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434
Torque/SDK/engine/math/mMatrix.h
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434
Torque/SDK/engine/math/mMatrix.h
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//-----------------------------------------------------------------------------
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// Torque Game Engine
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// Copyright (C) GarageGames.com, Inc.
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//-----------------------------------------------------------------------------
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#ifndef _MMATRIX_H_
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#define _MMATRIX_H_
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#ifndef _MMATH_H_
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#include "math/mMath.h"
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#endif
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/// 4x4 Matrix Class
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///
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/// This runs at F32 precision.
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class MatrixF
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{
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private:
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F32 m[16]; ///< Note: this is stored in ROW MAJOR format. OpenGL is
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/// COLUMN MAJOR. Transpose before sending down.
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public:
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/// Create an uninitialized matrix.
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///
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/// @param identity If true, initialize to the identity matrix.
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explicit MatrixF(bool identity=false);
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/// Create a matrix to rotate about origin by e.
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/// @see set
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explicit MatrixF( const EulerF &e);
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/// Create a matrix to rotate about p by e.
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/// @see set
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MatrixF( const EulerF &e, const Point3F& p);
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/// Get the index in m to element in column i, row j
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///
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/// This is necessary as we have m as a one dimensional array.
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///
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/// @param i Column desired.
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/// @param j Row desired.
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static U32 idx(U32 i, U32 j) { return (i + j*4); }
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/// Initialize matrix to rotate about origin by e.
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MatrixF& set( const EulerF &e);
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/// Initialize matrix to rotate about p by e.
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MatrixF& set( const EulerF &e, const Point3F& p);
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/// Initialize matrix with a cross product of p.
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MatrixF& setCrossProduct( const Point3F &p);
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/// Initialize matrix with a tensor product of p.
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MatrixF& setTensorProduct( const Point3F &p, const Point3F& q);
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operator F32*() { return (m); } ///< Allow people to get at m.
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operator F32*() const { return (F32*)(m); } ///< Allow people to get at m.
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bool isAffine() const; ///< Check to see if this is an affine matrix.
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bool isIdentity() const; ///< Checks for identity matrix.
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/// Make this an identity matrix.
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MatrixF& identity();
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/// Invert m.
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MatrixF& inverse();
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/// Take inverse without disturbing position data.
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///
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/// Ie, take inverse of 3x3 submatrix.
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MatrixF& affineInverse();
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MatrixF& transpose(); ///< Swap rows and columns.
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MatrixF& scale(const Point3F& p); ///< M * Matrix(p) -> M
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EulerF toEuler() const;
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/// Compute the inverse of the matrix.
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///
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/// Computes inverse of full 4x4 matrix. Returns false and performs no inverse if
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/// the determinant is 0.
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///
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/// Note: In most cases you want to use the normal inverse function. This method should
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/// be used if the matrix has something other than (0,0,0,1) in the bottom row.
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bool fullInverse();
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/// Swaps rows and columns into matrix.
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void transposeTo(F32 *matrix) const;
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/// Normalize the matrix.
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void normalize();
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/// Copy the requested column into a Point4F.
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void getColumn(S32 col, Point4F *cptr) const;
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/// Copy the requested column into a Point3F.
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///
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/// This drops the bottom-most row.
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void getColumn(S32 col, Point3F *cptr) const;
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/// Set the specified column from a Point4F.
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void setColumn(S32 col, const Point4F& cptr);
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/// Set the specified column from a Point3F.
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///
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/// The bottom-most row is not set.
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void setColumn(S32 col, const Point3F& cptr);
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/// Copy the specified row into a Point4F.
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void getRow(S32 row, Point4F *cptr) const;
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/// Copy the specified row into a Point3F.
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///
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/// Right-most item is dropped.
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void getRow(S32 row, Point3F *cptr) const;
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/// Set the specified row from a Point4F.
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void setRow(S32 row, const Point4F& cptr);
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/// Set the specified row from a Point3F.
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///
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/// The right-most item is not set.
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void setRow(S32 row, const Point3F& cptr);
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/// Get the position of the matrix.
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///
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/// This is the 4th column of the matrix.
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Point3F getPosition() const;
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/// Set the position of the matrix.
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///
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/// This is the 4th column of the matrix.
