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  1. class CMatrix
  2. {
  3. public:
  4.     CVector vRight;
  5. 	CVector vFront;
  6. 	CVector vUp;
  7. 	CVector vPos;
  8.  
  9.     CMatrix ( )
  10.     {
  11.         // Load the identity matrix
  12.         vRight = CVector ( 1.0f, 0.0f, 0.0f );
  13.         vFront = CVector ( 0.0f, 1.0f, 0.0f );
  14.         vUp    = CVector ( 0.0f, 0.0f, 1.0f );
  15.         vPos   = CVector ( 0.0f, 0.0f, 0.0f );
  16.     }
  17.  
  18.     CMatrix operator+ ( const CMatrix& other ) const
  19.     {
  20.         CMatrix matResult;
  21.         matResult.vRight = vRight + other.vRight;
  22.         matResult.vFront = vFront + other.vFront;
  23.         matResult.vUp    = vUp    + other.vUp;
  24.         matResult.vPos   = vPos   + other.vPos;
  25.         return matResult;
  26.     }
  27.  
  28.     CMatrix operator- ( const CMatrix& other ) const
  29.     {
  30.         CMatrix matResult;
  31.         matResult.vRight = vRight - other.vRight;
  32.         matResult.vFront = vFront - other.vFront;
  33.         matResult.vUp    = vUp    - other.vUp;
  34.         matResult.vPos   = vPos   - other.vPos;
  35.         return matResult;
  36.     }
  37.  
  38.     CMatrix operator* ( const CMatrix& other ) const
  39.     {
  40.         CMatrix matResult;
  41.         matResult.vRight = (*this) * other.vRight;
  42.         matResult.vFront = (*this) * other.vFront;
  43.         matResult.vUp    = (*this) * other.vUp;
  44.         matResult.vPos   = (*this) * other.vPos;
  45.         return matResult;
  46.     }
  47.  
  48.     CMatrix operator/ ( CMatrix other ) const
  49.     {
  50.         other.Invert ();
  51.         return (*this) * other;
  52.     }
  53.  
  54.     CVector operator* ( const CVector& vec ) const
  55.     {
  56.         return CVector (
  57.             vRight.fX*vec.fX + vFront.fX*vec.fY + vUp.fX*vec.fZ,
  58.             vRight.fY*vec.fX + vFront.fY*vec.fY + vUp.fY*vec.fZ,
  59.             vRight.fZ*vec.fX + vFront.fZ*vec.fY + vUp.fZ*vec.fZ
  60.         );
  61.     }
  62.  
  63.     void Invert ()
  64.     {
  65.         // Transpose the rotation matrix and negate the position
  66.         CVector vOldRight = vRight, vOldFront = vFront, vOldUp = vUp;
  67.         vRight = CVector ( vOldRight.fX, vOldFront.fX, vOldUp.fX );
  68.         vFront = CVector ( vOldRight.fY, vOldFront.fY, vOldUp.fY );
  69.         vUp    = CVector ( vOldRight.fZ, vOldFront.fZ, vOldUp.fZ );
  70.         vPos  *= -1.0f;
  71.     }
  72.  
  73. 	CMatrix Rotate ( const CVector * param, float theta )
  74. 	{
  75. 		// Rotate the rotation matrix
  76. 		double sin_t = sinf( theta ), cos_t = cosf( theta );
  77. 		CMatrix mRotateMult;
  78. 		// rotate X
  79. 		mRotateMult.vRight.fX = (double) cos_t + ( 1.0f - cos_t ) * param->fX * param->fX;
  80. 		mRotateMult.vRight.fY = (double) ( 1.0f - cos_t ) * param->fX * param->fY - sin_t * param->fZ;
  81. 		mRotateMult.vRight.fZ = (double) ( 1.0f - cos_t ) * param->fX * param->fZ + sin_t * param->fY;
  82. 		// rotate Y
  83. 		mRotateMult.vFront.fX = (double) ( 1.0f - cos_t ) * param->fY * param->fX + sin_t * param->fZ;
  84. 		mRotateMult.vFront.fY = (double) cos_t + ( 1.0f - cos_t ) * param->fY * param->fY;
  85. 		mRotateMult.vFront.fZ = (double) ( 1.0f - cos_t ) * param->fY * param->fZ - sin_t * param->fX;
  86. 		// rotate Z
  87. 		mRotateMult.vUp.fX = (double) ( 1.0f - cos_t ) * param->fZ * param->fX - sin_t * param->fY;
  88. 		mRotateMult.vUp.fY = (double) ( 1.0f - cos_t ) * param->fZ * param->fY + sin_t * param->fX;
  89. 		mRotateMult.vUp.fZ = (double) cos_t + ( 1.0f - cos_t ) * param->fZ * param->fZ;
  90. 		// multiply matrix
  91. 		mRotateMult = mRotateMult * (*this);
  92. 		// set vectors
  93. 		mRotateMult.vPos = vPos;
  94. 		// return
  95. 		return mRotateMult;
  96. 	}
  97.  
  98. 	void Normalize ( bool bNormalizePosition=0 )
  99. 	{
  100. 		// normalize vectors
  101. 		vRight.Normalize();
  102. 		vFront.Normalize();
  103. 		vUp.Normalize();
  104.  
  105. 		// if you want the position matric to also be normalized, defaults to no.
  106. 		if (bNormalizePosition)
  107. 			vPos.Normalize();
  108. 	}
  109.  
  110. };
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https://ideone.com/CYd5zA
language:
C++ (gcc 8.3)
created:
11 years ago
visibility:
public

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