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Matrix4.cpp
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#include "Matrix4.h"
#include "Vector3f.h"
#include "Quaternion.h"
// Enable constants like PI
#define _USE_MATH_DEFINES
#include <cmath>
#include <cstring>
#include <cstdlib>
#include <iostream>
using namespace std;
Matrix4::Matrix4()
{
val[M00] = 1.f; val[M01] = 0.f; val[M02] = 0.f; val[M03] = 0.f;
val[M10] = 0.f; val[M11] = 1.f; val[M12] = 0.f; val[M13] = 0.f;
val[M20] = 0.f; val[M21] = 0.f; val[M22] = 1.f; val[M23] = 0.f;
val[M30] = 0.f; val[M31] = 0.f; val[M32] = 0.f; val[M33] = 1.f;
}
Matrix4::Matrix4(const Matrix4 &other)
{
memcpy(val, other.val, 16*sizeof(float));
}
Matrix4::Matrix4(Matrix4 &&other)
{
memcpy(val, other.val, 16*sizeof(float));
}
Matrix4& Matrix4::set(const Matrix4& other)
{
memcpy(val, other.val, 16*sizeof(float));
return *this;
}
const float* Matrix4::asArray() const
{
return val;
}
Matrix4& Matrix4::identity()
{
val[M00] = 1.0f; val[M01] = 0.0f; val[M02] = 0.0f; val[M03] = 0.0f;
val[M10] = 0.0f; val[M11] = 1.0f; val[M12] = 0.0f; val[M13] = 0.0f;
val[M20] = 0.0f; val[M21] = 0.0f; val[M22] = 1.0f; val[M23] = 0.0f;
val[M30] = 0.0f; val[M31] = 0.0f; val[M32] = 0.0f; val[M33] = 1.0f;
return *this;
}
Matrix4& Matrix4::set (const Quaternion &quat)
{
return this->set(quat.x, quat.y, quat.z, quat.w);
}
Matrix4& Matrix4::set (const float &quaternionX, const float &quaternionY, const float &quaternionZ, const float &quaternionW)
{
return this->set(0.0f, 0.0f, 0.0f, quaternionX, quaternionY, quaternionZ, quaternionW);
}
Matrix4& Matrix4::set ( const float &translationX, const float &translationY, const float &translationZ
, const float &quaternionX, const float &quaternionY, const float &quaternionZ, const float &quaternionW)
{
const float xs = quaternionX * 2.0f, ys = quaternionY * 2.0f, zs = quaternionZ * 2.0f;
const float wx = quaternionW * xs , wy = quaternionW * ys , wz = quaternionW * zs;
const float xx = quaternionX * xs , xy = quaternionX * ys , xz = quaternionX * zs;
const float yy = quaternionY * ys , yz = quaternionY * zs , zz = quaternionZ * zs;
val[M00] = (1.0f - (yy + zz));
val[M01] = (xy - wz);
val[M02] = (xz + wy);
val[M03] = translationX;
val[M10] = (xy + wz);
val[M11] = (1.0f - (xx + zz));
val[M12] = (yz - wx);
val[M13] = translationY;
val[M20] = (xz - wy);
val[M21] = (yz + wx);
val[M22] = (1.0f - (xx + yy));
val[M23] = translationZ;
val[M30] = 0.0f;
val[M31] = 0.0f;
val[M32] = 0.0f;
val[M33] = 1.0f;
return *this;
}
Matrix4& Matrix4::setToProjection(float near, float far, float fovy, float aspectRatio)
{
identity();
float l_fd = (float)(1.0f / tan((fovy * (M_PI / 180.0f)) / 2.0f));
float l_a1 = (far + near) / (near - far);
float l_a2 = (2.0f * far * near) / (near - far);
val[M00] = l_fd / aspectRatio;
val[M10] = 0.0f;
val[M20] = 0.0f;
val[M30] = 0.0f;
val[M01] = 0.0f;
val[M11] = l_fd;
val[M21] = 0.0f;
val[M31] = 0.0f;
val[M02] = 0.0f;
val[M12] = 0.0f;
val[M22] = l_a1;
val[M32] = -1.0f;
val[M03] = 0.0f;
val[M13] = 0.0f;
val[M23] = l_a2;
val[M33] = 0.0f;
return *this;
}
