orbmath.h

应用方便的OrbMath数学运算库

			 @param row the row
			 @param col the column
			 @return The reference to the sub value of the matrix.
		*/
		float& operator()(int row, int col);

		//!  Operator()
		/*!
			 This is a const version of the operator().
			 @see float& operator()(int row, int col)
		*/
		const float& operator()(int row, int col) const;
	
		//!  Operator+=
		/*!
			 This function add another matrix to itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX33& operator+=(const MATRIX33& other);

		//!  Operator[]
		/*!
			 This function return the reference to the sub value of the matrix, 
			 which locate at [nIndex].
			 @param nIndex the nIndex
			 @return The reference to the sub value of the matrix.
		*/
		float& operator[](int nIndex);

		//!  Operator[]
		/*!
			 This is a const version of the operator().
			 @see float& operator[](int nIndex);
		*/
		const float& operator[](int nIndex) const;

		//!  Operator-=
		/*!
			 This function subtract another matrix from itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX33& operator-=(const MATRIX33& other);

		//!  Operator*=
		/*!
			 This function multiply another matrix to itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX33& operator*=(const MATRIX33& other);

		//!  Operator==
		/*!  @return if the vector is equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator==(const MATRIX33& other) const;

		//!  Operator!=
		/*!  @return if the vector is not equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator!=(const MATRIX33& other) const;

		//!  SetIdentity
		/*!
			 This function initialize the matrix with identity value.
			 @return the const reference of the matrix.
		*/
		const MATRIX33& SetIdentity();

		//!  IsIdentity
		/*!
			 @return If the matrix is a identity one, this function returns @b true.
			 Otherwise, it returns @b false.
		*/
		bool isIdentity() const;

		//!  Transpose
		/*!
			 Transpose the matrix.
			 @return the const reference of the matrix.
		*/
		const MATRIX33& Transpose();

		//!  GetTranspose
		/*!
			 Get the Transpose of the matrix.
			 @return the tranpose of the matrix.
		*/
		MATRIX33 GetTranspose() const;

		//!  Invert
		/*!
			 Inverse the matrix.
			 @return the const reference of the matrix
		*/
		const MATRIX33& Invert();

		//!  GetInverse
		/*!
			 Get the inverse of the matrix.
			 @return the inverse of the matrix
		*/
		MATRIX33 GetInverse() const;

		//!  Determinant
		/*!
			 @return the Determinant of this matrix
		*/
		float Determinant() const;
		
		//!  GetRow
		/*!
			 Get a row of the matrix
			 @return the specified row vector.
		*/
		VECTOR3 GetRow(int row) const;

		//!  GetLine
		/*!
			 Get a Line of the matrix
			 @return the specified line vector.
		*/
		VECTOR3 GetLine(int line) const;

		//!  SetLine
		/*!
			 Set a Line of the matrix
			 @return no return.
		*/
		void SetLine(int line, const VECTOR3& v);

		//!  SetRow
		/*!
			 Set a row of the matrix
			 @return no return.
		*/
		void SetRow(int row, const VECTOR3& v);

		private:
		union
		{
			float	m[9];							/*!< matrix member int float[16] format */
			
			struct	
			{
				float	m11,						/*!< matrix member [1,1]*/
						m12,						/*!< matrix member [1,2]*/
						m13,						/*!< matrix member [1,3]*/
						m21, 						/*!< matrix member [2,1]*/
						m22, 						/*!< matrix member [2,2]*/
						m23, 						/*!< matrix member [2,3]*/
						m31, 						/*!< matrix member [3,1]*/
						m32, 						/*!< matrix member [3,2]*/
						m33; 						/*!< matrix member [3,3]*/
			};										
		};
	};

	//!  Orb 4x4 Matrix
	/*!
		 This struct implemented a 4x4 matrix, with some member fucntions to
		 simplize matrix operation.
		 @warning This struct does not have a virtual destructor, so don't derive from this struct
		 unless you know exactly what you are doing.
		 @date 05/12/2003
		 @version 1.0
		 @author Dan Tong
		 @author mail: [e-mail]
	*/
	struct ORB_EXPORT MATRIX44
	{
		//!  Default Constructor
		/*!
			 This function set all the member value to default value 0.0f.
			 @return no return.
		*/
		MATRIX44();

