8.游戏引擎底层_矩阵运算_数学库_代码实现

企业开发 2022-10-03 21:43:32 阅读次数: 0

        这篇文章主要是讲了矩阵的相乘、旋转、平移、缩放、绕轴翻转、求逆、求转置等运算。

        矩阵一共写了两套，一个是给2D元素使用的，一套是给3D对象使用的，这里为了减少篇幅，只写4*4的矩阵的运算，原理和3*3矩阵一直，相比之下比3*3矩阵困难，理解了4*4的运算自然也就理解3*3的运算了。

        

  矩阵相乘：  先说什么是行什么是列，横着的就是行，竖着的就是列。可以看一下图片1.1，别弄过了。不然一会计算一起全都弄饭了算起来就全错。   计算说的简单点就是每一行乘上每一列，然后把算出来的结果保存到一个新的矩阵对应的n行m列中。其实这个可以从结果出发反着看比较容易能看懂，比如说我要计算mat[0][0]这个mat的第0行第0列怎么算？ 就是让

a[0][0]*b[0][0]+

a[0][1]*b[1][0]+

a[0][2]*b[2][0]+

a[0][3]*b[3][0] 得到的结果就是mat[0][0]想要的结果

   程序1.1

Matrix3D Matrix3D::operator*(Matrix3D &mat)
{
	Matrix3D temp;
	for (int i = 0; i < 4; i++)
	{
		for (int j = 0; j < 4; j++)
		{
			temp.m[i][j] =
				m[i][0] * mat.m[0][j] +
				m[i][1] * mat.m[1][j] +
				m[i][2] * mat.m[2][j] +
				m[i][3] * mat.m[3][j];
		}
	}
	return temp;
}

        

         图1.1

矩阵绕X轴旋转：直接套用图1.2 公式就可以：

                                                                 图1.2

但是大家一定会有疑问，公式里不是这样的呀？为什么行列正好反过来了，这是因为OpenGL虽然用的是行矩阵，但是是列主序。相当于存空间信息的时候要以列主序的方式去存。

下文有具体解释什么是行主序，什么是列主序列，这里就不展开讲这个了。

nullicon-default.png?t=M85Bhttps://www.jianshu.com/p/bfc8327eaad3

程序1.2

void Matrix3D::XRotate(float angle)
{
	m[1][1] =cos(GL_PI/180*angle) ; m[1][2] =sin(GL_PI/180*angle) ;
	m[2][1] =-sin(GL_PI/180*angle); m[2][2] =cos(GL_PI/180*angle) ;
}

矩阵绕Y轴旋转：同上直接套图1.3公式，空间信息存成列主序列：

                                                                图1.3

程序1.3

void Matrix3D::YRotate(float angle)
{
	m[0][0] =cos(GL_PI/180*angle); m[0][2] =-sin(GL_PI/180*angle) ;
	m[2][0] = sin(GL_PI / 180 * angle); m[2][2] =cos(GL_PI/180*angle);
}

矩阵绕Z轴旋转：同上直接套图1.4公式，空间信息存成列主序列：

                                                                        图1.4

程序1.4

void Matrix3D::ZRotate(float angle)
{
	m[0][0] = cos(GL_PI / 180 * angle); m[0][1] = sin(GL_PI / 180 * angle);
	m[1][0] = -sin(GL_PI / 180 * angle);m[1][1] = cos(GL_PI / 180 * angle);
}

矩阵平移：直接往矩阵的设置三个空间信息就可以，这个没难度。

程序1.5

void Matrix3D::Translate(float x, float y, float z)
{
	m[3][0] = x;
	m[3][1] = y;
	m[3][2] = z;
}

矩阵缩放：直接往矩阵的设置三个空间信息就可以，这个没难度。

程序1.6

void Matrix3D::Scale(float x, float y, float z)
{
	m[0][0] *= x;
	m[1][1] *= y;
	m[2][2] *= z;
}

矩阵绕XYZ翻转：我们使用的方法是让x,y,z的旋转角度直接*-1 空间就翻转过来了。

程序1.7

void Matrix3D::FlipX()
{
	m[1][1] *=-1;
}

void Matrix3D::FlipY()
{
	m[0][0] *= -1;
}

void Matrix3D::FlipZ()
{
	m[3][3] *= -1;
}

代码太多了，还有一些复杂的运算，到时候有时间了再把矩阵求逆和矩阵转置讲一下，还有把摄像机的俯仰角算成矩阵的讲一下。剩下的都是些简单的运算就自己研究下把。先把代码贴出来。

GLMath.h

#pragma once

#define PI 3.141596

class Vector2
{ 
private:

public:
int PointNum=0;
float x, y;

		Vector2(float x, float y) { this->x = x;this->y = y; }
		void setXy(float x, float y) { this->x = x;	this->y = y; }
		
		Vector2 &operator /= (float n)
		{
			this->x /= n;
			this->y /= n;
			return *this;
		}

		Vector2& operator *= (float n)
		{
			this->x *= n;
			this->y *= n;
			return *this;
		}

		Vector2& operator += (Vector2 &vec)
		{
			this->x += vec.x;
			this->y += vec.y;
			return *this;
		}

		Vector2& operator -= (Vector2 &vec)
		{
			this->x -= vec.x;
			this->y -= vec.y;
			return *this;
		}

		Vector2 operator* (float n)
		{
			Vector2 temp = *this;
			temp.x *= n;
			temp.y *= n;
			return temp;
		}

		Vector2 operator/ (float n)
		{
			Vector2 temp = *this;
			temp.x /= n;
			temp.y /= n;
			return temp;
		}

		Vector2 operator+ (Vector2 vec)
		{
			Vector2 temp = *this;
			temp.x += vec.x;
			temp.y += vec.y;
			return temp;
		}

		Vector2 operator- (Vector2 vec)
		{
			Vector2 temp = *this;
			temp.x -= vec.x;
			temp.y -= vec.y;
			return temp;
		}

		void normalize()
		{
			float len = sqrt(x*x + y*y);
			x /= len;
			y /= len;
		}

