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Dependencies: BLE_API mbed-dev-bin nRF51822
Fork of microbit-dal by
source/types/Matrix4.cpp@1:8aa5cdb4ab67, 2016-04-07 (annotated)
- Committer:
- Jonathan Austin
- Date:
- Thu Apr 07 01:33:22 2016 +0100
- Revision:
- 1:8aa5cdb4ab67
Synchronized with git rev 55cb9199
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Jonathan Austin |
1:8aa5cdb4ab67 | 1 | /* |
Jonathan Austin |
1:8aa5cdb4ab67 | 2 | The MIT License (MIT) |
Jonathan Austin |
1:8aa5cdb4ab67 | 3 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 4 | Copyright (c) 2016 British Broadcasting Corporation. |
Jonathan Austin |
1:8aa5cdb4ab67 | 5 | This software is provided by Lancaster University by arrangement with the BBC. |
Jonathan Austin |
1:8aa5cdb4ab67 | 6 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 7 | Permission is hereby granted, free of charge, to any person obtaining a |
Jonathan Austin |
1:8aa5cdb4ab67 | 8 | copy of this software and associated documentation files (the "Software"), |
Jonathan Austin |
1:8aa5cdb4ab67 | 9 | to deal in the Software without restriction, including without limitation |
Jonathan Austin |
1:8aa5cdb4ab67 | 10 | the rights to use, copy, modify, merge, publish, distribute, sublicense, |
Jonathan Austin |
1:8aa5cdb4ab67 | 11 | and/or sell copies of the Software, and to permit persons to whom the |
Jonathan Austin |
1:8aa5cdb4ab67 | 12 | Software is furnished to do so, subject to the following conditions: |
Jonathan Austin |
1:8aa5cdb4ab67 | 13 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 14 | The above copyright notice and this permission notice shall be included in |
Jonathan Austin |
1:8aa5cdb4ab67 | 15 | all copies or substantial portions of the Software. |
Jonathan Austin |
1:8aa5cdb4ab67 | 16 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 17 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
Jonathan Austin |
1:8aa5cdb4ab67 | 18 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
Jonathan Austin |
1:8aa5cdb4ab67 | 19 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL |
Jonathan Austin |
1:8aa5cdb4ab67 | 20 | THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
Jonathan Austin |
1:8aa5cdb4ab67 | 21 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
Jonathan Austin |
1:8aa5cdb4ab67 | 22 | FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
Jonathan Austin |
1:8aa5cdb4ab67 | 23 | DEALINGS IN THE SOFTWARE. |
Jonathan Austin |
1:8aa5cdb4ab67 | 24 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 25 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 26 | #include "MicroBitConfig.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 27 | #include "Matrix4.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 28 | #include "mbed.h" |
Jonathan Austin |
1:8aa5cdb4ab67 | 29 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 30 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 31 | * Class definition for a simple matrix, optimised for n x 4 or 4 x n matrices. |
Jonathan Austin |
1:8aa5cdb4ab67 | 32 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 33 | * This class is heavily optimised for these commonly used matrices as used in 3D geometry, |
Jonathan Austin |
1:8aa5cdb4ab67 | 34 | * and is not intended as a general purpose matrix class. For programmers needing more flexible |
Jonathan Austin |
1:8aa5cdb4ab67 | 35 | * Matrix support, the mbed Matrix and MatrixMath classes from Ernsesto Palacios provide a good basis: |
Jonathan Austin |
1:8aa5cdb4ab67 | 36 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 37 | * https://developer.mbed.org/cookbook/MatrixClass |
Jonathan Austin |
1:8aa5cdb4ab67 | 38 | * https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/ |
Jonathan Austin |
1:8aa5cdb4ab67 | 39 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 40 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 41 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 42 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 43 | * Create a matrix of the given size. |
Jonathan Austin |
1:8aa5cdb4ab67 | 44 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 45 | * @param rows the number of rows in the matrix to be created. |
Jonathan Austin |
1:8aa5cdb4ab67 | 46 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 47 | * @param cols the number of columns in the matrix to be created. |
Jonathan Austin |
1:8aa5cdb4ab67 | 48 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 49 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 50 | * Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns. |
Jonathan Austin |
1:8aa5cdb4ab67 | 51 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 52 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 53 | Matrix4::Matrix4(int rows, int cols) |
Jonathan Austin |
1:8aa5cdb4ab67 | 54 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 55 | this->rows = rows; |
Jonathan Austin |
1:8aa5cdb4ab67 | 56 | this->cols = cols; |
Jonathan Austin |
1:8aa5cdb4ab67 | 57 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 58 | int size = rows * cols; |
Jonathan Austin |
1:8aa5cdb4ab67 | 59 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 60 | if (size > 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 61 | data = new float[size]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 62 | else |
Jonathan Austin |
1:8aa5cdb4ab67 | 63 | data = NULL; |
Jonathan Austin |
1:8aa5cdb4ab67 | 64 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 65 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 66 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 67 | * Constructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 68 | * Create a matrix that is an identical copy of the given matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 69 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 70 | * @param matrix The matrix to copy. |
Jonathan Austin |
