xsi_matrix4f.h Source
File
00001 //***************************************************************************** 00011 //***************************************************************************** 00012 00013 #if (_MSC_VER > 1000) || defined(SGI_COMPILER) 00014 #pragma once 00015 #endif 00016 00017 #ifndef __XSIMATRIX4F_H__ 00018 #define __XSIMATRIX4F_H__ 00019 00020 #include "sicppsdk.h" 00021 #include "xsi_math.h" 00022 00023 namespace XSI { 00024 namespace MATH { 00025 00026 //***************************************************************************** 00031 //***************************************************************************** 00032 class SICPPSDKDECL CMatrix4f 00033 { 00034 public: 00035 00037 SICPPSDK_INLINE CMatrix4f(); 00038 00057 SICPPSDK_INLINE CMatrix4f(float in_f00, float in_f01, float in_f02, float in_f03, 00058 float in_f10, float in_f11, float in_f12, float in_f13, 00059 float in_f20, float in_f21, float in_f22, float in_f23, 00060 float in_f30, float in_f31, float in_f32, float in_f33); 00061 00065 SICPPSDK_INLINE CMatrix4f( const CMatrix4f& in_matrix4 ); 00066 00068 SICPPSDK_INLINE ~CMatrix4f(); 00069 00074 SICPPSDK_INLINE CMatrix4f & operator=( const CMatrix4f & in_matrix4 ); 00075 00081 SICPPSDK_INLINE CMatrix4f & operator*=(const CMatrix4f & in_matrix4); 00082 00086 SICPPSDK_INLINE CMatrix4f& SetIdentity(); 00087 00091 SICPPSDK_INLINE bool InvertInPlace(); 00092 00097 SICPPSDK_INLINE bool Invert(const CMatrix4f& in_matrix4); 00098 00103 SICPPSDK_INLINE bool TransposeInverseInPlace(); 00104 00110 SICPPSDK_INLINE bool TransposeInverse(const CMatrix4f& in_matrix4); 00111 00114 SICPPSDK_INLINE void TransposeInPlace(); 00115 00119 SICPPSDK_INLINE void Transpose(const CMatrix4f& in_matrix4); 00120 00126 SICPPSDK_INLINE CMatrix4f& MulInPlace(const CMatrix4f& in_matrix4); 00127 00134 SICPPSDK_INLINE CMatrix4f& Mul(const CMatrix4f& in_matrix4A, const CMatrix4f& in_matrix4B); 00135 00154 SICPPSDK_INLINE void Get 00155 ( 00156 float& io_f00, float& io_f01, float& io_f02, float& io_f03, 00157 float& io_f10, float& io_f11, float& io_f12, float& io_f13, 00158 float& io_f20, float& io_f21, float& io_f22, float& io_f23, 00159 float& io_f30, float& io_f31, float& io_f32, float& io_f33 00160 ) const; 00161 00180 SICPPSDK_INLINE void Set( float in_f00, float in_f01, float in_f02, float in_f03, 00181 float in_f10, float in_f11, float in_f12, float in_f13, 00182 float in_f20, float in_f21, float in_f22, float in_f23, 00183 float in_f30, float in_f31, float in_f32, float in_f33); 00184 00188 SICPPSDK_INLINE float* Get(); 00189 00193 SICPPSDK_INLINE void Set(const float in_vals[4][4]); 