		Vector2 Normalize()
		{
			Vector2 temp = *this;
			float len = sqrt(temp.x*temp.x + temp.y*temp.y);//单位化
			temp.x /= len;
			temp.y /= len;
			return temp;
		}

		float length()
		{
			return sqrt(x*x + y*y);
		}

		float length2q()
		{
			return x*x + y*y;
		}

		float dot(Vector2 &vec)//点乘
		{
			return x*vec.x +y*vec.y;
		}

		Vector2 projection(Vector2&vec)//投影
		{
			Vector2 temp;
			temp = vec.Normalize();
			Vector2 temp1;
			temp1 = temp*dot(temp);
			return temp1;
		}
	
		Vector2 ortho()//正交
		{
			Vector2 temp=*this;
			temp.x = y;
			temp.y = -x;
			return temp;
		}

		float Cross(Vector2 &vec)//叉乘
		{
			Vector2 a = *this;
			return a.x * vec.x - a.y * vec.y;
		}
	
		Vector2::Vector2() { x = 0, y = 0; }
		Vector2::~Vector2() {}

};

class Vector3D
{
public:
	float x, y, z;
	Vector3D(float x, float y, float z) {this->x = x; this->y = y;this->z = z;}
	void setXYZ(float x, float y, float z){this->x = x; this->y = y; this->z = z;}
	
	void normalize()
	{
		float len = sqrt(x*x + y*y+z*z);
		x /= len;
		y /= len;
		z /= len;
	}

	Vector3D Normalize()
	{ 
		Vector3D temp=*this;
		float len = sqrt(x*x + y*y + z*z);
		temp.x /= len;
		temp.y /= len;
		temp.z /= len;
		return temp;
	}


	float length()
	{
		return sqrt(x*x + y*y+z*z);
	}

	float length2q()
	{
		return x*x + y*y + z*z;
	}

	float dot(Vector3D &vec)//点乘
	{
		return x*vec.x +y*vec.y +z*vec.z;
	}

	Vector3D &operator /= (float n)
	{
		this->x /= n;
		this->y /= n;
		this->z /= n;
		return *this;
	}

	Vector3D& operator *= (float n)
	{
		this->x *= n;
		this->y *= n;
		this->z *= n;
		return *this;
	}

	Vector3D& operator += (Vector3D &vec)
	{
		this->x += vec.x;
		this->y += vec.y;
		this->z += vec.z;
		return *this;
	}

	Vector3D& operator -= (Vector3D &vec)
	{
		this->x -= vec.x;
		this->y -= vec.y;
		this->z -= vec.z;
		return *this;
	}

	Vector3D operator* (float n)
	{
		Vector3D temp = *this;
		temp.x *= n;
		temp.y *= n;
		temp.z *= n;
		return temp;
	}

	Vector3D operator/ (float n)
	{
		Vector3D temp = *this;
		temp.x /= n;
		temp.y /= n;
		temp.z /= n;
		return temp;
	}

	Vector3D operator+ (Vector3D vec)
	{
		Vector3D temp = *this;
		temp.x += vec.x;
		temp.y += vec.y;
		temp.z += vec.z;
		return temp;
	}

	Vector3D operator+(float n)
	{
		Vector3D temp = *this;
		temp.x += n;
		temp.y += n;
		temp.z += n;

		return temp;
	}


	Vector3D operator-()
	{
		Vector3D vec ;
		Vector3D temp = *this;
		vec.x =-temp.x;
		vec.y=-temp.y;
		vec.z = -temp.z;
		return vec;
	}
	
	Vector3D operator- (Vector3D vec)
	{
		Vector3D temp = *this;
		temp.x -= vec.x;
		temp.y -= vec.y;
		temp.z -= vec.z;
		return temp;
	}

	bool operator == (Vector3D &vec)
	{
		if (this->x == vec.x&&this->y == vec.y&&this->z==vec.z)
			return true;
		else
			return false;
	}
	
	bool operator >= (Vector3D &vec)
	{
		if (this->x >=vec.x&&this->y>=vec.y&&this->z>=vec.z)
			return true;
		else
			return false;
	}

	bool operator <= (Vector3D &vec)
	{
		if (this->x <= vec.x&&this->y <= vec.y&&this->z<=vec.z)
			return true;
		else
			return false;
	}
	
	bool operator %=(Vector3D &vec)
	{
		if (this->x <= vec.x&&this->y <= vec.y&&this->z >=vec.z)
			return true;
		else
			return false;
	}
	
	
	int operator || (Vector3D &vec)		//判断距离差的是正还是负
	{
		if (vec.x > 0 && vec.z > 0)
			return 1;
		else if(vec.x < 0 && vec.z < 0)
			return -1;
		else
			return 0;
	}

	Vector3D projection(Vector3D&vec)//投影
	{
		Vector3D temp;
		temp = vec.Normalize();
		Vector3D temp1;
		temp1 = temp*dot(temp);
		return temp1;
	}

	Vector3D cross(Vector3D &v)
	{
		Vector3D temp;
		temp.x = y * v.z - z * v.y;
		temp.y = z * v.x - x * v.z;
		temp.z = x * v.y - y * v.x;
		return temp;
	}
	
	Vector3D::Vector3D() {}
	Vector3D::~Vector3D() {}
};

Vector3D operator*(Vector3D vc1, Vector3D vc2);

struct Vector4D
{
public:
	float x, y, z, w;
	
	Vector4D(float x, float y, float z, float w)
	{
		this->x = x;this->y = y;
		this->z = z;this->w = w;
		
	}
	void setXYZW(float x, float y, float z, float w)
	{
		this->x = x;this->y = y;
		this->z = z;this->w = w; 
	}

	Vector4D() {}
	~Vector4D() {}
};


class Matrix3
{
public:

	union {
		struct {
			float		 _11, _21, _31,_41;		//_11,_12,_13,_14 |
			float        _12, _22, _32,_42;		//_21,_22,_23,_24 |转置后的矩阵
			float        _13, _23, _33,_43;		//_31,_32,_33,_34 |  
			float        _14, _24, _34,_44;		//_41,_42,_43,_44 |
		};										//openGL用的是行矩阵，但是是列的算法
		float mat[16];
		float m[4][4];
	};

