/*
** Command & Conquer Generals Zero Hour(tm)
** Copyright 2025 Electronic Arts Inc.
**
** This program is free software: you can redistribute it and/or modify
** it under the terms of the GNU General Public License as published by
** the Free Software Foundation, either version 3 of the License, or
** (at your option) any later version.
**
** This program 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 General Public License for more details.
**
** You should have received a copy of the GNU General Public License
** along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* $Header: /Commando/Code/Tools/max2w3d/matrix4.h 15 2/03/00 4:55p Jason_a $ */
/***********************************************************************************************
*** Confidential - Westwood Studios ***
***********************************************************************************************
* *
* Project Name : WW3D *
* *
* File Name : MATRIX4.H *
* *
* Programmer : Greg Hjelstrom *
* *
* Start Date : 06/02/97 *
* *
* Last Update : June 2, 1997 [GH] *
* *
*---------------------------------------------------------------------------------------------*
* Functions: *
* Matrix4::Matrix4 -- Constructor, optionally initialize to Identitiy matrix *
* Matrix4::Matrix4 -- Copy Constructor *
* Matrix4::Matrix4 -- Convert a Matrix3D (fake 4x4) to a Matrix4 *
* Matrix4::Matrix4 -- Constructor *
* Matrix4::Make_Identity -- Initializes the matrix to Identity *
* Matrix4::Init -- Initializes from the contents of the give Matrix3D *
* Matrix4::Init -- Initializes the rows from the given Vector4s *
* Matrix4::Init_Ortho -- Initialize to an orthographic projection matrix *
* Matrix4::Init_Perspective -- Initialize to a perspective projection matrix *
* Matrix4::Init_Perspective -- Initialize to a perspective projection matrix *
* Matrix4::Transpose -- Returns transpose of the matrix *
* Matrix4::Inverse -- returns the inverse of the matrix *
* Matrix4::operator = -- assignment operator *
* Matrix4::operator += -- "plus equals" operator *
* Matrix4::operator-= -- "minus equals" operator *
* Matrix4::operator *= -- "times equals" operator *
* Matrix4::operator /= -- "divide equals" operator *
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
#if defined(_MSC_VER)
#pragma once
#endif
#ifndef MATRIX4_H
#define MATRIX4_H
#include "always.h"
#include "vector4.h"
#include "matrix3d.h"
#include "wwmatrix3.h"
class Matrix4
{
public:
/*
** Constructors
*/
Matrix4(void) {};
Matrix4(const Matrix4 & m);
explicit Matrix4(bool identity);
explicit Matrix4(const Matrix3D & m);
explicit Matrix4(const Matrix3 & m);
explicit Matrix4(const Vector4 & v0, const Vector4 & v1, const Vector4 & v2, const Vector4 & v3);
void Make_Identity(void);
void Init(const Matrix3D & m);
void Init(const Matrix3 & m);
void Init(const Vector4 & v0, const Vector4 & v1, const Vector4 & v2, const Vector4 & v3);
void Init_Ortho(float left,float right,float bottom,float top,float znear,float zfar);
void Init_Perspective(float hfov,float vfov,float znear,float zfar);
void Init_Perspective(float left,float right,float bottom,float top,float znear,float zfar);
/*
** Access operators
*/
Vector4 & operator [] (int i) { return Row[i]; }
const Vector4 & operator [] (int i) const { return Row[i]; }
/*
** Transpose and Inverse
*/
Matrix4 Transpose(void) const;
Matrix4 Inverse(void) const;
/*
** Assignment operators
*/
Matrix4 & operator = (const Matrix4 & m);
Matrix4 & operator += (const Matrix4 & m);
Matrix4 & operator -= (const Matrix4 & m);
