/**
* @file m4math.cpp
* @brief LLMatrix4 class implementation.
*
* $LicenseInfo:firstyear=2000&license=viewerlgpl$
* Second Life Viewer Source Code
* Copyright (C) 2010, Linden Research, Inc.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation;
* version 2.1 of the License only.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*
* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
* $/LicenseInfo$
*/
#include "linden_common.h"
#include "v3math.h"
#include "v4math.h"
#include "m4math.h"
#include "m3math.h"
#include "llquaternion.h"
#include "llmatrix4a.h"
// LLMatrix4
// Constructors
LLMatrix4::LLMatrix4(const F32 *mat)
{
mMatrix[0][0] = mat[0];
mMatrix[0][1] = mat[1];
mMatrix[0][2] = mat[2];
mMatrix[0][3] = mat[3];
mMatrix[1][0] = mat[4];
mMatrix[1][1] = mat[5];
mMatrix[1][2] = mat[6];
mMatrix[1][3] = mat[7];
mMatrix[2][0] = mat[8];
mMatrix[2][1] = mat[9];
mMatrix[2][2] = mat[10];
mMatrix[2][3] = mat[11];
mMatrix[3][0] = mat[12];
mMatrix[3][1] = mat[13];
mMatrix[3][2] = mat[14];
mMatrix[3][3] = mat[15];
}
LLMatrix4::LLMatrix4(const LLMatrix3 &mat, const LLVector4 &vec)
{
mMatrix[0][0] = mat.mMatrix[0][0];
mMatrix[0][1] = mat.mMatrix[0][1];
mMatrix[0][2] = mat.mMatrix[0][2];
mMatrix[0][3] = 0.f;
mMatrix[1][0] = mat.mMatrix[1][0];
mMatrix[1][1] = mat.mMatrix[1][1];
mMatrix[1][2] = mat.mMatrix[1][2];
mMatrix[1][3] = 0.f;
mMatrix[2][0] = mat.mMatrix[2][0];
mMatrix[2][1] = mat.mMatrix[2][1];
mMatrix[2][2] = mat.mMatrix[2][2];
mMatrix[2][3] = 0.f;
mMatrix[3][0] = vec.mV[0];
mMatrix[3][1] = vec.mV[1];
mMatrix[3][2] = vec.mV[2];
mMatrix[3][3] = 1.f;
}
LLMatrix4::LLMatrix4(const LLMatrix3 &mat)
{
mMatrix[0][0] = mat.mMatrix[0][0];
mMatrix[0][1] = mat.mMatrix[0][1];
mMatrix[0][2] = mat.mMatrix[0][2];
mMatrix[0][3] = 0.f;
mMatrix[1][0] = mat.mMatrix[1][0];
mMatrix[1][1] = mat.mMatrix[1][1];
mMatrix[1][2] = mat.mMatrix[1][2];
mMatrix[1][3] = 0.f;
mMatrix[2][0] = mat.mMatrix[2][0];
mMatrix[2][1] = mat.mMatrix[2][1];
mMatrix[2][2] = mat.mMatrix[2][2];
mMatrix[2][3] = 0.f;
mMatrix[3][0] = 0.f;
mMatrix[3][1] = 0.f;
mMatrix[3][2] = 0.f;
mMatrix[3][3] = 1.f;
}
LLMatrix4::LLMatrix4(const LLQuaternion &q)
{
*this = initRotation(q);
}
LLMatrix4::LLMatrix4(const LLMatrix4a& mat)
: LLMatrix4(mat.getF32ptr())
{
}
LLMatrix4::LLMatrix4(const LLQuaternion &q, const LLVector4 &pos)
{
*this = initRotTrans(q, pos);
}
LLMatrix4::LLMatrix4(const F32 angle, const LLVector4 &vec, const LLVector4 &pos)
{
initRotTrans(LLQuaternion(angle, vec), pos);
}
LLMatrix4::LLMatrix4(const F32 angle, const LLVector4 &vec)
{