	Matrix3()
	{
		for (int i = 0; i < 4; ++i)
			for (int j = 0; j < 4; ++j)
				if (i == j)
					m[i][j] = 1;
				else
					m[i][j] = 0;
	}

	Matrix3 operator*(Matrix3& mat);//矩阵*矩阵
	Matrix3 &operator*=(const Matrix3 &mat);			//矩阵与矩阵
	Vector2 operator*(const Vector2 &v);			//矩阵与向量
	Matrix3 &Rotate(float angle);			//绕Z轴旋转
	Matrix3 &Translate(float x, float y,float z);	//平移
	Matrix3 &Translate(float x, float y);
	Matrix3 &Scale(float x, float y);			//比例
	Matrix3 &FlipX();			//x轴翻转
	Matrix3 &FlipY();			//y轴翻转

	void Identity()//矩阵单位化
	{
		m[0][0] = 1; m[0][1] = 0; m[0][2] = 0; m[0][3] = 0;
		m[1][0] = 0; m[1][1] = 1; m[1][2] = 0; m[1][3] = 0;
		m[2][0] = 0; m[2][1] = 0; m[2][2] = 1; m[2][3] = 0;
		m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
	}	

~Matrix3();
};

Matrix3 operator*(const Matrix3 &mat1, const Matrix3 &mat2);			//矩阵与矩阵
Vector2 operator*(const Vector2 &v, const Matrix3 &mat);			//矩阵与向量
Matrix3 &Rotate(Matrix3 &mat, float angle);			//绕Z轴旋转
Matrix3 &Translate(Matrix3 &mat, float x, float y,float z);			//平移
Matrix3 &Translate(Matrix3 &mat, float x, float y);
Matrix3 &Scale(Matrix3 &mat, float x, float y);			//比例
Matrix3 &FlipX(Matrix3 &mat);			//x轴翻转
Matrix3 &FlipY(Matrix3 &mat);			//y轴翻转
void Vec2TransformCoord(Vector2 &newVec, Vector2 &cornerPoint, Matrix3 &world_matrix);



//************3D*******************

class Matrix3D
{
public:

	union {
		struct {
			float		 _11, _21, _31, _41;		//_11,_12,_13,_14 |
			float        _12, _22, _32, _42;		//_21,_22,_23,_24 |转置后的矩阵
			float        _13, _23, _33, _43;		//_31,_32,_33,_34 |  
			float        _14, _24, _34, _44;		//_41,_42,_43,_44 |
		};										//openGL用的是行矩阵，但是是列的算法
		float mat[16];
		float m[4][4];
	};

	Matrix3D()
	{
		m[0][0] = 1; m[0][1] = 0; m[0][2] = 0; m[0][3] = 0;
		m[1][0] = 0; m[1][1] = 1; m[1][2] = 0; m[1][3] = 0;
		m[2][0] = 0; m[2][1] = 0; m[2][2] = 1; m[2][3] = 0;
		m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
	}

	Matrix3D operator*(Matrix3D &mat);//矩阵*矩阵
	Matrix3D &operator*=(Matrix3D &mat);	//矩阵与矩阵
	Vector3D operator*(Vector3D &v);			//矩阵与向量

	Matrix3D MatrixInverse(Matrix3D &m);		//逆矩阵
	void XRotate(float angle);			//绕X轴旋转
	void YRotate(float angle);			//绕Y轴旋转
	void ZRotate(float angle);			//绕Z轴旋转
	void Translate(float x, float y, float z);//平移
	void Scale(float x, float y, float z);			//比例
	void FlipX();			//x轴翻转
	void FlipY();			//y轴翻转
	void FlipZ();          //z翻转
	
	void Identity()//矩阵单位化
	{
		m[0][0] = 1; m[0][1] = 0; m[0][2] = 0; m[0][3] = 0;
		m[1][0] = 0; m[1][1] = 1; m[1][2] = 0; m[1][3] = 0;
		m[2][0] = 0; m[2][1] = 0; m[2][2] = 1; m[2][3] = 0;
		m[3][0] = 0; m[3][1] = 0; m[3][2] = 0; m[3][3] = 1;
	}

	~Matrix3D(){};
};

Matrix3D MatrixRotationAxis(Vector3D &axis, float angle);
Matrix3D MatrixRotationAxisRad(Vector3D &axis, float radian);
Vector3D Vec3TransformCoord(Matrix3D &m, Vector3D &v);
Vector2 Vec3TransformCoord(Matrix3D &m, Vector2 &v);
Vector3D Vec3TransformNormal(Matrix3D &m, Vector3D &v);
Matrix3D YRotate(float angle);				//绕Y轴旋转(全局函数)
Matrix3D MatrixTranspose(Matrix3D &m);		//转置矩阵
Matrix3D MatrixInverse(Matrix3D &m);		//逆矩阵
Matrix3D FromToRotation(Vector3D from, Vector3D to);
Matrix3D &MatrixRotationYawPitchRoll(float Yaw, float Pitch, float Roll);
Matrix3D &MatrixRotationY(float angle);





struct sColor
{

public:
union {
	struct {
		float		 r, g, b, a;
	};
	float color[4];//r,g,b,a的分量
};

	sColor()//默认颜色
	{
		color[0] = 1.0f;
		color[1] = 1.0f;
		color[2] = 1.0f;
		color[3] = 1.0f;
	}

	sColor(float r, float g, float b, float a)//外部初始化颜色
	{
		color[0] = r;
		color[1] = g;
		color[2] = b;
		color[3] = a;
	}

	float getR() { return color[0]; }
	float getG() { return color[1]; }
	float getB() { return color[2]; }
	float getA() { return color[3]; }

	void operator=(DWORD col)
	{
		color[0] = (col >> 16 & 0xff)*0.00392156862;
		color[1] = (col >> 8 & 0xff)*0.00392156862;
		color[2] = (col & 0xff)*0.00392156862;
		color[3] = (col >> 24)*0.00392156862;
	}
	void operator+=(float z)
	{
		r +=z;	g +=z;	b +=z;
	}

	bool operator==(float z)
	{
		if (r == z&&g == z&&b == z)
			return true;

		return false;
	}

	bool operator>=(float z)
	{
		if (r>=z&&g>=z&&b>=z)
			return true;

		return false;
	}
	bool operator <= (float z)
	{
		if (r <= z&&g <= z&&b <= z)
			return true;

		return false;
	}
};

