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# csgeom/matrix3.h

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    00001 /*
    00002     Copyright (C) 1998,1999,2000 by Jorrit Tyberghein
    00003     Largely rewritten by Ivan Avramovic <ivan@avramovic.com>
    00004
    00005     This library is free software; you can redistribute it and/or
    00006     modify it under the terms of the GNU Library General Public
    00007     License as published by the Free Software Foundation; either
    00008     version 2 of the License, or (at your option) any later version.
    00009
    00010     This library is distributed in the hope that it will be useful,
    00011     but WITHOUT ANY WARRANTY; without even the implied warranty of
    00012     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    00013     Library General Public License for more details.
    00014
    00015     You should have received a copy of the GNU Library General Public
    00016     License along with this library; if not, write to the Free
    00017     Software Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
    00018 */
    00019
    00020 #ifndef __CS_MATRIX3_H__
    00021 #define __CS_MATRIX3_H__
    00022
    00030 #include "csextern.h"
    00031 #include "csgeom/vector3.h"
    00032
    00033 class csQuaternion;
    00034
    00038 class CS_CRYSTALSPACE_EXPORT csMatrix3
    00039 {
    00040 public:
    00041   float m11, m12, m13;
    00042   float m21, m22, m23;
    00043   float m31, m32, m33;
    00044
    00045 public:
    00047   csMatrix3 ()
    00048       : m11(1), m12(0), m13(0),
    00049         m21(0), m22(1), m23(0),
    00050         m31(0), m32(0), m33(1)
    00051   {}
    00052
    00054   csMatrix3 (float am11, float am12, float am13,
    00055              float am21, float am22, float am23,
    00056              float am31, float am32, float am33)
    00057       : m11(am11), m12(am12), m13(am13),
    00058         m21(am21), m22(am22), m23(am23),
    00059         m31(am31), m32(am32), m33(am33)
    00060   {}
    00061
    00063   csMatrix3 (csMatrix3 const& o) { Set(o); }
    00064
    00066   csMatrix3 (float x,float y, float z, float angle);
    00067
    00069   explicit csMatrix3 (const csQuaternion &quat) { Set (quat); }
    00070
    00072   inline csVector3 Row1() const { return csVector3 (m11,m12,m13); }
    00073
    00075   inline csVector3 Row2() const { return csVector3 (m21,m22,m23); }
    00076
    00078   inline csVector3 Row3() const { return csVector3 (m31,m32,m33); }
    00079
    00081   inline csVector3 Col1() const { return csVector3 (m11,m21,m31); }
    00082
    00084   inline csVector3 Col2() const { return csVector3 (m12,m22,m32); }
    00085
    00087   inline csVector3 Col3() const { return csVector3 (m13,m23,m33); }
    00088
    00090   inline void Set (float o11, float o12, float o13,
    00091                    float o21, float o22, float o23,
    00092                    float o31, float o32, float o33)
    00093   {
    00094     m11 = o11; m12 = o12; m13 = o13;
    00095     m21 = o21; m22 = o22; m23 = o23;
    00096     m31 = o31; m32 = o32; m33 = o33;
    00097   }
    00098
    00099   inline void Set (csMatrix3 const &o)
    00100   {
    00101     m11 = o.m11; m12 = o.m12; m13 = o.m13;
    00102     m21 = o.m21; m22 = o.m22; m23 = o.m23;
    00103     m31 = o.m31; m32 = o.m32; m33 = o.m33;
    00104   }
    00105
    00107   void Set (const csQuaternion&);
    00108
    00110   csMatrix3& operator= (const csMatrix3& o) { Set(o); return *this; }
    00111
    00113   csMatrix3& operator+= (const csMatrix3&);
    00114
    00116   csMatrix3& operator-= (const csMatrix3&);
    00117
    00119   csMatrix3& operator*= (const csMatrix3&);
    00120
    00122   csMatrix3& operator*= (float);
    00123
