1 | /* |
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2 | |
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3 | Brian Curless |
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4 | |
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5 | Computer Graphics Laboratory |
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6 | Stanford University |
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7 | |
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8 | --------------------------------------------------------------------- |
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9 | |
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10 | Copyright (1997) The Board of Trustees of the Leland Stanford Junior |
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11 | University. Except for commercial resale, lease, license or other |
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12 | commercial transactions, permission is hereby given to use, copy, |
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13 | modify this software for academic purposes only. No part of this |
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14 | software or any derivatives thereof may be used in the production of |
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15 | computer models for resale or for use in a commercial |
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16 | product. STANFORD MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND |
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17 | CONCERNING THIS SOFTWARE. No support is implied or provided. |
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18 | |
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19 | */ |
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20 | |
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21 | |
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22 | #include "Matrix4f.h" |
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23 | #include "defines.h" |
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24 | #include <math.h> |
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25 | #include <unistd.h> |
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26 | #include <stdio.h> |
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27 | |
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28 | /* #include "NR.h" */ |
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29 | |
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30 | void |
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31 | Matrix4f::setValue(float *a) |
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32 | { |
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33 | m[0][0] = a[0]; m[0][1] = a[1]; m[0][2] = a[2]; m[0][3] = a[3]; |
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34 | m[1][0] = a[4]; m[1][1] = a[5]; m[1][2] = a[6]; m[1][3] = a[7]; |
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35 | m[2][0] = a[8]; m[2][1] = a[9]; m[2][2] = a[10]; m[2][3] = a[11]; |
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36 | m[3][0] = a[12]; m[3][1] = a[13]; m[3][2] = a[14]; m[3][3] = a[15]; |
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37 | } |
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38 | |
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39 | void |
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40 | Matrix4f::getValue(float *a) |
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41 | { |
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42 | a[0] = m[0][0]; a[1] = m[0][1]; a[2] = m[0][2]; a[3] = m[0][3]; |
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43 | a[4] = m[1][0]; a[5] = m[1][1]; a[6] = m[1][2]; a[7] = m[1][3]; |
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44 | a[8] = m[2][0]; a[9] = m[2][1]; a[10] = m[2][2]; a[11] = m[2][3]; |
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45 | a[12] = m[3][0]; a[13] = m[3][1]; a[14] = m[3][2]; a[15] = m[3][3]; |
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46 | } |
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47 | |
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48 | void |
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49 | Matrix4f::setValue(float a[][4]) |
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50 | { |
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51 | m[0][0] = a[0][0]; m[0][1] = a[0][1]; m[0][2] = a[0][2]; |
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52 | m[0][3] = a[0][3]; |
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53 | |
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54 | m[1][0] = a[1][0]; m[1][1] = a[1][1]; m[1][2] = a[1][2]; |
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55 | m[1][3] = a[1][3]; |
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56 | |
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57 | m[2][0] = a[2][0]; m[2][1] = a[2][1]; m[2][2] = a[2][2]; |
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58 | m[2][3] = a[2][3]; |
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59 | |
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60 | m[3][0] = a[3][0]; m[3][1] = a[3][1]; m[3][2] = a[3][2]; |
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61 | m[3][3] = a[3][3]; |
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62 | } |
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63 | |
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64 | void |
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65 | Matrix4f::setValue(const Matrix4f &a) |
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66 | { |
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67 | m[0][0] = a.m[0][0]; m[0][1] = a.m[0][1]; m[0][2] = a.m[0][2]; |
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68 | m[0][3] = a.m[0][3]; |
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69 | |
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70 | m[1][0] = a.m[1][0]; m[1][1] = a.m[1][1]; m[1][2] = a.m[1][2]; |
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71 | m[1][3] = a.m[1][3]; |
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72 | |
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73 | m[2][0] = a.m[2][0]; m[2][1] = a.m[2][1]; m[2][2] = a.m[2][2]; |
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74 | m[2][3] = a.m[2][3]; |
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75 | |
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76 | m[3][0] = a.m[3][0]; m[3][1] = a.m[3][1]; m[3][2] = a.m[3][2]; |
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77 | m[3][3] = a.m[3][3]; |
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78 | } |
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79 | |
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80 | void |
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81 | Matrix4f::setValue(float *a0, float *a1, float *a2, float *a3) |
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82 | { |
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83 | m[0][0] = a0[0]; m[0][1] = a0[1]; m[0][2] = a0[2]; m[0][3] = a0[3]; |
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84 | m[1][0] = a1[0]; m[1][1] = a1[1]; m[1][2] = a1[2]; m[1][3] = a1[3]; |
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85 | m[2][0] = a2[0]; m[2][1] = a2[1]; m[2][2] = a2[2]; m[2][3] = a2[3]; |
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86 | m[3][0] = a3[0]; m[3][1] = a3[1]; m[3][2] = a3[2]; m[3][3] = a3[3]; |
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87 | } |
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88 | |