GLMath.cpp

#include "Engine.h"



Vector2 Matrix3::operator*(const Vector2 &v)
{
	return Vector2(v.x*m[0][0] + v.y*m[1][0] + m[3][0], v.x*m[0][1] + v.y*m[1][1] + m[3][1]);
}
 
Matrix3 Matrix3::operator*(Matrix3&mat)
{
	Matrix3 temp;
	for (int i = 0; i < 4; i++)
	{
		for (int j = 0; j < 4; j++)
		{
			temp.m[i][j] =
			m[i][0] * mat.m[0][j] +
			m[i][1] * mat.m[1][j] +
			m[i][2] * mat.m[2][j] +
			m[i][3] * mat.m[3][j];
		}
	}
	return temp;
}

Matrix3 &Matrix3::operator*=(const Matrix3 &mat)
{
	Matrix3 cal=*this;
	for (int i = 0; i < 4; i++)
		for (int j = 0; j < 4; j++)
			m[i][j] =
			cal.m[i][0] * mat.m[0][j] +
			cal.m[i][1] * mat.m[1][j] +
			cal.m[i][2] * mat.m[2][j] +
			cal.m[i][3] * mat.m[3][j];

	return *this;
}


Matrix3 &Matrix3::Rotate(float angle)			//绕Z轴旋转
{
	return ::Rotate(*this, angle);
}

Matrix3 &Matrix3::Translate(float x, float y,float z)			//平移
{
	return ::Translate(*this, x, y,z);
}
Matrix3 &Matrix3::Translate(float x, float y)
{
	return ::Translate(*this, x, y);
}

Matrix3 &Matrix3::Scale(float x, float y)			//比例
{
	return ::Scale(*this, x, y);
}

Matrix3 &Matrix3::FlipX()			//x轴翻转
{
	return ::FlipX(*this);
}

Matrix3 &Matrix3::FlipY()			//y轴翻转
{
	return ::FlipY(*this);
}

void Vec2TransformCoord(Vector2 &newVec, Vector2 &cornerPoint, Matrix3 &world_matrix)
{
	Vector2 temp;
	temp.x = cornerPoint.x*world_matrix.m[0][0]+ cornerPoint.y*world_matrix.m[0][1]+ world_matrix.m[3][0];
	temp.y= cornerPoint.x*world_matrix.m[1][0] + cornerPoint.y*world_matrix.m[1][1]+ world_matrix.m[3][1];
	newVec = temp;
}

Matrix3::~Matrix3()
{
}

//以上为类成员函数


//以下为全局函数


Matrix3 operator*(const Matrix3 &mat1, const Matrix3 &mat2)
{
	Matrix3 temp;
	for (int i = 0; i < 4; i++)
	{
		for (int j = 0; j < 4; j++)
		{
			temp.m[i][j] =
				mat1.m[i][0] * mat2.m[0][j] +
				mat1.m[i][1] * mat2.m[1][j] +
				mat1.m[i][2] * mat2.m[2][j] +
				mat1.m[i][3] * mat2.m[3][j];
		}
	}
	return temp;
}

Vector2 operator*(const Vector2 &v, const Matrix3 &mat)
{
	return Vector2(v.x*mat.m[0][0] + v.y*mat.m[1][0] + mat.m[3][0], v.x*mat.m[0][1] + v.y*mat.m[1][1] + mat.m[3][1]);
}

Matrix3 &Rotate(Matrix3 &mat, float angle)
{
	mat.m[0][0] = cos(GL_PI / 180 * angle); mat.m[0][1] = sin(GL_PI / 180 * angle);
	mat.m[1][0] = -1 * sin(GL_PI / 180 * angle); mat.m[1][1] = cos(GL_PI / 180 * angle);
	return mat;
}

Matrix3 &Translate(Matrix3 &mat, float x, float y,float z)
{
	mat.m[3][0] = x;
	mat.m[3][1] = y;
	mat.m[3][2] = z;
	return mat;
}


Matrix3 &Translate(Matrix3 &mat, float x, float y)
{
	mat.m[3][0] = x;
	mat.m[3][1] = y;
	return mat;
}

Matrix3 &Scale(Matrix3 &mat, float x, float y)
{
	mat.m[0][0] *= x;
	mat.m[1][1] *= y;
	return mat;
}

Matrix3 &FlipX(Matrix3 &mat)			//x轴翻转
{
	mat.m[1][1] *= -1;
	return mat;
}

Matrix3 &FlipY(Matrix3 &mat)			//y轴翻转
{
	mat.m[0][0] *= -1;
	return mat;
}


//************3D******************

Matrix3D Matrix3D::operator*(Matrix3D &mat)
{
	Matrix3D temp;
	for (int i = 0; i < 4; i++)
	{
		for (int j = 0; j < 4; j++)
		{
			temp.m[i][j] =
				m[i][0] * mat.m[0][j] +
				m[i][1] * mat.m[1][j] +
				m[i][2] * mat.m[2][j] +
				m[i][3] * mat.m[3][j];
		}
	}
	return temp;
}

Matrix3D &Matrix3D::operator*=(Matrix3D &mat)
{
	Matrix3D cal = *this;
	for (int i = 0; i < 4; i++)
		for (int j = 0; j < 4; j++)
			m[i][j] =
			cal.m[i][0] * mat.m[0][j] +
			cal.m[i][1] * mat.m[1][j] +
			cal.m[i][2] * mat.m[2][j] +
			cal.m[i][3] * mat.m[3][j];

	return *this;
}


Vector3D Matrix3D::operator*(Vector3D&v)
{
	Vector3D res;
	res.x = m[0][0]*v.x+m[1][0]*v.y+m[2][0]*v.z ;
	res.y = m[0][1]*v.x+m[1][1]*v.y+m[2][2]*v.z;
	res.z = m[0][2]*v.x+m[1][2]*v.y+m[2][3]*v.z;

	return res;
}
 

Vector3D operator*(Vector3D v1, Vector3D v2)
{
	Vector3D temp;

	temp.x=v1.x*=v2.x;
	temp.y=v1.y*=v2.y;
	temp.z=v1.z*=v2.z;

	return temp;
}

void Matrix3D::XRotate(float angle)
{
	m[1][1] =cos(GL_PI/180*angle) ; m[1][2] =sin(GL_PI/180*angle) ;
	m[2][1] =-sin(GL_PI/180*angle); m[2][2] =cos(GL_PI/180*angle) ;