00194 00200 SICPPSDK_INLINE float GetValue(short in_sRow,short in_sCol )const; 00201 00207 SICPPSDK_INLINE void SetValue(short in_sRow, short in_sCol, float in_fVal ); 00208 00214 SICPPSDK_INLINE bool EpsilonEquals 00215 ( 00216 const CMatrix4f& in_matrix4, 00217 float in_fEpsilon 00218 ) const; 00219 00224 SICPPSDK_INLINE bool Equals(const CMatrix4f& in_matrix4) const; 00225 00231 SICPPSDK_INLINE bool operator ==(const CMatrix4f & in_matrix4 ) const; 00232 00238 SICPPSDK_INLINE bool operator !=(const CMatrix4f & in_matrix4 ) const; 00239 00246 SICPPSDK_INLINE bool operator < (const CMatrix4f& in_matrix4 )const; 00247 00252 SICPPSDK_INLINE const float* Get() const; 00253 00254 private: 00255 float m_fMat[4][4]; 00256 unsigned char m_maskInfo; 00257 00258 SICPPSDK_INLINE bool ComputeInverse 00259 ( 00260 const float in_fMat[4][4], 00261 float out_fInv[4][4], 00262 const bool bTransposeResult = false 00263 ); 00264 }; 00265 00266 //inline functions 00267 SICPPSDK_INLINE CMatrix4f::CMatrix4f() : m_maskInfo(0) 00268 { 00269 m_fMat[0][0] = 0.0; 00270 m_fMat[0][1] = 0.0; 00271 m_fMat[0][2] = 0.0; 00272 m_fMat[0][3] = 0.0; 00273 m_fMat[1][0] = 0.0; 00274 m_fMat[1][1] = 0.0; 00275 m_fMat[1][2] = 0.0; 00276 m_fMat[1][3] = 0.0; 00277 m_fMat[2][0] = 0.0; 00278 m_fMat[2][1] = 0.0; 00279 m_fMat[2][2] = 0.0; 00280 m_fMat[2][3] = 0.0; 00281 m_fMat[3][0] = 0.0; 00282 m_fMat[3][1] = 0.0; 00283 m_fMat[3][2] = 0.0; 00284 m_fMat[3][3] = 0.0; 00285 } 00286 00287 SICPPSDK_INLINE CMatrix4f::CMatrix4f 00288 ( 00289 float in_f00, float in_f01, float in_f02, float in_f03, 00290 float in_f10, float in_f11, float in_f12, float in_f13, 00291 float in_f20, float in_f21, float in_f22, float in_f23, 00292 float in_f30, float in_f31, float in_f32, float in_f33 00293 ) : m_maskInfo(0) 00294 { 00295 m_fMat[0][0] = in_f00; 00296 m_fMat[0][1] = in_f01; 00297 m_fMat[0][2] = in_f02; 00298 m_fMat[0][3] = in_f03; 00299 m_fMat[1][0] = in_f10; 00300 m_fMat[1][1] = in_f11; 00301 m_fMat[1][2] = in_f12; 00302 m_fMat[1][3] = in_f13; 00303 m_fMat[2][0] = in_f20; 00304 m_fMat[2][1] = in_f21; 00305 m_fMat[2][2] = in_f22; 00306 m_fMat[2][3] = in_f23; 00307 m_fMat[3][0] = in_f30; 00308 m_fMat[3][1] = in_f31; 00309 m_fMat[3][2] = in_f32; 00310 m_fMat[3][3] = in_f33; 00311 } 00312 00313 SICPPSDK_INLINE CMatrix4f::CMatrix4f(const CMatrix4f& in_matrix4) 00314 { 00315 m_fMat[0][0] = in_matrix4.m_fMat[0][0]; 00316 m_fMat[0][1] = in_matrix4.m_fMat[0][1]; 00317 m_fMat[0][2] = in_matrix4.m_fMat[0][2]; 00318 m_fMat[0][3] = in_matrix4.m_fMat[0][3]; 00319 m_fMat[1][0] = in_matrix4.m_fMat[1][0]; 00320 m_fMat[1][1] = in_matrix4.m_fMat[1][1]; 00321 