    00125   csMatrix3& operator/= (float);
    00126
    00128   csMatrix3 operator+ () const { return *this; }
    00130   csMatrix3 operator- () const
    00131   {
    00132     return csMatrix3(-m11,-m12,-m13,
    00133                      -m21,-m22,-m23,
    00134                      -m31,-m32,-m33);
    00135   }
    00136
    00138   void Transpose ();
    00139
    00141   csMatrix3 GetTranspose () const;
    00142
    00144   inline csMatrix3 GetInverse () const
    00145   {
    00146     csMatrix3 C(
    00147              (m22*m33 - m23*m32), -(m12*m33 - m13*m32),  (m12*m23 - m13*m22),
    00148             -(m21*m33 - m23*m31),  (m11*m33 - m13*m31), -(m11*m23 - m13*m21),
    00149              (m21*m32 - m22*m31), -(m11*m32 - m12*m31),  (m11*m22 - m12*m21));
    00150     float s = (float)1./(m11*C.m11 + m12*C.m21 + m13*C.m31);
    00151     C *= s;
    00152     return C;
    00153   }
    00154
    00156   inline void Invert() { *this = GetInverse (); }
    00157
    00159   float Determinant () const;
    00160
    00162   void Identity ();
    00163
    00165   bool IsIdentity () const;
    00166
    00168   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator+ (const csMatrix3& m1,
    00169     const csMatrix3& m2);
    00171   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator- (const csMatrix3& m1,
    00172     const csMatrix3& m2);
    00174   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator* (const csMatrix3& m1,
    00175     const csMatrix3& m2);
    00176
    00178   inline friend csVector3 operator* (const csMatrix3& m, const csVector3& v)
    00179   {
    00180     return csVector3 (m.m11*v.x + m.m12*v.y + m.m13*v.z,
    00181                       m.m21*v.x + m.m22*v.y + m.m23*v.z,
    00182                       m.m31*v.x + m.m32*v.y + m.m33*v.z);
    00183   }
    00184
    00186   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator* (const csMatrix3& m,
    00187         float f);
    00189   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator* (float f,
    00190         const csMatrix3& m);
    00192   friend CS_CRYSTALSPACE_EXPORT csMatrix3 operator/ (const csMatrix3& m,
    00193         float f);
    00195   friend CS_CRYSTALSPACE_EXPORT bool operator== (const csMatrix3& m1,
    00196     const csMatrix3& m2);
    00198   friend CS_CRYSTALSPACE_EXPORT bool operator!= (const csMatrix3& m1,
    00199     const csMatrix3& m2);
    00201   friend CS_CRYSTALSPACE_EXPORT bool operator< (const csMatrix3& m, float f);
    00203   friend CS_CRYSTALSPACE_EXPORT bool operator> (float f,
    00204         const csMatrix3& m);
    00205 };
    00206
    00208 class CS_CRYSTALSPACE_EXPORT csXRotMatrix3 : public csMatrix3
    00209 {
    00210 public:
    00217   csXRotMatrix3 (float angle);
    00218 };
    00219
    00221 class CS_CRYSTALSPACE_EXPORT csYRotMatrix3 : public csMatrix3
    00222 {
    00223 public:
    00230   csYRotMatrix3 (float angle);
    00231 };
    00232
    00234 class CS_CRYSTALSPACE_EXPORT csZRotMatrix3 : public csMatrix3
    00235 {
    00236 public:
    00243   csZRotMatrix3 (float angle);
    00244 };
    00245
    00247 class CS_CRYSTALSPACE_EXPORT csXScaleMatrix3 : public csMatrix3
    00248 {
    00249 public:
    00253   csXScaleMatrix3 (float scaler) : csMatrix3(scaler, 0, 0, 0, 1, 0, 0, 0, 1) {}
    00254 };
    00255
    00257 class CS_CRYSTALSPACE_EXPORT csYScaleMatrix3 : public csMatrix3
    00258 {
    00259 public:
    00263   csYScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, scaler, 0, 0, 0, 1) {}
    00264 };
    00265
    00267 class CS_CRYSTALSPACE_EXPORT csZScaleMatrix3 : public csMatrix3
    00268 {
    00269 public:
    00273   csZScaleMatrix3 (float scaler) : csMatrix3(1, 0, 0, 0, 1, 0, 0, 0, scaler) {}
    00274 };
    00275
    00276
    00279 #endif // __CS_MATRIX3_H__