}

void Matrix3D::YRotate(float angle)
{
	m[0][0] =cos(GL_PI/180*angle); m[0][2] =-sin(GL_PI/180*angle) ;
	m[2][0] = sin(GL_PI / 180 * angle); m[2][2] =cos(GL_PI/180*angle);
}

void Matrix3D::ZRotate(float angle)
{
	m[0][0] = cos(GL_PI / 180 * angle); m[0][1] = sin(GL_PI / 180 * angle);
	m[1][0] = -sin(GL_PI / 180 * angle);m[1][1] = cos(GL_PI / 180 * angle);
}

void Matrix3D::Translate(float x, float y, float z)
{
	m[3][0] = x;
	m[3][1] = y;
	m[3][2] = z;
}

void Matrix3D::Scale(float x, float y, float z)
{
	m[0][0] *= x;
	m[1][1] *= y;
	m[2][2] *= z;
}

void Matrix3D::FlipX()
{
	m[1][1] *=-1;
}

void Matrix3D::FlipY()
{
	m[0][0] *= -1;
}

void Matrix3D::FlipZ()
{
	m[3][3] *= -1;
}

Matrix3D Matrix3D::MatrixInverse(Matrix3D &m)
{
	float fTemp[12], fDet;
	Matrix3D mTrans = MatrixTranspose(m);
	
	fTemp[0] = mTrans.mat[10] * mTrans.mat[15];
	fTemp[1] = mTrans.mat[11] * mTrans.mat[14];
	fTemp[2] = mTrans.mat[9] * mTrans.mat[15];
	fTemp[3] = mTrans.mat[11] * mTrans.mat[13];
	fTemp[4] = mTrans.mat[9] * mTrans.mat[14];
	fTemp[5] = mTrans.mat[10] * mTrans.mat[13];
	fTemp[6] = mTrans.mat[8] * mTrans.mat[15];
	fTemp[7] = mTrans.mat[11] * mTrans.mat[12];
	fTemp[8] = mTrans.mat[8] * mTrans.mat[14];
	fTemp[9] = mTrans.mat[10] * mTrans.mat[12];
	fTemp[10] = mTrans.mat[8] * mTrans.mat[13];
	fTemp[11] = mTrans.mat[9] * mTrans.mat[12];

	Matrix3D res;
	res.mat[0] = fTemp[0] * mTrans.mat[5] + fTemp[3] * mTrans.mat[6] + fTemp[4] * mTrans.mat[7];
	res.mat[0] -= fTemp[1] * mTrans.mat[5] + fTemp[2] * mTrans.mat[6] + fTemp[5] * mTrans.mat[7];
	res.mat[1] = fTemp[1] * mTrans.mat[4] + fTemp[6] * mTrans.mat[6] + fTemp[9] * mTrans.mat[7];
	res.mat[1] -= fTemp[0] * mTrans.mat[4] + fTemp[7] * mTrans.mat[6] + fTemp[8] * mTrans.mat[7];
	res.mat[2] = fTemp[2] * mTrans.mat[4] + fTemp[7] * mTrans.mat[5] + fTemp[10] * mTrans.mat[7];
	res.mat[2] -= fTemp[3] * mTrans.mat[4] + fTemp[6] * mTrans.mat[5] + fTemp[11] * mTrans.mat[7];
	res.mat[3] = fTemp[5] * mTrans.mat[4] + fTemp[8] * mTrans.mat[5] + fTemp[11] * mTrans.mat[6];
	res.mat[3] -= fTemp[4] * mTrans.mat[4] + fTemp[9] * mTrans.mat[5] + fTemp[10] * mTrans.mat[6];
	res.mat[4] = fTemp[1] * mTrans.mat[1] + fTemp[2] * mTrans.mat[2] + fTemp[5] * mTrans.mat[3];
	res.mat[4] -= fTemp[0] * mTrans.mat[1] + fTemp[3] * mTrans.mat[2] + fTemp[4] * mTrans.mat[3];
	res.mat[5] = fTemp[0] * mTrans.mat[0] + fTemp[7] * mTrans.mat[2] + fTemp[8] * mTrans.mat[3];
	res.mat[5] -= fTemp[1] * mTrans.mat[0] + fTemp[6] * mTrans.mat[2] + fTemp[9] * mTrans.mat[3];
	res.mat[6] = fTemp[3] * mTrans.mat[0] + fTemp[6] * mTrans.mat[1] + fTemp[11] * mTrans.mat[3];
	res.mat[6] -= fTemp[2] * mTrans.mat[0] + fTemp[7] * mTrans.mat[1] + fTemp[10] * mTrans.mat[3];
	res.mat[7] = fTemp[4] * mTrans.mat[0] + fTemp[9] * mTrans.mat[1] + fTemp[10] * mTrans.mat[2];
	res.mat[7] -= fTemp[5] * mTrans.mat[0] + fTemp[8] * mTrans.mat[1] + fTemp[11] * mTrans.mat[2];


	fTemp[0] = mTrans.mat[2] * mTrans.mat[7];
	fTemp[1] = mTrans.mat[3] * mTrans.mat[6];
	fTemp[2] = mTrans.mat[1] * mTrans.mat[7];
	fTemp[3] = mTrans.mat[3] * mTrans.mat[5];
	fTemp[4] = mTrans.mat[1] * mTrans.mat[6];
	fTemp[5] = mTrans.mat[2] * mTrans.mat[5];
	fTemp[6] = mTrans.mat[0] * mTrans.mat[7];
	fTemp[7] = mTrans.mat[3] * mTrans.mat[4];
	fTemp[8] = mTrans.mat[0] * mTrans.mat[6];
	fTemp[9] = mTrans.mat[2] * mTrans.mat[4];
	fTemp[10] = mTrans.mat[0] * mTrans.mat[5];
	fTemp[11] = mTrans.mat[1] * mTrans.mat[4];


