C++ Reference Documentation: xsi_matrix4f.h Source File

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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__