--- /dev/null
+/*
+This file is part of the n3dmath2 library.
+
+Copyright (c) 2004, 2005 John Tsiombikas <nuclear@siggraph.org>
+
+The n3dmath2 library is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+The n3dmath2 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with the n3dmath2 library; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+*/
+
+#include <cstdio>
+#include <cmath>
+#include "n3dmath2_mat.hpp"
+
+using namespace std;
+
+// ----------- Matrix3x3 --------------
+
+Matrix3x3 Matrix3x3::identity_matrix = Matrix3x3(1, 0, 0, 0, 1, 0, 0, 0, 1);
+
+Matrix3x3::Matrix3x3() {
+ *this = identity_matrix;
+}
+
+Matrix3x3::Matrix3x3( scalar_t m11, scalar_t m12, scalar_t m13,
+ scalar_t m21, scalar_t m22, scalar_t m23,
+ scalar_t m31, scalar_t m32, scalar_t m33) {
+ m[0][0] = m11; m[0][1] = m12; m[0][2] = m13;
+ m[1][0] = m21; m[1][1] = m22; m[1][2] = m23;
+ m[2][0] = m31; m[2][1] = m32; m[2][2] = m33;
+ //memcpy(m, &m11, 9 * sizeof(scalar_t)); // args are adjacent in the stack
+}
+
+Matrix3x3::Matrix3x3(const Matrix4x4 &mat4x4) {
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ m[i][j] = mat4x4[i][j];
+ }
+ }
+}
+
+Matrix3x3 operator +(const Matrix3x3 &m1, const Matrix3x3 &m2) {
+ Matrix3x3 res;
+ const scalar_t *op1 = m1.m[0], *op2 = m2.m[0];
+ scalar_t *dest = res.m[0];
+
+ for(int i=0; i<9; i++) {
+ *dest++ = *op1++ + *op2++;
+ }
+ return res;
+}
+
+Matrix3x3 operator -(const Matrix3x3 &m1, const Matrix3x3 &m2) {
+ Matrix3x3 res;
+ const scalar_t *op1 = m1.m[0], *op2 = m2.m[0];
+ scalar_t *dest = res.m[0];
+
+ for(int i=0; i<9; i++) {
+ *dest++ = *op1++ - *op2++;
+ }
+ return res;
+}
+
+Matrix3x3 operator *(const Matrix3x3 &m1, const Matrix3x3 &m2) {
+ Matrix3x3 res;
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ res.m[i][j] = m1.m[i][0] * m2.m[0][j] + m1.m[i][1] * m2.m[1][j] + m1.m[i][2] * m2.m[2][j];
+ }
+ }
+ return res;
+}
+
+void operator +=(Matrix3x3 &m1, const Matrix3x3 &m2) {
+ scalar_t *op1 = m1.m[0];
+ const scalar_t *op2 = m2.m[0];
+
+ for(int i=0; i<9; i++) {
+ *op1++ += *op2++;
+ }
+}
+
+void operator -=(Matrix3x3 &m1, const Matrix3x3 &m2) {
+ scalar_t *op1 = m1.m[0];
+ const scalar_t *op2 = m2.m[0];
+
+ for(int i=0; i<9; i++) {
+ *op1++ -= *op2++;
+ }
+}
+
+void operator *=(Matrix3x3 &m1, const Matrix3x3 &m2) {
+ Matrix3x3 res;
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ res.m[i][j] = m1.m[i][0] * m2.m[0][j] + m1.m[i][1] * m2.m[1][j] + m1.m[i][2] * m2.m[2][j];
+ }
+ }
+ memcpy(m1.m, res.m, 9 * sizeof(scalar_t));
+}
+
+Matrix3x3 operator *(const Matrix3x3 &mat, scalar_t scalar) {
+ Matrix3x3 res;
+ const scalar_t *mptr = mat.m[0];
+ scalar_t *dptr = res.m[0];
+
+ for(int i=0; i<9; i++) {
+ *dptr++ = *mptr++ * scalar;
+ }
+ return res;
+}
+
+Matrix3x3 operator *(scalar_t scalar, const Matrix3x3 &mat) {
+ Matrix3x3 res;
+ const scalar_t *mptr = mat.m[0];