initRotation(LLQuaternion(angle, vec));
mMatrix[3][0] = 0.f;
mMatrix[3][1] = 0.f;
mMatrix[3][2] = 0.f;
mMatrix[3][3] = 1.f;
}
LLMatrix4::LLMatrix4(const F32 roll, const F32 pitch, const F32 yaw, const LLVector4 &pos)
{
LLMatrix3 mat(roll, pitch, yaw);
initRotTrans(LLQuaternion(mat), pos);
}
LLMatrix4::LLMatrix4(const F32 roll, const F32 pitch, const F32 yaw)
{
LLMatrix3 mat(roll, pitch, yaw);
initRotation(LLQuaternion(mat));
mMatrix[3][0] = 0.f;
mMatrix[3][1] = 0.f;
mMatrix[3][2] = 0.f;
mMatrix[3][3] = 1.f;
}
LLMatrix4::~LLMatrix4(void)
{
}
// Clear and Assignment Functions
const LLMatrix4& LLMatrix4::setZero()
{
mMatrix[0][0] = 0.f;
mMatrix[0][1] = 0.f;
mMatrix[0][2] = 0.f;
mMatrix[0][3] = 0.f;
mMatrix[1][0] = 0.f;
mMatrix[1][1] = 0.f;
mMatrix[1][2] = 0.f;
mMatrix[1][3] = 0.f;
mMatrix[2][0] = 0.f;
mMatrix[2][1] = 0.f;
mMatrix[2][2] = 0.f;
mMatrix[2][3] = 0.f;
mMatrix[3][0] = 0.f;
mMatrix[3][1] = 0.f;
mMatrix[3][2] = 0.f;
mMatrix[3][3] = 0.f;
return *this;
}
// various useful mMatrix functions
const LLMatrix4& LLMatrix4::transpose()
{
LLMatrix4 mat;
mat.mMatrix[0][0] = mMatrix[0][0];
mat.mMatrix[1][0] = mMatrix[0][1];
mat.mMatrix[2][0] = mMatrix[0][2];
mat.mMatrix[3][0] = mMatrix[0][3];
mat.mMatrix[0][1] = mMatrix[1][0];
mat.mMatrix[1][1] = mMatrix[1][1];
mat.mMatrix[2][1] = mMatrix[1][2];
mat.mMatrix[3][1] = mMatrix[1][3];
mat.mMatrix[0][2] = mMatrix[2][0];
mat.mMatrix[1][2] = mMatrix[2][1];
mat.mMatrix[2][2] = mMatrix[2][2];
mat.mMatrix[3][2] = mMatrix[2][3];
mat.mMatrix[0][3] = mMatrix[3][0];
mat.mMatrix[1][3] = mMatrix[3][1];
mat.mMatrix[2][3] = mMatrix[3][2];
mat.mMatrix[3][3] = mMatrix[3][3];
*this = mat;
return *this;
}
F32 LLMatrix4::determinant() const
{
F32 value =
mMatrix[0][3] * mMatrix[1][2] * mMatrix[2][1] * mMatrix[3][0] -
mMatrix[0][2] * mMatrix[1][3] * mMatrix[2][1] * mMatrix[3][0] -
mMatrix[0][3] * mMatrix[1][1] * mMatrix[2][2] * mMatrix[3][0] +
mMatrix[0][1] * mMatrix[1][3] * mMatrix[2][2] * mMatrix[3][0] +
mMatrix[0][2] * mMatrix[1][1] * mMatrix[2][3] * mMatrix[3][0] -
mMatrix[0][1] * mMatrix[1][2] * mMatrix[2][3] * mMatrix[3][0] -
mMatrix[0][3] * mMatrix[1][2] * mMatrix[2][0] * mMatrix[3][1] +
mMatrix[0][2] * mMatrix[1][3] * mMatrix[2][0] * mMatrix[3][1] +
mMatrix[0][3] * mMatrix[1][0] * mMatrix[2][2] * mMatrix[3][1] -
mMatrix[0][0] * mMatrix[1][3] * mMatrix[2][2] * mMatrix[3][1] -
mMatrix[0][2] * mMatrix[1][0] * mMatrix[2][3] * mMatrix[3][1] +
mMatrix[0][0] * mMatrix[1][2] * mMatrix[2][3] * mMatrix[3][1] +
mMatrix[0][3] * mMatrix[1][1] * mMatrix[2][0] * mMatrix[3][2] -
