[DEV] update matrix4
This commit is contained in:
parent
74a6e35fa3
commit
e6af555b15
@ -11,7 +11,7 @@
|
||||
#include <etk/DebugInternal.h>
|
||||
#include <math.h>
|
||||
|
||||
etk::Matrix4 etk::Matrix4::Perspective(float left, float right, float bottom, float top, float nearVal, float farVal)
|
||||
etk::Matrix4 etk::matPerspective(float left, float right, float bottom, float top, float nearVal, float farVal)
|
||||
{
|
||||
etk::Matrix4 tmp;
|
||||
for(int32_t iii=0; iii<4*4 ; iii++) {
|
||||
@ -29,7 +29,7 @@ etk::Matrix4 etk::Matrix4::Perspective(float left, float right, float bottom, fl
|
||||
return tmp;
|
||||
}
|
||||
|
||||
etk::Matrix4 etk::Matrix4::Translate(etk::Vector3D<float> vect)
|
||||
etk::Matrix4 etk::matTranslate(etk::Vector3D<float> vect)
|
||||
{
|
||||
etk::Matrix4 tmp;
|
||||
// set translation :
|
||||
@ -41,7 +41,7 @@ etk::Matrix4 etk::Matrix4::Translate(etk::Vector3D<float> vect)
|
||||
return tmp;
|
||||
}
|
||||
|
||||
etk::Matrix4 etk::Matrix4::Scale(etk::Vector3D<float> vect)
|
||||
etk::Matrix4 etk::matScale(etk::Vector3D<float> vect)
|
||||
{
|
||||
etk::Matrix4 tmp;
|
||||
// set scale :
|
||||
@ -53,7 +53,7 @@ etk::Matrix4 etk::Matrix4::Scale(etk::Vector3D<float> vect)
|
||||
return tmp;
|
||||
}
|
||||
|
||||
etk::Matrix4 etk::Matrix4::Rotate(etk::Vector3D<float> vect, float angleRad)
|
||||
etk::Matrix4 etk::matRotate(etk::Vector3D<float> vect, float angleRad)
|
||||
{
|
||||
etk::Matrix4 tmp;
|
||||
float cosVal = cos(angleRad);
|
||||
@ -74,6 +74,58 @@ etk::Matrix4 etk::Matrix4::Rotate(etk::Vector3D<float> vect, float angleRad)
|
||||
return tmp;
|
||||
}
|
||||
|
||||
|
||||
|
||||
float etk::Matrix4::CoFactor(int32_t row, int32_t col) const
|
||||
{
|
||||
return ( ( m_mat[((row+1)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+3)&3)*4 + ((col+3)&3)]
|
||||
+ m_mat[((row+1)&3)*4 + ((col+2)&3)] * m_mat[((row+2)&3)*4 + ((col+3)&3)] * m_mat[((row+3)&3)*4 + ((col+1)&3)]
|
||||
+ m_mat[((row+1)&3)*4 + ((col+3)&3)] * m_mat[((row+2)&3)*4 + ((col+1)&3)] * m_mat[((row+3)&3)*4 + ((col+2)&3)] )
|
||||
- ( m_mat[((row+3)&3)*4 + ((col+1)&3)] * m_mat[((row+2)&3)*4 + ((col+2)&3)] * m_mat[((row+1)&3)*4 + ((col+3)&3)]
|
||||
+ m_mat[((row+3)&3)*4 + ((col+2)&3)] * m_mat[((row+2)&3)*4 + ((col+3)&3)] * m_mat[((row+1)&3)*4 + ((col+1)&3)]
|
||||
+ m_mat[((row+3)&3)*4 + ((col+3)&3)] * m_mat[((row+2)&3)*4 + ((col+1)&3)] * m_mat[((row+1)&3)*4 + ((col+2)&3)] )
|
||||
) * ((row + col) & 1 ? -1.0f : +1.0f);
|
||||
}
|
||||
|
||||
|
||||
float etk::Matrix4::Determinant() const
|
||||
{
|
||||
return m_mat[0] * CoFactor(0, 0) +
|
||||
m_mat[1] * CoFactor(0, 1) +
|
||||
m_mat[2] * CoFactor(0, 2) +
|
||||
m_mat[3] * CoFactor(0, 3);
|
||||
}
|
||||
|
||||
|
||||
etk::Matrix4 etk::Matrix4::Invert()
|
||||
{
|
||||
float det = Determinant();
|
||||
if(fabsf(det) < (1.0e-7f)) {
|
||||
// The matrix is not invertible! Singular case!
