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Matrix4D.cpp

/***************************************************************************
 *   Copyright (C) 2005 by Abderrahman Taha                                *
 *   taha_ab@yahoo.fr                                                      *
 *                                                                         *
 *   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 2 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, write to the                         *
 *   Free Software Foundation, Inc.,                                       *
 *   51 Franklin Street, Fifth Floor,Boston, MA 02110-1301 USA             *
 ***************************************************************************/

#include "Matrix4D.h" 

    /** Create a new unit matrix */
  Matrix4D::Matrix4D() {
    
      pi = 3.14159265;
      xx = 1.0f;
      yy = 1.0f;
      zz = 1.0f;
      ww = 1.0f;
      ko = 1.0f;
      xy = xz = xw = xo = 0;
      yx = yz = yw = yo = 0;
      zx = zy = zw = zo = 0;
      wx = wy = wz = wo = 0;
      kx = ky = kz = kw = 0;
    }


    void Matrix4D::mult(Matrix4D rhs) {
      double lxx = xx * rhs.xx + yx * rhs.xy + zx * rhs.xz + wx * rhs.xw;
      double lxy = xy * rhs.xx + yy * rhs.xy + zy * rhs.xz + wy * rhs.xw;
      double lxz = xz * rhs.xx + yz * rhs.xy + zz * rhs.xz + wz * rhs.xw;
      double lxw = xw * rhs.xx + yw * rhs.xy + zw * rhs.xz + ww * rhs.xw;
      double lxo = xo * rhs.xx + yo * rhs.xy + zo * rhs.xz + wo * rhs.xw + rhs.xo;

      double lyx = xx * rhs.yx + yx * rhs.yy + zx * rhs.yz + wx * rhs.yw;
      double lyy = xy * rhs.yx + yy * rhs.yy + zy * rhs.yz + wy * rhs.yw;
      double lyz = xz * rhs.yx + yz * rhs.yy + zz * rhs.yz + wz * rhs.yw;
      double lyw = xw * rhs.yx + yw * rhs.yy + zw * rhs.yz + ww * rhs.yw;
      double lyo = xo * rhs.yx + yo * rhs.yy + zo * rhs.yz + wo * rhs.yw + rhs.yo;

      double lzx = xx * rhs.zx + yx * rhs.zy + zx * rhs.zz + wx * rhs.zw;
      double lzy = xy * rhs.zx + yy * rhs.zy + zy * rhs.zz + wy * rhs.zw;
      double lzz = xz * rhs.zx + yz * rhs.zy + zz * rhs.zz + wz * rhs.zw;
      double lzw = xw * rhs.zx + yw * rhs.zy + zw * rhs.zz + ww * rhs.zw;
      double lzo = xo * rhs.zx + yo * rhs.zy + zo * rhs.zz + wo * rhs.zw + rhs.zo;
      
      double lwx = xx * rhs.wx + yx * rhs.wy + zx * rhs.wz + wx * rhs.ww;
      double lwy = xy * rhs.wx + yy * rhs.wy + zy * rhs.wz + wy * rhs.ww;
      double lwz = xz * rhs.wx + yz * rhs.wy + zz * rhs.wz + wz * rhs.ww;
      double lww = xw * rhs.wx + yw * rhs.wy + zw * rhs.wz + ww * rhs.ww;
      double lwo = xo * rhs.wx + yo * rhs.wy + zo * rhs.wz + wo * rhs.ww + rhs.wo;  

      xx = lxx;
      xy = lxy;
      xz = lxz;
      xw = lxw;
      xo = lxo;

      yx = lyx;
      yy = lyy;
      yz = lyz;
      yw = lyw;
      yo = lyo;

      zx = lzx;
      zy = lzy;
      zz = lzz;
      zw = lzw;
      zo = lzo;

      wx = lwx;
      wy = lwy;
      wz = lwz;
      ww = lww;
      wo = lwo;   
    }

    /** rotate theta degrees about the yz plan */
    void Matrix4D::yzrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nyx = (double) (yx * ct + zx * st);
      double Nyy = (double) (yy * ct + zy * st);
      double Nyz = (double) (yz * ct + zz * st);
      double Nyw = (double) (yw * ct + zw * st);
      double Nyo = (double) (yo * ct + zo * st);

      double Nzx = (double) (zx * ct - yx * st);
      double Nzy = (double) (zy * ct - yy * st);
      double Nzz = (double) (zz * ct - yz * st);
      double Nzw = (double) (zw * ct - yw * st);
      double Nzo = (double) (zo * ct - yo * st);

      yo = Nyo;
      yx = Nyx;
      yy = Nyy;
      yz = Nyz;
      yw = Nyw;
      
      zo = Nzo;
      zx = Nzx;
      zy = Nzy;
      zz = Nzz;
      zw = Nzw;
    }
        
    /** rotate theta degrees about the xz plan */
    void Matrix4D::xzrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nxx = (double) (xx * ct + zx * st);
      double Nxy = (double) (xy * ct + zy * st);
      double Nxz = (double) (xz * ct + zz * st);
      double Nxw = (double) (xw * ct + zw * st);
      double Nxo = (double) (xo * ct + zo * st);

      double Nzx = (double) (zx * ct - xx * st);
      double Nzy = (double) (zy * ct - xy * st);
      double Nzz = (double) (zz * ct - xz * st);
      double Nzw = (double) (zw * ct - xw * st);
      double Nzo = (double) (zo * ct - xo * st);

      xo = Nxo;
      xx = Nxx;
      xy = Nxy;
      xz = Nxz;
      xw = Nxw;
      