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89 | void |
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90 | Matrix4f::setValue(float a00, float a01, float a02, float a03, |
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91 | float a10, float a11, float a12, float a13, |
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92 | float a20, float a21, float a22, float a23, |
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93 | float a30, float a31, float a32, float a33) |
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94 | { |
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95 | m[0][0] = a00; m[0][1] = a01; m[0][2] = a02; m[0][3] = a03; |
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96 | m[1][0] = a10; m[1][1] = a11; m[1][2] = a12; m[1][3] = a13; |
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97 | m[2][0] = a20; m[2][1] = a21; m[2][2] = a22; m[2][3] = a23; |
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98 | m[3][0] = a30; m[3][1] = a31; m[3][2] = a32; m[3][3] = a33; |
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99 | } |
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100 | |
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101 | |
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102 | void |
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103 | Matrix4f::multVec(const Vec3f &src, Vec3f &dst) |
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104 | { |
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105 | dst.setValue(m[0][0] * src[0] + m[0][1] * src[1] |
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106 | + m[0][2] * src[2] + m[0][3], |
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107 | m[1][0] * src[0] + m[1][1] * src[1] |
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108 | + m[1][2] * src[2] + m[1][3], |
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109 | m[2][0] * src[0] + m[2][1] * src[1] |
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110 | + m[2][2] * src[2] + m[2][3]); |
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111 | } |
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112 | |
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113 | void |
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114 | Matrix4f::multVecHomog(const Vec3f &src, Vec3f &dst) |
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115 | { |
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116 | float w; |
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117 | |
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118 | dst.setValue(m[0][0] * src[0] + m[0][1] * src[1] |
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119 | + m[0][2] * src[2] + m[0][3], |
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120 | m[1][0] * src[0] + m[1][1] * src[1] |
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121 | + m[1][2] * src[2] + m[1][3], |
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122 | m[2][0] * src[0] + m[2][1] * src[1] |
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123 | + m[2][2] * src[2] + m[2][3]); |
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124 | |
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125 | w = m[3][0]*src[0] + m[3][1]*src[1] + m[3][2]*src[2] + m[3][3]; |
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126 | |
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127 | dst /= w; |
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128 | } |
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129 | |
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130 | void |
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131 | Matrix4f::multDir(const Vec3f& src, Vec3f &dst) |
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132 | { |
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133 | dst.setValue(m[0][0] * src[0] + m[0][1] * src[1] + m[0][2] * src[2], |
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134 | m[1][0] * src[0] + m[1][1] * src[1] + m[1][2] * src[2], |
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135 | m[2][0] * src[0] + m[2][1] * src[1] + m[2][2] * src[2]); |
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136 | } |
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137 | |
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138 | |
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139 | void |
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140 | Matrix4f::makeIdentity() |
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141 | { |
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142 | setValue(1,0,0,0, |
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143 | 0,1,0,0, |
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144 | 0,0,1,0, |
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145 | 0,0,0,1); |
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146 | } |
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147 | |
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148 | |
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149 | Matrix4f & |
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150 | Matrix4f::multRight(const Matrix4f &a) |
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151 | { |
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152 | Matrix4f temp; |
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153 | |
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154 | temp.clear(); |
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155 | for (int i = 0; i < 4; i++) |
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156 | for (int j = 0; j < 4; j++) |
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157 | for (int k = 0; k < 4; k++) |
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158 | temp.m[i][j] += m[i][k] * a.m[k][j]; |
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159 | |
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160 | setValue(temp); |
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161 | |
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162 | return *this; |
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163 | } |
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164 | |
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165 | |
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166 | Matrix4f & |
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167 | Matrix4f::multLeft(const Matrix4f &a) |
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168 | { |
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169 | Matrix4f temp; |
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170 | |
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171 | temp.clear(); |
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172 | for (int i = 0; i < 4; i++) |
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173 | for (int j = 0; j < 4; j++) |
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174 | for (int k = 0; k < 4; k++) |
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175 | temp.m[i][j] += a.m[i][k] * m[k][j]; |
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176 | |
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177 | setValue(temp); |
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178 | |
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179 | return *this; |
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180 | } |
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181 | |
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182 | |
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183 | Matrix4f & |
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184 | Matrix4f::multLeft(const Matrix3f &a) |