Matrix4 & operator *= (float d);
Matrix4 & operator /= (float d);
/*
** Negation
*/
friend Matrix4 operator - (const Matrix4& a);
/*
** Scalar multiplication and division
*/
friend Matrix4 operator * (const Matrix4& a,float d);
friend Matrix4 operator * (float d,const Matrix4& a);
friend Matrix4 operator / (const Matrix4& a,float d);
/*
** matrix addition
*/
friend Matrix4 operator + (const Matrix4& a, const Matrix4& b);
friend Matrix4 Add(const Matrix4& a);
/*
** matrix subtraction
*/
friend Matrix4 operator - (const Matrix4 & a, const Matrix4 & b);
friend Matrix4 Subtract(const Matrix4 & a, const Matrix4 & b);
/*
** matrix multiplication
*/
friend Matrix4 operator * (const Matrix4 & a, const Matrix4 & b);
friend Matrix4 Multiply(const Matrix4 & a, const Matrix4 & b);
/*
** Comparison operators
*/
friend int operator == (const Matrix4 & a, const Matrix4 & b);
friend int operator != (const Matrix4 & a, const Matrix4 & b);
/*
** Swap two matrices in place
*/
friend void Swap(Matrix4 & a,Matrix4 & b);
/*
** Linear Transforms
*/
friend Vector4 operator * (const Matrix4 & a, const Vector4 & v);
friend Vector4 operator * (const Matrix4 & a, const Vector3 & v);
/*
** Matrix multiplication without temporaries...
*/
static void Multiply(const Matrix4 &A,const Matrix4 &B,Matrix4 * set_result);
static void Multiply(const Matrix3D &A,const Matrix4 &B,Matrix4 * set_result);
static void Multiply(const Matrix4 &A,const Matrix3D &B,Matrix4 * set_result);
static void Transform_Vector(const Matrix4 & tm,const Vector3 & in,Vector3 * out);
protected:
Vector4 Row[4];
};
/***********************************************************************************************
* Matrix4::Matrix4 -- Constructor, optionally initialize to Identitiy matrix *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4::Matrix4(bool identity)
{
if (identity) {
Make_Identity();
}
}
/***********************************************************************************************
* Matrix4::Matrix4 -- Copy Constructor *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4::Matrix4(const Matrix4 & m)
{
Row[0] = m.Row[0]; Row[1] = m.Row[1]; Row[2] = m.Row[2]; Row[3] = m.Row[3];
}
/***********************************************************************************************
* Matrix4::Matrix4 -- Convert a Matrix3D (fake 4x4) to a Matrix4 *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4::Matrix4(const Matrix3D & m)
{
Init(m);
}
/***********************************************************************************************
* Matrix4::Matrix4 -- Constructor *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4::Matrix4(const Vector4 & r0, const Vector4 & r1, const Vector4 & r2, const Vector4 & r3)
{
Init(r0,r1,r2,r3);
}
/***********************************************************************************************
* Matrix4::Make_Identity -- Initializes the matrix to Identity *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Make_Identity(void)
{
Row[0].Set(1.0,0.0,0.0,0.0);
Row[1].Set(0.0,1.0,0.0,0.0);
Row[2].Set(0.0,0.0,1.0,0.0);
Row[3].Set(0.0,0.0,0.0,1.0);
}
/***********************************************************************************************
* Matrix4::Init -- Initializes from the contents of the give Matrix3D *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Init(const Matrix3D & m)
{
Row[0] = m[0]; Row[1] = m[1]; Row[2] = m[2]; Row[3] = Vector4(0.0,0.0,0.0,1.0);
}
/***********************************************************************************************