mMatrix[0][1] * mMatrix[1][3] * mMatrix[2][0] * mMatrix[3][2] -
mMatrix[0][3] * mMatrix[1][0] * mMatrix[2][1] * mMatrix[3][2] +
mMatrix[0][0] * mMatrix[1][3] * mMatrix[2][1] * mMatrix[3][2] +
mMatrix[0][1] * mMatrix[1][0] * mMatrix[2][3] * mMatrix[3][2] -
mMatrix[0][0] * mMatrix[1][1] * mMatrix[2][3] * mMatrix[3][2] -
mMatrix[0][2] * mMatrix[1][1] * mMatrix[2][0] * mMatrix[3][3] +
mMatrix[0][1] * mMatrix[1][2] * mMatrix[2][0] * mMatrix[3][3] +
mMatrix[0][2] * mMatrix[1][0] * mMatrix[2][1] * mMatrix[3][3] -
mMatrix[0][0] * mMatrix[1][2] * mMatrix[2][1] * mMatrix[3][3] -
mMatrix[0][1] * mMatrix[1][0] * mMatrix[2][2] * mMatrix[3][3] +
mMatrix[0][0] * mMatrix[1][1] * mMatrix[2][2] * mMatrix[3][3];
return value;
}
// Only works for pure orthonormal, homogeneous transform matrices.
const LLMatrix4& LLMatrix4::invert(void)
{
// transpose the rotation part
F32 temp;
temp = mMatrix[VX][VY]; mMatrix[VX][VY] = mMatrix[VY][VX]; mMatrix[VY][VX] = temp;
temp = mMatrix[VX][VZ]; mMatrix[VX][VZ] = mMatrix[VZ][VX]; mMatrix[VZ][VX] = temp;
temp = mMatrix[VY][VZ]; mMatrix[VY][VZ] = mMatrix[VZ][VY]; mMatrix[VZ][VY] = temp;
// rotate the translation part by the new rotation
// (temporarily store in empty column of matrix)
U32 j;
for (j=0; j<3; j++)
{
mMatrix[j][VW] = mMatrix[VW][VX] * mMatrix[VX][j] +
mMatrix[VW][VY] * mMatrix[VY][j] +
mMatrix[VW][VZ] * mMatrix[VZ][j];
}
// negate and copy the temporary vector back to the tranlation row
mMatrix[VW][VX] = -mMatrix[VX][VW];
mMatrix[VW][VY] = -mMatrix[VY][VW];
mMatrix[VW][VZ] = -mMatrix[VZ][VW];
// zero the empty column again
mMatrix[VX][VW] = mMatrix[VY][VW] = mMatrix[VZ][VW] = 0.0f;
return *this;
}
// Convenience func for simplifying comparison-heavy code by
// intentionally stomping values in [-FLT_EPS,FLT_EPS] to 0.0f
//
void LLMatrix4::condition(void)
{
U32 i;
U32 j;
for (i = 0; i < 3;i++)
for (j = 0; j < 3;j++)
mMatrix[i][j] = ((mMatrix[i][j] > -FLT_EPSILON)
&& (mMatrix[i][j] < FLT_EPSILON)) ? 0.0f : mMatrix[i][j];
}
LLVector4 LLMatrix4::getFwdRow4() const
{
return LLVector4(mMatrix[VX][VX], mMatrix[VX][VY], mMatrix[VX][VZ], mMatrix[VX][VW]);
}
LLVector4 LLMatrix4::getLeftRow4() const
{
return LLVector4(mMatrix[VY][VX], mMatrix[VY][VY], mMatrix[VY][VZ], mMatrix[VY][VW]);
}
LLVector4 LLMatrix4::getUpRow4() const
{
return LLVector4(mMatrix[VZ][VX], mMatrix[VZ][VY], mMatrix[VZ][VZ], mMatrix[VZ][VW]);
}
// SJB: This code is correct for a logicly stored (non-transposed) matrix;
// Our matrices are stored transposed, OpenGL style, so this generates the
// INVERSE quaternion (-x, -y, -z, w)!