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185 | { |
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186 | Matrix4f temp; |
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187 | int i; |
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188 | |
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189 | temp.clear(); |
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190 | for (i = 0; i < 3; i++) |
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191 | for (int j = 0; j < 3; j++) |
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192 | for (int k = 0; k < 3; k++) |
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193 | temp.m[i][j] += a.m[i][k] * m[k][j]; |
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194 | |
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195 | for (i = 0; i < 4; i++) { |
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196 | temp.m[3][i] = m[3][i]; |
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197 | temp.m[i][3] = m[i][3]; |
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198 | } |
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199 | |
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200 | setValue(temp); |
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201 | |
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202 | return *this; |
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203 | } |
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204 | |
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205 | |
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206 | void |
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207 | Matrix4f::setScale(float s) |
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208 | { |
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209 | setScale(s, s, s); |
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210 | } |
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211 | |
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212 | |
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213 | void |
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214 | Matrix4f::setScale(float sx, float sy, float sz) |
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215 | { |
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216 | m[0][0] = sx; m[0][1] = 0; m[0][2] = 0; |
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217 | m[1][0] = 0; m[1][1] = sy; m[1][2] = 0; |
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218 | m[2][0] = 0; m[2][1] = 0; m[2][2] = sz; |
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219 | } |
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220 | |
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221 | |
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222 | void |
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223 | Matrix4f::setScale(const Vec3f &s) |
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224 | { |
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225 | setScale(s[0], s[1], s[2]); |
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226 | } |
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227 | |
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228 | |
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229 | void |
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230 | Matrix4f::scale(float s) |
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231 | { |
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232 | setScale(s, s, s); |
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233 | } |
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234 | |
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235 | |
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236 | void |
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237 | Matrix4f::scale(float sx, float sy, float sz) |
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238 | { |
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239 | m[0][0] *= sx; m[0][1] *= sx; m[0][2] *= sx; m[0][3] *= sx; |
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240 | m[1][0] *= sy; m[1][1] *= sy; m[1][2] *= sy; m[1][3] *= sy; |
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241 | m[2][0] *= sz; m[2][1] *= sz; m[2][2] *= sz; m[2][3] *= sz; |
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242 | } |
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243 | |
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244 | |
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245 | void |
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246 | Matrix4f::scale(const Vec3f &s) |
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247 | { |
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248 | scale(s[0], s[1], s[2]); |
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249 | } |
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250 | |
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251 | |
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252 | void |
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253 | Matrix4f::rotateX(float theta) |
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254 | { |
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255 | Matrix4f temp; |
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256 | temp.makeIdentity(); |
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257 | temp.setRotateX(theta); |
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258 | multLeft(temp); |
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259 | } |
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260 | |
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261 | void |
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262 | Matrix4f::rotateY(float theta) |
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263 | { |
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264 | Matrix4f temp; |
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265 | temp.makeIdentity(); |
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266 | temp.setRotateY(theta); |
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267 | multLeft(temp); |
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268 | } |
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269 | |
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270 | void |
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271 | Matrix4f::rotateZ(float theta) |
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272 | { |
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273 | Matrix4f temp; |
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274 | temp.makeIdentity(); |
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275 | temp.setRotateZ(theta); |
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276 | multLeft(temp); |
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277 | } |
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278 | |
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279 | |
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280 | void |
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281 | Matrix4f::setRotateX(float theta) |
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282 | { |
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283 | m[0][0] = 1; m[0][1] = 0; m[0][2] = 0; |
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284 | m[1][0] = 0; m[1][1] = cos(theta); m[1][2] = -sin(theta); |
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285 | m[2][0] = 0; m[2][1] = sin(theta); m[2][2] = cos(theta); |