+ scalar_t *dptr = res.m[0];
+
+ for(int i=0; i<9; i++) {
+ *dptr++ = *mptr++ * scalar;
+ }
+ return res;
+}
+
+void operator *=(Matrix3x3 &mat, scalar_t scalar) {
+ scalar_t *mptr = mat.m[0];
+
+ for(int i=0; i<9; i++) {
+ *mptr++ *= scalar;
+ }
+}
+
+void Matrix3x3::translate(const Vector2 &trans) {
+ Matrix3x3 tmat(1, 0, trans.x, 0, 1, trans.y, 0, 0, 1);
+ *this *= tmat;
+}
+
+void Matrix3x3::set_translation(const Vector2 &trans) {
+ *this = Matrix3x3(1, 0, trans.x, 0, 1, trans.y, 0, 0, 1);
+}
+
+void Matrix3x3::rotate(scalar_t angle) {
+ scalar_t cos_a = cos(angle);
+ scalar_t sin_a = sin(angle);
+ Matrix3x3 rmat( cos_a, -sin_a, 0,
+ sin_a, cos_a, 0,
+ 0, 0, 1);
+ *this *= rmat;
+}
+
+void Matrix3x3::set_rotation(scalar_t angle) {
+ scalar_t cos_a = cos(angle);
+ scalar_t sin_a = sin(angle);
+ *this = Matrix3x3(cos_a, -sin_a, 0, sin_a, cos_a, 0, 0, 0, 1);
+}
+
+void Matrix3x3::rotate(const Vector3 &euler_angles) {
+ Matrix3x3 xrot, yrot, zrot;
+
+ xrot = Matrix3x3( 1, 0, 0,
+ 0, cos(euler_angles.x), -sin(euler_angles.x),
+ 0, sin(euler_angles.x), cos(euler_angles.x));
+
+ yrot = Matrix3x3( cos(euler_angles.y), 0, sin(euler_angles.y),
+ 0, 1, 0,
+ -sin(euler_angles.y), 0, cos(euler_angles.y));
+
+ zrot = Matrix3x3( cos(euler_angles.z), -sin(euler_angles.z), 0,
+ sin(euler_angles.z), cos(euler_angles.z), 0,
+ 0, 0, 1);
+
+ *this *= xrot * yrot * zrot;
+}
+
+void Matrix3x3::set_rotation(const Vector3 &euler_angles) {
+ Matrix3x3 xrot, yrot, zrot;
+
+ xrot = Matrix3x3( 1, 0, 0,
+ 0, cos(euler_angles.x), -sin(euler_angles.x),
+ 0, sin(euler_angles.x), cos(euler_angles.x));
+
+ yrot = Matrix3x3( cos(euler_angles.y), 0, sin(euler_angles.y),
+ 0, 1, 0,
+ -sin(euler_angles.y), 0, cos(euler_angles.y));
+
+ zrot = Matrix3x3( cos(euler_angles.z), -sin(euler_angles.z), 0,
+ sin(euler_angles.z), cos(euler_angles.z), 0,
+ 0, 0, 1);
+
+ *this = xrot * yrot * zrot;
+}
+
+void Matrix3x3::rotate(const Vector3 &axis, scalar_t angle) {
+ scalar_t sina = (scalar_t)sin(angle);
+ scalar_t cosa = (scalar_t)cos(angle);
+ scalar_t invcosa = 1-cosa;
+ scalar_t nxsq = axis.x * axis.x;
+ scalar_t nysq = axis.y * axis.y;
+ scalar_t nzsq = axis.z * axis.z;
+
+ Matrix3x3 xform;
+ xform.m[0][0] = nxsq + (1-nxsq) * cosa;
+ xform.m[0][1] = axis.x * axis.y * invcosa - axis.z * sina;
+ xform.m[0][2] = axis.x * axis.z * invcosa + axis.y * sina;
+ xform.m[1][0] = axis.x * axis.y * invcosa + axis.z * sina;
+ xform.m[1][1] = nysq + (1-nysq) * cosa;
+ xform.m[1][2] = axis.y * axis.z * invcosa - axis.x * sina;
+ xform.m[2][0] = axis.x * axis.z * invcosa - axis.y * sina;
+ xform.m[2][1] = axis.y * axis.z * invcosa + axis.x * sina;
+ xform.m[2][2] = nzsq + (1-nzsq) * cosa;
+
+ *this *= xform;
+}
+
+void Matrix3x3::set_rotation(const Vector3 &axis, scalar_t angle) {
+ scalar_t sina = (scalar_t)sin(angle);
+ scalar_t cosa = (scalar_t)cos(angle);
