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172 | #include "std.h"
#include "Mat4.h"
Mat4 Mat4::identity(Vec4(1,0,0,0),Vec4(0,1,0,0),Vec4(0,0,1,0),Vec4(0,0,0,1));
Mat4 Mat4::zero(Vec4(0,0,0,0),Vec4(0,0,0,0),Vec4(0,0,0,0),Vec4(0,0,0,0));
Mat4 Mat4::unit(Vec4(1,1,1,1),Vec4(1,1,1,1),Vec4(1,1,1,1),Vec4(1,1,1,1));
Mat4 Mat4::trans(double x, double y, double z)<--- The function 'trans' is never used.
{
return Mat4(Vec4(1,0,0,x),
Vec4(0,1,0,y),
Vec4(0,0,1,z),
Vec4(0,0,0,1));
}
Mat4 Mat4::scale(double x, double y, double z)
{
return Mat4(Vec4(x,0,0,0),
Vec4(0,y,0,0),
Vec4(0,0,z,0),
Vec4(0,0,0,1));
}
Mat4 Mat4::xrot(double a)<--- The function 'xrot' is never used.
{
double c = cos(a);
double s = sin(a);
return Mat4(Vec4(1, 0, 0, 0),
Vec4(0, c,-s, 0),
Vec4(0, s, c, 0),
Vec4(0, 0, 0, 1));
}
Mat4 Mat4::yrot(double a)<--- The function 'yrot' is never used.
{
double c = cos(a);
double s = sin(a);
return Mat4(Vec4(c, 0, s, 0),
Vec4(0, 1, 0, 0),
Vec4(-s,0, c, 0),
Vec4(0, 0, 0, 1));
}
Mat4 Mat4::zrot(double a)<--- The function 'zrot' is never used.
{
double c = cos(a);
double s = sin(a);
return Mat4(Vec4(c,-s, 0, 0),
Vec4(s, c, 0, 0),
Vec4(0, 0, 1, 0),
Vec4(0, 0, 0, 1));
}
Mat4 Mat4::operator*(const Mat4& m) const
{
Mat4 A;
int i,j;
for(i=0;i<4;i++)
for(j=0;j<4;j++)
A(i,j) = row[i]*m.col(j);
return A;
}
double Mat4::det() const
{
return row[0] * cross(row[1], row[2], row[3]);
}
Mat4 Mat4::transpose() const
{
return Mat4(col(0), col(1), col(2), col(3));
}
Mat4 Mat4::adjoint() const
{
Mat4 A;
A.row[0] = cross( row[1], row[2], row[3]);
A.row[1] = cross(-row[0], row[2], row[3]);
A.row[2] = cross( row[0], row[1], row[3]);
A.row[3] = cross(-row[0], row[1], row[2]);
return A;
}
double Mat4::cramerInverse(Mat4& inv) const<--- The function 'cramerInverse' is never used.
{
Mat4 A = adjoint();
double d = A.row[0] * row[0];
if( d==0.0 )
return 0.0;
inv = A.transpose() / d;
return d;
}
// Matrix inversion code for 4x4 matrices.
// Originally ripped off and degeneralized from Paul's matrix library
// for the view synthesis (Chen) software.
//
// Returns determinant of a, and b=a inverse.
// If matrix is singular, returns 0 and leaves trash in b.
//
// Uses Gaussian elimination with partial pivoting.
#define SWAP(a, b, t) {t = a; a = b; b = t;}
double Mat4::inverse(Mat4& B) const
{
Mat4 A(*this);
int i, j, k;
double max, t, det, pivot;<--- The scope of the variable 'max' can be reduced.<--- The scope of the variable 'pivot' can be reduced.
/*---------- forward elimination ----------*/
for (i=0; i<4; i++) /* put identity matrix in B */
for (j=0; j<4; j++)
B(i, j) = (double)(i==j);
det = 1.0;
for (i=0; i<4; i++) { /* eliminate in column i, below diag */
max = -1.;
for (k=i; k<4; k++) /* find pivot for column i */
if (fabs(A(k, i)) > max) {
max = fabs(A(k, i));
j = k;
}
if (max<=0.) return 0.; /* if no nonzero pivot, PUNT */
if (j!=i) { /* swap rows i and j */
for (k=i; k<4; k++)
SWAP(A(i, k), A(j, k), t);
for (k=0; k<4; k++)
SWAP(B(i, k), B(j, k), t);
det = -det;
}
pivot = A(i, i);
det *= pivot;
for (k=i+1; k<4; k++) /* only do elems to right of pivot */
A(i, k) /= pivot;
for (k=0; k<4; k++)
B(i, k) /= pivot;
/* we know that A(i, i) will be set to 1, so don't bother to do it */
for (j=i+1; j<4; j++) { /* eliminate in rows below i */
t = A(j, i); /* we're gonna zero this guy */
for (k=i+1; k<4; k++) /* subtract scaled row i from row j */
A(j, k) -= A(i, k)*t; /* (ignore k<=i, we know they're 0) */
for (k=0; k<4; k++)
B(j, k) -= B(i, k)*t;
}
}
/*---------- backward elimination ----------*/
for (i=4-1; i>0; i--) { /* eliminate in column i, above diag */
for (j=0; j<i; j++) { /* eliminate in rows above i */
t = A(j, i); /* we're gonna zero this guy */
for (k=0; k<4; k++) /* subtract scaled row i from row j */
B(j, k) -= B(i, k)*t;
}
}
return det;
}
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