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286 | } |
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287 | |
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288 | void |
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289 | Matrix4f::setRotateY(float theta) |
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290 | { |
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291 | m[0][0] = cos(theta); m[0][1] = 0; m[0][2] = sin(theta); |
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292 | m[1][0] = 0; m[1][1] = 1; m[1][2] = 0; |
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293 | m[2][0] = -sin(theta); m[2][1] = 0; m[2][2] = cos(theta); |
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294 | } |
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295 | |
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296 | void |
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297 | Matrix4f::setRotateZ(float theta) |
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298 | { |
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299 | m[0][0] = cos(theta); m[0][1] = -sin(theta); m[0][2] = 0; |
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300 | m[1][0] = sin(theta); m[1][1] = cos(theta); m[1][2] = 0; |
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301 | m[2][0] = 0; m[2][1] = 0; m[2][2] = 1; |
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302 | } |
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303 | |
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304 | void |
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305 | Matrix4f::setTranslate(Vec3f t) |
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306 | { |
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307 | setTranslate(t[0], t[1], t[2]); |
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308 | } |
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309 | |
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310 | |
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311 | void |
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312 | Matrix4f::setTranslate(float tx, float ty, float tz) |
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313 | { |
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314 | m[0][3] = tx; |
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315 | m[1][3] = ty; |
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316 | m[2][3] = tz; |
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317 | } |
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318 | |
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319 | |
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320 | void |
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321 | Matrix4f::translate(Vec3f t) |
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322 | { |
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323 | translate(t[0], t[1], t[2]); |
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324 | } |
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325 | |
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326 | |
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327 | void |
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328 | Matrix4f::translate(float tx, float ty, float tz) |
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329 | { |
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330 | m[0][3] += tx; |
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331 | m[1][3] += ty; |
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332 | m[2][3] += tz; |
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333 | } |
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334 | |
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335 | |
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336 | |
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337 | Matrix4f |
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338 | Matrix4f::inverse() const |
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339 | { |
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340 | Matrix4f result; |
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341 | int i, j, k; |
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342 | double temp; |
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343 | double bigm[8][4]; |
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344 | /* Declare identity matrix */ |
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345 | |
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346 | result.makeIdentity(); |
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347 | for (i = 0; i < 4; i++) { |
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348 | for (j = 0; j < 4; j++) { |
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349 | bigm[i][j] = m[i][j]; |
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350 | bigm[i+4][j] = result.m[i][j]; |
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351 | } |
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352 | } |
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353 | |
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354 | /* Work across by columns */ |
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355 | for (i = 0; i < 4; i++) { |
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356 | for (j = i; (bigm[i][j] == 0.0) && (j < 4); j++) |
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357 | ; |
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358 | if (j == 4) { |
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359 | fprintf (stderr, "error: cannot do inverse matrix\n"); |
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360 | exit (2); |
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361 | } |
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362 | else if (i != j) { |
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363 | for (k = 0; k < 8; k++) { |
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364 | temp = bigm[k][i]; |
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365 | bigm[k][i] = bigm[k][j]; |
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366 | bigm[k][j] = temp; |
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367 | } |
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368 | } |
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369 | |
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370 | /* Divide original row */ |
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371 | for (j = 7; j >= i; j--) |
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372 | bigm[j][i] /= bigm[i][i]; |
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373 | |
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374 | /* Subtract other rows */ |
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375 | for (j = 0; j < 4; j++) |
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376 | if (i != j) |
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377 | for (k = 7; k >= i; k--) |
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378 | bigm[k][j] -= bigm[k][i] * bigm[i][j]; |
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379 | } |
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380 | |
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381 | for (i = 0; i < 4; i++) |
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382 | for (j = 0; j < 4; j++) |
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383 | result.m[i][j] = bigm[i+4][j]; |
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384 | |
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385 | return result; |