		//!  Constructor
		/*!
			 This function construct the matrix with a 3x3 matrix.
			 @return no return.
		*/
		MATRIX44(const MATRIX33& other);


		//!  Constructor
		/*!
			 This function construct the matrix with a float[16] array.
			 @return no return.
		*/
		explicit MATRIX44(float _m[16]);
		
		//!  Constructor
		/*!
			 This function construct the matrix with 16 float parameters
			 @return no return.
		*/
		MATRIX44(	float _m11, float _m12, float _m13, float _m14, 
			float _m21, float _m22, float _m23, float _m24,
			float _m31, float _m32, float _m33, float _m34,
			float _m41, float _m42, float _m43, float _m44);

		//!  Constructor
		/*!
			 This function construct the matrix with quaternion.
			 @param quat the unit quaternion to construct the matrix
			 @return no return.
			 @warning the quaternion must be a unit one
		*/
		explicit MATRIX44(const QUATERNION& quat);

		//!  float* extractor
		/*!
			 This function turn the matrix to a quaternion.
			 @return the quaternion value of this matrix.
		*/
		operator float*() const;

		//!  Operator()
		/*!
			 This function return the reference to the sub value of the matrix, 
			 which locate at [row, col].
			 @param row the row
			 @param col the column
			 @return The reference to the sub value of the matrix.
		*/
		float& operator()(int row, int col);

		//!  Operator()
		/*!
			 This is a const version of the operator().
			 @see float& operator()(int row, int col)
		*/
		const float& operator()(int row, int col) const;
	
		//!  Operator+=
		/*!
			 This function add another matrix to itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX44& operator+=(const MATRIX44& other);

		//!  Operator[]
		/*!
			 This function return the reference to the sub value of the matrix, 
			 which locate at [nIndex].
			 @param nIndex the nIndex
			 @return The reference to the sub value of the matrix.
		*/
		float& operator[](int nIndex);

		//!  Operator[]
		/*!
			 This is a const version of the operator().
			 @see float& operator[](int nIndex);
		*/
		const float& operator[](int nIndex) const;

		//!  Operator-=
		/*!
			 This function subtract another matrix from itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX44& operator-=(const MATRIX44& other);

		//!  Operator*=
		/*!
			 This function multiply another matrix to itself.
			 @param other another matrix
			 @return the the const reference of *this
		*/
		const MATRIX44& operator*=(const MATRIX44& other);

		//!  Operator==
		/*!  @return if the vector is equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator==(const MATRIX44& other) const;

		//!  Operator!=
		/*!  @return if the vector is not equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator!=(const MATRIX44& other) const;

		//!  SetIdentity
		/*!
			 This function initialize the matrix with identity value.
			 @return the const reference of the matrix.
		*/
		const MATRIX44& SetIdentity();

		//!  IsIdentity
		/*!
			 @return If the matrix is a identity one, this function returns @b true.
			 Otherwise, it returns @b false.
		*/
		bool isIdentity() const;

		//!  Transpose
		/*!
			 Transpose the matrix.
			 @return the const reference of the matrix.
		*/
		const MATRIX44& Transpose();

		//!  GetTranspose
		/*!
			 Get the Transpose of the matrix.
			 @return the tranpose of the matrix.
		*/
		MATRIX44 GetTranspose() const;

		//!  Invert
		/*!
			 Inverse the matrix.
			 @return the const reference of the matrix
		*/
		const MATRIX44& Invert();

		//!  GetInverse
		/*!
			 Get the inverse of the matrix.
			 @return the inverse of the matrix
		*/
		MATRIX44 GetInverse() const;

		//!  Determinant
		/*!
			 @return the Determinant of this matrix
		*/
		float Determinant() const;
		