Matrix4& Matrix4::setToTranslation (const Vector3f &v)
{
identity();
val[M03] = v.x;
val[M13] = v.y;
val[M23] = v.z;
return *this;
}
Matrix4& Matrix4::setToTranslation (float x, float y, float z)
{
identity();
val[M03] = x;
val[M13] = y;
val[M23] = z;
return *this;
}
Matrix4& Matrix4::setToRotation (const float &axisX, const float &axisY, const float &axisZ, const float °rees)
{
if (degrees == 0.0f) return identity();
Quaternion quat;
return set(quat.setFromAxis(axisX, axisY, axisZ, degrees));
}
Matrix4& Matrix4::setToRotation (const Vector3f &axis, const float °rees)
{
if (degrees == 0.0f) return identity();
Quaternion quat;
return set(quat.set(axis, degrees));
}
Matrix4& Matrix4::setToLookAt (Vector3f direction, Vector3f up)
{
Vector3f l_vez(direction);
l_vez.normalize();
Vector3f l_vex(direction);
l_vex.normalize().cross(up).normalize();
Vector3f l_vey(l_vex);
l_vey.cross(l_vez).normalize();
identity();
val[M00] = l_vex.x;
val[M01] = l_vex.y;
val[M02] = l_vex.z;
val[M10] = l_vey.x;
val[M11] = l_vey.y;
val[M12] = l_vey.z;
val[M20] = -l_vez.x;
val[M21] = -l_vez.y;
val[M22] = -l_vez.z;
return *this;
}
Matrix4& Matrix4::setToLookAt (Vector3f position, Vector3f target, Vector3f up)
{
Vector3f tmpVec(target);
tmpVec.sub(position);
setToLookAt(tmpVec, up);
Matrix4 tmpMat;
tmpMat.setToTranslation(-position.x, -position.y, -position.z);
this->mul(tmpMat);
return *this;
}
Matrix4& Matrix4::inv()
{
float l_det = val[M30] * val[M21] * val[M12] * val[M03] - val[M20] * val[M31] * val[M12] * val[M03] - val[M30] * val[M11]
* val[M22] * val[M03] + val[M10] * val[M31] * val[M22] * val[M03] + val[M20] * val[M11] * val[M32] * val[M03] - val[M10]
* val[M21] * val[M32] * val[M03] - val[M30] * val[M21] * val[M02] * val[M13] + val[M20] * val[M31] * val[M02] * val[M13]
+ val[M30] * val[M01] * val[M22] * val[M13] - val[M00] * val[M31] * val[M22] * val[M13] - val[M20] * val[M01] * val[M32]
* val[M13] + val[M00] * val[M21] * val[M32] * val[M13] + val[M30] * val[M11] * val[M02] * val[M23] - val[M10] * val[M31]
* val[M02] * val[M23] - val[M30] * val[M01] * val[M12] * val[M23] + val[M00] * val[M31] * val[M12] * val[M23] + val[M10]
* val[M01] * val[M32] * val[M23] - val[M00] * val[M11] * val[M32] * val[M23] - val[M20] * val[M11] * val[M02] * val[M33]
+ val[M10] * val[M21] * val[M02] * val[M33] + val[M20] * val[M01] * val[M12] * val[M33] - val[M00] * val[M21] * val[M12]
* val[M33] - val[M10] * val[M01] * val[M22] * val[M33] + val[M00] * val[M11] * val[M22] * val[M33];
if (l_det == 0.0f) {
cout << "Non-invertible matrix inverted!" << endl;
exit(EXIT_FAILURE);
}
float inv_det = 1.0f / l_det;
float tmp[16];
tmp[M00] = val[M12] * val[M23] * val[M31] - val[M13] * val[M22] * val[M31] + val[M13] * val[M21] * val[M32] - val[M11]
* val[M23] * val[M32] - val[M12] * val[M21] * val[M33] + val[M11] * val[M22] * val[M33];
tmp[M01] = val[M03] * val[M22] * val[M31] - val[M02] * val[M23] * val[M31] - val[M03] * val[M21] * val[M32] + val[M01]
* val[M23] * val[M32] + val[M02] * val[M21] * val[M33] - val[M01] * val[M22] * val[M33];