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386 | } |
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387 | |
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388 | |
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389 | void |
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390 | Matrix4f::transpose() |
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391 | { |
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392 | float temp; |
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393 | |
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394 | SWAP(m[0][1], m[1][0], temp); |
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395 | SWAP(m[0][2], m[2][0], temp); |
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396 | SWAP(m[0][3], m[3][0], temp); |
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397 | SWAP(m[1][2], m[2][1], temp); |
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398 | SWAP(m[1][3], m[3][1], temp); |
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399 | SWAP(m[2][3], m[3][2], temp); |
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400 | } |
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401 | |
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402 | |
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403 | int |
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404 | Matrix4f::operator!=(const Matrix4f &a) |
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405 | { |
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406 | if (m[0][0] != a.m[0][0]) return TRUE; |
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407 | if (m[0][1] != a.m[0][1]) return TRUE; |
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408 | if (m[0][2] != a.m[0][2]) return TRUE; |
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409 | if (m[0][3] != a.m[0][3]) return TRUE; |
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410 | if (m[1][0] != a.m[1][0]) return TRUE; |
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411 | if (m[1][1] != a.m[1][1]) return TRUE; |
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412 | if (m[1][2] != a.m[1][2]) return TRUE; |
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413 | if (m[1][3] != a.m[1][3]) return TRUE; |
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414 | if (m[2][0] != a.m[2][0]) return TRUE; |
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415 | if (m[2][1] != a.m[2][1]) return TRUE; |
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416 | if (m[2][2] != a.m[2][2]) return TRUE; |
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417 | if (m[2][3] != a.m[2][3]) return TRUE; |
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418 | if (m[3][0] != a.m[3][0]) return TRUE; |
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419 | if (m[3][1] != a.m[3][1]) return TRUE; |
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420 | if (m[3][2] != a.m[3][2]) return TRUE; |
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421 | if (m[3][3] != a.m[3][3]) return TRUE; |
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422 | |
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423 | return FALSE; |
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424 | } |
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425 | |
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426 | int |
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427 | Matrix4f::operator==(const Matrix4f &a) |
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428 | { |
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429 | if (m[0][0] != a.m[0][0]) return FALSE; |
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430 | if (m[0][1] != a.m[0][1]) return FALSE; |
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431 | if (m[0][2] != a.m[0][2]) return FALSE; |
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432 | if (m[0][3] != a.m[0][3]) return FALSE; |
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433 | if (m[1][0] != a.m[1][0]) return FALSE; |
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434 | if (m[1][1] != a.m[1][1]) return FALSE; |
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435 | if (m[1][2] != a.m[1][2]) return FALSE; |
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436 | if (m[1][3] != a.m[1][3]) return FALSE; |
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437 | if (m[2][0] != a.m[2][0]) return FALSE; |
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438 | if (m[2][1] != a.m[2][1]) return FALSE; |
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439 | if (m[2][2] != a.m[2][2]) return FALSE; |
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440 | if (m[2][3] != a.m[2][3]) return FALSE; |
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441 | if (m[3][0] != a.m[3][0]) return FALSE; |
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442 | if (m[3][1] != a.m[3][1]) return FALSE; |
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443 | if (m[3][2] != a.m[3][2]) return FALSE; |
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444 | if (m[3][3] != a.m[3][3]) return FALSE; |
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445 | |
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446 | return TRUE; |
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447 | } |
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448 | |
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449 | void |
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450 | Matrix4f::print() |
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451 | { |
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452 | for (int i=0; i<4; i++) { |
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453 | for (int j=0; j<4; j++) { |
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454 | printf("%f\t", m[i][j]); |
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455 | } |
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456 | printf("\n"); |
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457 | } |
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458 | } |
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459 | |
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460 | void |
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461 | Matrix4f::read(FILE *fp) |
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462 | { |
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463 | float a0, a1, a2, a3; |
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464 | |
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465 | fscanf(fp, "%f %f %f %f", &a0, &a1, &a2, &a3); |
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466 | this->setElem(0,0,a0); |
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467 | this->setElem(0,1,a1); |
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468 | this->setElem(0,2,a2); |
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469 | this->setElem(0,3,a3); |
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470 | |
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471 | fscanf(fp, "%f %f %f %f", &a0, &a1, &a2, &a3); |
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472 | this->setElem(1,0,a0); |
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473 | this->setElem(1,1,a1); |
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474 | this->setElem(1,2,a2); |
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475 | this->setElem(1,3,a3); |
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476 | |
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477 | fscanf(fp, "%f %f %f %f", &a0, &a1, &a2, &a3); |