// Because we use similar logic in LLQuaternion::getMatrix3,
// we are internally consistant so everything works OK :)
LLQuaternion LLMatrix4::quaternion() const
{
LLQuaternion quat;
F32 tr, s, q[4];
U32 i, j, k;
U32 nxt[3] = {1, 2, 0};
tr = mMatrix[0][0] + mMatrix[1][1] + mMatrix[2][2];
// check the diagonal
if (tr > 0.f)
{
s = (F32)sqrt (tr + 1.f);
quat.mQ[VS] = s / 2.f;
s = 0.5f / s;
quat.mQ[VX] = (mMatrix[1][2] - mMatrix[2][1]) * s;
quat.mQ[VY] = (mMatrix[2][0] - mMatrix[0][2]) * s;
quat.mQ[VZ] = (mMatrix[0][1] - mMatrix[1][0]) * s;
}
else
{
// diagonal is negative
i = 0;
if (mMatrix[1][1] > mMatrix[0][0])
i = 1;
if (mMatrix[2][2] > mMatrix[i][i])
i = 2;
j = nxt[i];
k = nxt[j];
s = (F32)sqrt ((mMatrix[i][i] - (mMatrix[j][j] + mMatrix[k][k])) + 1.f);
q[i] = s * 0.5f;
if (s != 0.f)
s = 0.5f / s;
q[3] = (mMatrix[j][k] - mMatrix[k][j]) * s;
q[j] = (mMatrix[i][j] + mMatrix[j][i]) * s;
q[k] = (mMatrix[i][k] + mMatrix[k][i]) * s;
quat.setQuat(q);
}
return quat;
}
void LLMatrix4::initRows(const LLVector4 &row0,
const LLVector4 &row1,
const LLVector4 &row2,
const LLVector4 &row3)
{
mMatrix[0][0] = row0.mV[0];
mMatrix[0][1] = row0.mV[1];
mMatrix[0][2] = row0.mV[2];
mMatrix[0][3] = row0.mV[3];
mMatrix[1][0] = row1.mV[0];
mMatrix[1][1] = row1.mV[1];
mMatrix[1][2] = row1.mV[2];
mMatrix[1][3] = row1.mV[3];
mMatrix[2][0] = row2.mV[0];
mMatrix[2][1] = row2.mV[1];
mMatrix[2][2] = row2.mV[2];
mMatrix[2][3] = row2.mV[3];
mMatrix[3][0] = row3.mV[0];
mMatrix[3][1] = row3.mV[1];
mMatrix[3][2] = row3.mV[2];
mMatrix[3][3] = row3.mV[3];
}
const LLMatrix4& LLMatrix4::initRotation(F32 angle, const LLVector4 &vec)
{
LLMatrix3 mat(angle, vec);
return initMatrix(mat);
}
const LLMatrix4& LLMatrix4::initRotation(const F32 roll, const F32 pitch, const F32 yaw)
{
LLMatrix3 mat(roll, pitch, yaw);
return initMatrix(mat);
}
const LLMatrix4& LLMatrix4::initRotation(const LLQuaternion &q)
{
LLMatrix3 mat(q);
return initMatrix(mat);
}
