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1 #ifndef MATRIX_H_
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2 #define MATRIX_H_
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3
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4 #include <iostream>
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5 #include "vector.h"
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6
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7 class Matrix4x4 {
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8 public:
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9 float m[4][4];
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10
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11 static Matrix4x4 identity;
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12
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13 Matrix4x4();
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14 Matrix4x4( float m11, float m12, float m13, float m14,
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15 float m21, float m22, float m23, float m24,
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16 float m31, float m32, float m33, float m34,
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17 float m41, float m42, float m43, float m44);
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18
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19 /* binary operations matrix (op) matrix */
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20 friend Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
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21 friend Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
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22 friend Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
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23
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24 friend void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
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25 friend void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
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26 friend inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
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27
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28 /* binary operations matrix (op) scalar and scalar (op) matrix */
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29 friend Matrix4x4 operator *(const Matrix4x4 &mat, float scalar);
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30 friend Matrix4x4 operator *(float scalar, const Matrix4x4 &mat);
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31
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32 friend void operator *=(Matrix4x4 &mat, float scalar);
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33
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34 inline float *operator [](int index);
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35 inline const float *operator [](int index) const;
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36
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37 inline void reset_identity();
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38
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39 void translate(const Vector3 &trans);
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40 void set_translation(const Vector3 &trans);
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41
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42 void rotate(const Vector3 &euler); /* 3d rotation with euler angles */
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43 void rotate(const Vector3 &axis, float angle); /* 3d axis/angle rotation */
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44 void set_rotation(const Vector3 &euler_angles);
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45 void set_rotation(const Vector3 &axis, float angle);
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46
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47 void scale(const Vector3 &scale_vec);
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48 void set_scaling(const Vector3 &scale_vec);
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49
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50 void set_column_vector(const Vector3 &vec, unsigned int col_index);
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51 void set_row_vector(const Vector3 &vec, unsigned int row_index);
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52 Vector3 get_column_vector(unsigned int col_index) const;
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53 Vector3 get_row_vector(unsigned int row_index) const;
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54
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55 void transpose();
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56 Matrix4x4 transposed() const;
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57 float determinant() const;
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58 Matrix4x4 adjoint() const;
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59 Matrix4x4 inverse() const;
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60 };
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61
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62 /* binary operations matrix (op) matrix */
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63 Matrix4x4 operator +(const Matrix4x4 &m1, const Matrix4x4 &m2);
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64 Matrix4x4 operator -(const Matrix4x4 &m1, const Matrix4x4 &m2);
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65 Matrix4x4 operator *(const Matrix4x4 &m1, const Matrix4x4 &m2);
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66
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67 void operator +=(Matrix4x4 &m1, const Matrix4x4 &m2);
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68 void operator -=(Matrix4x4 &m1, const Matrix4x4 &m2);
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69 inline void operator *=(Matrix4x4 &m1, const Matrix4x4 &m2);
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70
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71 /* binary operations matrix (op) scalar and scalar (op) matrix */
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72 Matrix4x4 operator *(const Matrix4x4 &mat, float scalar);
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73 Matrix4x4 operator *(float scalar, const Matrix4x4 &mat);
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74
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75 void operator *=(Matrix4x4 &mat, float scalar);
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76
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77 std::ostream &operator <<(std::ostream &out, const Matrix4x4 &mat);
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78
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79
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80 #endif
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81
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