+ scalar_t invcosa = 1-cosa;
+ scalar_t nxsq = axis.x * axis.x;
+ scalar_t nysq = axis.y * axis.y;
+ scalar_t nzsq = axis.z * axis.z;
+
+ reset_identity();
+ m[0][0] = nxsq + (1-nxsq) * cosa;
+ m[0][1] = axis.x * axis.y * invcosa - axis.z * sina;
+ m[0][2] = axis.x * axis.z * invcosa + axis.y * sina;
+ m[1][0] = axis.x * axis.y * invcosa + axis.z * sina;
+ m[1][1] = nysq + (1-nysq) * cosa;
+ m[1][2] = axis.y * axis.z * invcosa - axis.x * sina;
+ m[2][0] = axis.x * axis.z * invcosa - axis.y * sina;
+ m[2][1] = axis.y * axis.z * invcosa + axis.x * sina;
+ m[2][2] = nzsq + (1-nzsq) * cosa;
+}
+
+void Matrix3x3::scale(const Vector3 &scale_vec) {
+ Matrix3x3 smat( scale_vec.x, 0, 0,
+ 0, scale_vec.y, 0,
+ 0, 0, scale_vec.z);
+ *this *= smat;
+}
+
+void Matrix3x3::set_scaling(const Vector3 &scale_vec) {
+ *this = Matrix3x3( scale_vec.x, 0, 0,
+ 0, scale_vec.y, 0,
+ 0, 0, scale_vec.z);
+}
+
+void Matrix3x3::set_column_vector(const Vector3 &vec, unsigned int col_index) {
+ m[0][col_index] = vec.x;
+ m[1][col_index] = vec.y;
+ m[2][col_index] = vec.z;
+}
+
+void Matrix3x3::set_row_vector(const Vector3 &vec, unsigned int row_index) {
+ m[row_index][0] = vec.x;
+ m[row_index][1] = vec.y;
+ m[row_index][2] = vec.z;
+}
+
+Vector3 Matrix3x3::get_column_vector(unsigned int col_index) const {
+ return Vector3(m[0][col_index], m[1][col_index], m[2][col_index]);
+}
+
+Vector3 Matrix3x3::get_row_vector(unsigned int row_index) const {
+ return Vector3(m[row_index][0], m[row_index][1], m[row_index][2]);
+}
+
+void Matrix3x3::transpose() {
+ Matrix3x3 tmp = *this;
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ m[i][j] = tmp[j][i];
+ }
+ }
+}
+
+Matrix3x3 Matrix3x3::transposed() const {
+ Matrix3x3 res;
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ res[i][j] = m[j][i];
+ }
+ }
+ return res;
+}
+
+scalar_t Matrix3x3::determinant() const {
+ return m[0][0] * (m[1][1]*m[2][2] - m[1][2]*m[2][1]) -
+ m[0][1] * (m[1][0]*m[2][2] - m[1][2]*m[2][0]) +
+ m[0][2] * (m[1][0]*m[2][1] - m[1][1]*m[2][0]);
+}
+
+Matrix3x3 Matrix3x3::inverse() const {
+ // TODO: implement 3x3 inverse
+ return *this;
+}
+
+ostream &operator <<(ostream &out, const Matrix3x3 &mat) {
+ for(int i=0; i<3; i++) {
+ char str[100];
+ sprintf(str, "[ %12.5f %12.5f %12.5f ]\n", (float)mat.m[i][0], (float)mat.m[i][1], (float)mat.m[i][2]);
+ out << str;
+ }
+ return out;
+}
+
+
+
+////////////////////// Matrix4x4 implementation ///////////////////////
+
+Matrix4x4 Matrix4x4::identity_matrix = Matrix4x4(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+
+Matrix4x4::Matrix4x4() {
+ *this = identity_matrix;
+}
+
+Matrix4x4::Matrix4x4( scalar_t m11, scalar_t m12, scalar_t m13, scalar_t m14,
+ scalar_t m21, scalar_t m22, scalar_t m23, scalar_t m24,
+ scalar_t m31, scalar_t m32, scalar_t m33, scalar_t m34,
+ scalar_t m41, scalar_t m42, scalar_t m43, scalar_t m44) {