|
||||
return *this;
|
||||
}
|
||||
etk::Matrix4 temp;
|
||||
float iDet = 1.0f / det;
|
||||
temp.m_mat[0] = CoFactor(0,0) * iDet;
|
||||
temp.m_mat[1] = CoFactor(0,1) * iDet;
|
||||
temp.m_mat[2] = CoFactor(0,2) * iDet;
|
||||
temp.m_mat[3] = CoFactor(0,3) * iDet;
|
||||
temp.m_mat[4] = CoFactor(1,0) * iDet;
|
||||
temp.m_mat[5] = CoFactor(1,1) * iDet;
|
||||
temp.m_mat[6] = CoFactor(1,2) * iDet;
|
||||
temp.m_mat[7] = CoFactor(1,3) * iDet;
|
||||
temp.m_mat[8] = CoFactor(2,0) * iDet;
|
||||
temp.m_mat[9] = CoFactor(2,1) * iDet;
|
||||
temp.m_mat[10] = CoFactor(2,2) * iDet;
|
||||
temp.m_mat[11] = CoFactor(2,3) * iDet;
|
||||
temp.m_mat[12] = CoFactor(3,0) * iDet;
|
||||
temp.m_mat[13] = CoFactor(3,1) * iDet;
|
||||
temp.m_mat[14] = CoFactor(3,2) * iDet;
|
||||
temp.m_mat[15] = CoFactor(3,3) * iDet;
|
||||
return temp;
|
||||
}
|
||||
|
||||
|
||||
etk::CCout& etk::operator <<(etk::CCout &os, const etk::Matrix4 obj)
|
||||
{
|
||||
os << "matrix4 : (";
|
||||
|
||||
@ -174,6 +174,12 @@ namespace etk
|
||||
tmpp *= obj;
|
||||
return tmpp;
|
||||
}
|
||||
vec3 operator*(const vec3& point) const
|
||||
{
|
||||
return vec3( m_mat[0]*point.x + m_mat[1]*point.y + m_mat[2]*point.z + m_mat[3],
|
||||
m_mat[4]*point.x + m_mat[5]*point.y + m_mat[6]*point.z + m_mat[7],
|
||||
m_mat[8]*point.x + m_mat[9]*point.y + m_mat[10]*point.z + m_mat[11] );
|
||||
}
|
||||
/*****************************************************
|
||||
* other basic function :
|
||||
*****************************************************/
|
||||
@ -202,14 +208,89 @@ namespace etk
|
||||
tmpVal = m_mat[11];
|
||||
m_mat[11] = m_mat[14];
|
||||
m_mat[14] = tmpVal;
|
||||
|
||||
}
|
||||
public:
|
||||
static Matrix4 Perspective(float left, float right, float bottom, float top, float nearVal, float farVal);
|
||||
static Matrix4 Translate(etk::Vector3D<float> vect);
|
||||
static Matrix4 Scale(etk::Vector3D<float> vect);
|
||||
static Matrix4 Rotate(etk::Vector3D<float> vect, float angleRad=0.0);
|
||||
void Scale(const vec3& p)
|
||||
{
|
||||
Scale(p.x, p.y, p.z);
|
||||
}
|
||||
void Scale(float sx, float sy, float sz)
|
||||
{
|
||||
m_mat[0] *= sx; m_mat[1] *= sy; m_mat[2] *= sz;
|
||||
m_mat[4] *= sx; m_mat[5] *= sy; m_mat[6] *= sz;
|
||||
m_mat[8] *= sx; m_mat[9] *= sy; m_mat[10] *= sz;
|
||||
}
|
||||
#if 0
|
||||
/**
|
||||
* @brief Sets a rotation matrix around the X axis.
|
||||
* @param[in] angleRad Angle to rotate in radian.
|
||||
*/
|
||||
void RotateX(float angleRad)
|
||||
{
|
||||
float Cos = cosf(angleRad);
|
||||
float Sin = sinf(angleRad);
|
||||
Identity();
|
||||
m_mat[5] = m_mat[10] = Cos;
|
||||
m_mat[9] = -Sin;
|
||||
m_mat[6] = Sin;
|
||||
}
|
||||
/**
|
||||
* @brief Sets a rotation matrix around the Y axis.
|
||||
* @param[in] angleRad Angle to rotate in radian.
|
||||
*/
|
||||
void RotateY(float angleRad)
|
||||
{
|
||||
float Cos = cosf(angleRad);
|
||||
float Sin = sinf(angleRad);
|
||||
Identity();
|
||||
m_mat[0] = m_mat[10] = Cos;
|
||||
m_mat[8] = Sin;
|
||||
m_mat[2] = -Sin;
|
||||
}
|
||||
/**
|
||||
* @brief Sets a rotation matrix around the Z axis.
|
||||
* @param[in] angleRad Angle to rotate in radian.
|
||||
*/
|
||||
void RotateZ(float angleRad)
|
||||
{
|
||||
float Cos = cosf(angle);
|
||||
float Sin = sinf(angle);
|
||||
Identity();
|
||||
m_mat[0] = m_mat[9] = Cos;
|
||||
m_mat[4] = -Sin;
|
||||
m_mat[1] = Sin;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Makes a rotation matrix about an arbitrary axis.
|
||||
* @param[in] vect vector to apply the angle.
|
||||
* @param[in] angleRad angle to apply.
|
||||
*/
|
||||
void Rotate(etk::Vector3D<float> vect, float angleRad=0.0);
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Computes a cofactor. Used for matrix inversion.
|
||||
* @param[in] row Id of raw.
|
||||
* @param[in] col Id of colomn.
|
||||
* @return the coFactorValue.
|
||||
*/
|
||||
float CoFactor(int32_t row, int32_t col) const;
|
||||
/**
|
||||
* @brief Computes the determinant of the matrix.
|
||||
* @return The determinent Value.
|
||||
*/
|
||||
float Determinant(void) const;
|
||||
/**
|
||||
* @brief Inverts the matrix.
|
||||
* @note The determinant must be != 0, otherwithe the matrix can't be inverted.
|
||||
* @return The inverted matrix.
|
||||
*/
|
||||
Matrix4 Invert(void);
|
||||
};
|
||||
Matrix4 matPerspective(float left, float right, float bottom, float top, float nearVal, float farVal);
|
||||
Matrix4 matTranslate(etk::Vector3D<float> vect);
|
||||
Matrix4 matScale(etk::Vector3D<float> vect);
|
||||
Matrix4 matRotate(etk::Vector3D<float> vect, float angleRad=0.0);
|
||||
/**
|
||||
* @brief Debug operator To display the curent element in a Human redeable information
|
||||
*/
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user