2.m[0][1] + m[1][1] * m2.m[1][1] + m[1][2] * m2.m[2][1] + m[1][3] * m2.m[3][1]; |
| 82 | r.m[1][2] = m[1][0] * m2.m[0][2] + m[1][1] * m2.m[1][2] + m[1][2] * m2.m[2][2] + m[1][3] * m2.m[3][2]; |
| 83 | r.m[1][3] = m[1][0] * m2.m[0][3] + m[1][1] * m2.m[1][3] + m[1][2] * m2.m[2][3] + m[1][3] * m2.m[3][3]; |
| 84 | |
| 85 | r.m[2][0] = m[2][0] * m2.m[0][0] + m[2][1] * m2.m[1][0] + m[2][2] * m2.m[2][0] + m[2][3] * m2.m[3][0]; |
| 86 | r.m[2][1] = m[2][0] * m2.m[0][1] + m[2][1] * m2.m[1][1] + m[2][2] * m2.m[2][1] + m[2][3] * m2.m[3][1]; |
| 87 | r.m[2][2] = m[2][0] * m2.m[0][2] + m[2][1] * m2.m[1][2] + m[2][2] * m2.m[2][2] + m[2][3] * m2.m[3][2]; |
| 88 | r.m[2][3] = m[2][0] * m2.m[0][3] + m[2][1] * m2.m[1][3] + m[2][2] * m2.m[2][3] + m[2][3] * m2.m[3][3]; |
| 89 | |
| 90 | r.m[3][0] = m[3][0] * m2.m[0][0] + m[3][1] * m2.m[1][0] + m[3][2] * m2.m[2][0] + m[3][3] * m2.m[3][0]; |
| 91 | r.m[3][1] = m[3][0] * m2.m[0][1] + m[3][1] * m2.m[1][1] + m[3][2] * m2.m[2][1] + m[3][3] * m2.m[3][1]; |
| 92 | r.m[3][2] = m[3][0] * m2.m[0][2] + m[3][1] * m2.m[1][2] + m[3][2] * m2.m[2][2] + m[3][3] * m2.m[3][2]; |
| 93 | r.m[3][3] = m[3][0] * m2.m[0][3] + m[3][1] * m2.m[1][3] + m[3][2] * m2.m[2][3] + m[3][3] * m2.m[3][3]; |
| 94 | |
| 95 | return r; |
| 96 | } |
| 97 | |
| 98 | //Access operators |
| 99 | inline float* operator [] ( size_t iRow ) { return m[iRow]; } |
| 100 | |
| 101 | inline const float* const operator [] ( size_t iRow ) const { return m[iRow]; } |
| 102 | |
| 103 | //! Matrix addition. |
| 104 | inline Matrix4 operator + ( const Matrix4 &m2 ) const |
| 105 | { |
| 106 | Matrix4 r; |
| 107 | |
| 108 | r.m[0][0] = m[0][0] + m2.m[0][0]; |
| 109 | r.m[0][1] = m[0][1] + m2.m[0][1]; |
| 110 | r.m[0][2] = m[0][2] + m2.m[0][2]; |
| 111 | r.m[0][3] = m[0][3] + m2.m[0][3]; |
| 112 | |
| 113 | r.m[1][0] = m[1][0] + m2.m[1][0]; |
| 114 | r.m[1][1] = m[1][1] + m2.m[1][1]; |
| 115 | r.m[1][2] = m[1][2] + m2.m[1][2]; |
| 116 | r.m[1][3] = m[1][3] + m2.m[1][3]; |
| 117 | |
| 118 | r.m[2][0] = m[2][0] + m2.m[2][0]; |
| 119 | r.m[2][1] = m[2][1] + m2.m[2][1]; |
| 120 | r.m[2][2] = m[2][2] + m2.m[2][2]; |
| 121 | r.m[2][3] = m[2][3] + m2.m[2][3]; |
| 122 | |
| 123 | r.m[3][0] = m[3][0] + m2.m[3][0]; |
| 124 | r.m[3][1] = m[3][1] + m2.m[3][1]; |
| 125 | r.m[3][2] = m[3][2] + m2.m[3][2]; |
| 126 | r.m[3][3] = m[3][3] + m2.m[3][3]; |
| 127 | |
| 128 | return r; |
| 129 | } |
| 130 | |
| 131 | //! Matrix subtraction. |
| 132 | inline Matrix4 operator - ( const Matrix4 &m2 ) const |
| 133 | { |
| 134 | Matrix4 r; |
| 135 | r.m[0][0] = m[0][0] - m2.m[0][0]; |
| 136 | r.m[0][1] = m[0][1] - m2.m[0][1]; |
| 137 | r.m[0][2] = m[0][2] - m2.m[0][2]; |
| 138 | r.m[0][3] = m[0][3] - m2.m[0][3]; |
| 139 | |
| 140 | r.m[1][0] = m[1][0] - m2.m[1][0]; |
| 141 | r.m[1][1] = m[1][1] - m2.m[1][1]; |
| 142 | r.m[1][2] = m[1][2] - m2.m[1][2]; |
| 143 | r.m[1][3] = m[1][3] - m2.m[1][3]; |
| 144 | |
| 145 | r.m[2][0] = m[2][0] - m2.m[2][0]; |
| 146 | r.m[2][1] = m[2][1] - m2.m[2][1]; |
| 147 | r.m[2][2] = m[2][2] - m2.m[2][2]; |
| 148 | r.m[2][3] = m[2][3] - m2.m[2][3]; |
| 149 | |
| 150 | r.m[3][0] = m[3][0] - m2.m[3][0]; |
| 151 | r.m[3][1] = m[3][1] - m2.m[3][1]; |
| 152 | r.m[3][2] = m[3][2] - m2.m[3][2]; |
| 153 | r.m[3][3] = m[3][3] - m2.m[3][3]; |
| 154 | |
| 155 | return r; |
| 156 | } |
| 157 | |
| 158 | //! Tests 2 matrices for equality. |
| 159 | inline bool operator == ( const Matrix4& m2 ) const |
| 160 | { |
| 161 | if( |