+ m[0][0] = m11; m[0][1] = m12; m[0][2] = m13; m[0][3] = m14;
+ m[1][0] = m21; m[1][1] = m22; m[1][2] = m23; m[1][3] = m24;
+ m[2][0] = m31; m[2][1] = m32; m[2][2] = m33; m[2][3] = m34;
+ m[3][0] = m41; m[3][1] = m42; m[3][2] = m43; m[3][3] = m44;
+ //memcpy(m, &m11, 16 * sizeof(scalar_t)); // args are adjacent in the stack
+
+ glmatrix = 0;
+}
+
+Matrix4x4::Matrix4x4(const Matrix3x3 &mat3x3) {
+ reset_identity();
+ for(int i=0; i<3; i++) {
+ for(int j=0; j<3; j++) {
+ m[i][j] = mat3x3[i][j];
+ }
+ }
+
+ glmatrix = 0;
+}
+
+Matrix4x4::~Matrix4x4() {
+ if(glmatrix) delete [] glmatrix;
+}
+
+Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2) {
+ Matrix4x4 res;
+ const scalar_t *op1 = m1.m[0], *op2 = m2.m[0];
+ scalar_t *dest = res.m[0];
+
+ for(int i=0; i<16; i++) {
+ *dest++ = *op1++ + *op2++;
+ }
+ return res;
+}
+
+Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2) {
+ Matrix4x4 res;
+ const scalar_t *op1 = m1.m[0], *op2 = m2.m[0];
+ scalar_t *dest = res.m[0];
+
+ for(int i=0; i<16; i++) {
+ *dest++ = *op1++ - *op2++;
+ }
+ return res;
+}
+
+Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2) {
+ Matrix4x4 res;
+
+ for(int i=0; i<4; i++) {
+ for(int j=0; j<4; j++) {
+ res.m[i][j] = m1.m[i][0] * m2.m[0][j] + m1.m[i][1] * m2.m[1][j] + m1.m[i][2] * m2.m[2][j] + m1.m[i][3] * m2.m[3][j];
+ }
+ }
+
+ return res;
+}
+
+void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2) {
+ scalar_t *op1 = m1.m[0];
+ const scalar_t *op2 = m2.m[0];
+
+ for(int i=0; i<16; i++) {
+ *op1++ += *op2++;
+ }
+}
+
+void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2) {
+ scalar_t *op1 = m1.m[0];
+ const scalar_t *op2 = m2.m[0];
+
+ for(int i=0; i<16; i++) {
+ *op1++ -= *op2++;
+ }
+}
+
+void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2) {
+ Matrix4x4 res;
+
+ for(int i=0; i<4; i++) {
+ for(int j=0; j<4; j++) {
+ res.m[i][j] = m1.m[i][0] * m2.m[0][j] + m1.m[i][1] * m2.m[1][j] + m1.m[i][2] * m2.m[2][j] + m1.m[i][3] * m2.m[3][j];
+ }
+ }
+
+ memcpy(m1.m, res.m, 16 * sizeof(scalar_t));
+}
+
+Matrix4x4 operator *(const Matrix4x4 &mat, scalar_t scalar) {
+ Matrix4x4 res;
+ const scalar_t *mptr = mat.m[0];
+ scalar_t *dptr = res.m[0];
+
+ for(int i=0; i<16; i++) {
+ *dptr++ = *mptr++ * scalar;
+ }
+ return res;
+}
+
+Matrix4x4 operator *(scalar_t scalar, const Matrix4x4 &mat) {
+ Matrix4x4 res;
+ const scalar_t *mptr = mat.m[0];
+ scalar_t *dptr = res.m[0];
+
+ for(int i=0; i<16; i++) {
+ *dptr++ = *mptr++ * scalar;
+ }
+ return res;
+}
+
+void operator *=(Matrix4x4 &mat, scalar_t scalar) {
+ scalar_t *mptr = mat.m[0];
+
+ for(int i=0; i<16; i++) {
+ *mptr++ *= scalar;
+ }
+}
+
+void Matrix4x4::translate(const Vector3 &trans) {
+ Matrix4x4 tmat(1, 0, 0, trans.x, 0, 1, 0, trans.y, 0, 0, 1, trans.z, 0, 0, 0, 1);
+ *this *= tmat;
+}
+
+void Matrix4x4::set_translation(const Vector3 &trans) {