m_fMat[1][2] = in_matrix4.m_fMat[1][2]; 00322 m_fMat[1][3] = in_matrix4.m_fMat[1][3]; 00323 m_fMat[2][0] = in_matrix4.m_fMat[2][0]; 00324 m_fMat[2][1] = in_matrix4.m_fMat[2][1]; 00325 m_fMat[2][2] = in_matrix4.m_fMat[2][2]; 00326 m_fMat[2][3] = in_matrix4.m_fMat[2][3]; 00327 m_fMat[3][0] = in_matrix4.m_fMat[3][0]; 00328 m_fMat[3][1] = in_matrix4.m_fMat[3][1]; 00329 m_fMat[3][2] = in_matrix4.m_fMat[3][2]; 00330 m_fMat[3][3] = in_matrix4.m_fMat[3][3]; 00331 m_maskInfo = in_matrix4.m_maskInfo; 00332 } 00333 00334 SICPPSDK_INLINE CMatrix4f::~CMatrix4f() 00335 {} 00336 00337 SICPPSDK_INLINE CMatrix4f& CMatrix4f::operator=( const CMatrix4f & in_matrix4 ) 00338 { 00339 m_fMat[0][0] = in_matrix4.m_fMat[0][0]; 00340 m_fMat[0][1] = in_matrix4.m_fMat[0][1]; 00341 m_fMat[0][2] = in_matrix4.m_fMat[0][2]; 00342 m_fMat[0][3] = in_matrix4.m_fMat[0][3]; 00343 m_fMat[1][0] = in_matrix4.m_fMat[1][0]; 00344 m_fMat[1][1] = in_matrix4.m_fMat[1][1]; 00345 m_fMat[1][2] = in_matrix4.m_fMat[1][2]; 00346 m_fMat[1][3] = in_matrix4.m_fMat[1][3]; 00347 m_fMat[2][0] = in_matrix4.m_fMat[2][0]; 00348 m_fMat[2][1] = in_matrix4.m_fMat[2][1]; 00349 m_fMat[2][2] = in_matrix4.m_fMat[2][2]; 00350 m_fMat[2][3] = in_matrix4.m_fMat[2][3]; 00351 m_fMat[3][0] = in_matrix4.m_fMat[3][0]; 00352 m_fMat[3][1] = in_matrix4.m_fMat[3][1]; 00353 m_fMat[3][2] = in_matrix4.m_fMat[3][2]; 00354 m_fMat[3][3] = in_matrix4.m_fMat[3][3]; 00355 m_maskInfo = in_matrix4.m_maskInfo; 00356 return *this; 00357 } 00358 00359 SICPPSDK_INLINE CMatrix4f& CMatrix4f::operator*=(const CMatrix4f& in_matrix4) 00360 { 00361 return MulInPlace(in_matrix4); 00362 } 00363 00364 SICPPSDK_INLINE CMatrix4f& CMatrix4f::SetIdentity() 00365 { 00366 m_fMat[0][0] = 1.0; 00367 m_fMat[0][1] = 0.0; 00368 m_fMat[0][2] = 0.0; 00369 m_fMat[0][3] = 0.0; 00370 m_fMat[1][0] = 0.0; 00371 m_fMat[1][1] = 1.0; 00372 m_fMat[1][2] = 0.0; 00373 m_fMat[1][3] = 0.0; 00374 m_fMat[2][0] = 0.0; 00375 m_fMat[2][1] = 0.0; 00376 m_fMat[2][2] = 1.0; 00377 m_fMat[2][3] = 0.0; 00378 m_fMat[3][0] = 0.0; 00379 m_fMat[3][1] = 0.0; 00380 m_fMat[3][2] = 0.0; 00381 m_fMat[3][3] = 1.0; 00382 return *this; 00383 } 00384 00385 SICPPSDK_INLINE bool CMatrix4f::InvertInPlace() 00386 { 00387 return Invert(*this); 00388 } 00389 00390 SICPPSDK_INLINE bool CMatrix4f::Invert(const CMatrix4f& in_matrix4) 00391 { 00392 float fInv[4][4]; 00393 00394 if (ComputeInverse(in_matrix4.m_fMat, fInv)) 00395 { 00396 Set(fInv); 00397 return true; 00398 } 00399 else // singular matrix 00400 { 00401 return false; 00402 } 00403 } 00404 00405 SICPPSDK_INLINE bool CMatrix4f::TransposeInverseInPlace() 00406 { 00407 return TransposeInverse(*this); 00408 } 00409 00410 SICPPSDK_INLINE bool CMatrix4f::TransposeInverse(const CMatrix4f& in_matrix4) 00411 { 00412 float fTransInv[4][4]; 00413 00414 if(ComputeInverse(in_matrix4.m_fMat, fTransInv, true)) 00415 { 00416 Set(fTransInv); 00417 return true; 00418 } 00419 else // singular matrix 00420 { 00421 return false; 00422 } 00423 } 00424 00425 SICPPSDK_INLINE void CMatrix4f::TransposeInPlace() 00426 { 00427 Transpose(*this); 00428 } 00429 00430 SICPPSDK_INLINE void CMatrix4f::Transpose(const CMatrix4f& in_matrix4) 00431 { 00432 float dTempMat[4][4]; 00433 for(int nR=0; nR<4; nR++) 00434 for(int nC=0; nC<4; nC++) 00435 dTempMat[nR][nC] = in_matrix4.m_fMat[nC][nR]; 00436 Set(dTempMat); 00437 } 00438 00439 SICPPSDK_INLINE CMatrix4f& CMatrix4f::MulInPlace(const CMatrix4f& in_matrix4) 00440 { 00441 return Mul(*this,in_matrix4); 00442 } 00443 00444 SICPPSDK_INLINE CMatrix4f& CMatrix4f::Mul 00445 ( 00446 const CMatrix4f& in_matrix4A, 00447 const CMatrix4f& in_matrix4B 00448 ) 00449 { 00450 float dTempMat[4][4]; 00451 00452 for(int nR=0; nR<4; nR++) 00453 for(int nC=0; nC<4; nC++) 00454 dTempMat[nR][nC] = 00455 in_matrix4A.m_fMat[nR][0] * in_matrix4B.m_fMat[0][nC] + 00456 in_matrix4A.m_fMat[nR][1] * in_matrix4B.m_fMat[1][nC] + 00457 in_matrix4A.m_fMat[nR][2] * in_matrix4B.m_fMat[2][nC] + 00458 in_matrix4A.m_fMat[nR][3] * in_matrix4B.m_fMat[3][nC]; 00459 00460 Set(dTempMat); 00461 return (*this); 00462 } 00463 00464 SICPPSDK_INLINE void CMatrix4f::Get 00465 ( 00466 float& io_f00, float& io_f01, float& io_f02, float& io_f03, 00467 float& io_f10, float& io_f11, float& io_f12, float& io_f13, 00468 float& io_f20, float& io_f21, float& io_f22, float& io_f23, 00469 float& io_f30, float& io_f31, float& io_f32, float& io_f33 00470 ) const 00471 { 00472 00473 io_f00 = m_fMat[0][0]; 00474 io_f01 = m_fMat[0][1]; 00475 io_f02 = m_fMat[0][2]; 00476 io_f03 = m_fMat[0][3]; 00477 io_f10 = m_fMat[1][0]; 00478 io_f11 = m_fMat[1][1]; 00479 io_f12 = m_fMat[1][2]; 00480 io_f13 = m_fMat[1][3]; 00481 io_f20 = m_fMat[2][0]; 00482 io_f21 = m_fMat[2][1]; 00483 io_f22 = m_fMat[2][2]; 00484 io_f23 = m_fMat[2][3]; 00485 io_f30 = m_fMat[3][0]; 00486 io_f31 = m_fMat[3][1]; 00487 io_f32 = m_fMat[3][2]; 00488 io_f33 = m_fMat[3][3]; 00489 } 00490 00491 SICPPSDK_INLINE void CMatrix4f::Set 00492 ( 00493 float in_f00, float in_f01, float in_f02, float in_f03, 00494 float in_f10, float in_f11, float in_f12, float in_f13, 00495 float in_f20, float in_f21, float in_f22, float in_f23, 00496 float in_f30, float in_f31, float in_f32, float in_f33 00497 ) 00498 { 00499 m_fMat[0][0] = in_f00; 00500 m_fMat[0][1] = in_f01; 00501 m_fMat[0][2] = in_f02; 