* Matrix4::Init -- Initializes the rows from the given Vector4s *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Init(const Vector4 & r0, const Vector4 & r1, const Vector4 & r2, const Vector4 & r3)
{
Row[0] = r0; Row[1] = r1; Row[2] = r2; Row[3] = r3;
}
/***********************************************************************************************
* Matrix4::Init_Ortho -- Initialize to an orthographic projection matrix *
* *
* You can find the formulas for this in the appendix of the OpenGL programming guide. Also *
* this happens to be the same convention used by Surrender. *
* *
* The result of this projection will be that points inside the volume will have all coords *
* between -1 and +1. A point at znear will project to z=-1. A point at zfar will project *
* to z=+1... *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* Note that the znear and zfar parameters are positive distances to the clipping planes *
* even though in the camera coordinate system, the clipping planes are at negative z *
* coordinates. This holds for all of the projection initializations and is consistent *
* with OpenGL's convention. *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Init_Ortho
(
float left,
float right,
float bottom,
float top,
float znear,
float zfar
)
{
assert(znear >= 0.0f);
assert(zfar > znear);
Make_Identity();
Row[0][0] = 2.0f / (right - left);
Row[0][3] = -(right + left) / (right - left);
Row[1][1] = 2.0f / (top - bottom);
Row[1][3] = -(top + bottom) / (top - bottom);
Row[2][2] = -2.0f / (zfar - znear);
Row[2][3] = -(zfar + znear) / (zfar - znear);
}
/***********************************************************************************************
* Matrix4::Init_Perspective -- Initialize to a perspective projection matrix *
* *
* You can find the formulas for this matrix in the appendix of the OpenGL programming guide. *
* Also, this happens to be the same convention used by Surrender. *
* *
* INPUT: *
* hfov - horizontal field of view (in radians) *
* vfov - vertical field of view (in radians) *
* znear - distance to near z clipping plane (positive) *
* zfar - distance to the far z clipping plane (positive) *
* *
* OUTPUT: *
* *
* WARNINGS: *
* Note that the znear and zfar parameters are positive distances to the clipping planes *
* even though in the camera coordinate system, the clipping planes are at negative z *
* coordinates. This holds for all of the projection initializations and is consistent *
* with OpenGL's convention. *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Init_Perspective(float hfov,float vfov,float znear,float zfar)
{
assert(znear > 0.0f);
assert(zfar > znear);
Make_Identity();
Row[0][0] = (1.0 / tan(hfov*0.5));
Row[1][1] = (1.0 / tan(vfov*0.5));
Row[2][2] = -(zfar + znear) / (zfar - znear);
Row[2][3] = -(2.0*zfar*znear) / (zfar - znear);
Row[3][2] = -1.0f;
Row[3][3] = 0.0f;
}
/***********************************************************************************************
* Matrix4::Init_Perspective -- Initialize to a perspective projection matrix *
* *
* You can find the formulas for this matrix in the appendix of the OpenGL programming guide. *
* Also, this happens to be the same convention used by Surrender. *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* Note that the znear and zfar parameters are positive distances to the clipping planes *
* even though in the camera coordinate system, the clipping planes are at negative z *
* coordinates. This holds for all of the projection initializations and is consistent *