1:8aa5cdb4ab67 | 71 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 72 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 73 | * Matrix newMatrix(matrix); . |
Jonathan Austin |
1:8aa5cdb4ab67 | 74 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 75 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 76 | Matrix4::Matrix4(const Matrix4 &matrix) |
Jonathan Austin |
1:8aa5cdb4ab67 | 77 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 78 | this->rows = matrix.rows; |
Jonathan Austin |
1:8aa5cdb4ab67 | 79 | this->cols = matrix.cols; |
Jonathan Austin |
1:8aa5cdb4ab67 | 80 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 81 | int size = rows * cols; |
Jonathan Austin |
1:8aa5cdb4ab67 | 82 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 83 | if (size > 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 84 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 85 | data = new float[size]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 86 | for (int i = 0; i < size; i++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 87 | data[i] = matrix.data[i]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 88 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 89 | else |
Jonathan Austin |
1:8aa5cdb4ab67 | 90 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 91 | data = NULL; |
Jonathan Austin |
1:8aa5cdb4ab67 | 92 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 93 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 94 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 95 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 96 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 97 | * Determines the number of columns in this matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 98 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 99 | * @return The number of columns in the matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 100 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 101 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 102 | * int c = matrix.width(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 103 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 104 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 105 | int Matrix4::width() |
Jonathan Austin |
1:8aa5cdb4ab67 | 106 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 107 | return cols; |
Jonathan Austin |
1:8aa5cdb4ab67 | 108 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 109 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 110 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 111 | * Determines the number of rows in this matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 112 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 113 | * @return The number of rows in the matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 114 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 115 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 116 | * int r = matrix.height(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 117 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 118 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 119 | int Matrix4::height() |
Jonathan Austin |
1:8aa5cdb4ab67 | 120 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 121 | return rows; |
Jonathan Austin |
1:8aa5cdb4ab67 | 122 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 123 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 124 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 125 | * Reads the matrix element at the given position. |
Jonathan Austin |
1:8aa5cdb4ab67 | 126 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 127 | * @param row The row of the element to read. |
Jonathan Austin |
1:8aa5cdb4ab67 | 128 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 129 | * @param col The column of the element to read. |
Jonathan Austin |
1:8aa5cdb4ab67 | 130 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 131 | * @return The value of the matrix element at the given position. 0 is returned if the given index is out of range. |
Jonathan Austin |
1:8aa5cdb4ab67 | 132 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 133 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 134 | * float v = matrix.get(1,2); |
Jonathan Austin |
1:8aa5cdb4ab67 | 135 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 136 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 137 | float Matrix4::get(int row, int col) |
Jonathan Austin |
1:8aa5cdb4ab67 | 138 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 139 | if (row < 0 || col < 0 || row >= rows || col >= cols) |
Jonathan Austin |
1:8aa5cdb4ab67 | 140 | return 0; |
Jonathan Austin |
1:8aa5cdb4ab67 | 141 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 142 | return data[width() * row + col]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 143 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 144 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 145 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 146 | * Writes the matrix element at the given position. |
Jonathan Austin |
1:8aa5cdb4ab67 | 147 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 148 | * @param row The row of the element to write. |
Jonathan Austin |
1:8aa5cdb4ab67 | 149 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 150 | * @param col The column of the element to write. |
Jonathan Austin |
1:8aa5cdb4ab67 | 151 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 152 | * @param v The new value of the element. |
Jonathan Austin |
1:8aa5cdb4ab67 | 153 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 154 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 155 | * matrix.set(1,2,42.0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 156 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 157 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 158 | void Matrix4::set(int row, int col, float v) |