00502 m_fMat[0][3] = in_f03; 00503 m_fMat[1][0] = in_f10; 00504 m_fMat[1][1] = in_f11; 00505 m_fMat[1][2] = in_f12; 00506 m_fMat[1][3] = in_f13; 00507 m_fMat[2][0] = in_f20; 00508 m_fMat[2][1] = in_f21; 00509 m_fMat[2][2] = in_f22; 00510 m_fMat[2][3] = in_f23; 00511 m_fMat[3][0] = in_f30; 00512 m_fMat[3][1] = in_f31; 00513 m_fMat[3][2] = in_f32; 00514 m_fMat[3][3] = in_f33; 00515 } 00516 00517 SICPPSDK_INLINE void CMatrix4f::Set(const float in_matrix4[4][4]) 00518 { 00519 m_fMat[0][0] = in_matrix4[0][0]; 00520 m_fMat[0][1] = in_matrix4[0][1]; 00521 m_fMat[0][2] = in_matrix4[0][2]; 00522 m_fMat[0][3] = in_matrix4[0][3]; 00523 m_fMat[1][0] = in_matrix4[1][0]; 00524 m_fMat[1][1] = in_matrix4[1][1]; 00525 m_fMat[1][2] = in_matrix4[1][2]; 00526 m_fMat[1][3] = in_matrix4[1][3]; 00527 m_fMat[2][0] = in_matrix4[2][0]; 00528 m_fMat[2][1] = in_matrix4[2][1]; 00529 m_fMat[2][2] = in_matrix4[2][2]; 00530 m_fMat[2][3] = in_matrix4[2][3]; 00531 m_fMat[3][0] = in_matrix4[3][0]; 00532 m_fMat[3][1] = in_matrix4[3][1]; 00533 m_fMat[3][2] = in_matrix4[3][2]; 00534 m_fMat[3][3] = in_matrix4[3][3]; 00535 } 00536 00537 SICPPSDK_INLINE float* CMatrix4f::Get() 00538 { 00539 return &m_fMat[0][0]; 00540 } 00541 00542 SICPPSDK_INLINE const float* CMatrix4f::Get() const 00543 { 00544 return &m_fMat[0][0]; 00545 } 00546 00547 SICPPSDK_INLINE float CMatrix4f::GetValue(short in_sRow,short in_sCol ) const 00548 { 00549 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && 00550 in_sRow <=3 && in_sCol <= 3); 00551 assert(l_bValidIndex); 00552 00553 if(l_bValidIndex) 00554 { 00555 return m_fMat[in_sRow][in_sCol]; 00556 } 00557 return 0.0; 00558 } 00559 00560 SICPPSDK_INLINE void CMatrix4f::SetValue(short in_sRow, short in_sCol, float in_fVal ) 00561 { 00562 bool l_bValidIndex = ( in_sRow >=0 && in_sCol >= 0 && in_sRow <=3 && in_sCol <= 3); 00563 00564 assert(l_bValidIndex); 00565 if(l_bValidIndex) 00566 { 00567 m_fMat[in_sRow][in_sCol] = in_fVal; 00568 } 00569 } 00570 00571 SICPPSDK_INLINE bool CMatrix4f::EpsilonEquals 00572 ( 00573 const CMatrix4f& in_matrix4, 00574 float in_fEpsilon 00575 ) const 00576 { 00577 return (this == &in_matrix4) ? true : 00578 ::fabs(m_fMat[0][0] - in_matrix4.m_fMat[0][0]) < ::fabs(in_fEpsilon) && 00579 ::fabs(m_fMat[0][1] - in_matrix4.m_fMat[0][1]) < ::fabs(in_fEpsilon) && 00580 ::fabs(m_fMat[0][2] - in_matrix4.m_fMat[0][2]) < ::fabs(in_fEpsilon) && 00581 ::fabs(m_fMat[0][3] - in_matrix4.m_fMat[0][3]) < ::fabs(in_fEpsilon) && 00582 ::fabs(m_fMat[1][0] - in_matrix4.m_fMat[1][0]) < ::fabs(in_fEpsilon) && 00583 ::fabs(m_fMat[1][1] - in_matrix4.m_fMat[1][1]) < ::fabs(in_fEpsilon) && 00584 ::fabs(m_fMat[1][2] - in_matrix4.m_fMat[1][2]) < ::fabs(in_fEpsilon) && 00585 ::fabs(m_fMat[1][3] - in_matrix4.m_fMat[1][3]) < ::fabs(in_fEpsilon) && 00586 ::fabs(m_fMat[2][0] - in_matrix4.m_fMat[2][0]) < ::fabs(in_fEpsilon) && 00587 ::fabs(m_fMat[2][1] - in_matrix4.m_fMat[2][1]) < ::fabs(in_fEpsilon) && 00588 ::fabs(m_fMat[2][2] - in_matrix4.m_fMat[2][2]) < ::fabs(in_fEpsilon) && 00589 ::fabs(m_fMat[2][3] - in_matrix4.m_fMat[2][3]) < ::fabs(in_fEpsilon) && 00590 ::fabs(m_fMat[3][0] - in_matrix4.m_fMat[3][0]) < ::fabs(in_fEpsilon) && 00591 ::fabs(m_fMat[3][1] - in_matrix4.m_fMat[3][1]) < ::fabs(in_fEpsilon) && 00592 ::fabs(m_fMat[3][2] - in_matrix4.m_fMat[3][2]) < ::fabs(in_fEpsilon) && 00593 ::fabs(m_fMat[3][3] - in_matrix4.m_fMat[3][3]) < ::fabs(in_fEpsilon); 00594 } 00595 00596 SICPPSDK_INLINE bool CMatrix4f::Equals(const CMatrix4f& in_matrix4) const 00597 { 00598 return (this == &in_matrix4) ? true : 00599 m_fMat[0][0] == in_matrix4.m_fMat[0][0] && 00600 m_fMat[0][1] == in_matrix4.m_fMat[0][1] && 00601 m_fMat[0][2] == in_matrix4.m_fMat[0][2] && 00602 m_fMat[0][3] == in_matrix4.m_fMat[0][3] && 00603 m_fMat[1][0] == in_matrix4.m_fMat[1][0] && 00604 m_fMat[1][1] == in_matrix4.m_fMat[1][1] && 00605 m_fMat[1][2] == in_matrix4.m_fMat[1][2] && 00606 m_fMat[1][3] == in_matrix4.m_fMat[1][3] && 00607 m_fMat[2][0] == in_matrix4.m_fMat[2][0] && 00608 m_fMat[2][1] == in_matrix4.m_fMat[2][1] && 00609 m_fMat[2][2] == in_matrix4.m_fMat[2][2] && 00610 m_fMat[2][3] == in_matrix4.m_fMat[2][3] && 00611 m_fMat[3][0] == in_matrix4.m_fMat[3][0] && 00612 m_fMat[3][1] == in_matrix4.m_fMat[3][1] && 00613 m_fMat[3][2] == in_matrix4.m_fMat[3][2] && 00614 m_fMat[3][3] == in_matrix4.m_fMat[3][3]; 00615 } 00616 00617 SICPPSDK_INLINE bool CMatrix4f::operator ==(const CMatrix4f & in_matrix4 ) const 00618 { 00619 return Equals( in_matrix4 ); 00620 } 00621 00622 SICPPSDK_INLINE bool CMatrix4f::operator !=(const CMatrix4f & in_matrix4 ) const 00623 { 00624 return ! Equals( in_matrix4 ); 00625 } 00626 00627 SICPPSDK_INLINE bool CMatrix4f::operator < (const CMatrix4f& in_matrix4 )const 00628 { 00629 if ( m_fMat[0][0] != in_matrix4.m_fMat[0][0] ) return m_fMat[0][0] < in_matrix4.m_fMat[0][0]; 00630 if ( m_fMat[0][1] != in_matrix4.m_fMat[0][1] ) return m_fMat[0][1] < in_matrix4.m_fMat[0][1]; 00631 if ( m_fMat[0][2] != in_matrix4.m_fMat[0][2] ) return m_fMat[0][2] < in_matrix4.m_fMat[0][2]; 00632 if ( m_fMat[0][3] != in_matrix4.m_fMat[0][3] ) return m_fMat[0][3] < in_matrix4.m_fMat[0][3]; 00633 if ( m_fMat[1][0] != in_matrix4.m_fMat[1][0] ) return m_fMat[1][0] < in_matrix4.m_fMat[1][0]; 00634 if ( m_fMat[1][1] != in_matrix4.m_fMat[1][1] ) return