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void setPosition( const Point3F &pos ){ setColumn( 3, pos ); }
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MatrixF& mul(const MatrixF &a); ///< M * a -> M
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MatrixF& mul(const MatrixF &a, const MatrixF &b); ///< a * b -> M
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// Scalar multiplies
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MatrixF& mul(const F32 a); ///< M * a -> M
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MatrixF& mul(const MatrixF &a, const F32 b); ///< a * b -> M
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void mul( Point4F& p ) const; ///< M * p -> p (full [4x4] * [1x4])
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void mulP( Point3F& p ) const; ///< M * p -> p (assume w = 1.0f)
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void mulP( const Point3F &p, Point3F *d) const; ///< M * p -> d (assume w = 1.0f)
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void mulV( VectorF& p ) const; ///< M * v -> v (assume w = 0.0f)
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void mulV( const VectorF &p, Point3F *d) const; ///< M * v -> d (assume w = 0.0f)
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void mul(Box3F& b) const; ///< Axial box -> Axial Box
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/// Convenience function to allow people to treat this like an array.
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F32& operator ()(S32 row, S32 col) { return m[idx(col,row)]; }
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void dumpMatrix(const char *caption=NULL) const;
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};
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//--------------------------------------
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// Inline Functions
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inline MatrixF::MatrixF(bool _identity)
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{
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if (_identity)
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identity();
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}
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inline MatrixF::MatrixF( const EulerF &e )
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{
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set(e);
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}
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inline MatrixF::MatrixF( const EulerF &e, const Point3F& p )
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{
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set(e,p);
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}
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inline MatrixF& MatrixF::set( const EulerF &e)
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{
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m_matF_set_euler( e, *this );
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return (*this);
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}
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inline MatrixF& MatrixF::set( const EulerF &e, const Point3F& p)
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{
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m_matF_set_euler_point( e, p, *this );
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return (*this);
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}
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inline MatrixF& MatrixF::setCrossProduct( const Point3F &p)
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{
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m[1] = -(m[4] = p.z);
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m[8] = -(m[2] = p.y);
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m[6] = -(m[9] = p.x);
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m[0] = m[3] = m[5] = m[7] = m[10] = m[11] =
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m[12] = m[13] = m[14] = 0;
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m[15] = 1;
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return (*this);
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}
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inline MatrixF& MatrixF::setTensorProduct( const Point3F &p, const Point3F &q)
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{
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m[0] = p.x * q.x;
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m[1] = p.x * q.y;
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m[2] = p.x * q.z;
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m[4] = p.y * q.x;
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m[5] = p.y * q.y;
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m[6] = p.y * q.z;
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m[8] = p.z * q.x;
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m[9] = p.z * q.y;
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m[10] = p.z * q.z;
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m[3] = m[7] = m[11] = m[12] = m[13] = m[14] = 0;
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m[15] = 1;
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return (*this);
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}
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inline bool MatrixF::isIdentity() const
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{
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return
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m[0] == 1.0f &&
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m[1] == 0.0f &&
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m[2] == 0.0f &&
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m[3] == 0.0f &&
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m[4] == 0.0f &&
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m[5] == 1.0f &&
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m[6] == 0.0f &&
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m[7] == 0.0f &&
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m[8] == 0.0f &&
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m[9] == 0.0f &&
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m[10] == 1.0f &&
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m[11] == 0.0f &&
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m[12] == 0.0f &&
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m[13] == 0.0f &&
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m[14] == 0.0f &&
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m[15] == 1.0f;
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}
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inline MatrixF& MatrixF::identity()
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{
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m[0] = 1.0f;
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m[1] = 0.0f;
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m[2] = 0.0f;
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m[3] = 0.0f;
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m[4] = 0.0f;
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m[5] = 1.0f;
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m[6] = 0.0f;
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m[7] = 0.0f;
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m[8] = 0.0f;
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m[9] = 0.0f;
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m[10] = 1.0f;
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m[11] = 0.0f;
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m[12] = 0.0f;
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m[13] = 0.0f;
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m[14] = 0.0f;
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m[15] = 1.0f;
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return (*this);
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}
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inline MatrixF& MatrixF::inverse()
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{
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m_matF_inverse(m);
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return (*this);
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}
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inline MatrixF& MatrixF::affineInverse()
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{
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// AssertFatal(isAffine() == true, "Error, this matrix is not an affine transform");
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m_matF_affineInverse(m);
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return (*this);
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}
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inline MatrixF& MatrixF::transpose()
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{
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m_matF_transpose(m);
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return (*this);
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}
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inline MatrixF& MatrixF::scale(const Point3F& p)