+ *this = Matrix4x4(1, 0, 0, trans.x, 0, 1, 0, trans.y, 0, 0, 1, trans.z, 0, 0, 0, 1);
+}
+
+void Matrix4x4::rotate(const Vector3 &euler_angles) {
+ Matrix3x3 xrot, yrot, zrot;
+
+ xrot = Matrix3x3( 1, 0, 0,
+ 0, cos(euler_angles.x), -sin(euler_angles.x),
+ 0, sin(euler_angles.x), cos(euler_angles.x));
+
+ yrot = Matrix3x3( cos(euler_angles.y), 0, sin(euler_angles.y),
+ 0, 1, 0,
+ -sin(euler_angles.y), 0, cos(euler_angles.y));
+
+ zrot = Matrix3x3( cos(euler_angles.z), -sin(euler_angles.z), 0,
+ sin(euler_angles.z), cos(euler_angles.z), 0,
+ 0, 0, 1);
+
+ *this *= Matrix4x4(xrot * yrot * zrot);
+}
+
+void Matrix4x4::set_rotation(const Vector3 &euler_angles) {
+ Matrix3x3 xrot, yrot, zrot;
+
+ xrot = Matrix3x3( 1, 0, 0,
+ 0, cos(euler_angles.x), -sin(euler_angles.x),
+ 0, sin(euler_angles.x), cos(euler_angles.x));
+
+ yrot = Matrix3x3( cos(euler_angles.y), 0, sin(euler_angles.y),
+ 0, 1, 0,
+ -sin(euler_angles.y), 0, cos(euler_angles.y));
+
+ zrot = Matrix3x3( cos(euler_angles.z), -sin(euler_angles.z), 0,
+ sin(euler_angles.z), cos(euler_angles.z), 0,
+ 0, 0, 1);
+
+ *this = Matrix4x4(xrot * yrot * zrot);
+}
+
+void Matrix4x4::rotate(const Vector3 &axis, scalar_t angle) {
+ scalar_t sina = (scalar_t)sin(angle);
+ scalar_t cosa = (scalar_t)cos(angle);
+ scalar_t invcosa = 1-cosa;
+ scalar_t nxsq = axis.x * axis.x;
+ scalar_t nysq = axis.y * axis.y;
+ scalar_t nzsq = axis.z * axis.z;
+
+ Matrix3x3 xform;
+ xform[0][0] = nxsq + (1-nxsq) * cosa;
+ xform[0][1] = axis.x * axis.y * invcosa - axis.z * sina;
+ xform[0][2] = axis.x * axis.z * invcosa + axis.y * sina;
+ xform[1][0] = axis.x * axis.y * invcosa + axis.z * sina;
+ xform[1][1] = nysq + (1-nysq) * cosa;
+ xform[1][2] = axis.y * axis.z * invcosa - axis.x * sina;
+ xform[2][0] = axis.x * axis.z * invcosa - axis.y * sina;
+ xform[2][1] = axis.y * axis.z * invcosa + axis.x * sina;
+ xform[2][2] = nzsq + (1-nzsq) * cosa;
+
+ *this *= Matrix4x4(xform);
+}
+
+void Matrix4x4::set_rotation(const Vector3 &axis, scalar_t angle) {
+ scalar_t sina = (scalar_t)sin(angle);
+ scalar_t cosa = (scalar_t)cos(angle);
+ scalar_t invcosa = 1-cosa;
+ scalar_t nxsq = axis.x * axis.x;
+ scalar_t nysq = axis.y * axis.y;
+ scalar_t nzsq = axis.z * axis.z;
+
+ reset_identity();
+ m[0][0] = nxsq + (1-nxsq) * cosa;
+ m[0][1] = axis.x * axis.y * invcosa - axis.z * sina;
+ m[0][2] = axis.x * axis.z * invcosa + axis.y * sina;
+ m[1][0] = axis.x * axis.y * invcosa + axis.z * sina;
+ m[1][1] = nysq + (1-nysq) * cosa;
+ m[1][2] = axis.y * axis.z * invcosa - axis.x * sina;
+ m[2][0] = axis.x * axis.z * invcosa - axis.y * sina;
+ m[2][1] = axis.y * axis.z * invcosa + axis.x * sina;
+ m[2][2] = nzsq + (1-nzsq) * cosa;
+}
+
+void Matrix4x4::scale(const Vector4 &scale_vec) {
+ Matrix4x4 smat( scale_vec.x, 0, 0, 0,
+ 0, scale_vec.y, 0, 0,
+ 0, 0, scale_vec.z, 0,
+ 0, 0, 0, scale_vec.w);