* with OpenGL's convention. *
* *
* HISTORY: *
* 11/5/99 gth : Created. *
*=============================================================================================*/
inline void Matrix4::Init_Perspective
(
float left,
float right,
float bottom,
float top,
float znear,
float zfar
)
{
assert(znear > 0.0f);
assert(zfar > 0.0f);
Make_Identity();
Row[0][0] = 2.0*znear / (right - left);
Row[0][2] = (right + left) / (right - left);
Row[1][1] = 2.0*znear / (top - bottom);
Row[1][2] = (top + bottom) / (top - bottom);
Row[2][2] = -(zfar + znear) / (zfar - znear);
Row[2][3] = -(2.0*zfar*znear) / (zfar - znear);
Row[3][2] = -1.0f;
Row[3][3] = 0.0f;
}
/***********************************************************************************************
* Matrix4::Transpose -- Returns transpose of the matrix *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4 Matrix4::Transpose() const
{
return Matrix4(
Vector4(Row[0][0], Row[1][0], Row[2][0], Row[3][0]),
Vector4(Row[0][1], Row[1][1], Row[2][1], Row[3][1]),
Vector4(Row[0][2], Row[1][2], Row[2][2], Row[3][2]),
Vector4(Row[0][3], Row[1][3], Row[2][3], Row[3][3])
);
}
/***********************************************************************************************
* Matrix4::Inverse -- returns the inverse of the matrix *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4 Matrix4::Inverse() const // Gauss-Jordan elimination with partial pivoting
{
Matrix4 a(*this); // As a evolves from original mat into identity
Matrix4 b(true); // b evolves from identity into inverse(a)
int i, j, i1;
// Loop over cols of a from left to right, eliminating above and below diagonal
for (j=0; j<4; j++) {
// Find largest pivot in column j among rows j..3
i1 = j;
for (i=j+1; i<4; i++) {
if (WWMath::Fabs(a[i][j]) > WWMath::Fabs(a[i1][j])) {
i1 = i;
}
}
// Swap rows i1 and j in a and b to put pivot on diagonal
Swap(a.Row[i1], a.Row[j]);
Swap(b.Row[i1], b.Row[j]);
// Scale row j to have a unit diagonal
if (a[j][j]==0.) {
//ALGEBRA_ERROR("Matrix4::inverse: singular matrix; can't invert\n");
}
b.Row[j] /= a.Row[j][j];
a.Row[j] /= a.Row[j][j];
// Eliminate off-diagonal elems in col j of a, doing identical ops to b
for (i=0; i<4; i++) {
if (i != j) {
b.Row[i] -= a[i][j] * b.Row[j];
a.Row[i] -= a[i][j] * a.Row[j];
}
}
}
return b;
}
/***********************************************************************************************
* Matrix4::operator = -- assignment operator *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4 & Matrix4::operator = (const Matrix4 & m)
{
Row[0] = m.Row[0]; Row[1] = m.Row[1]; Row[2] = m.Row[2]; Row[3] = m.Row[3];
return *this;
}
/***********************************************************************************************
* Matrix4::operator += -- "plus equals" operator *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4& Matrix4::operator += (const Matrix4 & m)
{
Row[0] += m.Row[0]; Row[1] += m.Row[1]; Row[2] += m.Row[2]; Row[3] += m.Row[3];
return *this;
}
/***********************************************************************************************
* Matrix4::operator-= -- "minus equals" operator *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4& Matrix4::operator -= (const Matrix4 & m)
{
Row[0] -= m.Row[0]; Row[1] -= m.Row[1]; Row[2] -= m.Row[2]; Row[3] -= m.Row[3];
return *this;
}
/***********************************************************************************************
* Matrix4::operator *= -- "times equals" operator *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4& Matrix4::operator *= (float d)