	res.mat[8] = fTemp[0] * mTrans.mat[13] + fTemp[3] * mTrans.mat[14] + fTemp[4] * mTrans.mat[15];
	res.mat[8] -= fTemp[1] * mTrans.mat[13] + fTemp[2] * mTrans.mat[14] + fTemp[5] * mTrans.mat[15];
	res.mat[9] = fTemp[1] * mTrans.mat[12] + fTemp[6] * mTrans.mat[14] + fTemp[9] * mTrans.mat[15];
	res.mat[9] -= fTemp[0] * mTrans.mat[12] + fTemp[7] * mTrans.mat[14] + fTemp[8] * mTrans.mat[15];
	res.mat[10] = fTemp[2] * mTrans.mat[12] + fTemp[7] * mTrans.mat[13] + fTemp[10] * mTrans.mat[15];
	res.mat[10] -= fTemp[3] * mTrans.mat[12] + fTemp[6] * mTrans.mat[13] + fTemp[11] * mTrans.mat[15];
	res.mat[11] = fTemp[5] * mTrans.mat[12] + fTemp[8] * mTrans.mat[13] + fTemp[11] * mTrans.mat[14];
	res.mat[11] -= fTemp[4] * mTrans.mat[12] + fTemp[9] * mTrans.mat[13] + fTemp[10] * mTrans.mat[14];
	res.mat[12] = fTemp[2] * mTrans.mat[10] + fTemp[5] * mTrans.mat[11] + fTemp[1] * mTrans.mat[9];
	res.mat[12] -= fTemp[4] * mTrans.mat[11] + fTemp[0] * mTrans.mat[9] + fTemp[3] * mTrans.mat[10];
	res.mat[13] = fTemp[8] * mTrans.mat[11] + fTemp[0] * mTrans.mat[8] + fTemp[7] * mTrans.mat[10];
	res.mat[13] -= fTemp[6] * mTrans.mat[10] + fTemp[9] * mTrans.mat[11] + fTemp[1] * mTrans.mat[8];
	res.mat[14] = fTemp[6] * mTrans.mat[9] + fTemp[11] * mTrans.mat[11] + fTemp[3] * mTrans.mat[8];
	res.mat[14] -= fTemp[10] * mTrans.mat[11] + fTemp[2] * mTrans.mat[8] + fTemp[7] * mTrans.mat[9];
	res.mat[15] = fTemp[10] * mTrans.mat[10] + fTemp[4] * mTrans.mat[8] + fTemp[9] * mTrans.mat[9];
	res.mat[15] -= fTemp[8] * mTrans.mat[9] + fTemp[11] * mTrans.mat[10] + fTemp[5] * mTrans.mat[8];

	fDet = mTrans.mat[0] * res.mat[0] +
		mTrans.mat[1] * res.mat[1] +
		mTrans.mat[2] * res.mat[2] +
		mTrans.mat[3] * res.mat[3];

	fDet = 1 / fDet;

	res.mat[0] *= fDet;
	res.mat[1] *= fDet;
	res.mat[2] *= fDet;
	res.mat[3] *= fDet;

	res.mat[4] *= fDet;
	res.mat[5] *= fDet;
	res.mat[6] *= fDet;
	res.mat[7] *= fDet;

	res.mat[8] *= fDet;
	res.mat[9] *= fDet;
	res.mat[10] *= fDet;
	res.mat[11] *= fDet;

	res.mat[12] *= fDet;
	res.mat[13] *= fDet;
	res.mat[14] *= fDet;
	res.mat[15] *= fDet;

	return res;
}



Vector3D Vec3TransformCoord(Matrix3D &m, Vector3D &v)
{
	Vector3D res;
	res.x = m.m[0][0] * v.x + m.m[1][0] * v.y + m.m[2][0] * v.z+m.m[3][0];
	res.y = m.m[0][1] * v.x + m.m[1][1] * v.y + m.m[2][1] * v.z+m.m[3][1];
	res.z = m.m[0][2] * v.x + m.m[1][2] * v.y + m.m[2][2] * v.z+m.m[3][2];
	return res;
}

Vector2 Vec3TransformCoord(Matrix3D &worldMat, Vector2 &v)
{
	Vector2 temp;
	temp.x = v.x*worldMat.m[0][0] + v.y*worldMat.m[1][0] + worldMat.m[3][0];
	temp.y = v.x*worldMat.m[0][1] + v.y*worldMat.m[1][1] + worldMat.m[3][1];
	return temp;
}

Vector3D Vec3TransformNormal(Matrix3D &m, Vector3D &v)
{
	Vector3D res;
	res.x = m.m[0][0] * v.x + m.m[1][0] * v.y + m.m[2][0] * v.z;
	res.y = m.m[0][1] * v.x + m.m[1][1] * v.y + m.m[2][1] * v.z;
	res.z = m.m[0][2] * v.x + m.m[1][2] * v.y + m.m[2][2] * v.z;
	return res;
}




Matrix3D MatrixRotationAxis(Vector3D &axis, float angle)
{
	float s = sin(angle*PI / 180);
	float c = cos(angle*PI / 180);
	Vector3D v = axis.Normalize(); 
	Vector3D a = v*(1.0f - c);
	Matrix3D res;
	res.m[0][0] = a.x*v.x + c;		res.m[0][1] = a.y*v.x - v.z*s;	res.m[0][2] = a.z*v.x + v.y*s;	res.m[0][3] = 0;
	res.m[1][0] = a.x*v.y + v.z*s;	res.m[1][1] = a.y*v.y + c;		res.m[1][2] = a.z*v.y - v.x*s;	res.m[1][3] = 0.0f;
	res.m[2][0] = a.x*v.z - v.y*s;	res.m[2][1] = a.y*v.z + v.x*s;	res.m[2][2] = a.z*v.z + c;		res.m[2][3] = 0;
	res.m[3][0] = 0;				res.m[3][1] = 0;				res.m[3][2] = 0;				res.m[3][3] = 1;

