176 lines
6.2 KiB
C++
176 lines
6.2 KiB
C++
|
// Copyright (c) 2006, Tobias Sargeant
|
||
|
|
// All rights reserved.
|
||
|
|
//
|
||
|
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
//
|
||
|
|
// Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the
|
||
|
|
// distribution. The names of its contributors may be used to endorse
|
||
|
|
// or promote products derived from this software without specific
|
||
|
|
// prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||
|
|
// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||
|
|
// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||
|
|
// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
||
|
|
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||
|
|
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
|
||
|
|
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
||
|
|
// STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
|
||
|
|
// OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
#include <gloop/vector.hpp>
|
||
|
|
#include <gloop/quaternion.hpp>
|
||
|
|
|
||
|
|
namespace gloop {
|
||
|
|
|
||
|
|
// matrices are column major, as per OpenGL. accessed as .m[col][row], or ._cr
|
||
|
|
struct M3 {
|
||
|
|
union {
|
||
|
|
float v[9];
|
||
|
|
float m[3][3];
|
||
|
|
struct {
|
||
|
|
float _11, _12, _13, // n.b. these are transposed
|
||
|
|
_21, _22, _23,
|
||
|
|
_31, _32, _33;
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
M3(float m11, float m21, float m31,
|
||
|
|
float m12, float m22, float m32,
|
||
|
|
float m13, float m23, float m33) {
|
||
|
|
// this initializer gives data in row-major form, hence the swizzle.
|
||
|
|
_11 = m11; _12 = m12; _13 = m13;
|
||
|
|
_21 = m21; _22 = m22; _23 = m23;
|
||
|
|
_31 = m31; _32 = m32; _33 = m33;
|
||
|
|
}
|
||
|
|
M3(const float *_v) {
|
||
|
|
memcpy(v, _v, sizeof(v));
|
||
|
|
}
|
||
|
|
M3(const float _m[3][3]) {
|
||
|
|
memcpy(m, _m, sizeof(m));
|
||
|
|
}
|
||
|
|
M3() { }
|
||
|
|
|
||
|
|
static M3 IDENTITY() {
|
||
|
|
M3 r;
|
||
|
|
r._11 = 1.0f; r._21 = 0.0f; r._31 = 0.0f;
|
||
|
|
r._12 = 0.0f; r._22 = 1.0f; r._32 = 0.0f;
|
||
|
|
r._13 = 0.0f; r._23 = 0.0f; r._33 = 1.0f;
|
||
|
|
return r;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
static inline M3 &operator+=(M3 &a, const M3 &b) { for (unsigned i = 0; i < 9; ++i) a.v[i] += b.v[i]; return a; }
|
||
|
|
static inline M3 operator+(const M3 &a, const M3 &b) { M3 r(a); return r += b; }
|
||
|
|
|
||
|
|
static inline M3 &operator-=(M3 &a, const M3 &b) { for (unsigned i = 0; i < 9; ++i) a.v[i] -= b.v[i]; return a; }
|
||
|
|
static inline M3 operator-(const M3 &a, const M3 &b) { M3 r(a); return r -= b; }
|
||
|
|
|
||
|
|
static inline M3 &operator*=(M3 &a, float b) { for (unsigned i = 0; i < 9; ++i) a.v[i] *= b; return a; }
|
||
|
|
static inline M3 operator*(const M3 &a, float b) { M3 r(a); return r *= b; }
|
||
|
|
|
||
|
|
static inline V3 operator*(const M3 &a, const V3 &b) {
|
||
|
|
return V3(a._11 * b.x + a._21 * b.y + a._31 * b.z,
|
||
|
|
a._12 * b.x + a._22 * b.y + a._32 * b.z,
|
||
|
|
a._13 * b.x + a._23 * b.y + a._33 * b.z);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
struct M4 {
|
||
|
|
union {
|
||
|
|
float v[16];
|
||
|
|
float m[4][4];
|
||
|
|
struct {
|
||
|
|
float _11, _12, _13, _14, // n.b. these are transposed.
|
||
|
|
_21, _22, _23, _24,
|
||
|
|
_31, _32, _33, _34,
|
||
|
|
_41, _42, _43, _44;
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
M4(float m11, float m21, float m31, float m41,
|
||
|
|
float m12, float m22, float m32, float m42,
|
||
|
|
float m13, float m23, float m33, float m43,
|
||
|
|
float m14, float m24, float m34, float m44) {
|
||
|
|
// this initializer gives data in row-major form, hence the swizzle.
