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# OgreMatrix4.cpp

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    00001 /*
    00002 -----------------------------------------------------------------------------
    00003 This source file is part of OGRE
    00004 (Object-oriented Graphics Rendering Engine)
    00005 For the latest info, see http://www.ogre3d.org/
    00006
    00007 Copyright © 2000-2002 The OGRE Team
    00008 Also see acknowledgements in Readme.html
    00009
    00010 This program is free software; you can redistribute it and/or modify it under
    00011 the terms of the GNU Lesser General Public License as published by the Free Software
    00012 Foundation; either version 2 of the License, or (at your option) any later
    00013 version.
    00014
    00015 This program is distributed in the hope that it will be useful, but WITHOUT
    00016 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    00017 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details.
    00018
    00019 You should have received a copy of the GNU Lesser General Public License along with
    00020 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
    00021 Place - Suite 330, Boston, MA 02111-1307, USA, or go to
    00022 http://www.gnu.org/copyleft/lesser.txt.
    00023 -----------------------------------------------------------------------------
    00024 */
    00025 #include "OgreStableHeaders.h"
    00026 #include "OgreMatrix4.h"
    00027
    00028 #include "OgreVector3.h"
    00029 #include "OgreMatrix3.h"
    00030
    00031 namespace Ogre
    00032 {
    00033
    00034     const Matrix4 Matrix4::ZERO(
    00035         0, 0, 0, 0,
    00036         0, 0, 0, 0,
    00037         0, 0, 0, 0,
    00038         0, 0, 0, 0 );
    00039
    00040     const Matrix4 Matrix4::IDENTITY(
    00041         1, 0, 0, 0,
    00042         0, 1, 0, 0,
    00043         0, 0, 1, 0,
    00044         0, 0, 0, 1 );
    00045
    00046     const Matrix4 Matrix4::CLIPSPACE2DTOIMAGESPACE(
    00047         0.5,    0,  0, 0.5,
    00048           0, -0.5,  0, 0.5,
    00049           0,    0,  1,   0,
    00050           0,    0,  0,   1);
    00051
    00052     inline Real
    00053         MINOR(const Matrix4& m, const size_t r0, const size_t r1, const size_t r2,
    00054                                 const size_t c0, const size_t c1, const size_t c2)
    00055     {
    00056         return m[r0][c0] * (m[r1][c1] * m[r2][c2] - m[r2][c1] * m[r1][c2]) -
    00057             m[r0][c1] * (m[r1][c0] * m[r2][c2] - m[r2][c0] * m[r1][c2]) +
    00058             m[r0][c2] * (m[r1][c0] * m[r2][c1] - m[r2][c0] * m[r1][c1]);
    00059     }
    00060
    00061
    00062     Matrix4 Matrix4::adjoint() const
    00063     {
    00064         return Matrix4( MINOR(*this, 1, 2, 3, 1, 2, 3),
    00065             -MINOR(*this, 0, 2, 3, 1, 2, 3),
    00066             MINOR(*this, 0, 1, 3, 1, 2, 3),
    00067             -MINOR(*this, 0, 1, 2, 1, 2, 3),
    00068
    00069             -MINOR(*this, 1, 2, 3, 0, 2, 3),
    00070             MINOR(*this, 0, 2, 3, 0, 2, 3),
    00071             -MINOR(*this, 0, 1, 3, 0, 2, 3),
    00072             MINOR(*this, 0, 1, 2, 0, 2, 3),
    00073
    00074             MINOR(*this, 1, 2, 3, 0, 1, 3),
    00075             -MINOR(*this, 0, 2, 3, 0, 1, 3),
    00076             MINOR(*this, 0, 1, 3, 0, 1, 3),
    00077             -MINOR(*this, 0, 1, 2, 0, 1, 3),
    00078
    00079             -MINOR(*this, 1, 2, 3, 0, 1, 2),
    00080             MINOR(*this, 0, 2, 3, 0, 1, 2),
    00081             -MINOR(*this, 0, 1, 3, 0, 1, 2),
    00082             MINOR(*this, 0, 1, 2, 0, 1, 2));
    00083     }
    00084
    00085
    00086     Real Matrix4::determinant() const
    00087     {
    00088         return m[0][0] * MINOR(*this, 1, 2, 3, 1, 2, 3) -
    00089             m[0][1] * MINOR(*this, 1, 2, 3, 0, 2, 3) +
    00090             m[0][2] * MINOR(*this, 1, 2, 3, 0, 1, 3) -
    00091             m[0][3] * MINOR(*this, 1, 2, 3, 0, 1, 2);
    00092     }
    00093
    00094     Matrix4 Matrix4::inverse() const
    00095     {
    00096         return adjoint() * (1.0f / determinant());
    00097     }
    00098
    00099 }

Copyright © 2002-2003 by The OGRE Team
Last modified Sun Nov 28 19:48:33 2004