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OpenSceneGraph/include/osg/Matrixf
Robert Osfield a8c52a90f0 Added selective support for thread safe ref/unref such that the rendering 
backend now doesn't use thread safe ref counting where multi-buffering exists.
This reduces the overhead of multi-threading.
2006-05-02 15:52:46 +00:00

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/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2004 Robert Osfield
*
* This library is open source and may be redistributed and/or modified under
* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
* (at your option) any later version. The full license is in LICENSE file
* included with this distribution, and on the openscenegraph.org website.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* OpenSceneGraph Public License for more details.
*/
#ifndef OSG_MATRIXF
#define OSG_MATRIXF 1
#include <osg/Object>
#include <osg/Vec3d>
#include <osg/Vec4d>
#include <osg/Quat>
namespace osg {
class Matrixf;
class OSG_EXPORT Matrixf
{
public:
typedef float value_type;
inline Matrixf() { makeIdentity(); }
inline Matrixf( const Matrixf& mat) { set(mat.ptr()); }
Matrixf( const Matrixd& mat );
inline explicit Matrixf( float const * const ptr ) { set(ptr); }
inline explicit Matrixf( double const * const ptr ) { set(ptr); }
inline explicit Matrixf( const Quat& quat ) { set(quat); }
Matrixf( value_type a00, value_type a01, value_type a02, value_type a03,
value_type a10, value_type a11, value_type a12, value_type a13,
value_type a20, value_type a21, value_type a22, value_type a23,
value_type a30, value_type a31, value_type a32, value_type a33);
~Matrixf() {}
int compare(const Matrixf& m) const;
bool operator < (const Matrixf& m) const { return compare(m)<0; }
bool operator == (const Matrixf& m) const { return compare(m)==0; }
bool operator != (const Matrixf& m) const { return compare(m)!=0; }
inline value_type& operator()(int row, int col) { return _mat[row][col]; }
inline value_type operator()(int row, int col) const { return _mat[row][col]; }
inline bool valid() const { return !isNaN(); }
inline bool isNaN() const { return osg::isNaN(_mat[0][0]) || osg::isNaN(_mat[0][1]) || osg::isNaN(_mat[0][2]) || osg::isNaN(_mat[0][3]) ||
osg::isNaN(_mat[1][0]) || osg::isNaN(_mat[1][1]) || osg::isNaN(_mat[1][2]) || osg::isNaN(_mat[1][3]) ||
osg::isNaN(_mat[2][0]) || osg::isNaN(_mat[2][1]) || osg::isNaN(_mat[2][2]) || osg::isNaN(_mat[2][3]) ||
osg::isNaN(_mat[3][0]) || osg::isNaN(_mat[3][1]) || osg::isNaN(_mat[3][2]) || osg::isNaN(_mat[3][3]); }
inline Matrixf& operator = (const Matrixf& rhs)
{
if( &rhs == this ) return *this;
set(rhs.ptr());
return *this;
}
Matrixf& operator = (const Matrixd& other);
inline void set(const Matrixf& rhs) { set(rhs.ptr()); }
void set(const Matrixd& rhs);
inline void set(float const * const ptr)
{
value_type* local_ptr = (value_type*)_mat;
for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
}
inline void set(double const * const ptr)
{
value_type* local_ptr = (value_type*)_mat;
for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
}
void set(value_type a00, value_type a01, value_type a02,value_type a03,
value_type a10, value_type a11, value_type a12,value_type a13,
value_type a20, value_type a21, value_type a22,value_type a23,
value_type a30, value_type a31, value_type a32,value_type a33);
void set(const Quat& q);
void get(Quat& q) const;
value_type * ptr() { return (value_type*)_mat; }
const value_type * ptr() const { return (const value_type *)_mat; }
void makeIdentity();
void makeScale( const Vec3f& );
void makeScale( const Vec3d& );
void makeScale( value_type, value_type, value_type );
void makeTranslate( const Vec3f& );
void makeTranslate( const Vec3d& );
void makeTranslate( value_type, value_type, value_type );
void makeRotate( const Vec3f& from, const Vec3f& to );
void makeRotate( const Vec3d& from, const Vec3d& to );
void makeRotate( value_type angle, const Vec3f& axis );
void makeRotate( value_type angle, const Vec3d& axis );
void makeRotate( value_type angle, value_type x, value_type y, value_type z );
void makeRotate( const Quat& );
void makeRotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
void makeRotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
/** Set to an orthographic projection.
* See glOrtho for further details.
*/
void makeOrtho(double left, double right,
double bottom, double top,
double zNear, double zFar);
/** Get the othogrraphic settings of the orthographic projection matrix.
* Note, if matrix is not an orthographic matrix then invalid values
* will be returned.
