108 lines
3.6 KiB
Plaintext
108 lines
3.6 KiB
Plaintext
#ifndef OSG_MATRIX
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#define OSG_MATRIX 1
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#include <osg/Object>
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#include <osg/Types>
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namespace osg {
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class Input;
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class Output;
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/** 4x4 Matrix for storage & manipulation of transformations in scene graph.
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Provides basic maths operations, IO and via osg::Object reference counting.
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*/
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class SG_EXPORT Matrix : public Object
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{
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public:
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Matrix();
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Matrix(const Matrix& matrix);
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Matrix( float a00, float a01, float a02, float a03,
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float a10, float a11, float a12, float a13,
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float a20, float a21, float a22, float a23,
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float a30, float a31, float a32, float a33);
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Matrix& operator = (const Matrix& matrix);
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virtual ~Matrix();
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static Matrix* instance();
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virtual Object* clone() const { return new Matrix(); }
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virtual bool isSameKindAs(Object* obj) { return dynamic_cast<Matrix*>(obj)!=NULL; }
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virtual const char* className() const { return "Matrix"; }
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void makeIdent();
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void set(const float* m);
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void copy(const Matrix& matrix);
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void makeScale(float sx, float sy, float sz);
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void preScale( float sx, float sy, float sz, const Matrix& m );
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void postScale( const Matrix& m, float sx, float sy, float sz );
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void preScale( float sx, float sy, float sz );
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void postScale( float sx, float sy, float sz );
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void makeTrans( float tx, float ty, float tz );
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void preTrans( float tx, float ty, float tz, const Matrix& m );
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void postTrans( const Matrix& m, float tx, float ty, float tz );
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void preTrans( float tx, float ty, float tz );
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void postTrans( float tx, float ty, float tz );
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void makeRot( float deg, float x, float y, float z );
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void preRot( float deg, float x, float y, float z, const Matrix& m );
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void postRot( const Matrix& m, float deg, float x, float y, float z );
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void preRot( float deg, float x, float y, float z );
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void postRot( float deg, float x, float y, float z );
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void setTrans( float tx, float ty, float tz );
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void setTrans( const Vec3& v );
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Vec3 getTrans() const { return Vec3(_mat[3][0],_mat[3][1],_mat[3][2]); }
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void preMult(const Matrix& m);
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void postMult(const Matrix& m);
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void mult(const Matrix& lhs,const Matrix& rhs);
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Matrix operator * (const Matrix& m) const;
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inline Vec3 operator * (const Vec3& v) const;
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inline friend Vec3 operator * (const Vec3& v,const Matrix& m);
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bool invert(const Matrix& m);
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public :
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float _mat[4][4];
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protected:
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virtual bool readLocalData(Input& fr);
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virtual bool writeLocalData(Output& fw);
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};
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// post multiple v. ie. (m*v)
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inline Vec3 Matrix::operator * (const Vec3& v) const
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{
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float d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
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return Vec3( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
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(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
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(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
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}
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// pre multiple v. ie. (v*m)
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inline Vec3 operator * (const Vec3& v,const Matrix& m)
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{
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float d = 1.0f/(m._mat[0][3]*v.x()+m._mat[1][3]*v.y()+m._mat[2][3]*v.z()+m._mat[3][3]) ;
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return Vec3( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z() + m._mat[3][0])*d,
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(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z() + m._mat[3][1])*d,
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(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z() + m._mat[3][2])*d);
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}
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};
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#endif
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