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478 | this->setElem(2,0,a0); |
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479 | this->setElem(2,1,a1); |
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480 | this->setElem(2,2,a2); |
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481 | this->setElem(2,3,a3); |
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482 | |
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483 | fscanf(fp, "%f %f %f %f", &a0, &a1, &a2, &a3); |
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484 | this->setElem(3,0,a0); |
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485 | this->setElem(3,1,a1); |
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486 | this->setElem(3,2,a2); |
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487 | this->setElem(3,3,a3); |
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488 | } |
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489 | |
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490 | void |
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491 | Matrix4f::write(FILE *fp) |
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492 | { |
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493 | float a0, a1, a2, a3; |
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494 | |
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495 | a0 = this->elem(0,0); |
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496 | a1 = this->elem(0,1); |
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497 | a2 = this->elem(0,2); |
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498 | a3 = this->elem(0,3); |
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499 | fprintf(fp, "%f %f %f %f\n", a0, a1, a2, a3); |
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500 | |
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501 | a0 = this->elem(1,0); |
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502 | a1 = this->elem(1,1); |
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503 | a2 = this->elem(1,2); |
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504 | a3 = this->elem(1,3); |
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505 | fprintf(fp, "%f %f %f %f\n", a0, a1, a2, a3); |
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506 | |
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507 | a0 = this->elem(2,0); |
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508 | a1 = this->elem(2,1); |
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509 | a2 = this->elem(2,2); |
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510 | a3 = this->elem(2,3); |
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511 | fprintf(fp, "%f %f %f %f\n", a0, a1, a2, a3); |
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512 | |
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513 | a0 = this->elem(3,0); |
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514 | a1 = this->elem(3,1); |
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515 | a2 = this->elem(3,2); |
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516 | a3 = this->elem(3,3); |
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517 | fprintf(fp, "%f %f %f %f\n", a0, a1, a2, a3); |
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518 | |
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519 | } |
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520 | |
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521 | |
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522 | /* |
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523 | Matrix4f |
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524 | Matrix4f::inverse() const |
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525 | { |
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526 | Matrix4f temp, result; |
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527 | int i; |
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528 | |
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529 | temp.setValue(*this); |
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530 | float *nrmat[4]; |
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531 | |
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532 | toNR(temp, nrmat); |
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533 | |
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534 | // See NRC book |
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535 | float d, col[4]; |
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536 | int indx[4]; |
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537 | ludcmp(nrmat-1, 4, indx-1, &d); |
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538 | for (int j = 0; j < 4; j++) { |
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539 | for (i = 0; i < 4; i++) col[i] = 0; |
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540 | col[j] = 1.0; |
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541 | lubksb(nrmat-1, 4, indx-1, col-1); |
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542 | for(i = 0; i < 4; i++) result.m[i][j] = col[i]; |
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543 | } |
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544 | |
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545 | return Matrix4f(result); |
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546 | } |
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547 | |
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548 | |
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549 | void |
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550 | Matrix4f::toNR(Matrix4f &in, float **nrmat) const |
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551 | { |
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552 | nrmat[0] = in.m[0] - 1; |
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553 | nrmat[1] = in.m[1] - 1; |
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554 | nrmat[2] = in.m[2] - 1; |
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555 | nrmat[3] = in.m[3] - 1; |
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556 | } |
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557 | |
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558 | |
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559 | void |
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560 | Matrix4f::freeNR(float **in) const |
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561 | { |
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562 | free(in); |
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563 | } |
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564 | |
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565 | |
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566 | Matrix4f & |
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567 | Matrix4f::operator *=(const Matrix4f &m) |
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568 | { |
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569 | } |
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570 | |
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571 | |
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572 | friend Matrix4f |
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573 | Matrix4f::operator *(const Matrix4f &m1, const Matrix4f &m2) |
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574 | { |
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575 | } |
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576 | */ |
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