Jonathan Austin |
1:8aa5cdb4ab67 | 159 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 160 | if (row < 0 || col < 0 || row >= rows || col >= cols) |
Jonathan Austin |
1:8aa5cdb4ab67 | 161 | return; |
Jonathan Austin |
1:8aa5cdb4ab67 | 162 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 163 | data[width() * row + col] = v; |
Jonathan Austin |
1:8aa5cdb4ab67 | 164 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 165 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 166 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 167 | * Transposes this matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 168 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 169 | * @return the resultant matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 170 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 171 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 172 | * matrix.transpose(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 173 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 174 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 175 | Matrix4 Matrix4::transpose() |
Jonathan Austin |
1:8aa5cdb4ab67 | 176 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 177 | Matrix4 result = Matrix4(cols, rows); |
Jonathan Austin |
1:8aa5cdb4ab67 | 178 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 179 | for (int i = 0; i < width(); i++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 180 | for (int j = 0; j < height(); j++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 181 | result.set(i, j, get(j, i)); |
Jonathan Austin |
1:8aa5cdb4ab67 | 182 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 183 | return result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 184 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 185 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 186 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 187 | * Multiplies this matrix with the given matrix (if possible). |
Jonathan Austin |
1:8aa5cdb4ab67 | 188 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 189 | * @param matrix the matrix to multiply this matrix's values against. |
Jonathan Austin |
1:8aa5cdb4ab67 | 190 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 191 | * @param transpose Transpose the matrices before multiplication. Defaults to false. |
Jonathan Austin |
1:8aa5cdb4ab67 | 192 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 193 | * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. |
Jonathan Austin |
1:8aa5cdb4ab67 | 194 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 195 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 196 | * Matrix result = matrixA.multiply(matrixB); |
Jonathan Austin |
1:8aa5cdb4ab67 | 197 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 198 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 199 | Matrix4 Matrix4::multiply(Matrix4 &matrix, bool transpose) |
Jonathan Austin |
1:8aa5cdb4ab67 | 200 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 201 | int w = transpose ? height() : width(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 202 | int h = transpose ? width() : height(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 203 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 204 | if (w != matrix.height()) |
Jonathan Austin |
1:8aa5cdb4ab67 | 205 | return Matrix4(0, 0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 206 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 207 | Matrix4 result(h, matrix.width()); |
Jonathan Austin |
1:8aa5cdb4ab67 | 208 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 209 | for (int r = 0; r < result.height(); r++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 210 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 211 | for (int c = 0; c < result.width(); c++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 212 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 213 | float v = 0.0; |
Jonathan Austin |
1:8aa5cdb4ab67 | 214 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 215 | for (int i = 0; i < w; i++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 216 | v += (transpose ? get(i, r) : get(r, i)) * matrix.get(i, c); |
Jonathan Austin |
1:8aa5cdb4ab67 | 217 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 218 | result.set(r, c, v); |
Jonathan Austin |
1:8aa5cdb4ab67 | 219 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 220 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 221 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 222 | return result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 223 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 224 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 225 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 226 | * Performs an optimised inversion of a 4x4 matrix. |
Jonathan Austin |
1:8aa5cdb4ab67 | 227 | * Only 4x4 matrices are supported by this operation. |
Jonathan Austin |
1:8aa5cdb4ab67 | 228 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 229 | * @return the resultant matrix. An empty matrix is returned if the operation canot be completed. |
Jonathan Austin |
1:8aa5cdb4ab67 | 230 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 231 | * @code |
Jonathan Austin |
1:8aa5cdb4ab67 | 232 | * Matrix result = matrixA.invert(); |
Jonathan Austin |
1:8aa5cdb4ab67 | 233 | * @endcode |
Jonathan Austin |
1:8aa5cdb4ab67 | 234 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 235 | Matrix4 Matrix4::invert() |
Jonathan Austin |
1:8aa5cdb4ab67 | 236 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 237 | // We only support square matrices of size 4... |
Jonathan Austin |
1:8aa5cdb4ab67 | 238 | if (width() != height() || width() != 4) |
Jonathan Austin |
1:8aa5cdb4ab67 | 239 | return Matrix4(0, 0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 240 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 241 | Matrix4 result(width(), height()); |