+ *this *= smat;
+}
+
+void Matrix4x4::set_scaling(const Vector4 &scale_vec) {
+ *this = Matrix4x4( scale_vec.x, 0, 0, 0,
+ 0, scale_vec.y, 0, 0,
+ 0, 0, scale_vec.z, 0,
+ 0, 0, 0, scale_vec.w);
+}
+
+void Matrix4x4::set_column_vector(const Vector4 &vec, unsigned int col_index) {
+ m[0][col_index] = vec.x;
+ m[1][col_index] = vec.y;
+ m[2][col_index] = vec.z;
+ m[3][col_index] = vec.w;
+}
+
+void Matrix4x4::set_row_vector(const Vector4 &vec, unsigned int row_index) {
+ m[row_index][0] = vec.x;
+ m[row_index][1] = vec.y;
+ m[row_index][2] = vec.z;
+ m[row_index][3] = vec.w;
+}
+
+Vector4 Matrix4x4::get_column_vector(unsigned int col_index) const {
+ return Vector4(m[0][col_index], m[1][col_index], m[2][col_index], m[3][col_index]);
+}
+
+Vector4 Matrix4x4::get_row_vector(unsigned int row_index) const {
+ return Vector4(m[row_index][0], m[row_index][1], m[row_index][2], m[row_index][3]);
+}
+
+void Matrix4x4::transpose() {
+ Matrix4x4 tmp = *this;
+ for(int i=0; i<4; i++) {
+ for(int j=0; j<4; j++) {
+ m[i][j] = tmp[j][i];
+ }
+ }
+}
+
+Matrix4x4 Matrix4x4::transposed() const {
+ Matrix4x4 res;
+ for(int i=0; i<4; i++) {
+ for(int j=0; j<4; j++) {
+ res[i][j] = m[j][i];
+ }
+ }
+ return res;
+}
+
+scalar_t Matrix4x4::determinant() const {
+
+ scalar_t det11 = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
+ (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
+
+ scalar_t det12 = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
+
+ scalar_t det13 = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
+ (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+
+ scalar_t det14 = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
+ (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
+ (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+
+ return m[0][0] * det11 - m[0][1] * det12 + m[0][2] * det13 - m[0][3] * det14;
+}
+
+
+Matrix4x4 Matrix4x4::adjoint() const {
+
+ Matrix4x4 coef;
+
+ coef.m[0][0] = (m[1][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[1][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
+ (m[1][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
+ coef.m[0][1] = (m[1][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[1][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[1][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
+ coef.m[0][2] = (m[1][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
+ (m[1][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[1][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+ coef.m[0][3] = (m[1][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
+ (m[1][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
+ (m[1][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+
+ coef.m[1][0] = (m[0][1] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[0][2] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) +