|
||
|
|
_11 = m11; _12 = m12; _13 = m13; _14 = m14;
|
||
|
|
_21 = m21; _22 = m22; _23 = m23; _24 = m24;
|
||
|
|
_31 = m31; _32 = m32; _33 = m33; _34 = m34;
|
||
|
|
_41 = m41; _42 = m42; _43 = m43; _44 = m44;
|
||
|
|
}
|
||
|
|
M4(const float *_v) {
|
||
|
|
memcpy(v, _v, sizeof(v));
|
||
|
|
}
|
||
|
|
M4(const float _m[4][4]) {
|
||
|
|
memcpy(m, _m, sizeof(m));
|
||
|
|
}
|
||
|
|
M4() { }
|
||
|
|
|
||
|
|
static M4 IDENTITY() {
|
||
|
|
M4 r;
|
||
|
|
r._11 = 1.0f; r._21 = 0.0f; r._31 = 0.0f; r._41 = 0.0f;
|
||
|
|
r._12 = 0.0f; r._22 = 1.0f; r._32 = 0.0f; r._42 = 0.0f;
|
||
|
|
r._13 = 0.0f; r._23 = 0.0f; r._33 = 1.0f; r._43 = 0.0f;
|
||
|
|
r._14 = 0.0f; r._24 = 0.0f; r._34 = 0.0f; r._44 = 1.0f;
|
||
|
|
return r;
|
||
|
|
}
|
||
|
|
|
||
|
|
static M4 ROT(float a, float x, float y, float z) {
|
||
|
|
return (M4)QUAT(V3(x, y, z), a);
|
||
|
|
}
|
||
|
|
|
||
|
|
static M4 TRANS(float x, float y, float z) {
|
||
|
|
return M4(1.0f, 0.0f, 0.0f, x,
|
||
|
|
0.0f, 1.0f, 0.0f, y,
|
||
|
|
0.0f, 0.0f, 1.0f, z,
|
||
|
|
0.0f, 0.0f, 0.0f, 1.0f);
|
||
|
|
}
|
||
|
|
|
||
|
|
static M4 SCALE(float x, float y, float z) {
|
||
|
|
return M4( x, 0.0f, 0.0f, 0.0f,
|
||
|
|
0.0f, y, 0.0f, 0.0f,
|
||
|
|
0.0f, 0.0f, z, 0.0f,
|
||
|
|
0.0f, 0.0f, 0.0f, 1.0f);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
static inline M4 &operator+=(M4 &a, const M4 &b) { for (unsigned i = 0; i < 16; ++i) a.v[i] += b.v[i]; return a; }
|
||
|
|
static inline M4 operator+(const M4 &a, const M4 &b) { M4 r(a); return r += b; }
|
||
|
|
|
||
|
|
static inline M4 &operator-=(M4 &a, const M4 &b) { for (unsigned i = 0; i < 16; ++i) a.v[i] -= b.v[i]; return a; }
|
||
|
|
static inline M4 operator-(const M4 &a, const M4 &b) { M4 r(a); return r -= b; }
|
||
|
|
|
||
|
|
static inline M4 &operator*=(M4 &a, float b) { for (unsigned i = 0; i < 16; ++i) a.v[i] *= b; return a; }
|
||
|
|
static inline M4 operator*(const M4 &a, float b) { M4 r(a); return r *= b; }
|
||
|
|
|
||
|
|
static inline V3 operator*(const M4 &a, const V3 &b) {
|
||
|
|
return V3(a._11 * b.x + a._21 * b.y + a._31 * b.z + a._41,
|
||
|
|
a._12 * b.x + a._22 * b.y + a._32 * b.z + a._42,
|
||
|
|
a._13 * b.x + a._23 * b.y + a._33 * b.z + a._43);
|
||
|
|
}
|
||
|
|
|
||
|
|
static inline V4 operator*(const M4 &a, const V4 &b) {
|
||
|
|
return V4(a._11 * b.x + a._21 * b.y + a._31 * b.z + a._41 * b.w,
|
||
|
|
a._12 * b.x + a._22 * b.y + a._32 * b.z + a._42 * b.w,
|
||
|
|
a._13 * b.x + a._23 * b.y + a._33 * b.z + a._43 * b.w,
|
||
|
|
a._14 * b.x + a._24 * b.y + a._34 * b.z + a._44 * b.w);
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|