125 lines
3.9 KiB
C++
125 lines
3.9 KiB
C++
/*
|
||
* © Copyright 2014 – Urheberrechtshinweis
|
||
* Alle Rechte vorbehalten / All Rights Reserved
|
||
*
|
||
* Programmcode ist urheberrechtlich geschuetzt.
|
||
* Das Urheberrecht liegt, soweit nicht ausdruecklich anders gekennzeichnet, bei Frank Ebner.
|
||
* Keine Verwendung ohne explizite Genehmigung.
|
||
* (vgl. § 106 ff UrhG / § 97 UrhG)
|
||
*/
|
||
|
||
#ifndef MATRIX4_H
|
||
#define MATRIX4_H
|
||
|
||
#include <initializer_list>
|
||
#include <cmath>
|
||
|
||
class Matrix4 {
|
||
|
||
private:
|
||
|
||
float data[16];
|
||
|
||
public:
|
||
|
||
Matrix4(std::initializer_list<float> lst) {
|
||
int idx = 0;
|
||
for (float f : lst) {
|
||
data[idx] = f; ++idx;
|
||
}
|
||
}
|
||
|
||
static Matrix4 identity() {
|
||
return Matrix4( {1,0,0,0, 0,1,0,0, 0,0,1,0, 0,0,0,1} );
|
||
}
|
||
|
||
static Matrix4 getRotationDeg(const float degX, const float degY, const float degZ) {
|
||
return getRotationRad(degX/180.0f*M_PI, degY/180.0f*M_PI, degZ/180.0f*M_PI);
|
||
}
|
||
|
||
static Matrix4 getRotationRad(const float radX, const float radY, const float radZ) {
|
||
|
||
const float g = radX; const float b = radY; const float a = radZ;
|
||
const float a11 = std::cos(a)*std::cos(b);
|
||
const float a12 = std::cos(a)*std::sin(b)*std::sin(g)-std::sin(a)*std::cos(g);
|
||
const float a13 = std::cos(a)*std::sin(b)*std::cos(g)+std::sin(a)*std::sin(g);
|
||
const float a21 = std::sin(a)*std::cos(b);
|
||
const float a22 = std::sin(a)*std::sin(b)*std::sin(g)+std::cos(a)*std::cos(g);
|
||
const float a23 = std::sin(a)*std::sin(b)*std::cos(g)-std::cos(a)*std::sin(g);
|
||
const float a31 = -std::sin(b);
|
||
const float a32 = std::cos(b)*std::sin(g);
|
||
const float a33 = std::cos(b)*std::cos(g);
|
||
return Matrix4({
|
||
a11, a12, a13, 0,
|
||
a21, a22, a23, 0,
|
||
a31, a32, a33, 0,
|
||
0, 0, 0, 1
|
||
});
|
||
|
||
}
|
||
|
||
static Matrix4 getTranslation(const float x, const float y, const float z) {
|
||
return Matrix4({
|
||
1, 0, 0, x,
|
||
0, 1, 0, y,
|
||
0, 0, 1, z,
|
||
0, 0, 0, 1
|
||
});
|
||
}
|
||
|
||
static Matrix4 getScale(const float x, const float y, const float z) {
|
||
return Matrix4({
|
||
x, 0, 0, 0,
|
||
0, y, 0, 0,
|
||
0, 0, z, 0,
|
||
0, 0, 0, 1
|
||
});
|
||
}
|
||
|
||
float operator [] (const int idx) const {return data[idx];}
|
||
|
||
bool operator == (const Matrix4& o) const {
|
||
for (int i = 0; i < 16; ++i) {
|
||
if (data[i] != o.data[i]) {return false;}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
};
|
||
|
||
struct Vector4 {
|
||
|
||
float x,y,z,w;
|
||
|
||
Vector4() : x(0), y(0), z(0), w(0) {;}
|
||
|
||
Vector4(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {;}
|
||
|
||
bool operator == (const Vector4 o) const {
|
||
return (x==o.x) && (y==o.y) && (z==o.z) && (w==o.w);
|
||
}
|
||
|
||
};
|
||
|
||
inline Vector4 operator * (const Matrix4& mat, const Vector4& vec) {
|
||
|
||
return Vector4(
|
||
(mat[ 0]*vec.x + mat[ 1]*vec.y + mat[ 2]*vec.z + mat[ 3]*vec.w),
|
||
(mat[ 4]*vec.x + mat[ 5]*vec.y + mat[ 6]*vec.z + mat[ 7]*vec.w),
|
||
(mat[ 8]*vec.x + mat[ 9]*vec.y + mat[10]*vec.z + mat[11]*vec.w),
|
||
(mat[12]*vec.x + mat[13]*vec.y + mat[14]*vec.z + mat[15]*vec.w)
|
||
);
|
||
|
||
}
|
||
|
||
inline Matrix4 operator * (const Matrix4& m1, const Matrix4& m2) {
|
||
return Matrix4({
|
||
m1[ 0]*m2[ 0] + m1[ 1]*m2[ 4] + m1[ 2]*m2[ 8] + m1[ 3]*m2[12], m1[ 0]*m2[ 1] + m1[ 1]*m2[ 5] + m1[ 2]*m2[ 9] + m1[ 3]*m2[13], m1[ 0]*m2[ 2] + m1[ 1]*m2[ 6] + m1[ 2]*m2[10] + m1[ 3]*m2[14], m1[ 0]*m2[ 3] + m1[ 1]*m2[ 7] + m1[ 2]*m2[11] + m1[ 3]*m2[15],
|
||
m1[ 4]*m2[ 0] + m1[ 5]*m2[ 4] + m1[ 6]*m2[ 8] + m1[ 7]*m2[12], m1[ 4]*m2[ 1] + m1[ 5]*m2[ 5] + m1[ 6]*m2[ 9] + m1[ 7]*m2[13], m1[ 4]*m2[ 2] + m1[ 5]*m2[ 6] + m1[ 6]*m2[10] + m1[ 7]*m2[14], m1[ 4]*m2[ 3] + m1[ 5]*m2[ 7] + m1[ 6]*m2[11] + m1[ 7]*m2[15],
|
||
m1[ 8]*m2[ 0] + m1[ 9]*m2[ 4] + m1[10]*m2[ 8] + m1[11]*m2[12], m1[ 8]*m2[ 1] + m1[ 9]*m2[ 5] + m1[10]*m2[ 9] + m1[11]*m2[13], m1[ 8]*m2[ 2] + m1[ 9]*m2[ 6] + m1[10]*m2[10] + m1[11]*m2[14], m1[ 8]*m2[ 3] + m1[ 9]*m2[ 7] + m1[10]*m2[11] + m1[11]*m2[15],
|
||
m1[12]*m2[ 0] + m1[13]*m2[ 4] + m1[14]*m2[ 8] + m1[15]*m2[12], m1[12]*m2[ 1] + m1[13]*m2[ 5] + m1[14]*m2[ 9] + m1[15]*m2[13], m1[12]*m2[ 2] + m1[13]*m2[ 6] + m1[14]*m2[10] + m1[15]*m2[14], m1[12]*m2[ 3] + m1[13]*m2[ 7] + m1[14]*m2[11] + m1[15]*m2[15]
|
||
});
|
||
}
|
||
|
||
#endif // MATRIX4_H
|