const LLMatrix4& LLMatrix4::initRotTrans(const F32 angle, const LLVector3 &axis, const LLVector3&translation)
{
LLMatrix3 mat(angle, axis);
initMatrix(mat);
setTranslation(translation);
return (*this);
}
const LLMatrix4& LLMatrix4::initRotTrans(const F32 roll, const F32 pitch, const F32 yaw, const LLVector4 &translation)
{
LLMatrix3 mat(roll, pitch, yaw);
initMatrix(mat);
setTranslation(translation);
return (*this);
}
/*
const LLMatrix4& LLMatrix4::initRotTrans(const LLVector4 &fwd,
const LLVector4 &left,
const LLVector4 &up,
const LLVector4 &translation)
{
LLMatrix3 mat(fwd, left, up);
initMatrix(mat);
setTranslation(translation);
return (*this);
}
*/
const LLMatrix4& LLMatrix4::initRotTrans(const LLQuaternion &q, const LLVector4 &translation)
{
LLMatrix3 mat(q);
initMatrix(mat);
setTranslation(translation);
return (*this);
}
const LLMatrix4& LLMatrix4::initScale(const LLVector3 &scale)
{
setIdentity();
mMatrix[VX][VX] = scale.mV[VX];
mMatrix[VY][VY] = scale.mV[VY];
mMatrix[VZ][VZ] = scale.mV[VZ];
return (*this);
}
const LLMatrix4& LLMatrix4::initAll(const LLVector3 &scale, const LLQuaternion &q, const LLVector3 &pos)
{
F32 sx, sy, sz;
F32 xx, xy, xz, xw, yy, yz, yw, zz, zw;
sx = scale.mV[0];
sy = scale.mV[1];
sz = scale.mV[2];
xx = q.mQ[VX] * q.mQ[VX];
xy = q.mQ[VX] * q.mQ[VY];
xz = q.mQ[VX] * q.mQ[VZ];
xw = q.mQ[VX] * q.mQ[VW];
yy = q.mQ[VY] * q.mQ[VY];
yz = q.mQ[VY] * q.mQ[VZ];
yw = q.mQ[VY] * q.mQ[VW];
zz = q.mQ[VZ] * q.mQ[VZ];
zw = q.mQ[VZ] * q.mQ[VW];
mMatrix[0][0] = (1.f - 2.f * ( yy + zz )) *sx;
mMatrix[0][1] = ( 2.f * ( xy + zw )) *sx;
mMatrix[0][2] = ( 2.f * ( xz - yw )) *sx;
mMatrix[1][0] = ( 2.f * ( xy - zw )) *sy;
mMatrix[1][1] = (1.f - 2.f * ( xx + zz )) *sy;
mMatrix[1][2] = ( 2.f * ( yz + xw )) *sy;
mMatrix[2][0] = ( 2.f * ( xz + yw )) *sz;
mMatrix[2][1] = ( 2.f * ( yz - xw )) *sz;
mMatrix[2][2] = (1.f - 2.f * ( xx + yy )) *sz;
mMatrix[3][0] = pos.mV[0];
mMatrix[3][1] = pos.mV[1];
mMatrix[3][2] = pos.mV[2];
mMatrix[3][3] = 1.0;
// TODO -- should we set the translation portion to zero?
