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Matrix3C.h

//-------------------------------------------------------------------------
//
// File:        Matrix3C.h
// Desc:        3x4 matrix class.
// Author:      memon <memon@inside.org>
//
//-------------------------------------------------------------------------
//  Copyright (c) 2000-2002 Moppi Productions. All Rights Reserved.
//  This file is part of Moppi Demopaja SDK. For conditions of 
//  distribution and use, see the accompanying license.txt file.
//  http://moppi.inside.org/demopaja/
//-------------------------------------------------------------------------

#ifndef __DEMOPAJA_MATRIX3_H__
#define __DEMOPAJA_MATRIX3_H__

#if _MSC_VER >= 1000
#pragma once
#endif // _MSC_VER >= 1000


#include "PajaTypes.h"
#include "Vector3C.h"
#include "QuatC.h"

namespace PajaTypes {

    class QuatC;


    class Matrix3C {
    public:

        Matrix3C();

        Matrix3C( const Matrix3C& rMat );


        Matrix3C( const float32* pMat );

        virtual ~Matrix3C();

        Matrix3C            operator-() const;

        Matrix3C&           operator-=( const Matrix3C& rMat );
        
        Matrix3C&           operator+=( const Matrix3C& rMat );
        
        Matrix3C            operator-( const Matrix3C& rMat ) const;

        Matrix3C            operator+( const Matrix3C& rMat ) const;

        Matrix3C            operator*( const Matrix3C& rMat ) const;

        Matrix3C&           operator*=( const Matrix3C& rMat );


        Vector3C&           operator[]( int32 i );


        const Vector3C&     operator[]( int32 i ) const;

        friend Vector3C     operator*( const Matrix3C& rMat, const Vector3C& rVec );
        
        friend Vector3C     operator*( const Vector3C& rVec, const Matrix3C& rMat );
        
        friend Vector3C&    operator*=( Vector3C& rVec, const Matrix3C& rMat );

        Matrix3C&   set_identity();

        Matrix3C&   set_trans( const Vector3C& v );

        Matrix3C&   set_scale( const Vector3C& v );

        Matrix3C&   set_rot_x( float32 f32Angle );
        
        Matrix3C&   set_rot_y( float32 f32Angle );

        Matrix3C&   set_rot_z( float32 f32Angle );
        
        Matrix3C&   set_rot_xyz( float32 f32XAngle, float32 f32YAngle, float32 f32ZAngle );

        Matrix3C&   set_rot( const QuatC& rQuat );

        Matrix3C    pre_trans( const Vector3C& rVec ) const;

        Matrix3C    inverse() const;

        Matrix3C    transpose() const;

        Matrix3C    ortho_norm() const;


    private:
        Vector3C    m_rMat[4];
    };



    //
    // Inlines
    //

    inline
    Vector3C&
    Matrix3C::operator[]( int i )
    {
        assert( i >= 0 && i < 4 );
        return m_rMat[i];
    }

    inline
    const Vector3C&
    Matrix3C::operator[]( int i ) const
    {
        assert( i >= 0 && i < 4 );
        return m_rMat[i];
    }

    inline
    Vector3C
    operator*( const Matrix3C& m, const Vector3C& v )
    {
        return Vector3C( v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0] + m[3][0],
                         v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1] + m[3][1],
                         v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2] + m[3][2] );
    }

    inline
    Vector3C
    operator*( const Vector3C& v, const Matrix3C& m )
    {
        return Vector3C( v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0] + m[3][0],
                         v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1] + m[3][1],
                         v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2] + m[3][2] );
    }

    inline
    Vector3C&
    operator*=( Vector3C& v, const Matrix3C& m )
    {
        Vector3C    rTmp = v;
        v[0] = rTmp[0] * m[0][0] + rTmp[1] * m[1][0] + rTmp[2] * m[2][0] + m[3][0];
        v[1] = rTmp[0] * m[0][1] + rTmp[1] * m[1][1] + rTmp[2] * m[2][1] + m[3][1];
        v[2] = rTmp[0] * m[0][2] + rTmp[1] * m[1][2] + rTmp[2] * m[2][2] + m[3][2];
        return v;
    }

};  // namespace PajaTypes

#endif

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