{
Row[0] *= d; Row[1] *= d; Row[2] *= d; Row[3] *= d;
return *this;
}
/***********************************************************************************************
* Matrix4::operator /= -- "divide equals" operator *
* *
* INPUT: *
* *
* OUTPUT: *
* *
* WARNINGS: *
* *
* HISTORY: *
* 06/02/1997 GH : Created. *
*=============================================================================================*/
inline Matrix4& Matrix4::operator /= (float d)
{
float ood = d;
Row[0] *= ood; Row[1] *= ood; Row[2] *= ood; Row[3] *= ood;
return *this;
}
inline Matrix4 operator - (const Matrix4 & a)
{
return Matrix4(-a.Row[0], -a.Row[1], -a.Row[2], -a.Row[3]);
}
inline Matrix4 operator * (const Matrix4 & a, float d)
{
return Matrix4(a.Row[0] * d, a.Row[1] * d, a.Row[2] * d, a.Row[3] * d);
}
inline Matrix4 operator * (float d, const Matrix4 & a)
{
return a*d;
}
inline Matrix4 operator / (const Matrix4 & a, float d)
{
float ood = 1.0f / d;
return Matrix4(a.Row[0] * ood, a.Row[1] * ood, a.Row[2] * ood, a.Row[3] * ood);
}
/*
** matrix addition
*/
inline Matrix4 operator + (const Matrix4 & a, const Matrix4 & b)
{
return Matrix4(
a.Row[0] + b.Row[0],
a.Row[1] + b.Row[1],
a.Row[2] + b.Row[2],
a.Row[3] + b.Row[3]
);
}
inline Matrix4 Add(const Matrix4 & a, const Matrix4 & b)
{ return a+b; }
/*
** matrix subtraction
*/
inline Matrix4 operator - (const Matrix4 & a, const Matrix4 & b)
{
return Matrix4(
a.Row[0] - b.Row[0],
a.Row[1] - b.Row[1],
a.Row[2] - b.Row[2],
a.Row[3] - b.Row[3]
);
}
inline Matrix4 Subtract(const Matrix4 & a, const Matrix4 & b)
{ return a-b; }
/*
** matrix multiplication
*/
inline Matrix4 operator * (const Matrix4 & a, const Matrix4 & b)
{
#define ROWCOL(i, j) a[i][0]*b[0][j] + a[i][1]*b[1][j] + a[i][2]*b[2][j] + a[i][3]*b[3][j]
return Matrix4(
Vector4(ROWCOL(0,0), ROWCOL(0,1), ROWCOL(0,2), ROWCOL(0,3)),
Vector4(ROWCOL(1,0), ROWCOL(1,1), ROWCOL(1,2), ROWCOL(1,3)),
Vector4(ROWCOL(2,0), ROWCOL(2,1), ROWCOL(2,2), ROWCOL(2,3)),
Vector4(ROWCOL(3,0), ROWCOL(3,1), ROWCOL(3,2), ROWCOL(3,3))
);
#undef ROWCOL
}
inline Matrix4 Multiply(const Matrix4 & a, const Matrix4 & b)
{ return a*b; }
/*
** Multiply a Matrix4 by a Vector3 (assumes w=1.0!!!). Yeilds a Vector4 result
*/
inline Vector4 operator * (const Matrix4 & a, const Vector3 & v) {
return Vector4(
a[0][0] * v[0] + a[0][1] * v[1] + a[0][2] * v[2] + a[0][3] * 1.0,
a[1][0] * v[0] + a[1][1] * v[1] + a[1][2] * v[2] + a[1][3] * 1.0,
a[2][0] * v[0] + a[2][1] * v[1] + a[2][2] * v[2] + a[2][3] * 1.0,
a[3][0] * v[0] + a[3][1] * v[1] + a[3][2] * v[2] + a[3][3] * 1.0
);
}
/*
** Multiply a Matrix4 by a Vector4
*/
inline Vector4 operator * (const Matrix4 & a, const Vector4 & v) {
return Vector4(
a[0][0] * v[0] + a[0][1] * v[1] + a[0][2] * v[2] + a[0][3] * v[3],
a[1][0] * v[0] + a[1][1] * v[1] + a[1][2] * v[2] + a[1][3] * v[3],
a[2][0] * v[0] + a[2][1] * v[1] + a[2][2] * v[2] + a[2][3] * v[3],
a[3][0] * v[0] + a[3][1] * v[1] + a[3][2] * v[2] + a[3][3] * v[3]
);
}
/*
** Multiply a Matrix4 by a Vector4
*/
inline void Matrix4::Transform_Vector(const Matrix4 & A,const Vector3 & in,Vector3 * out)
{
Vector3 tmp;
Vector3 * v;
// check for aliased parameters
if (out == &in) {
tmp = in;
v = &tmp;
} else {
v = (Vector3 *)∈ // whats the right way to do this...
}
out->X = (A[0][0] * v->X + A[0][1] * v->Y + A[0][2] * v->Z + A[0][3]);
out->Y = (A[1][0] * v->X + A[1][1] * v->Y + A[1][2] * v->Z + A[1][3]);
out->Z = (A[2][0] * v->X + A[2][1] * v->Y + A[2][2] * v->Z + A[2][3]);
}
#endif /*MATRIX4_H*/