return (*this);
}
const LLMatrix4& LLMatrix4::rotate(const F32 angle, const LLVector4 &vec)
{
LLMatrix4 mat(angle, vec);
*this *= mat;
return *this;
}
const LLMatrix4& LLMatrix4::rotate(const F32 roll, const F32 pitch, const F32 yaw)
{
LLMatrix4 mat(roll, pitch, yaw);
*this *= mat;
return *this;
}
const LLMatrix4& LLMatrix4::rotate(const LLQuaternion &q)
{
LLMatrix4 mat(q);
*this *= mat;
return *this;
}
const LLMatrix4& LLMatrix4::translate(const LLVector3 &vec)
{
mMatrix[3][0] += vec.mV[0];
mMatrix[3][1] += vec.mV[1];
mMatrix[3][2] += vec.mV[2];
return (*this);
}
void LLMatrix4::setFwdRow(const LLVector3 &row)
{
mMatrix[VX][VX] = row.mV[VX];
mMatrix[VX][VY] = row.mV[VY];
mMatrix[VX][VZ] = row.mV[VZ];
}
void LLMatrix4::setLeftRow(const LLVector3 &row)
{
mMatrix[VY][VX] = row.mV[VX];
mMatrix[VY][VY] = row.mV[VY];
mMatrix[VY][VZ] = row.mV[VZ];
}
void LLMatrix4::setUpRow(const LLVector3 &row)
{
mMatrix[VZ][VX] = row.mV[VX];
mMatrix[VZ][VY] = row.mV[VY];
mMatrix[VZ][VZ] = row.mV[VZ];
}
void LLMatrix4::setFwdCol(const LLVector3 &col)
{
mMatrix[VX][VX] = col.mV[VX];
mMatrix[VY][VX] = col.mV[VY];
mMatrix[VZ][VX] = col.mV[VZ];
}
void LLMatrix4::setLeftCol(const LLVector3 &col)
{
mMatrix[VX][VY] = col.mV[VX];
mMatrix[VY][VY] = col.mV[VY];
mMatrix[VZ][VY] = col.mV[VZ];
}
void LLMatrix4::setUpCol(const LLVector3 &col)
{
mMatrix[VX][VZ] = col.mV[VX];
mMatrix[VY][VZ] = col.mV[VY];
mMatrix[VZ][VZ] = col.mV[VZ];
}
const LLMatrix4& LLMatrix4::setTranslation(const F32 tx, const F32 ty, const F32 tz)
{
mMatrix[VW][VX] = tx;
mMatrix[VW][VY] = ty;
mMatrix[VW][VZ] = tz;
return (*this);
}
const LLMatrix4& LLMatrix4::setTranslation(const LLVector3 &translation)
{
mMatrix[VW][VX] = translation.mV[VX];
mMatrix[VW][VY] = translation.mV[VY];
mMatrix[VW][VZ] = translation.mV[VZ];
return (*this);
}
const LLMatrix4& LLMatrix4::setTranslation(const LLVector4 &translation)
{
mMatrix[VW][VX] = translation.mV[VX];
mMatrix[VW][VY] = translation.mV[VY];
mMatrix[VW][VZ] = translation.mV[VZ];
return (*this);
}
// LLMatrix3 Extraction and Setting
LLMatrix3 LLMatrix4::getMat3() const
{
LLMatrix3 retmat;
retmat.mMatrix[0][0] = mMatrix[0][0];
retmat.mMatrix[0][1] = mMatrix[0][1];
retmat.mMatrix[0][2] = mMatrix[0][2];
retmat.mMatrix[1][0] = mMatrix[1][0];
retmat.mMatrix[1][1] = mMatrix[1][1];
retmat.mMatrix[1][2] = mMatrix[1][2];
retmat.mMatrix[2][0] = mMatrix[2][0];
retmat.mMatrix[2][1] = mMatrix[2][1];
retmat.mMatrix[2][2] = mMatrix[2][2];
return retmat;
}
const LLMatrix4& LLMatrix4::initMatrix(const LLMatrix3 &mat)
{
mMatrix[0][0] = mat.mMatrix[0][0];
mMatrix[0][1] = mat.mMatrix[0][1];
mMatrix[0][2] = mat.mMatrix[0][2];
mMatrix[0][3] = 0.f;
mMatrix[1][0] = mat.mMatrix[1][0];