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{
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m_matF_scale(m,p);
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return *this;
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}
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inline void MatrixF::normalize()
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{
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m_matF_normalize(m);
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}
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inline MatrixF& MatrixF::mul( const MatrixF &a )
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{ // M * a -> M
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MatrixF tempThis(*this);
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m_matF_x_matF(tempThis, a, *this);
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return (*this);
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}
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inline MatrixF& MatrixF::mul( const MatrixF &a, const MatrixF &b )
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{ // a * b -> M
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m_matF_x_matF(a, b, *this);
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return (*this);
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}
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inline MatrixF& MatrixF::mul(const F32 a)
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{
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for (U32 i = 0; i < 16; i++)
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m[i] *= a;
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return *this;
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}
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inline MatrixF& MatrixF::mul(const MatrixF &a, const F32 b)
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{
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*this = a;
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mul(b);
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return *this;
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}
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inline void MatrixF::mul( Point4F& p ) const
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{
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Point4F temp;
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m_matF_x_point4F(*this, &p.x, &temp.x);
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p = temp;
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}
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inline void MatrixF::mulP( Point3F& p) const
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{
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// M * p -> d
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Point3F d;
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m_matF_x_point3F(*this, &p.x, &d.x);
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p = d;
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}
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inline void MatrixF::mulP( const Point3F &p, Point3F *d) const
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{
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// M * p -> d
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m_matF_x_point3F(*this, &p.x, &d->x);
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}
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inline void MatrixF::mulV( VectorF& v) const
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{
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// M * v -> v
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VectorF temp;
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m_matF_x_vectorF(*this, &v.x, &temp.x);
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v = temp;
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}
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inline void MatrixF::mulV( const VectorF &v, Point3F *d) const
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{
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// M * v -> d
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m_matF_x_vectorF(*this, &v.x, &d->x);
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}
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inline void MatrixF::mul(Box3F& b) const
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{
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m_matF_x_box3F(*this, &b.min.x, &b.max.x);
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}
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inline void MatrixF::getColumn(S32 col, Point4F *cptr) const
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{
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cptr->x = m[col];
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cptr->y = m[col+4];
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cptr->z = m[col+8];
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cptr->w = m[col+12];
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}
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inline void MatrixF::getColumn(S32 col, Point3F *cptr) const
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{
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cptr->x = m[col];
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cptr->y = m[col+4];
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cptr->z = m[col+8];
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}
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inline void MatrixF::setColumn(S32 col, const Point4F &cptr)
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{
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m[col] = cptr.x;
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m[col+4] = cptr.y;
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m[col+8] = cptr.z;
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m[col+12]= cptr.w;
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}
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inline void MatrixF::setColumn(S32 col, const Point3F &cptr)
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{
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m[col] = cptr.x;
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m[col+4] = cptr.y;
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m[col+8] = cptr.z;
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}
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inline void MatrixF::getRow(S32 col, Point4F *cptr) const
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{
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col *= 4;
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cptr->x = m[col++];
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cptr->y = m[col++];
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cptr->z = m[col++];
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cptr->w = m[col];
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}
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inline void MatrixF::getRow(S32 col, Point3F *cptr) const
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{
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col *= 4;
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cptr->x = m[col++];
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cptr->y = m[col++];
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cptr->z = m[col];
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}
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inline void MatrixF::setRow(S32 col, const Point4F &cptr)
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{
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col *= 4;
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m[col++] = cptr.x;
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m[col++] = cptr.y;
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m[col++] = cptr.z;
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m[col] = cptr.w;
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}
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inline void MatrixF::setRow(S32 col, const Point3F &cptr)
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{
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col *= 4;
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m[col++] = cptr.x;
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m[col++] = cptr.y;
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m[col] = cptr.z;
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}
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// not too speedy, but convienient
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inline Point3F MatrixF::getPosition() const
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{
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Point3F pos;
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getColumn( 3, &pos );
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return pos;
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}
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#endif //_MMATRIX_H_
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