		//!  GetRow
		/*!
			 Get a row of the matrix
			 @return the specified row vector
		*/
		VECTOR4 GetRow(int row) const;

		//!  GetLine
		/*!
			 Get a line of the matrix
			 @return the specified line vector
		*/
		VECTOR4 GetLine(int line) const;

		//!  SetLine
		/*!
			 Set a line of the matrix
			 @return no return
		*/
		void SetLine(int line, const VECTOR4& v);

		//!  SetRow
		/*!
			 Set a row of the matrix
			 @return no return
		*/
		void SetRow(int row, const VECTOR4& v);

		private:
		union
		{
			float	m[16];							/*!< matrix member int float[16] format */
			
			struct	
			{
				float	m11,						/*!< matrix member [1,1]*/
						m12,						/*!< matrix member [1,2]*/
						m13,						/*!< matrix member [1,3]*/
						m14,						/*!< matrix member [1,4]*/
						m21, 						/*!< matrix member [2,1]*/
						m22, 						/*!< matrix member [2,2]*/
						m23, 						/*!< matrix member [2,3]*/
						m24,						/*!< matrix member [2,4]*/
						m31, 						/*!< matrix member [3,1]*/
						m32, 						/*!< matrix member [3,2]*/
						m33, 						/*!< matrix member [3,3]*/
						m34,						/*!< matrix member [3,4]*/
						m41, 						/*!< matrix member [4,1]*/
						m42, 						/*!< matrix member [4,2]*/
						m43, 						/*!< matrix member [4,3]*/
						m44;						/*!< matrix member [4,4]*/
			};										
		};
	};

	//!  Orb PLANE
	/*!
		 This struct implemented a Plane.
		 
		 @warning This struct does not have a virtual destructor, so don't derive from this struct
		 unless you know exactly what you are doing.
		 @date 05/28/2003
		 @version 1.0
		 @author Dan Tong
		 @author mail: [e-mail]
	*/
	struct ORB_EXPORT PLANE
	{
		//!  Default Constructor
		/*!
			 This function set all the member value to default value 0.0f.
			 @return no return.
		*/
		PLANE();

		//!  Copy Constructor
		PLANE(const PLANE& other);

		//!  Constructor
		/*!
			 Construct the plane with four coefficient.
			 AX + BY + CZ + D = 0
			 @return no return.
		*/
		PLANE(float A, float B, float C, float D);

		//!  Constructor
		/*!
			 Construct the plane from three points
			 @return no return.
		*/
		PLANE(const VECTOR3& p1, const VECTOR3& p2, const VECTOR3& p3);

		//!  Constructor
		/*!
			 Construct the plane from a normal and a point
			 @return no return.
		*/
		PLANE(const VECTOR3& n, const VECTOR3& p);

		//!  Normalize
		/*!
			 Normalize the plane.
			 @return const refernce of *this
		*/
		const PLANE& Normalize();

		//!  GetNormalized
		/*!
			 @return the normalized plane of this plane
		*/
		PLANE GetNormalized() const;

		//!  PointDistance
		/*!
			 Calculate the distance between the given point and this plane
			 @return distance
		*/
		float PointDistance(const VECTOR3& point) const;

		//!  Operator ==
		/*!  @return if the plane is equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator==(const PLANE& other) const;

		//!  Operator !=
		/*!  @return if the plane is not equal to parameter @b other, the function 
			 returns @b true, otherwise, it returns @b false.
		*/
		bool operator!=(const PLANE& other) const;

		//!  Operator float*
		operator float* ();
		
		union
		{
			struct 
			{
				float a, b, c, d;				/*!< plane formular coefficient---- AX + BY +CZ +D = 0*/
			};
			struct 
			{
				VECTOR3	normal;					/*!< plane face normal*/
				float	d;						/*!< value of any a point in the plane dot normal*/
			};
			float v[4];
		};
		
	};

	//!  planeDotVec
	/*!
		 Calculate a vector4 and a plane's dot production
		 @return the dot production
	*/