| 162 | m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || |
| 163 | m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || |
| 164 | m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || |
| 165 | m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) |
| 166 | return false; |
| 167 | return true; |
| 168 | } |
| 169 | |
| 170 | //! Tests 2 matrices for inequality. |
| 171 | inline bool operator != ( const Matrix4& m2 ) const |
| 172 | { |
| 173 | if( |
| 174 | m[0][0] != m2.m[0][0] || m[0][1] != m2.m[0][1] || m[0][2] != m2.m[0][2] || m[0][3] != m2.m[0][3] || |
| 175 | m[1][0] != m2.m[1][0] || m[1][1] != m2.m[1][1] || m[1][2] != m2.m[1][2] || m[1][3] != m2.m[1][3] || |
| 176 | m[2][0] != m2.m[2][0] || m[2][1] != m2.m[2][1] || m[2][2] != m2.m[2][2] || m[2][3] != m2.m[2][3] || |
| 177 | m[3][0] != m2.m[3][0] || m[3][1] != m2.m[3][1] || m[3][2] != m2.m[3][2] || m[3][3] != m2.m[3][3] ) |
| 178 | return true; |
| 179 | return false; |
| 180 | } |
| 181 | |
| 182 | //!Transpose Matrix (Switch columns with rows) |
| 183 | inline Matrix4 transpose() const |
| 184 | { |
| 185 | return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0], |
| 186 | m[0][1], m[1][1], m[2][1], m[3][1], |
| 187 | m[0][2], m[1][2], m[2][2], m[3][2], |
| 188 | m[0][3], m[1][3], m[2][3], m[3][3]); |
| 189 | } |
| 190 | |
| 191 | //! Set Translation Part of the matrix |
| 192 | inline void setTranslationPart(const float v[3] ) |
| 193 | { |
| 194 | m[0][3] = v[0]; |
| 195 | m[1][3] = v[1]; |
| 196 | m[2][3] = v[2]; |
| 197 | } |
| 198 | |
| 199 | //! Builds a translation matrix |
| 200 | inline void setTranslation(float tx, float ty, float tz) |
| 201 | { |
| 202 | m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0; m[0][3] = tx; |
| 203 | m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0; m[1][3] = ty; |
| 204 | m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0; m[2][3] = tz; |
| 205 | m[3][0] = 0.0; m[3][1] = 0.0; m[3][2] = 0.0; m[3][3] = 1.0; |
| 206 | } |
| 207 | |
| 208 | //! Set scale part of matrix |
| 209 | inline void setScalePart( const float v[3] ) |
| 210 | { |
| 211 | m[0][0] = v[0]; |
| 212 | m[1][1] = v[1]; |
| 213 | m[2][2] = v[2]; |
| 214 | } |
| 215 | |
| 216 | static const Matrix4 ZERO; |
| 217 | static const Matrix4 IDENTITY; |
| 218 | static const Matrix4 CLIPSPACE2DTOIMAGESPACE; //! Useful little matrix which takes 2D clipspace {-1, 1} to {0,1} and inverts the Y. |
| 219 | |
| 220 | |
| 221 | inline Matrix4 operator*(float scalar) const |
| 222 | { |
| 223 | return Matrix4( |
| 224 | scalar*m[0][0], scalar*m[0][1], scalar*m[0][2], scalar*m[0][3], |
| 225 | scalar*m[1][0], scalar*m[1][1], scalar*m[1][2], scalar*m[1][3], |
| 226 | scalar*m[2][0], scalar*m[2][1], scalar*m[2][2], scalar*m[2][3], |
| 227 | scalar*m[3][0], scalar*m[3][1], scalar*m[3][2], scalar*m[3][3]); |
| 228 | } |
| 229 | |
| 230 | //! Function for writing to a stream. |
| 231 | inline friend std::ostream& operator << ( std::ostream& o, const Matrix4& m ) |
| 232 | { |
| 233 | o << "Matrix4("; |
| 234 | for (size_t i = 0; i < 4; ++i) |
| 235 | { |
| 236 | o << " row" << (unsigned)i << "{"; |
| 237 | for(size_t j = 0; j < 4; ++j) |
| 238 | { |
| 239 | o << m[i][j] << " "; |
| 240 | } |
| 241 | o << "}"; |
| 242 | } |
| 243 | o << ")"; |
| 244 | return o; |
| 245 | } |
| 246 | |
| 247 | float determinant() const; |
| 248 | Matrix4 inverse() const; |
| 249 | |
| 250 | }; |
| 251 | |
| 252 | #endif |