*/
bool getOrtho(double& left, double& right,
double& bottom, double& top,
double& zNear, double& zFar) const;
/** Set to a 2D orthographic projection.
* See glOrtho2D for further details.
*/
inline void makeOrtho2D(double left, double right,
double bottom, double top)
{
makeOrtho(left,right,bottom,top,-1.0,1.0);
}
/** Set to a perspective projection.
* See glFrustum for further details.
*/
void makeFrustum(double left, double right,
double bottom, double top,
double zNear, double zFar);
/** Get the frustum settings of a perspective projection matrix.
* Note, if matrix is not a perspective matrix then invalid values
* will be returned.
*/
bool getFrustum(double& left, double& right,
double& bottom, double& top,
double& zNear, double& zFar) const;
/** Set to a symmetrical perspective projection.
* See gluPerspective for further details.
* Aspect ratio is defined as width/height.
*/
void makePerspective(double fovy, double aspectRatio,
double zNear, double zFar);
/** Get the frustum settings of a symmetric perspective projection
* matrix.
* Return false if matrix is not a perspective matrix,
* where parameter values are undefined.
* Note, if matrix is not a symmetric perspective matrix then the
* shear will be lost.
* Asymmetric matrices occur when stereo, power walls, caves and
* reality center display are used.
* In these configuration one should use the AsFrustum method instead.
*/
bool getPerspective(double& fovy, double& aspectRatio,
double& zNear, double& zFar) const;
/** Set the position and orientation to be a view matrix,
* using the same convention as gluLookAt.
*/
void makeLookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up);
/** Get to the position and orientation of a modelview matrix,
* using the same convention as gluLookAt.
*/
void getLookAt(Vec3f& eye,Vec3f& center,Vec3f& up,
value_type lookDistance=1.0f) const;
/** Get to the position and orientation of a modelview matrix,
* using the same convention as gluLookAt.
*/
void getLookAt(Vec3d& eye,Vec3d& center,Vec3d& up,
value_type lookDistance=1.0f) const;
/** invert the matrix rhs. */
bool invert( const Matrixf& rhs);
/** full 4x4 matrix invert. */
bool invert_4x4_orig( const Matrixf& );
/** full 4x4 matrix invert. */
bool invert_4x4_new( const Matrixf& );
/** ortho-normalize the 3x3 rotation & scale matrix */
void orthoNormalize(const Matrixf& rhs);
//basic utility functions to create new matrices
inline static Matrixf identity( void );
inline static Matrixf scale( const Vec3f& sv);
inline static Matrixf scale( const Vec3d& sv);
inline static Matrixf scale( value_type sx, value_type sy, value_type sz);
inline static Matrixf translate( const Vec3f& dv);
inline static Matrixf translate( const Vec3d& dv);
inline static Matrixf translate( value_type x, value_type y, value_type z);
inline static Matrixf rotate( const Vec3f& from, const Vec3f& to);
inline static Matrixf rotate( const Vec3d& from, const Vec3d& to);
inline static Matrixf rotate( value_type angle, value_type x, value_type y, value_type z);
inline static Matrixf rotate( value_type angle, const Vec3f& axis);
inline static Matrixf rotate( value_type angle, const Vec3d& axis);
inline static Matrixf rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3);
inline static Matrixf rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3);
inline static Matrixf rotate( const Quat& quat);
inline static Matrixf inverse( const Matrixf& matrix);
inline static Matrixf orthoNormal(const Matrixf& matrix);
/** Create an orthographic projection matrix.
* See glOrtho for further details.
*/
inline static Matrixf ortho(double left, double right,
double bottom, double top,
double zNear, double zFar);
/** Create a 2D orthographic projection.
* See glOrtho for further details.
*/
inline static Matrixf ortho2D(double left, double right,
double bottom, double top);
/** Create a perspective projection.
* See glFrustum for further details.
*/
inline static Matrixf frustum(double left, double right,
double bottom, double top,
double zNear, double zFar);
/** Create a symmetrical perspective projection.
* See gluPerspective for further details.
* Aspect ratio is defined as width/height.
*/
inline static Matrixf perspective(double fovy, double aspectRatio,
double zNear, double zFar);
/** Create the position and orientation as per a camera,
* using the same convention as gluLookAt.
*/
inline static Matrixf lookAt(const Vec3f& eye,
const Vec3f& center,
const Vec3f& up);
/** Create the position and orientation as per a camera,
* using the same convention as gluLookAt.
