1 /******************************************************************************** 2 * * 3 * D o u b l e - P r e c i s i o n 4 x 4 M a t r i x * 4 * * 5 ********************************************************************************* 6 * Copyright (C) 1994,2006 by Jeroen van der Zijp. All Rights Reserved. * 7 ********************************************************************************* 8 * This library is free software; you can redistribute it and/or * 9 * modify it under the terms of the GNU Lesser General Public * 10 * License as published by the Free Software Foundation; either * 11 * version 2.1 of the License, or (at your option) any later version. * 12 * * 13 * This library is distributed in the hope that it will be useful, * 14 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 16 * Lesser General Public License for more details. * 17 * * 18 * You should have received a copy of the GNU Lesser General Public * 19 * License along with this library; if not, write to the Free Software * 20 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. * 21 ********************************************************************************* 22 * $Id: FXMat4d.h 3297 2015-12-14 20:30:04Z arthurcnorman $ * 23 ********************************************************************************/ 24 #ifndef FXMAT4D_H 25 #define FXMAT4D_H 26 27 28 namespace FX { 29 30 31 /// Double-precision 4x4 matrix 32 class FXAPI FXMat4d { 33 protected: 34 FXVec4d m[4]; 35 public: 36 /// Constructors FXMat4d()37 FXMat4d(){} 38 FXMat4d(FXdouble w); 39 FXMat4d(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03, 40 FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13, 41 FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23, 42 FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33); 43 FXMat4d(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d); 44 FXMat4d(const FXMat4d& other); 45 46 /// Assignment 47 FXMat4d& operator=(const FXMat4d& other); 48 FXMat4d& operator=(FXdouble w); 49 50 /// Set value from another matrix 51 FXMat4d& set(const FXMat4d& other); 52 53 /// Set value from scalar 54 FXMat4d& set(FXdouble w); 55 56 /// Set value from components 57 FXMat4d& set(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03, 58 FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13, 59 FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23, 60 FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33); 61 62 /// Set value from four vectors 63 FXMat4d& set(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d); 64 65 /// Assignment operators 66 FXMat4d& operator+=(const FXMat4d& w); 67 FXMat4d& operator-=(const FXMat4d& w); 68 FXMat4d& operator*=(FXdouble w); 69 FXMat4d& operator*=(const FXMat4d& w); 70 FXMat4d& operator/=(FXdouble w); 71 72 /// Indexing 73 FXVec4d& operator[](FXint i){return m[i];} 74 const FXVec4d& operator[](FXint i) const {return m[i];} 75 76 /// Conversion 77 operator FXdouble*(){return m[0];} 78 operator const FXdouble*() const {return m[0];} 79 80 /// Unary minus 81 FXMat4d operator-() const; 82 83 /// Matrix and matrix 84 FXMat4d operator+(const FXMat4d& w) const; 85 FXMat4d operator-(const FXMat4d& w) const; 86 FXMat4d operator*(const FXMat4d& w) const; 87 88 /// Matrix and scalar 89 friend FXAPI FXMat4d operator*(FXdouble x,const FXMat4d& a); 90 friend FXAPI FXMat4d operator*(const FXMat4d& a,FXdouble x); 91 friend FXAPI FXMat4d operator/(const FXMat4d& a,FXdouble x); 92 friend FXAPI FXMat4d operator/(FXdouble x,const FXMat4d& a); 93 94 /// Multiply matrix and vector 95 FXVec4d operator*(const FXVec4d& v) const; 96 FXVec3d operator*(const FXVec3d& v) const; 97 98 /// Set identity matrix 99 FXMat4d& eye(); 100 101 /// Orthographic projection 102 FXMat4d& ortho(FXdouble left,FXdouble right,FXdouble bottom,FXdouble top,FXdouble hither,FXdouble yon); 103 104 /// Perspective projection 105 FXMat4d& frustum(FXdouble left,FXdouble right,FXdouble bottom,FXdouble top,FXdouble hither,FXdouble yon); 106 107 /// Multiply by left-hand matrix 108 FXMat4d& left(); 109 110 /// Multiply by rotation about unit-quaternion 111 FXMat4d& rot(const FXQuatd& q); 112 113 /// Multiply by rotation c,s about axis 114 FXMat4d& rot(const FXVec3d& v,FXdouble c,FXdouble s); 115 116 /// Multiply by rotation of phi about axis 117 FXMat4d& rot(const FXVec3d& v,FXdouble phi); 118 119 /// Multiply by x-rotation 120 FXMat4d& xrot(FXdouble c,FXdouble s); 121 FXMat4d& xrot(FXdouble phi); 122 123 /// Multiply by y-rotation 124 FXMat4d& yrot(FXdouble c,FXdouble s); 125 FXMat4d& yrot(FXdouble phi); 126 127 /// Multiply by z-rotation 128 FXMat4d& zrot(FXdouble c,FXdouble s); 129 FXMat4d& zrot(FXdouble phi); 130 131 /// Look at 132 FXMat4d& look(const FXVec3d& eye,const FXVec3d& cntr,const FXVec3d& vup); 133 134 /// Multiply by translation 135 FXMat4d& trans(FXdouble tx,FXdouble ty,FXdouble tz); 136 FXMat4d& trans(const FXVec3d& v); 137 138 /// Multiply by scaling 139 FXMat4d& scale(FXdouble sx,FXdouble sy,FXdouble sz); 140 FXMat4d& scale(FXdouble s); 141 FXMat4d& scale(const FXVec3d& v); 142 143 /// Determinant 144 FXdouble det() const; 145 146 /// Transpose 147 FXMat4d transpose() const; 148 149 /// Invert 150 FXMat4d invert() const; 151 152 /// Save to a stream 153 friend FXAPI FXStream& operator<<(FXStream& store,const FXMat4d& m); 154 155 /// Load from a stream 156 friend FXAPI FXStream& operator>>(FXStream& store,FXMat4d& m); 157 }; 158 159 extern FXAPI FXMat4d operator*(FXdouble x,const FXMat4d& a); 160 extern FXAPI FXMat4d operator*(const FXMat4d& a,FXdouble x); 161 extern FXAPI FXMat4d operator/(const FXMat4d& a,FXdouble x); 162 extern FXAPI FXMat4d operator/(FXdouble x,const FXMat4d& a); 163 164 extern FXAPI FXStream& operator<<(FXStream& store,const FXMat4d& m); 165 extern FXAPI FXStream& operator>>(FXStream& store,FXMat4d& m); 166 167 } 168 169 #endif 170