      zo = Nzo;
      zx = Nzx;
      zy = Nzy;
      zz = Nzz;
      zw = Nzw;
    }

    /** rotate theta degrees about the  xy plan */
    void Matrix4D::xyrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nyx = (double) (yx * ct + xx * st);
      double Nyy = (double) (yy * ct + xy * st);
      double Nyz = (double) (yz * ct + xz * st);
      double Nyw = (double) (yw * ct + xw * st);
      double Nyo = (double) (yo * ct + xo * st);

      double Nxx = (double) (xx * ct - yx * st);
      double Nxy = (double) (xy * ct - yy * st);
      double Nxz = (double) (xz * ct - yz * st);
      double Nxw = (double) (xw * ct - yw * st);
      double Nxo = (double) (xo * ct - yo * st);

      yo = Nyo;
      yx = Nyx;
      yy = Nyy;
      yz = Nyz;
      yw = Nyw;
      
      xo = Nxo;
      xx = Nxx;
      xy = Nxy;
      xz = Nxz;
      xw = Nxw;
    }
    
    /** rotate theta degrees about the  xw plan */   
     
    void Matrix4D::xwrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nwx = (double) (wx * ct + xx * st);
      double Nwy = (double) (wy * ct + xy * st);
      double Nwz = (double) (wz * ct + xz * st);
      double Nww = (double) (ww * ct + xw * st);
      double Nwo = (double) (wo * ct + xo * st);

      double Nxx = (double) (xx * ct - wx * st);
      double Nxy = (double) (xy * ct - wy * st);
      double Nxz = (double) (xz * ct - wz * st);
      double Nxw = (double) (xw * ct - ww * st);
      double Nxo = (double) (xo * ct - wo * st);

      wo = Nwo;
      wx = Nwx;
      wy = Nwy;
      wz = Nwz;
      ww = Nww;
      
      xo = Nxo;
      xx = Nxx;
      xy = Nxy;
      xz = Nxz;
      xw = Nxw;
    } 
      
    /** rotate theta degrees about the  yw plan */   
     
    void Matrix4D::ywrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nwx = (double) (wx * ct + yx * st);
      double Nwy = (double) (wy * ct + yy * st);
      double Nwz = (double) (wz * ct + yz * st);
      double Nww = (double) (ww * ct + yw * st);
      double Nwo = (double) (wo * ct + yo * st);

      double Nyx = (double) (yx * ct - wx * st);
      double Nyy = (double) (yy * ct - wy * st);
      double Nyz = (double) (yz * ct - wz * st);
      double Nyw = (double) (yw * ct - ww * st);
      double Nyo = (double) (yo * ct - wo * st);

      wo = Nwo;
      wx = Nwx;
      wy = Nwy;
      wz = Nwz;
      ww = Nww;
      
      yo = Nyo;
      yx = Nyx;
      yy = Nyy;
      yz = Nyz;
      yw = Nyw;
    }     

      
    /** rotate theta degrees about the  yw plan */   
     
    void Matrix4D::zwrot(double theta) {
      theta *= (pi / 180);
      double ct = cos(theta);
      double st = sin(theta);

      double Nwx = (double) (wx * ct + zx * st);
      double Nwy = (double) (wy * ct + zy * st);
      double Nwz = (double) (wz * ct + zz * st);
      double Nww = (double) (ww * ct + zw * st);
      double Nwo = (double) (wo * ct + zo * st);

      double Nzx = (double) (zx * ct - wx * st);
      double Nzy = (double) (zy * ct - wy * st);
      double Nzz = (double) (zz * ct - wz * st);
      double Nzw = (double) (zw * ct - ww * st);
      double Nzo = (double) (zo * ct - wo * st);

      wo = Nwo;
      wx = Nwx;
      wy = Nwy;
      wz = Nwz;
      ww = Nww;
      
      zo = Nzo;
      zx = Nzx;
      zy = Nzy;
      zz = Nzz;
      zw = Nzw;
    }     
    
        
    /** Multiply this matrix by a second: M = M*R */


    /** Reinitialize to the unit matrix */
    void Matrix4D::unit() {
      xo = 0;
      xx = 1;
      xy = 0;
      xz = 0;
      xw = 0;
      
      yo = 0;
      yx = 0;
      yy = 1;
      yz = 0;
      yw = 0;
      
      zo = 0;
      zx = 0;
      zy = 0;
      zz = 1;
      zw = 0;
      
      wo = 0;
      wx = 0;
      wy = 0;
      wz = 0;
      ww = 1;
      
      ko = 1;
      kx = 0;
      ky = 0;
      kz = 0;
      kw = 0;
    };  

    /** Translate the origin */
    void Matrix4D::translate(double x, double y, double z, double w) {
      xo += x;
      yo += y;
      zo += z;
      wo += w;
    }
      
     /** Scale by f in all dimensions */
    void Matrix4D::scale(double f) {
      xx *= f;
      xy *= f;
      xz *= f;
      xo *= f;
      yx *= f;
      yy *= f;
      yz *= f;
      yo *= f;
      zx *= f;
      zy *= f;
      zz *= f;
      zo *= f;
    }
    /** Scale along each axis independently */
    void Matrix4D::scale_2(double xf, double yf, double zf) {
      xx *= xf;
      xy *= xf;
      xz *= xf;
      xo *= xf;
      yx *= yf;
      yy *= yf;
      yz *= yf;
      yo *= yf;
      zx *= zf;
      zy *= zf;
      zz *= zf;
      zo *= zf;
    }

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