*/
inline static Matrixf lookAt(const Vec3d& eye,
const Vec3d& center,
const Vec3d& up);
inline Vec3f preMult( const Vec3f& v ) const;
inline Vec3d preMult( const Vec3d& v ) const;
inline Vec3f postMult( const Vec3f& v ) const;
inline Vec3d postMult( const Vec3d& v ) const;
inline Vec3f operator* ( const Vec3f& v ) const;
inline Vec3d operator* ( const Vec3d& v ) const;
inline Vec4f preMult( const Vec4f& v ) const;
inline Vec4d preMult( const Vec4d& v ) const;
inline Vec4f postMult( const Vec4f& v ) const;
inline Vec4d postMult( const Vec4d& v ) const;
inline Vec4f operator* ( const Vec4f& v ) const;
inline Vec4d operator* ( const Vec4d& v ) const;
void setTrans( value_type tx, value_type ty, value_type tz );
void setTrans( const Vec3f& v );
void setTrans( const Vec3d& v );
inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
inline Vec3d getScale() const {
Vec3d x_vec(_mat[0][0],_mat[1][0],_mat[2][0]);
Vec3d y_vec(_mat[0][1],_mat[1][1],_mat[2][1]);
Vec3d z_vec(_mat[0][2],_mat[1][2],_mat[2][2]);
return Vec3d(x_vec.length(), y_vec.length(), z_vec.length());
}
/** apply a 3x3 transform of v*M[0..2,0..2]. */
inline static Vec3f transform3x3(const Vec3f& v,const Matrixf& m);
/** apply a 3x3 transform of v*M[0..2,0..2]. */
inline static Vec3d transform3x3(const Vec3d& v,const Matrixf& m);
/** apply a 3x3 transform of M[0..2,0..2]*v. */
inline static Vec3f transform3x3(const Matrixf& m,const Vec3f& v);
/** apply a 3x3 transform of M[0..2,0..2]*v. */
inline static Vec3d transform3x3(const Matrixf& m,const Vec3d& v);
// basic Matrixf multiplication, our workhorse methods.
void mult( const Matrixf&, const Matrixf& );
void preMult( const Matrixf& );
void postMult( const Matrixf& );
inline void operator *= ( const Matrixf& other )
{ if( this == &other ) {
Matrixf temp(other);
postMult( temp );
}
else postMult( other );
}
inline Matrixf operator * ( const Matrixf &m ) const
{
osg::Matrixf r;
r.mult(*this,m);
return r;
}
protected:
value_type _mat[4][4];
};
class RefMatrixf : public Object, public Matrixf
{
public:
RefMatrixf():Object(false), Matrixf() {}
RefMatrixf( const Matrixf& other) : Object(false), Matrixf(other) {}
RefMatrixf( const Matrixd& other) : Object(false), Matrixf(other) {}
RefMatrixf( const RefMatrixf& other) : Object(other), Matrixf(other) {}
explicit RefMatrixf( Matrixf::value_type const * const def ):Object(false), Matrixf(def) {}
RefMatrixf( Matrixf::value_type a00, Matrixf::value_type a01, Matrixf::value_type a02, Matrixf::value_type a03,
Matrixf::value_type a10, Matrixf::value_type a11, Matrixf::value_type a12, Matrixf::value_type a13,
Matrixf::value_type a20, Matrixf::value_type a21, Matrixf::value_type a22, Matrixf::value_type a23,
Matrixf::value_type a30, Matrixf::value_type a31, Matrixf::value_type a32, Matrixf::value_type a33):
Object(false),
Matrixf(a00, a01, a02, a03,
a10, a11, a12, a13,
a20, a21, a22, a23,
a30, a31, a32, a33) {}
virtual Object* cloneType() const { return new RefMatrixf(); }
virtual Object* clone(const CopyOp&) const { return new RefMatrixf(*this); }
virtual bool isSameKindAs(const Object* obj) const { return dynamic_cast<const RefMatrixf*>(obj)!=NULL; }
virtual const char* libraryName() const { return "osg"; }
virtual const char* className() const { return "Matrix"; }
protected:
virtual ~RefMatrixf() {}
};
//static utility methods
inline Matrixf Matrixf::identity(void)
{
Matrixf m;
m.makeIdentity();
return m;
}
inline Matrixf Matrixf::scale(value_type sx, value_type sy, value_type sz)
{
Matrixf m;
m.makeScale(sx,sy,sz);
return m;
}
inline Matrixf Matrixf::scale(const Vec3f& v )
{
return scale(v.x(), v.y(), v.z() );
}
inline Matrixf Matrixf::scale(const Vec3d& v )
{
return scale(v.x(), v.y(), v.z() );
}
inline Matrixf Matrixf::translate(value_type tx, value_type ty, value_type tz)
{
Matrixf m;
m.makeTranslate(tx,ty,tz);
return m;
}
inline Matrixf Matrixf::translate(const Vec3f& v )
{
return translate(v.x(), v.y(), v.z() );
}
inline Matrixf Matrixf::translate(const Vec3d& v )
{
return translate(v.x(), v.y(), v.z() );
}
inline Matrixf Matrixf::rotate( const Quat& q )
{
return Matrixf(q);
}
inline Matrixf Matrixf::rotate(value_type angle, value_type x, value_type y, value_type z )
{
Matrixf m;
