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FXMat4d.h

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00001 /********************************************************************************
00002 *                                                                               *
00003 *            D o u b l e - P r e c i s i o n   4 x 4   M a t r i x              *
00004 *                                                                               *
00005 *********************************************************************************
00006 * Copyright (C) 1994,2009 by Jeroen van der Zijp.   All Rights Reserved.        *
00007 *********************************************************************************
00008 * This library is free software; you can redistribute it and/or modify          *
00009 * it under the terms of the GNU Lesser General Public License as published by   *
00010 * the Free Software Foundation; either version 3 of the License, or             *
00011 * (at your option) any later version.                                           *
00012 *                                                                               *
00013 * This library is distributed in the hope that it will be useful,               *
00014 * but WITHOUT ANY WARRANTY; without even the implied warranty of                *
00015 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the                 *
00016 * GNU Lesser General Public License for more details.                           *
00017 *                                                                               *
00018 * You should have received a copy of the GNU Lesser General Public License      *
00019 * along with this program.  If not, see <http://www.gnu.org/licenses/>          *
00020 *********************************************************************************
00021 * $Id: FXMat4d.h,v 1.30 2009/01/26 09:40:22 fox Exp $                           *
00022 ********************************************************************************/
00023 #ifndef FXMAT4D_H
00024 #define FXMAT4D_H
00025 
00026 
00027 namespace FX {
00028 
00029 
00030 class FXQuatd;
00031 class FXMat3d;
00032 
00033 
00034 /// Double-precision 4x4 matrix
00035 class FXAPI FXMat4d {
00036 protected:
00037   FXVec4d m[4];
00038 public:
00039 
00040   /// Default constructor; value is not initialized
00041   FXMat4d(){}
00042 
00043   /// Initialize matrix from another matrix
00044   FXMat4d(const FXMat4d& other);
00045 
00046   /// Initialize with 3x3 rotation and scaling matrix
00047   FXMat4d(const FXMat3d& other);
00048 
00049   /// Initialize matrix from scalar
00050   FXMat4d(FXdouble w);
00051 
00052   /// Initialize diagonal matrix
00053   FXMat4d(FXdouble a,FXdouble b,FXdouble c,FXdouble d);
00054 
00055   /// Initialize matrix from components
00056   FXMat4d(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03,
00057           FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13,
00058           FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23,
00059           FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33);
00060 
00061   /// Initialize matrix from four vectors
00062   FXMat4d(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d);
00063 
00064   /// Assignment
00065   FXMat4d& operator=(const FXMat4d& other);
00066   FXMat4d& operator=(const FXMat3d& other);
00067   FXMat4d& operator=(FXdouble w);
00068 
00069   /// Set value from another matrix
00070   FXMat4d& set(const FXMat4d& other);
00071 
00072   /// Set value from 3x3 rotation and scaling matrix
00073   FXMat4d& set(const FXMat3d& other);
00074 
00075   /// Set value from scalar
00076   FXMat4d& set(FXdouble w);
00077 
00078   /// Set diagonal matrix
00079   FXMat4d& set(FXdouble a,FXdouble b,FXdouble c,FXdouble d);
00080 
00081   /// Set value from components
00082   FXMat4d& set(FXdouble a00,FXdouble a01,FXdouble a02,FXdouble a03,
00083                FXdouble a10,FXdouble a11,FXdouble a12,FXdouble a13,
00084                FXdouble a20,FXdouble a21,FXdouble a22,FXdouble a23,
00085                FXdouble a30,FXdouble a31,FXdouble a32,FXdouble a33);
00086 
00087   /// Set value from four vectors
00088   FXMat4d& set(const FXVec4d& a,const FXVec4d& b,const FXVec4d& c,const FXVec4d& d);
00089 
00090   /// Assignment operators
00091   FXMat4d& operator+=(const FXMat4d& w);
00092   FXMat4d& operator-=(const FXMat4d& w);
00093   FXMat4d& operator*=(const FXMat4d& w);
00094   FXMat4d& operator*=(FXdouble w);
00095   FXMat4d& operator/=(FXdouble w);
00096 
00097   /// Indexing
00098   FXVec4d& operator[](FXint i){return m[i];}
00099   const FXVec4d& operator[](FXint i) const {return m[i];}
00100 
00101   /// Conversion
00102   operator FXdouble*(){return m[0];}
00103   operator const FXdouble*() const {return m[0];}