+ (m[0][3] * (m[2][1] * m[3][2] - m[3][1] * m[2][2]));
+ coef.m[1][1] = (m[0][0] * (m[2][2] * m[3][3] - m[3][2] * m[2][3])) -
+ (m[0][2] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[0][3] * (m[2][0] * m[3][2] - m[3][0] * m[2][2]));
+ coef.m[1][2] = (m[0][0] * (m[2][1] * m[3][3] - m[3][1] * m[2][3])) -
+ (m[0][1] * (m[2][0] * m[3][3] - m[3][0] * m[2][3])) +
+ (m[0][3] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+ coef.m[1][3] = (m[0][0] * (m[2][1] * m[3][2] - m[3][1] * m[2][2])) -
+ (m[0][1] * (m[2][0] * m[3][2] - m[3][0] * m[2][2])) +
+ (m[0][2] * (m[2][0] * m[3][1] - m[3][0] * m[2][1]));
+
+ coef.m[2][0] = (m[0][1] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
+ (m[0][2] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) +
+ (m[0][3] * (m[1][1] * m[3][2] - m[3][1] * m[1][2]));
+ coef.m[2][1] = (m[0][0] * (m[1][2] * m[3][3] - m[3][2] * m[1][3])) -
+ (m[0][2] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
+ (m[0][3] * (m[1][0] * m[3][2] - m[3][0] * m[1][2]));
+ coef.m[2][2] = (m[0][0] * (m[1][1] * m[3][3] - m[3][1] * m[1][3])) -
+ (m[0][1] * (m[1][0] * m[3][3] - m[3][0] * m[1][3])) +
+ (m[0][3] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
+ coef.m[2][3] = (m[0][0] * (m[1][1] * m[3][2] - m[3][1] * m[1][2])) -
+ (m[0][1] * (m[1][0] * m[3][2] - m[3][0] * m[1][2])) +
+ (m[0][2] * (m[1][0] * m[3][1] - m[3][0] * m[1][1]));
+
+ coef.m[3][0] = (m[0][1] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
+ (m[0][2] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) +
+ (m[0][3] * (m[1][1] * m[2][2] - m[2][1] * m[1][2]));
+ coef.m[3][1] = (m[0][0] * (m[1][2] * m[2][3] - m[2][2] * m[1][3])) -
+ (m[0][2] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
+ (m[0][3] * (m[1][0] * m[2][2] - m[2][0] * m[1][2]));
+ coef.m[3][2] = (m[0][0] * (m[1][1] * m[2][3] - m[2][1] * m[1][3])) -
+ (m[0][1] * (m[1][0] * m[2][3] - m[2][0] * m[1][3])) +
+ (m[0][3] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
+ coef.m[3][3] = (m[0][0] * (m[1][1] * m[2][2] - m[2][1] * m[1][2])) -
+ (m[0][1] * (m[1][0] * m[2][2] - m[2][0] * m[1][2])) +
+ (m[0][2] * (m[1][0] * m[2][1] - m[2][0] * m[1][1]));
+
+ coef.transpose();
+
+ for(int i=0; i<4; i++) {
+ for(int j=0; j<4; j++) {
+ coef.m[i][j] = j%2 ? -coef.m[i][j] : coef.m[i][j];
+ if(i%2) coef.m[i][j] = -coef.m[i][j];
+ }
+ }
+
+ return coef;
+}
+
+Matrix4x4 Matrix4x4::inverse() const {
+
+ Matrix4x4 AdjMat = adjoint();
+
+ return AdjMat * (1.0f / determinant());
+}
+
+const scalar_t *Matrix4x4::opengl_matrix() const {
+ return (const scalar_t*)m;
+}
+
+ostream &operator <<(ostream &out, const Matrix4x4 &mat) {
+ for(int i=0; i<4; i++) {
+ char str[100];
+ sprintf(str, "[ %12.5f %12.5f %12.5f %12.5f ]\n", (float)mat.m[i][0], (float)mat.m[i][1], (float)mat.m[i][2], (float)mat.m[i][3]);
+ out << str;
+ }
+ return out;
+}
projects / summerhack / blobdiff