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matrix4.cpp
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matrix4.cpp
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#include "matrix4.h"
void galileo::c_matrix4::inverse()
{
t_float det = determinant();
c_matrix4 inverse;
inverse.data[0][0] = fdet3(
data[1][1], data[1][2], data[1][3],
data[2][1], data[2][2], data[2][3],
data[3][1], data[3][2], data[3][3]) / det;
inverse.data[0][1] = -fdet3(
data[0][1], data[0][2], data[0][3],
data[2][1], data[2][2], data[2][3],
data[3][1], data[3][2], data[3][3]) / det;
inverse.data[0][2] = fdet3(
data[0][1], data[0][2], data[0][3],
data[1][1], data[1][2], data[1][3],
data[3][1], data[3][2], data[3][3]) / det;
inverse.data[0][3] = -fdet3(
data[0][1], data[0][2], data[0][3],
data[1][1], data[1][2], data[1][3],
data[2][1], data[2][2], data[2][3]) / det;
inverse.data[1][0] = -fdet3(
data[1][0], data[1][2], data[1][3],
data[2][0], data[2][2], data[2][3],
data[3][0], data[3][2], data[3][3]) / det;
inverse.data[1][1] = fdet3(
data[0][0], data[0][2], data[0][3],
data[2][0], data[2][2], data[2][3],
data[3][0], data[3][2], data[3][3]) / det;
inverse.data[1][2] = -fdet3(
data[0][0], data[0][2], data[0][3],
data[1][0], data[1][2], data[1][3],
data[3][0], data[3][2], data[3][3]) / det;
inverse.data[1][3] = fdet3(
data[0][0], data[0][2], data[0][3],
data[1][0], data[1][2], data[1][3],
data[2][0], data[2][2], data[2][3]) / det;
inverse.data[2][0] = fdet3(
data[1][0], data[1][1], data[1][3],
data[2][0], data[2][1], data[2][3],
data[3][0], data[3][1], data[3][3]) / det;
inverse.data[2][1] = -fdet3(
data[0][0], data[0][1], data[0][3],
data[2][0], data[2][1], data[2][3],
data[3][0], data[3][1], data[3][3]) / det;
inverse.data[2][2] = fdet3(
data[0][0], data[0][1], data[0][3],
data[1][0], data[1][1], data[1][3],
data[3][0], data[3][1], data[3][3]) / det;
inverse.data[2][3] = -fdet3(
data[0][0], data[0][1], data[0][3],
data[1][0], data[1][1], data[1][3],
data[2][0], data[2][1], data[2][3]) / det;
inverse.data[3][0] = -fdet3(
data[1][0], data[1][1], data[1][2],
data[2][0], data[2][1], data[2][2],
data[3][0], data[3][1], data[3][2]) / det;
inverse.data[3][1] = fdet3(
data[0][0], data[0][1], data[0][2],
data[2][0], data[2][1], data[2][2],
data[3][0], data[3][1], data[3][2]) / det;
inverse.data[3][2] = -fdet3(
data[0][0], data[0][1], data[0][2],
data[1][0], data[1][1], data[1][2],
data[3][0], data[3][1], data[3][2]) / det;
inverse.data[3][3] = fdet3(
data[0][0], data[0][1], data[0][2],
data[1][0], data[1][1], data[1][2],
data[2][0], data[2][1], data[2][2]) / det;
*this = inverse;
}
void galileo::c_matrix4::transpose()
{
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
swap(data[i][j], data[j][i]);
}
t_float galileo::c_matrix4::determinant()
{
t_float det;
det = data[0][0] * fdet3(
data[1][1], data[1][2], data[1][3],
data[2][1], data[2][2], data[2][3],
data[3][1], data[3][2], data[3][3]);
det -= data[0][1] * fdet3(
data[1][0], data[1][2], data[1][3],
data[2][0], data[2][2], data[2][3],
data[3][0], data[3][2], data[3][3]);
det += data[0][2] * fdet3(
data[1][0], data[1][1], data[1][3],
data[2][0], data[2][1], data[2][3],
data[3][0], data[3][1], data[3][3]);
det -= data[0][3] * fdet3(
data[1][0], data[1][1], data[1][2],
data[2][0], data[2][1], data[2][2],
data[3][0], data[3][1], data[3][2]);
return det;
}
galileo::c_matrix4 galileo::rotate(const c_vector3 & axis, t_float radian)
{
galileo::c_matrix4 ret;
c_vector3 _axis = galileo::normalize(axis);
t_float x = _axis.x();
t_float y = _axis.y();
t_float z = _axis.z();
t_float cosine = cos(radian);
t_float sine = sin(radian);
t_float t = 1 - cosine;
ret.data[0][0] = t * x * x + cosine;
ret.data[0][1] = t * x * y - sine * y;
ret.data[0][2] = t * x * z + sine * y;
ret.data[0][3] = 0.0;
ret.data[1][0] = t * x * y + sine * z;
ret.data[1][1] = t * y * y + cosine;
ret.data[1][2] = t * y * z - sine * x;
ret.data[1][3] = 0.0;
ret.data[2][0] = t * x * z - sine * y;
ret.data[2][1] = t * y * z + sine * x;
ret.data[2][2] = t * z * z + cosine;
ret.data[2][3] = 0.0;
ret.data[3][0] = 0.0;
ret.data[3][1] = 0.0;
ret.data[3][2] = 0.0;
ret.data[3][3] = 1.0;
return ret;
}
galileo::c_matrix4 galileo::view(const c_vector3& eye, const c_vector3& lookat, const c_vector3& up)
{
galileo::c_matrix4 ret = galileo::c_matrix4::identity();
c_vector3 w = -(galileo::normalize(lookat));
c_vector3 u = galileo::normalize(cross(up, w));
c_vector3 v = cross(w, u);
ret.data[0][0] = u.x();
ret.data[0][1] = u.y();
ret.data[0][2] = u.z();
ret.data[1][0] = v.x();
ret.data[1][1] = v.y();
ret.data[1][2] = v.z();
ret.data[2][0] = w.x();
ret.data[2][1] = w.y();
ret.data[2][2] = w.z();
galileo::c_matrix4 move = galileo::c_matrix4::identity();
move.data[0][3] = -(eye.x());
move.data[1][3] = -(eye.y());
move.data[2][3] = -(eye.z());
ret = ret * move;
return ret;
}