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math/matrix4.h

Go to the documentation of this file.

#ifndef MATH_MATRIX4_H
#define MATH_MATRIX4_H

/*

  GLT OpenGL C++ Toolkit (LGPL)
  Copyright (C) 2000-2002 Nigel Stewart  

  Email: nigels.com@gmail.com   
  WWW:   http://www.nigels.com/glt/

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.

  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 GNU
  Lesser General Public License for more details.

  You should have received a copy of the GNU Lesser General Public
  License along with this library; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

*/

#include <iosfwd>

#include <math/real.h>
#include <math/vector3.h>


class UnMatrix;

class Matrix
{
    friend Matrix matrixScale(const double sf);
    friend Matrix matrixScale(const Vector sf);
    friend Matrix matrixTranslate(const Vector trans);
    friend Matrix matrixTranslate(const real x,const real y,const real z);
    friend Matrix matrixRotate(const Vector axis,const double angle);
    friend Matrix matrixRotate(const double azimuth,const double elevation);
    friend Matrix matrixOrient(const Vector &x,const Vector &y,const Vector &z);
    friend Matrix matrixOrient(const Vector &direction,const Vector &up);

    friend std::ostream &operator<<(std::ostream &os,const Matrix &m);
    friend std::istream &operator>>(std::istream &is,      Matrix &m);

public:

    Matrix();
    Matrix(const Matrix &matrix);
    Matrix(const float *matrix);
    Matrix(const double *matrix);
    Matrix(const unsigned int glMatrix);
    Matrix(const std::string &str);

    Matrix &operator=(const Matrix &);

    Matrix  operator*(const Matrix &) const;
    Matrix &operator*=(const Matrix &);

    Vector operator*(const Vector &) const;

    void reset();
    void identity();

    bool isIdentity() const;

          double &operator[](const int i);
    const double &operator[](const int i) const;

    operator double * ();
    operator const double * () const;

    bool operator==(const Matrix &) const;
    bool operator!=(const Matrix &) const;

    Matrix inverse() const;
    Matrix transpose() const;
    UnMatrix unmatrix() const;
    double det() const;

    void glMultMatrix() const;
    void glLoadMatrix() const;

    std::ostream &writePov(std::ostream &os) const;

private:

    double _matrix[16];
    static double _identity[16];

    inline void set(const int col,const int row,const double val) 
    { 
        _matrix[col*4+row] = val;
    }

    inline double get(const int col,const int row) const
    {
        return _matrix[col*4+row];
    }

    inline double &element(const int col,const int row) 
    {
        return _matrix[col*4+row];
    }

    // From Mesa-2.2\src\glu\project.c

    static void invertMatrixGeneral( const double *m, double *out );
    static void invertMatrix( const double *m, double *out );

    // From Graphics Gems GEMSI\MATINV.C

    double 
    det3x3
    ( 
        const double a1, 
        const double a2, 
        const double a3, 
        const double b1, 
        const double b2, 
        const double b3, 
        const double c1, 
        const double c2, 
        const double c3 
    ) const;

    double
    det2x2
    ( 
        const double a, 
        const double b, 
        const double c, 
        const double d
    ) const;
};

#endif

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