Jonathan Austin |
1:8aa5cdb4ab67 | 242 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 243 | result.data[0] = data[5] * data[10] * data[15] - data[5] * data[11] * data[14] - data[9] * data[6] * data[15] + data[9] * data[7] * data[14] + data[13] * data[6] * data[11] - data[13] * data[7] * data[10]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 244 | result.data[1] = -data[1] * data[10] * data[15] + data[1] * data[11] * data[14] + data[9] * data[2] * data[15] - data[9] * data[3] * data[14] - data[13] * data[2] * data[11] + data[13] * data[3] * data[10]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 245 | result.data[2] = data[1] * data[6] * data[15] - data[1] * data[7] * data[14] - data[5] * data[2] * data[15] + data[5] * data[3] * data[14] + data[13] * data[2] * data[7] - data[13] * data[3] * data[6]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 246 | result.data[3] = -data[1] * data[6] * data[11] + data[1] * data[7] * data[10] + data[5] * data[2] * data[11] - data[5] * data[3] * data[10] - data[9] * data[2] * data[7] + data[9] * data[3] * data[6]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 247 | result.data[4] = -data[4] * data[10] * data[15] + data[4] * data[11] * data[14] + data[8] * data[6] * data[15] - data[8] * data[7] * data[14] - data[12] * data[6] * data[11] + data[12] * data[7] * data[10]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 248 | result.data[5] = data[0] * data[10] * data[15] - data[0] * data[11] * data[14] - data[8] * data[2] * data[15] + data[8] * data[3] * data[14] + data[12] * data[2] * data[11] - data[12] * data[3] * data[10]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 249 | result.data[6] = -data[0] * data[6] * data[15] + data[0] * data[7] * data[14] + data[4] * data[2] * data[15] - data[4] * data[3] * data[14] - data[12] * data[2] * data[7] + data[12] * data[3] * data[6]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 250 | result.data[7] = data[0] * data[6] * data[11] - data[0] * data[7] * data[10] - data[4] * data[2] * data[11] + data[4] * data[3] * data[10] + data[8] * data[2] * data[7] - data[8] * data[3] * data[6]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 251 | result.data[8] = data[4] * data[9] * data[15] - data[4] * data[11] * data[13] - data[8] * data[5] * data[15] + data[8] * data[7] * data[13] + data[12] * data[5] * data[11] - data[12] * data[7] * data[9]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 252 | result.data[9] = -data[0] * data[9] * data[15] + data[0] * data[11] * data[13] + data[8] * data[1] * data[15] - data[8] * data[3] * data[13] - data[12] * data[1] * data[11] + data[12] * data[3] * data[9]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 253 | result.data[10] = data[0] * data[5] * data[15] - data[0] * data[7] * data[13] - data[4] * data[1] * data[15] + data[4] * data[3] * data[13] + data[12] * data[1] * data[7] - data[12] * data[3] * data[5]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 254 | result.data[11] = -data[0] * data[5] * data[11] + data[0] * data[7] * data[9] + data[4] * data[1] * data[11] - data[4] * data[3] * data[9] - data[8] * data[1] * data[7] + data[8] * data[3] * data[5]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 255 | result.data[12] = -data[4] * data[9] * data[14] + data[4] * data[10] * data[13] + data[8] * data[5] * data[14] - data[8] * data[6] * data[13] - data[12] * data[5] * data[10] + data[12] * data[6] * data[9]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 256 | result.data[13] = data[0] * data[9] * data[14] - data[0] * data[10] * data[13] - data[8] * data[1] * data[14] + data[8] * data[2] * data[13] + data[12] * data[1] * data[10] - data[12] * data[2] * data[9]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 257 | result.data[14] = -data[0] * data[5] * data[14] + data[0] * data[6] * data[13] + data[4] * data[1] * data[14] - data[4] * data[2] * data[13] - data[12] * data[1] * data[6] + data[12] * data[2] * data[5]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 258 | result.data[15] = data[0] * data[5] * data[10] - data[0] * data[6] * data[9] - data[4] * data[1] * data[10] + data[4] * data[2] * data[9] + data[8] * data[1] * data[6] - data[8] * data[2] * data[5]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 259 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 260 | float det = data[0] * result.data[0] + data[1] * result.data[4] + data[2] * result.data[8] + data[3] * result.data[12]; |
Jonathan Austin |
1:8aa5cdb4ab67 | 261 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 262 | if (det == 0) |
Jonathan Austin |
1:8aa5cdb4ab67 | 263 | return Matrix4(0, 0); |
Jonathan Austin |
1:8aa5cdb4ab67 | 264 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 265 | det = 1.0f / det; |
Jonathan Austin |
1:8aa5cdb4ab67 | 266 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 267 | for (int i = 0; i < 16; i++) |
Jonathan Austin |
1:8aa5cdb4ab67 | 268 | result.data[i] *= det; |
Jonathan Austin |
1:8aa5cdb4ab67 | 269 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 270 | return result; |
Jonathan Austin |
1:8aa5cdb4ab67 | 271 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 272 | |
Jonathan Austin |
1:8aa5cdb4ab67 | 273 | /** |
Jonathan Austin |
1:8aa5cdb4ab67 | 274 | * Destructor. |
Jonathan Austin |
1:8aa5cdb4ab67 | 275 | * |
Jonathan Austin |
1:8aa5cdb4ab67 | 276 | * Frees any memory consumed by this Matrix4 instance. |
Jonathan Austin |
1:8aa5cdb4ab67 | 277 | */ |
Jonathan Austin |
1:8aa5cdb4ab67 | 278 | Matrix4::~Matrix4() |
Jonathan Austin |
1:8aa5cdb4ab67 | 279 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 280 | if (data != NULL) |
Jonathan Austin |
1:8aa5cdb4ab67 | 281 | { |
Jonathan Austin |
1:8aa5cdb4ab67 | 282 | delete data; |
Jonathan Austin |
1:8aa5cdb4ab67 | 283 | data = NULL; |
Jonathan Austin |
1:8aa5cdb4ab67 | 284 | } |
Jonathan Austin |
1:8aa5cdb4ab67 | 285 | } |