	return res;
}


Matrix3D MatrixRotationAxisRad(Vector3D &axis, float radian)
{
	float s = sin(radian);
	float c = cos(radian);
	Vector3D v = axis.Normalize();
	Vector3D a = v*(1.0f - c);
	Matrix3D res;
	res.m[0][0] = a.x*v.x + c;		res.m[0][1] = a.y*v.x - v.z*s;	res.m[0][2] = a.z*v.x + v.y*s;	res.m[0][3] = 0;
	res.m[1][0] = a.x*v.y + v.z*s;	res.m[1][1] = a.y*v.y + c;		res.m[1][2] = a.z*v.y - v.x*s;	res.m[1][3] = 0.0f;
	res.m[2][0] = a.x*v.z - v.y*s;	res.m[2][1] = a.y*v.z + v.x*s;	res.m[2][2] = a.z*v.z + c;		res.m[2][3] = 0;
	res.m[3][0] = 0;				res.m[3][1] = 0;				res.m[3][2] = 0;				res.m[3][3] = 1;

	return res;
}

Matrix3D YRotate(float angle)
{
	Matrix3D mat;
	mat.m[0][0] = cos(GL_PI / 180 * angle); mat.m[0][2] = sin(GL_PI / 180 * angle);
	mat.m[2][0] = -sin(GL_PI / 180 * angle); mat.m[2][2] = cos(GL_PI / 180 * angle);
	return mat;
}



Matrix3D MatrixTranspose(Matrix3D &m)
{
	Matrix3D res;

	res.mat[0] = m.mat[0]; res.mat[1] = m.mat[4]; res.mat[2] = m.mat[8];   res.mat[3] = m.mat[12];
	res.mat[4] = m.mat[1]; res.mat[5] = m.mat[5]; res.mat[6] = m.mat[9];   res.mat[7] = m.mat[13];
	res.mat[8] = m.mat[2]; res.mat[9] = m.mat[6]; res.mat[10] = m.mat[10]; res.mat[11] = m.mat[14];
	res.mat[12] = m.mat[3]; res.mat[13] = m.mat[7]; res.mat[14] = m.mat[11]; res.mat[15] = m.mat[15];

	return res;
}

Matrix3D MatrixInverse(Matrix3D &m)
{
	float fTemp[12], fDet;
	Matrix3D mTrans = MatrixTranspose(m);

	fTemp[0] = mTrans.mat[10] * mTrans.mat[15];
	fTemp[1] = mTrans.mat[11] * mTrans.mat[14];
	fTemp[2] = mTrans.mat[9] * mTrans.mat[15];
	fTemp[3] = mTrans.mat[11] * mTrans.mat[13];
	fTemp[4] = mTrans.mat[9] * mTrans.mat[14];
	fTemp[5] = mTrans.mat[10] * mTrans.mat[13];
	fTemp[6] = mTrans.mat[8] * mTrans.mat[15];
	fTemp[7] = mTrans.mat[11] * mTrans.mat[12];
	fTemp[8] = mTrans.mat[8] * mTrans.mat[14];
	fTemp[9] = mTrans.mat[10] * mTrans.mat[12];
	fTemp[10] = mTrans.mat[8] * mTrans.mat[13];
	fTemp[11] = mTrans.mat[9] * mTrans.mat[12];

	Matrix3D res;
	res.mat[0] = fTemp[0] * mTrans.mat[5] + fTemp[3] * mTrans.mat[6] + fTemp[4] * mTrans.mat[7];
	res.mat[0] -= fTemp[1] * mTrans.mat[5] + fTemp[2] * mTrans.mat[6] + fTemp[5] * mTrans.mat[7];
	res.mat[1] = fTemp[1] * mTrans.mat[4] + fTemp[6] * mTrans.mat[6] + fTemp[9] * mTrans.mat[7];
	res.mat[1] -= fTemp[0] * mTrans.mat[4] + fTemp[7] * mTrans.mat[6] + fTemp[8] * mTrans.mat[7];
	res.mat[2] = fTemp[2] * mTrans.mat[4] + fTemp[7] * mTrans.mat[5] + fTemp[10] * mTrans.mat[7];
	res.mat[2] -= fTemp[3] * mTrans.mat[4] + fTemp[6] * mTrans.mat[5] + fTemp[11] * mTrans.mat[7];
	res.mat[3] = fTemp[5] * mTrans.mat[4] + fTemp[8] * mTrans.mat[5] + fTemp[11] * mTrans.mat[6];
	res.mat[3] -= fTemp[4] * mTrans.mat[4] + fTemp[9] * mTrans.mat[5] + fTemp[10] * mTrans.mat[6];
	res.mat[4] = fTemp[1] * mTrans.mat[1] + fTemp[2] * mTrans.mat[2] + fTemp[5] * mTrans.mat[3];
	res.mat[4] -= fTemp[0] * mTrans.mat[1] + fTemp[3] * mTrans.mat[2] + fTemp[4] * mTrans.mat[3];
	res.mat[5] = fTemp[0] * mTrans.mat[0] + fTemp[7] * mTrans.mat[2] + fTemp[8] * mTrans.mat[3];
	res.mat[5] -= fTemp[1] * mTrans.mat[0] + fTemp[6] * mTrans.mat[2] + fTemp[9] * mTrans.mat[3];
	res.mat[6] = fTemp[3] * mTrans.mat[0] + fTemp[6] * mTrans.mat[1] + fTemp[11] * mTrans.mat[3];
	res.mat[6] -= fTemp[2] * mTrans.mat[0] + fTemp[7] * mTrans.mat[1] + fTemp[10] * mTrans.mat[3];
	res.mat[7] = fTemp[4] * mTrans.mat[0] + fTemp[9] * mTrans.mat[1] + fTemp[10] * mTrans.mat[2];
	res.mat[7] -= fTemp[5] * mTrans.mat[0] + fTemp[8] * mTrans.mat[1] + fTemp[11] * mTrans.mat[2];


