1 files changed, 228 insertions, 0 deletions

diff --git a/src/Matrix4.h b/src/Matrix4.h
new file mode 100644
index 000000000..14ccb94fd
--- /dev/null
+++ b/src/Matrix4.h
@@ -0,0 +1,228 @@
+
+#pragma once
+
+
+
+
+#include <math.h>
+
+
+
+
+
+template <typename T>
+// tolua_begin
+class Matrix4
+{
+
+	TOLUA_TEMPLATE_BIND((T, float, double))
+
+	// tolua_end
+
+public:
+
+	T cell[16];
+
+	enum
+	{
+		TX=3, TY=7, TZ=11,
+		D0=0, D1=5, D2=10, D3=15,
+		SX=D0, SY=D1, SZ=D2,
+		W=D3
+	};
+
+	// tolua_begin
+
+	inline Matrix4(void)
+	{
+		Identity();
+	}
+
+	inline Matrix4(const Matrix4 & a_Rhs)
+	{
+		*this = a_Rhs;
+	}
+
+	inline Matrix4 & operator = (const Matrix4 & a_Rhs)
+	{
+		for (unsigned int i = 0; i < 16; ++i)
+		{
+			cell[i] = a_Rhs.cell[i];
+		}
+		return *this;
+	}
+
+	inline T & operator [] (int a_N)
+	{
+		ASSERT(a_N < 16);
+		return cell[a_N];
+	}
+
+	inline void Identity()
+	{
+		cell[1] = cell[2] = cell[TX] = cell[4] = cell[6] = cell[TY] =
+		cell[8] = cell[9] = cell[TZ] = cell[12] = cell[13] = cell[14] = 0;
+		cell[D0] = cell[D1] = cell[D2] = cell[W] = 1;
+	}
+
+	inline void Init(const Vector3<T> & a_Pos, T a_RX, T a_RY, T a_RZ)
+	{
+		Matrix4<T> t;
+		t.RotateX(a_RZ);
+		RotateY(a_RY);
+		Concatenate(t);
+		t.RotateZ(a_RX);
+		Concatenate(t);
+		Translate(a_Pos);
+	}
+
+	inline void RotateX(T a_RX)
+	{
+		T sx = (T) sin(a_RX * M_PI / 180);
+		T cx = (T) cos(a_RX * M_PI / 180);
+
+		Identity();
+
+		cell[5] = cx, cell[6] = sx, cell[9] = -sx, cell[10] = cx;
+	}
+
+	inline void RotateY(T a_RY)
+	{
+		T sy = (T) sin(a_RY * M_PI / 180);
+		T cy = (T) cos(a_RY * M_PI / 180);
+
+		Identity();
+
+		cell[0] = cy, cell[2] = -sy, cell[8] = sy, cell[10] = cy;
+	}
+
+	inline void RotateZ(T a_RZ)
+	{
+		T sz = (T) sin(a_RZ * M_PI / 180);
+		T cz = (T) cos(a_RZ * M_PI / 180);
+
+		Identity();
+
+		cell[0] = cz;  cell[1] = sz;
+		cell[4] = -sz; cell[5] = cz;
+	}
+
+	inline void Translate(const Vector3<T> & a_Pos)
+	{ 
+		cell[TX] += a_Pos.x;
+		cell[TY] += a_Pos.y;
+		cell[TZ] += a_Pos.z;
+	}
+
+	inline void SetTranslation(const Vector3<T> & a_Pos)
+	{
+		cell[TX] = a_Pos.x;
+		cell[TY] = a_Pos.y;
+		cell[TZ] = a_Pos.z;
+	}
+
+	inline void Concatenate(const Matrix4 & m2)
+	{
+		Matrix4 res;
+
+		for (unsigned int c = 0; c < 4; ++c)
+		{
+			for (unsigned int r = 0; r < 4; ++r)
+			{
+				res.cell[r * 4 + c] = (
+					cell[r * 4]     * m2.cell[c] +
+					cell[r * 4 + 1] * m2.cell[c + 4] +
+					cell[r * 4 + 2] * m2.cell[c + 8] +
+					cell[r * 4 + 3] * m2.cell[c + 12]
+				);
+			}
+		}
+
+		*this = res;
+	}
+
+	inline Vector3<T> Transform(const Vector3<T> & v) const
+	{
+		T x  = cell[0] * v.x + cell[1] * v.y + cell[2]  * v.z + cell[3];
+		T y  = cell[4] * v.x + cell[5] * v.y + cell[6]  * v.z + cell[7];
+		T z  = cell[8] * v.x + cell[9] * v.y + cell[10] * v.z + cell[11];
+
+		return Vector3<T>(x, y, z);
+	}
+
+	inline void Invert(void)
+	{
+		Matrix4 t;
+
+		T tx = -cell[3];
+		T ty = -cell[7];
+		T tz = -cell[11];
+
+		for (unsigned int h = 0; h < 3; ++h)
+		{
+			for (unsigned int v = 0; v < 3; ++v)
+			{
+				t.cell[h + v * 4] = cell[v + h * 4];
+			}
+		}
+
+		for (unsigned int i = 0; i < 11; ++i)
+		{
+			cell[i] = t.cell[i];
+		}
+
+		cell[3]  = tx * cell[0] + ty * cell[1] + tz * cell[2];
+		cell[7]  = tx * cell[4] + ty * cell[5] + tz * cell[6];
+		cell[11] = tx * cell[8] + ty * cell[9] + tz * cell[10];
+	}
+
+	inline Vector3<T> GetXColumn(void) const
+	{
+		return Vector3<T>(cell[0], cell[1], cell[2]);
+	}
+
+	inline Vector3<T> GetYColumn(void) const
+	{
+		return Vector3<T>(cell[4], cell[5], cell[6]);
+	}
+
+	inline Vector3<T> GetZColumn(void) const
+	{
+		return Vector3<T>(cell[8], cell[9], cell[10]);
+	}
+
+	inline void SetXColumn(const Vector3<T> & a_X)
+	{
+		cell[0] = a_X.x;
+		cell[1] = a_X.y;
+		cell[2] = a_X.z;
+	}
+
+	inline void SetYColumn(const Vector3<T> & a_Y)
+	{
+		cell[4] = a_Y.x;
+		cell[5] = a_Y.y;
+		cell[6] = a_Y.z;
+	}
+
+	inline void SetZColumn(const Vector3<T> & a_Z)
+	{
+		cell[8] = a_Z.x;
+		cell[9] = a_Z.y;
+		cell[10] = a_Z.z;
+	}
+};
+// tolua_end
+
+
+
+
+// tolua_begin
+typedef Matrix4<double> Matrix4d;
+typedef Matrix4<float>  Matrix4f;
+// tolua_end
+
+
+
+
+