mMatrix[1][1] = mat.mMatrix[1][1];
mMatrix[1][2] = mat.mMatrix[1][2];
mMatrix[1][3] = 0.f;
mMatrix[2][0] = mat.mMatrix[2][0];
mMatrix[2][1] = mat.mMatrix[2][1];
mMatrix[2][2] = mat.mMatrix[2][2];
mMatrix[2][3] = 0.f;
mMatrix[3][0] = 0.f;
mMatrix[3][1] = 0.f;
mMatrix[3][2] = 0.f;
mMatrix[3][3] = 1.f;
return (*this);
}
const LLMatrix4& LLMatrix4::initMatrix(const LLMatrix3 &mat, const LLVector4 &translation)
{
mMatrix[0][0] = mat.mMatrix[0][0];
mMatrix[0][1] = mat.mMatrix[0][1];
mMatrix[0][2] = mat.mMatrix[0][2];
mMatrix[0][3] = 0.f;
mMatrix[1][0] = mat.mMatrix[1][0];
mMatrix[1][1] = mat.mMatrix[1][1];
mMatrix[1][2] = mat.mMatrix[1][2];
mMatrix[1][3] = 0.f;
mMatrix[2][0] = mat.mMatrix[2][0];
mMatrix[2][1] = mat.mMatrix[2][1];
mMatrix[2][2] = mat.mMatrix[2][2];
mMatrix[2][3] = 0.f;
mMatrix[3][0] = translation.mV[0];
mMatrix[3][1] = translation.mV[1];
mMatrix[3][2] = translation.mV[2];
mMatrix[3][3] = 1.f;
return (*this);
}
// LLMatrix4 Operators
LLVector4 operator*(const LLVector4 &a, const LLMatrix4 &b)
{
// Operate "to the left" on row-vector a
return LLVector4(a.mV[VX] * b.mMatrix[VX][VX] +
a.mV[VY] * b.mMatrix[VY][VX] +
a.mV[VZ] * b.mMatrix[VZ][VX] +
a.mV[VW] * b.mMatrix[VW][VX],
a.mV[VX] * b.mMatrix[VX][VY] +
a.mV[VY] * b.mMatrix[VY][VY] +
a.mV[VZ] * b.mMatrix[VZ][VY] +
a.mV[VW] * b.mMatrix[VW][VY],
a.mV[VX] * b.mMatrix[VX][VZ] +
a.mV[VY] * b.mMatrix[VY][VZ] +
a.mV[VZ] * b.mMatrix[VZ][VZ] +
a.mV[VW] * b.mMatrix[VW][VZ],
a.mV[VX] * b.mMatrix[VX][VW] +
a.mV[VY] * b.mMatrix[VY][VW] +
a.mV[VZ] * b.mMatrix[VZ][VW] +
a.mV[VW] * b.mMatrix[VW][VW]);
}
LLVector4 rotate_vector(const LLVector4 &a, const LLMatrix4 &b)
{
// Rotates but does not translate
// Operate "to the left" on row-vector a
LLVector4 vec;
vec.mV[VX] = a.mV[VX] * b.mMatrix[VX][VX] +
a.mV[VY] * b.mMatrix[VY][VX] +
a.mV[VZ] * b.mMatrix[VZ][VX];
vec.mV[VY] = a.mV[VX] * b.mMatrix[VX][VY] +
a.mV[VY] * b.mMatrix[VY][VY] +
a.mV[VZ] * b.mMatrix[VZ][VY];
vec.mV[VZ] = a.mV[VX] * b.mMatrix[VX][VZ] +
a.mV[VY] * b.mMatrix[VY][VZ] +
a.mV[VZ] * b.mMatrix[VZ][VZ];
// vec.mV[VW] = a.mV[VX] * b.mMatrix[VX][VW] +
// a.mV[VY] * b.mMatrix[VY][VW] +
// a.mV[VZ] * b.mMatrix[VZ][VW] +
vec.mV[VW] = a.mV[VW];
return vec;
}
LLVector3 rotate_vector(const LLVector3 &a, const LLMatrix4 &b)
{
// Rotates but does not translate
// Operate "to the left" on row-vector a
LLVector3 vec;
vec.mV[VX] = a.mV[VX] * b.mMatrix[VX][VX] +
a.mV[VY] * b.mMatrix[VY][VX] +
a.mV[VZ] * b.mMatrix[VZ][VX];
vec.mV[VY] = a.mV[VX] * b.mMatrix[VX][VY] +
a.mV[VY] * b.mMatrix[VY][VY] +
a.mV[VZ] * b.mMatrix[VZ][VY];
vec.mV[VZ] = a.mV[VX] * b.mMatrix[VX][VZ] +
a.mV[VY] * b.mMatrix[VY][VZ] +
a.mV[VZ] * b.mMatrix[VZ][VZ];