	fTemp[0] = mTrans.mat[2] * mTrans.mat[7];
	fTemp[1] = mTrans.mat[3] * mTrans.mat[6];
	fTemp[2] = mTrans.mat[1] * mTrans.mat[7];
	fTemp[3] = mTrans.mat[3] * mTrans.mat[5];
	fTemp[4] = mTrans.mat[1] * mTrans.mat[6];
	fTemp[5] = mTrans.mat[2] * mTrans.mat[5];
	fTemp[6] = mTrans.mat[0] * mTrans.mat[7];
	fTemp[7] = mTrans.mat[3] * mTrans.mat[4];
	fTemp[8] = mTrans.mat[0] * mTrans.mat[6];
	fTemp[9] = mTrans.mat[2] * mTrans.mat[4];
	fTemp[10] = mTrans.mat[0] * mTrans.mat[5];
	fTemp[11] = mTrans.mat[1] * mTrans.mat[4];


	res.mat[8] = fTemp[0] * mTrans.mat[13] + fTemp[3] * mTrans.mat[14] + fTemp[4] * mTrans.mat[15];
	res.mat[8] -= fTemp[1] * mTrans.mat[13] + fTemp[2] * mTrans.mat[14] + fTemp[5] * mTrans.mat[15];
	res.mat[9] = fTemp[1] * mTrans.mat[12] + fTemp[6] * mTrans.mat[14] + fTemp[9] * mTrans.mat[15];
	res.mat[9] -= fTemp[0] * mTrans.mat[12] + fTemp[7] * mTrans.mat[14] + fTemp[8] * mTrans.mat[15];
	res.mat[10] = fTemp[2] * mTrans.mat[12] + fTemp[7] * mTrans.mat[13] + fTemp[10] * mTrans.mat[15];
	res.mat[10] -= fTemp[3] * mTrans.mat[12] + fTemp[6] * mTrans.mat[13] + fTemp[11] * mTrans.mat[15];
	res.mat[11] = fTemp[5] * mTrans.mat[12] + fTemp[8] * mTrans.mat[13] + fTemp[11] * mTrans.mat[14];
	res.mat[11] -= fTemp[4] * mTrans.mat[12] + fTemp[9] * mTrans.mat[13] + fTemp[10] * mTrans.mat[14];
	res.mat[12] = fTemp[2] * mTrans.mat[10] + fTemp[5] * mTrans.mat[11] + fTemp[1] * mTrans.mat[9];
	res.mat[12] -= fTemp[4] * mTrans.mat[11] + fTemp[0] * mTrans.mat[9] + fTemp[3] * mTrans.mat[10];
	res.mat[13] = fTemp[8] * mTrans.mat[11] + fTemp[0] * mTrans.mat[8] + fTemp[7] * mTrans.mat[10];
	res.mat[13] -= fTemp[6] * mTrans.mat[10] + fTemp[9] * mTrans.mat[11] + fTemp[1] * mTrans.mat[8];
	res.mat[14] = fTemp[6] * mTrans.mat[9] + fTemp[11] * mTrans.mat[11] + fTemp[3] * mTrans.mat[8];
	res.mat[14] -= fTemp[10] * mTrans.mat[11] + fTemp[2] * mTrans.mat[8] + fTemp[7] * mTrans.mat[9];
	res.mat[15] = fTemp[10] * mTrans.mat[10] + fTemp[4] * mTrans.mat[8] + fTemp[9] * mTrans.mat[9];
	res.mat[15] -= fTemp[8] * mTrans.mat[9] + fTemp[11] * mTrans.mat[10] + fTemp[5] * mTrans.mat[8];

	fDet = mTrans.mat[0] * res.mat[0] +
		mTrans.mat[1] * res.mat[1] +
		mTrans.mat[2] * res.mat[2] +
		mTrans.mat[3] * res.mat[3];

	fDet = 1 / fDet;

	res.mat[0] *= fDet;
	res.mat[1] *= fDet;
	res.mat[2] *= fDet;
	res.mat[3] *= fDet;

	res.mat[4] *= fDet;
	res.mat[5] *= fDet;
	res.mat[6] *= fDet;
	res.mat[7] *= fDet;

	res.mat[8] *= fDet;
	res.mat[9] *= fDet;
	res.mat[10] *= fDet;
	res.mat[11] *= fDet;

	res.mat[12] *= fDet;
	res.mat[13] *= fDet;
	res.mat[14] *= fDet;
	res.mat[15] *= fDet;

	return res;
}

Matrix3D FromToRotation(Vector3D from, Vector3D to)
{
	from.Normalize();
	to.Normalize();

	float angle = acos(from.dot(to));
	if (angle == 0)
	{
		return Matrix3D();
	}
	Vector3D axis = from.cross(to);
	axis.Normalize();

	return MatrixRotationAxisRad(axis, angle);
}

Matrix3D &MatrixRotationYawPitchRoll(float Yaw, float Pitch, float Roll)
{
	Matrix3D res;
	float sx = sin(Pitch); float sy = sin(Yaw); float sz = sin(Roll);
	float cx = cos(Pitch); float cy = cos(Yaw); float cz = cos(Roll);
	res.mat[0] = cz * cy - sx * sy * sz; res.mat[1] = cy * sz + sx * sy * cz; res.mat[2] = -sy * cx; res.mat[3] = 0.0f;
	res.mat[4] = -cx * sz;				res.mat[5] = cx * cz;				res.mat[6] = sx;	  res.mat[7] = 0.0f;
	res.mat[8] = sy * cz + sx * cy * sz; res.mat[9] = sy * sz - sx * cy * cz; res.mat[10] = cx * cy; res.mat[11] = 0.0f;
	res.mat[12] = 0.0f;					res.mat[13] = 0.0f;					res.mat[14] = 0.0f;	  res.mat[15] = 1.0f;
	return res;
}

Matrix3D &MatrixRotationY(float angle)
{
	float s = sin(angle);
	float c = cos(angle);

	Matrix3D res;
	res.mat[0] = c; res.mat[1] = 0; res.mat[2] = -s; res.mat[3] = 0.0f;
	res.mat[4] = 0; res.mat[5] = 1; res.mat[6] = 0; res.mat[7] = 0.0f;
	res.mat[8] = s; res.mat[9] = 0; res.mat[10] = c; res.mat[11] = 0.0f;
	res.mat[12] = 0.0f; res.mat[13] = 0.0f; res.mat[14] = 0.0f; res.mat[15] = 1.0f;

	return res;
}

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