m.makeRotate(angle,x,y,z);
return m;
}
inline Matrixf Matrixf::rotate(value_type angle, const Vec3f& axis )
{
Matrixf m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixf Matrixf::rotate(value_type angle, const Vec3d& axis )
{
Matrixf m;
m.makeRotate(angle,axis);
return m;
}
inline Matrixf Matrixf::rotate( value_type angle1, const Vec3f& axis1,
value_type angle2, const Vec3f& axis2,
value_type angle3, const Vec3f& axis3)
{
Matrixf m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixf Matrixf::rotate( value_type angle1, const Vec3d& axis1,
value_type angle2, const Vec3d& axis2,
value_type angle3, const Vec3d& axis3)
{
Matrixf m;
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
return m;
}
inline Matrixf Matrixf::rotate(const Vec3f& from, const Vec3f& to )
{
Matrixf m;
m.makeRotate(from,to);
return m;
}
inline Matrixf Matrixf::rotate(const Vec3d& from, const Vec3d& to )
{
Matrixf m;
m.makeRotate(from,to);
return m;
}
inline Matrixf Matrixf::inverse( const Matrixf& matrix)
{
Matrixf m;
m.invert(matrix);
return m;
}
inline Matrixf Matrixf::orthoNormal(const Matrixf& matrix)
{
Matrixf m;
m.orthoNormalize(matrix);
return m;
}
inline Matrixf Matrixf::ortho(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
Matrixf m;
m.makeOrtho(left,right,bottom,top,zNear,zFar);
return m;
}
inline Matrixf Matrixf::ortho2D(double left, double right,
double bottom, double top)
{
Matrixf m;
m.makeOrtho2D(left,right,bottom,top);
return m;
}
inline Matrixf Matrixf::frustum(double left, double right,
double bottom, double top,
double zNear, double zFar)
{
Matrixf m;
m.makeFrustum(left,right,bottom,top,zNear,zFar);
return m;
}
inline Matrixf Matrixf::perspective(double fovy,double aspectRatio,
double zNear, double zFar)
{
Matrixf m;
m.makePerspective(fovy,aspectRatio,zNear,zFar);
return m;
}
inline Matrixf Matrixf::lookAt(const Vec3f& eye,const Vec3f& center,const Vec3f& up)
{
Matrixf m;
m.makeLookAt(eye,center,up);
return m;
}
inline Matrixf Matrixf::lookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up)
{
Matrixf m;
m.makeLookAt(eye,center,up);
return m;
}
inline Vec3f Matrixf::postMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3d Matrixf::postMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
}
inline Vec3f Matrixf::preMult( const Vec3f& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec3d Matrixf::preMult( const Vec3d& v ) const
{
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
return Vec3d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
}
inline Vec4f Matrixf::postMult( const Vec4f& v ) const
{
return Vec4f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4d Matrixf::postMult( const Vec4d& v ) const
{
return Vec4d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
}
inline Vec4f Matrixf::preMult( const Vec4f& v ) const
{
return Vec4f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec4d Matrixf::preMult( const Vec4d& v ) const
{
return Vec4d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
}
inline Vec3f Matrixf::transform3x3(const Vec3f& v,const Matrixf& m)
{
return Vec3f( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3d Matrixf::transform3x3(const Vec3d& v,const Matrixf& m)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
}
inline Vec3f Matrixf::transform3x3(const Matrixf& m,const Vec3f& v)
{
return Vec3f( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline Vec3d Matrixf::transform3x3(const Matrixf& m,const Vec3d& v)
{
return Vec3d( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
}
inline Vec3f operator* (const Vec3f& v, const Matrixf& m )
{
return m.preMult(v);
}
inline Vec3d operator* (const Vec3d& v, const Matrixf& m )
{
return m.preMult(v);
}
inline Vec4f operator* (const Vec4f& v, const Matrixf& m )
{
return m.preMult(v);
}
inline Vec4d operator* (const Vec4d& v, const Matrixf& m )
{
return m.preMult(v);
}
inline Vec3f Matrixf::operator* (const Vec3f& v) const
{
return postMult(v);
}
inline Vec3d Matrixf::operator* (const Vec3d& v) const
{
return postMult(v);
}
inline Vec4f Matrixf::operator* (const Vec4f& v) const
{
return postMult(v);
}
inline Vec4d Matrixf::operator* (const Vec4d& v) const
{
return postMult(v);
}
} //namespace osg
#endif
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