m_fMat[1][1] < in_matrix4.m_fMat[1][1]; 00635 if ( m_fMat[1][2] != in_matrix4.m_fMat[1][2] ) return m_fMat[1][2] < in_matrix4.m_fMat[1][2]; 00636 if ( m_fMat[1][3] != in_matrix4.m_fMat[1][3] ) return m_fMat[1][3] < in_matrix4.m_fMat[1][3]; 00637 if ( m_fMat[2][0] != in_matrix4.m_fMat[2][0] ) return m_fMat[2][0] < in_matrix4.m_fMat[2][0]; 00638 if ( m_fMat[2][1] != in_matrix4.m_fMat[2][1] ) return m_fMat[2][1] < in_matrix4.m_fMat[2][1]; 00639 if ( m_fMat[2][2] != in_matrix4.m_fMat[2][2] ) return m_fMat[2][2] < in_matrix4.m_fMat[2][2]; 00640 if ( m_fMat[2][3] != in_matrix4.m_fMat[2][3] ) return m_fMat[2][3] < in_matrix4.m_fMat[2][3]; 00641 if ( m_fMat[3][0] != in_matrix4.m_fMat[3][0] ) return m_fMat[3][0] < in_matrix4.m_fMat[3][0]; 00642 if ( m_fMat[3][1] != in_matrix4.m_fMat[3][1] ) return m_fMat[3][1] < in_matrix4.m_fMat[3][1]; 00643 if ( m_fMat[3][2] != in_matrix4.m_fMat[3][2] ) return m_fMat[3][2] < in_matrix4.m_fMat[3][2]; 00644 if ( m_fMat[3][3] != in_matrix4.m_fMat[3][3] ) return m_fMat[3][3] < in_matrix4.m_fMat[3][3]; 00645 return false; 00646 } 00647 00648 SICPPSDK_INLINE bool CMatrix4f::ComputeInverse 00649 ( 00650 const float in_fMat[4][4], 00651 float out_fInv[4][4], 00652 const bool bTransposeResult 00653 ) 00654 { 00655 int i, j, k; 00656 float fSys[4][8]; 00657 float fTemp; 00658 00659 // Initialize fSys matrix: 00660 for(i=0; i<4; i++) 00661 { 00662 for(j=0; j<4; j++) 00663 { 00664 fSys[i][j] = in_fMat[i][j]; 00665 fSys[i][j+4] = (float) (i==j); 00666 } 00667 } 00668 // Compute inverse: 00669 for(j=0; j<4; j++) 00670 { 00671 if(fabs(fSys[j][j]) < MicroEPS) 00672 { 00673 for(i=j + 1; (i<4) && (fabs(fSys[i][j]) < MicroEPS ); i++) 00674 {}; 00675 if(i==4) 00676 { 00677 return(false); 00678 } 00679 else 00680 { 00681 for(k=0; k<8; k++) 00682 { 00683 fTemp = fSys[i][k]; 00684 fSys[i][k] = fSys[j][k]; 00685 fSys[j][k] = fTemp; 00686 } 00687 } 00688 } 00689 fTemp = 1.0f / fSys[j][j]; 00690 for(i=0; i<8; i++) 00691 { 00692 fSys[j][i] *= fTemp; 00693 } 00694 for(i=0; i<4; i++) 00695 { 00696 if(i != j) 00697 { 00698 fTemp = - fSys[i][j]; 00699 for(k=0; k<8; k++) 00700 { 00701 fSys[i][k] += fSys[j][k] * fTemp; 00702 } 00703 } 00704 } 00705 } 00706 00707 // Copy result from fSys to out_fInv: 00708 if(bTransposeResult) 00709 { 00710 for(i=0; i<4; i++) 00711 { 00712 for(j=0; j<4; j++) 00713 { 00714 out_fInv[j][i] = fSys[i][j + 4]; 00715 } 00716 } 00717 } 00718 else 00719 { 00720 for(i=0; i<4; i++) 00721 { 00722 for(j=0; j<4; j++) 00723 { 00724 out_fInv[i][j] = fSys[i][j + 4]; 00725 } 00726 } 00727 } 00728 return(true); 00729 } 00730 00731 }; 00732 }; 00733 00734 #endif // __XSIMATRIX4_H__