00104 
00105   /// Unary minus
00106   FXMat4d operator-() const;
00107 
00108   /// Matrix and matrix
00109   FXMat4d operator+(const FXMat4d& w) const;
00110   FXMat4d operator-(const FXMat4d& w) const;
00111   FXMat4d operator*(const FXMat4d& w) const;
00112 
00113   /// Multiply matrix and vector
00114   FXVec4d operator*(const FXVec4d& v) const;
00115   FXVec3d operator*(const FXVec3d& v) const;
00116 
00117   /// Equality tests
00118   FXbool operator==(const FXMat4d& a) const;
00119   FXbool operator!=(const FXMat4d& a) const;
00120 
00121   friend FXAPI FXbool operator==(const FXMat4d& a,FXdouble n);
00122   friend FXAPI FXbool operator==(FXdouble n,const FXMat4d& a);
00123 
00124   friend FXAPI FXbool operator!=(const FXMat4d& a,FXdouble n);
00125   friend FXAPI FXbool operator!=(FXdouble n,const FXMat4d& a);
00126 
00127   /// Matrix and scalar
00128   friend FXAPI FXMat4d operator*(FXdouble x,const FXMat4d& a);
00129   friend FXAPI FXMat4d operator*(const FXMat4d& a,FXdouble x);
00130   friend FXAPI FXMat4d operator/(const FXMat4d& a,FXdouble x);
00131   friend FXAPI FXMat4d operator/(FXdouble x,const FXMat4d& a);
00132 
00133   /// Set to identity matrix
00134   FXMat4d& identity();
00135 
00136   /// Return true if identity matrix
00137   FXbool isIdentity() const;
00138 
00139   /// Set orthographic projection from view volume
00140   FXMat4d& setOrtho(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
00141 
00142   /// Get view volume from orthographic projection
00143   void getOrtho(FXdouble& xlo,FXdouble& xhi,FXdouble& ylo,FXdouble& yhi,FXdouble& zlo,FXdouble& zhi) const;
00144 
00145   /// Set to inverse orthographic projection
00146   FXMat4d& setInverseOrtho(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
00147 
00148   /// Set to perspective projection from view volume
00149   FXMat4d& setFrustum(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
00150 
00151   /// Get view volume from perspective projection
00152   void getFrustum(FXdouble& xlo,FXdouble& xhi,FXdouble& ylo,FXdouble& yhi,FXdouble& zlo,FXdouble& zhi) const;
00153 
00154   /// Set to inverse perspective projection from view volume
00155   FXMat4d& setInverseFrustum(FXdouble xlo,FXdouble xhi,FXdouble ylo,FXdouble yhi,FXdouble zlo,FXdouble zhi);
00156 
00157   /// Multiply by left-hand matrix
00158   FXMat4d& left();
00159 
00160   /// Multiply by rotation matrix
00161   FXMat4d& rot(const FXMat3d& r);
00162 
00163   /// Multiply by rotation about unit-quaternion
00164   FXMat4d& rot(const FXQuatd& q);
00165 
00166   /// Multiply by rotation c,s about axis
00167   FXMat4d& rot(const FXVec3d& v,FXdouble c,FXdouble s);
00168 
00169   /// Multiply by rotation of phi about axis
00170   FXMat4d& rot(const FXVec3d& v,FXdouble phi);
00171 
00172   /// Multiply by x-rotation
00173   FXMat4d& xrot(FXdouble c,FXdouble s);
00174   FXMat4d& xrot(FXdouble phi);
00175 
00176   /// Multiply by y-rotation
00177   FXMat4d& yrot(FXdouble c,FXdouble s);
00178   FXMat4d& yrot(FXdouble phi);
00179 
00180   /// Multiply by z-rotation
00181   FXMat4d& zrot(FXdouble c,FXdouble s);
00182   FXMat4d& zrot(FXdouble phi);
00183 
00184   /// Look at
00185   FXMat4d& look(const FXVec3d& from,const FXVec3d& to,const FXVec3d& up);
00186 
00187   /// Multiply by translation
00188   FXMat4d& trans(FXdouble tx,FXdouble ty,FXdouble tz);
00189   FXMat4d& trans(const FXVec3d& v);
00190 
00191   /// Multiply by scaling
00192   FXMat4d& scale(FXdouble sx,FXdouble sy,FXdouble sz);
00193   FXMat4d& scale(FXdouble s);
00194   FXMat4d& scale(const FXVec3d& v);
00195 
00196   /// Determinant
00197   FXdouble det() const;
00198 
00199   /// Transpose
00200   FXMat4d transpose() const;
00201 
00202   /// Invert
00203   FXMat4d invert() const;
00204 
00205   /// Save to a stream
00206   friend FXAPI FXStream& operator<<(FXStream& store,const FXMat4d& m);
00207 
00208   /// Load from a stream
00209   friend FXAPI FXStream& operator>>(FXStream& store,FXMat4d& m);
00210   };
00211 
00212 extern FXAPI FXMat4d operator*(FXdouble x,const FXMat4d& a);
00213 extern FXAPI FXMat4d operator*(const FXMat4d& a,FXdouble x);
00214 
00215 extern FXAPI FXMat4d operator/(const FXMat4d& a,FXdouble x);
00216 extern FXAPI FXMat4d operator/(FXdouble x,const FXMat4d& a);
00217 
00218 extern FXAPI FXbool operator==(const FXMat4d& a,FXdouble n);
00219 extern FXAPI FXbool operator==(FXdouble n,const FXMat4d& a);
00220 
00221 extern FXAPI FXbool operator!=(const FXMat4d& a,FXdouble n);
00222 extern FXAPI FXbool operator!=(FXdouble n,const FXMat4d& a);
00223 
00224 extern FXAPI FXStream& operator<<(FXStream& store,const FXMat4d& m);
00225 extern FXAPI FXStream& operator>>(FXStream& store,FXMat4d& m);
00226 
00227 }
00228 
00229 #endif

Copyright © 1997-2009 Jeroen van der Zijp