tmp[M02] = val[M02] * val[M13] * val[M31] - val[M03] * val[M12] * val[M31] + val[M03] * val[M11] * val[M32] - val[M01]
* val[M13] * val[M32] - val[M02] * val[M11] * val[M33] + val[M01] * val[M12] * val[M33];
tmp[M03] = val[M03] * val[M12] * val[M21] - val[M02] * val[M13] * val[M21] - val[M03] * val[M11] * val[M22] + val[M01]
* val[M13] * val[M22] + val[M02] * val[M11] * val[M23] - val[M01] * val[M12] * val[M23];
tmp[M10] = val[M13] * val[M22] * val[M30] - val[M12] * val[M23] * val[M30] - val[M13] * val[M20] * val[M32] + val[M10]
* val[M23] * val[M32] + val[M12] * val[M20] * val[M33] - val[M10] * val[M22] * val[M33];
tmp[M11] = val[M02] * val[M23] * val[M30] - val[M03] * val[M22] * val[M30] + val[M03] * val[M20] * val[M32] - val[M00]
* val[M23] * val[M32] - val[M02] * val[M20] * val[M33] + val[M00] * val[M22] * val[M33];
tmp[M12] = val[M03] * val[M12] * val[M30] - val[M02] * val[M13] * val[M30] - val[M03] * val[M10] * val[M32] + val[M00]
* val[M13] * val[M32] + val[M02] * val[M10] * val[M33] - val[M00] * val[M12] * val[M33];
tmp[M13] = val[M02] * val[M13] * val[M20] - val[M03] * val[M12] * val[M20] + val[M03] * val[M10] * val[M22] - val[M00]
* val[M13] * val[M22] - val[M02] * val[M10] * val[M23] + val[M00] * val[M12] * val[M23];
tmp[M20] = val[M11] * val[M23] * val[M30] - val[M13] * val[M21] * val[M30] + val[M13] * val[M20] * val[M31] - val[M10]
* val[M23] * val[M31] - val[M11] * val[M20] * val[M33] + val[M10] * val[M21] * val[M33];
tmp[M21] = val[M03] * val[M21] * val[M30] - val[M01] * val[M23] * val[M30] - val[M03] * val[M20] * val[M31] + val[M00]
* val[M23] * val[M31] + val[M01] * val[M20] * val[M33] - val[M00] * val[M21] * val[M33];
tmp[M22] = val[M01] * val[M13] * val[M30] - val[M03] * val[M11] * val[M30] + val[M03] * val[M10] * val[M31] - val[M00]
* val[M13] * val[M31] - val[M01] * val[M10] * val[M33] + val[M00] * val[M11] * val[M33];
tmp[M23] = val[M03] * val[M11] * val[M20] - val[M01] * val[M13] * val[M20] - val[M03] * val[M10] * val[M21] + val[M00]
* val[M13] * val[M21] + val[M01] * val[M10] * val[M23] - val[M00] * val[M11] * val[M23];
tmp[M30] = val[M12] * val[M21] * val[M30] - val[M11] * val[M22] * val[M30] - val[M12] * val[M20] * val[M31] + val[M10]
* val[M22] * val[M31] + val[M11] * val[M20] * val[M32] - val[M10] * val[M21] * val[M32];
tmp[M31] = val[M01] * val[M22] * val[M30] - val[M02] * val[M21] * val[M30] + val[M02] * val[M20] * val[M31] - val[M00]
* val[M22] * val[M31] - val[M01] * val[M20] * val[M32] + val[M00] * val[M21] * val[M32];
tmp[M32] = val[M02] * val[M11] * val[M30] - val[M01] * val[M12] * val[M30] - val[M02] * val[M10] * val[M31] + val[M00]
* val[M12] * val[M31] + val[M01] * val[M10] * val[M32] - val[M00] * val[M11] * val[M32];
tmp[M33] = val[M01] * val[M12] * val[M20] - val[M02] * val[M11] * val[M20] + val[M02] * val[M10] * val[M21] - val[M00]
* val[M12] * val[M21] - val[M01] * val[M10] * val[M22] + val[M00] * val[M11] * val[M22];
val[M00] = tmp[M00] * inv_det;
val[M01] = tmp[M01] * inv_det;
val[M02] = tmp[M02] * inv_det;
val[M03] = tmp[M03] * inv_det;
val[M10] = tmp[M10] * inv_det;
val[M11] = tmp[M11] * inv_det;
val[M12] = tmp[M12] * inv_det;