return vec;
}
bool operator==(const LLMatrix4 &a, const LLMatrix4 &b)
{
U32 i, j;
for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
{
for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
{
if (a.mMatrix[j][i] != b.mMatrix[j][i])
return false;
}
}
return true;
}
bool operator!=(const LLMatrix4 &a, const LLMatrix4 &b)
{
U32 i, j;
for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
{
for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
{
if (a.mMatrix[j][i] != b.mMatrix[j][i])
return true;
}
}
return false;
}
bool operator<(const LLMatrix4& a, const LLMatrix4 &b)
{
U32 i, j;
for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
{
for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
{
if (a.mMatrix[i][j] != b.mMatrix[i][j])
{
return a.mMatrix[i][j] < b.mMatrix[i][j];
}
}
}
return false;
}
const LLMatrix4& operator*=(LLMatrix4 &a, F32 k)
{
U32 i, j;
for (i = 0; i < NUM_VALUES_IN_MAT4; i++)
{
for (j = 0; j < NUM_VALUES_IN_MAT4; j++)
{
a.mMatrix[j][i] *= k;
}
}
return a;
}
std::ostream& operator<<(std::ostream& s, const LLMatrix4 &a)
{
s << "{ "
<< a.mMatrix[VX][VX] << ", "
<< a.mMatrix[VX][VY] << ", "
<< a.mMatrix[VX][VZ] << ", "
<< a.mMatrix[VX][VW]
<< "; "
<< a.mMatrix[VY][VX] << ", "
<< a.mMatrix[VY][VY] << ", "
<< a.mMatrix[VY][VZ] << ", "
<< a.mMatrix[VY][VW]
<< "; "
<< a.mMatrix[VZ][VX] << ", "
<< a.mMatrix[VZ][VY] << ", "
<< a.mMatrix[VZ][VZ] << ", "
<< a.mMatrix[VZ][VW]
<< "; "
<< a.mMatrix[VW][VX] << ", "
<< a.mMatrix[VW][VY] << ", "
<< a.mMatrix[VW][VZ] << ", "
<< a.mMatrix[VW][VW]
<< " }";
return s;
}
LLSD LLMatrix4::getValue() const
{
LLSD ret;
ret[0] = mMatrix[0][0];
ret[1] = mMatrix[0][1];
ret[2] = mMatrix[0][2];
ret[3] = mMatrix[0][3];
ret[4] = mMatrix[1][0];
ret[5] = mMatrix[1][1];
ret[6] = mMatrix[1][2];
ret[7] = mMatrix[1][3];
ret[8] = mMatrix[2][0];
ret[9] = mMatrix[2][1];
ret[10] = mMatrix[2][2];
ret[11] = mMatrix[2][3];
ret[12] = mMatrix[3][0];
ret[13] = mMatrix[3][1];
ret[14] = mMatrix[3][2];
ret[15] = mMatrix[3][3];
return ret;
}
void LLMatrix4::setValue(const LLSD& data)
{
mMatrix[0][0] = (F32)data[0].asReal();
mMatrix[0][1] = (F32)data[1].asReal();
mMatrix[0][2] = (F32)data[2].asReal();
mMatrix[0][3] = (F32)data[3].asReal();
mMatrix[1][0] = (F32)data[4].asReal();
mMatrix[1][1] = (F32)data[5].asReal();
mMatrix[1][2] = (F32)data[6].asReal();
mMatrix[1][3] = (F32)data[7].asReal();
mMatrix[2][0] = (F32)data[8].asReal();
mMatrix[2][1] = (F32)data[9].asReal();
mMatrix[2][2] = (F32)data[10].asReal();
mMatrix[2][3] = (F32)data[11].asReal();
mMatrix[3][0] = (F32)data[12].asReal();
mMatrix[3][1] = (F32)data[13].asReal();
mMatrix[3][2] = (F32)data[14].asReal();
mMatrix[3][3] = (F32)data[15].asReal();
}