val[M13] = tmp[M13] * inv_det;
val[M20] = tmp[M20] * inv_det;
val[M21] = tmp[M21] * inv_det;
val[M22] = tmp[M22] * inv_det;
val[M23] = tmp[M23] * inv_det;
val[M30] = tmp[M30] * inv_det;
val[M31] = tmp[M31] * inv_det;
val[M32] = tmp[M32] * inv_det;
val[M33] = tmp[M33] * inv_det;
return *this;
}
Matrix4& Matrix4::add(const Matrix4 &other)
{
*this += other;
return *this;
}
Matrix4& Matrix4::mul(const Matrix4 &other)
{
*this *= other;
return *this;
}
Matrix4& Matrix4::operator+=(const Matrix4 &other)
{
const float *otherVal = other.val;
val[M00] += otherVal[M00];
val[M01] += otherVal[M01];
val[M02] += otherVal[M02];
val[M03] += otherVal[M03];
val[M10] += otherVal[M10];
val[M11] += otherVal[M11];
val[M12] += otherVal[M12];
val[M13] += otherVal[M13];
val[M20] += otherVal[M20];
val[M21] += otherVal[M21];
val[M22] += otherVal[M22];
val[M23] += otherVal[M23];
val[M30] += otherVal[M30];
val[M31] += otherVal[M31];
val[M32] += otherVal[M32];
val[M33] += otherVal[M33];
return *this;
}
Matrix4& Matrix4::operator*=(const Matrix4 &other)
{
float tmpVal[16];
const float *otherVal = other.val;
memcpy(tmpVal, val, 16*sizeof(float));
val[M00] = tmpVal[M00]*otherVal[M00] + tmpVal[M01]*otherVal[M10] + tmpVal[M02]*otherVal[M20] + tmpVal[M03]*otherVal[M30];
val[M01] = tmpVal[M00]*otherVal[M01] + tmpVal[M01]*otherVal[M11] + tmpVal[M02]*otherVal[M21] + tmpVal[M03]*otherVal[M31];
val[M02] = tmpVal[M00]*otherVal[M02] + tmpVal[M01]*otherVal[M12] + tmpVal[M02]*otherVal[M22] + tmpVal[M03]*otherVal[M32];
val[M03] = tmpVal[M00]*otherVal[M03] + tmpVal[M01]*otherVal[M13] + tmpVal[M02]*otherVal[M23] + tmpVal[M03]*otherVal[M33];
val[M10] = tmpVal[M10]*otherVal[M00] + tmpVal[M11]*otherVal[M10] + tmpVal[M12]*otherVal[M20] + tmpVal[M13]*otherVal[M30];
val[M11] = tmpVal[M10]*otherVal[M01] + tmpVal[M11]*otherVal[M11] + tmpVal[M12]*otherVal[M21] + tmpVal[M13]*otherVal[M31];
val[M12] = tmpVal[M10]*otherVal[M02] + tmpVal[M11]*otherVal[M12] + tmpVal[M12]*otherVal[M22] + tmpVal[M13]*otherVal[M32];
val[M13] = tmpVal[M10]*otherVal[M03] + tmpVal[M11]*otherVal[M13] + tmpVal[M12]*otherVal[M23] + tmpVal[M13]*otherVal[M33];
val[M20] = tmpVal[M20]*otherVal[M00] + tmpVal[M21]*otherVal[M10] + tmpVal[M22]*otherVal[M20] + tmpVal[M23]*otherVal[M30];
val[M21] = tmpVal[M20]*otherVal[M01] + tmpVal[M21]*otherVal[M11] + tmpVal[M22]*otherVal[M21] + tmpVal[M23]*otherVal[M31];
val[M22] = tmpVal[M20]*otherVal[M02] + tmpVal[M21]*otherVal[M12] + tmpVal[M22]*otherVal[M22] + tmpVal[M23]*otherVal[M32];
val[M23] = tmpVal[M20]*otherVal[M03] + tmpVal[M21]*otherVal[M13] + tmpVal[M22]*otherVal[M23] + tmpVal[M23]*otherVal[M33];
val[M30] = tmpVal[M30]*otherVal[M00] + tmpVal[M31]*otherVal[M10] + tmpVal[M32]*otherVal[M20] + tmpVal[M33]*otherVal[M30];
val[M31] = tmpVal[M30]*otherVal[M01] + tmpVal[M31]*otherVal[M11] + tmpVal[M32]*otherVal[M21] + tmpVal[M33]*otherVal[M31];
val[M32] = tmpVal[M30]*otherVal[M02] + tmpVal[M31]*otherVal[M12] + tmpVal[M32]*otherVal[M22] + tmpVal[M33]*otherVal[M32];
val[M33] = tmpVal[M30]*otherVal[M03] + tmpVal[M31]*otherVal[M13] + tmpVal[M32]*otherVal[M23] + tmpVal[M33]*otherVal[M33];
return *this;
}