diff --git a/NIF_Blocks.cpp b/NIF_Blocks.cpp
index b41a938e769d90944988654e1b2f8f7e54bd792d..dba32f1572b447ae9790d543b14a190a6805eebe 100644
--- a/NIF_Blocks.cpp
+++ b/NIF_Blocks.cpp
@@ -73,26 +73,11 @@ void const * ANode::QueryInterface( int id ) const {
Matrix44 ANode::GetLocalTransform() const {
//Get transform data from atributes
- Matrix33 f = GetAttr("Rotation")->asMatrix33();
+ Matrix33 rot = GetAttr("Rotation")->asMatrix33();
Float3 tran = GetAttr("Translation")->asFloat3();
float scale = GetAttr("Scale")->asFloat();
- //Set up a matrix with rotate and translate information
- Matrix44 rt;
- rt[0][0] = f[0][0]; rt[0][1] = f[0][1]; rt[0][2] = f[0][2]; rt[0][3] = 0.0f;
- rt[1][0] = f[1][0]; rt[1][1] = f[1][1]; rt[1][2] = f[1][2]; rt[1][3] = 0.0f;
- rt[2][0] = f[2][0]; rt[2][1] = f[2][1]; rt[2][2] = f[2][2]; rt[2][3] = 0.0f;
- rt[3][0] = tran[0]; rt[3][1] = tran[1]; rt[3][2] = tran[2]; rt[3][3] = 1.0f;
-
- //Set up another matrix with the scale information
- Matrix44 s;
- s[0][0] = scale; s[0][1] = 0.0f; s[0][2] = 0.0f; s[0][3] = 0.0f;
- s[1][0] = 0.0f; s[1][1] = scale; s[1][2] = 0.0f; s[1][3] = 0.0f;
- s[2][0] = 0.0f; s[2][1] = 0.0f; s[2][2] = scale; s[2][3] = 0.0f;
- s[3][0] = 0.0f; s[3][1] = 0.0f; s[3][2] = 0.0f; s[3][3] = 1.0f;
-
- //Multiply the two for the resulting local transform
- return MultMatrix44(s, rt);
+ return Matrix44( Vector3( tran[0], tran[1], tran[2] ), rot, scale );
}
Matrix44 ANode::GetWorldTransform() const {
@@ -107,7 +92,7 @@ Matrix44 ANode::GetWorldTransform() const {
Matrix44 par_world = node->GetWorldTransform();
//Multipy local matrix and parent world matrix for result
- return MultMatrix44( par_world, local);
+ return par_world * local;
}
else {
//No parent transform, simply return local transform
@@ -132,9 +117,9 @@ Matrix44 ANode::GetLocalBindPos() const {
//There is a node parent
//multiply its inverse with this block's bind position to get the local bind position
Matrix44 par_mat = node->GetWorldBindPos();
- Matrix44 par_inv = InverseMatrix44( par_mat);
+ Matrix44 par_inv = par_mat.Inverse();
- return MultMatrix44( bindPosition, par_inv);
+ return bindPosition * par_inv;
}
else {
//No parent transform, simply return local transform
@@ -2492,8 +2477,8 @@ void NiSkinData::StraightenSkeleton() {
);
//Do calculation to get correct bone postion in relation to parent
- Matrix44 inverse_co = InverseMatrix44(child_offset);
- Matrix44 child_pos = MultMatrix44( inverse_co, parent_offset);
+ Matrix44 inverse_co = child_offset.Inverse();
+ Matrix44 child_pos = inverse_co * parent_offset;
//Store result in block's Bind Position Matrix
INode * node = (INode*)it2->first->QueryInterface(ID_NODE);
@@ -2566,7 +2551,7 @@ void NiSkinData::RepositionTriShape( blk_ref & tri_shape ) {
Matrix44 bone_mat = bone_node->GetWorldBindPos();
- Matrix44 result_mat = MultMatrix44( offset_mat, bone_mat);
+ Matrix44 result_mat = offset_mat * bone_mat;
//GetBuiltUpTransform( bone_blk, end_mat );
@@ -2760,8 +2745,8 @@ void NiSkinData::CalculateBoneOffset( INode const * const par_node, IBlock const
bone_mat = bone_node->GetWorldBindPos();
//Inverse bone matrix & multiply with parent node matrix
- inv_mat = InverseMatrix44(bone_mat);
- res_mat = MultMatrix44(par_mat, inv_mat);
+ inv_mat = bone_mat.Inverse();
+ res_mat = par_mat * inv_mat;
//--Extract Scale from first 3 rows--//
float scale[3];
@@ -2812,8 +2797,8 @@ void NiSkinData::CalculateOverallOffset( Matrix33 & rot, fVector3 & tr, float &
Matrix44 skel_mat = iskel->GetWorldTransform();
// Inverse parent node transform & multiply with skeleton matrix
- Matrix44 inv_mat = InverseMatrix44(par_mat);
- Matrix44 res_mat = MultMatrix44(inv_mat, skel_mat);
+ Matrix44 inv_mat = par_mat.Inverse();
+ Matrix44 res_mat = inv_mat * skel_mat;
//--Extract Scale from first 3 rows--//
float scale[3];
diff --git a/NIF_Blocks.h b/NIF_Blocks.h
index 5583a82ce70bff802448abdf863ab70c9966b7b9..ae33be99f3ff265509b67330540fb02c3649e50c 100644
--- a/NIF_Blocks.h
+++ b/NIF_Blocks.h
@@ -75,7 +75,7 @@ public:
ANode();
void Init() {
//Start the bind pose at an identity matrix
- SetIdentity44(bindPosition);
+ bindPosition = Matrix44::IDENTITY;
//Start the flags at "Not a skin influence"
GetAttr("Flags")->Set(8);
@@ -1887,7 +1887,7 @@ class NiSkinData : public AData, public ISkinData, public ISkinDataInternal {
NiSkinData() {
//AddAttr( attr_link, "Skin Partition", 0, VER_10_1_0_0 );
- SetIdentity33(rotation);
+ rotation = Matrix33::IDENTITY;
translation[0] = 0.0f;
translation[1] = 0.0f;
translation[2] = 0.0f;
diff --git a/nif_math.cpp b/nif_math.cpp
index 583aec2c9ac7572c88d832807cd0d44224730fd2..94f6b7b3c404c5371507182b7a6b08c761c637e9 100644
--- a/nif_math.cpp
+++ b/nif_math.cpp
@@ -34,137 +34,19 @@ POSSIBILITY OF SUCH DAMAGE. */
#include "nif_math.h"
#include <iomanip>
-void PrintMatrix33( Matrix33 const & m, ostream & out ) {
- out << endl
- << " |" << setw(8) << m[0][0] << "," << setw(8) << m[0][1] << "," << setw(8) << m[0][2] << " |" << endl
- << " |" << setw(8) << m[1][0] << "," << setw(8) << m[1][1] << "," << setw(8) << m[1][2] << " |" << endl
- << " |" << setw(8) << m[2][0] << "," << setw(8) << m[2][1] << "," << setw(8) << m[2][2] << " |" <<endl;
-}
-
-void PrintMatrix44( Matrix44 const & m, ostream & out ) {
- out << endl
- << " |" << setw(8) << m[0][0] << "," << setw(8) << m[0][1] << "," << setw(8) << m[0][2] << setw(8) << m[0][3] << " |" << endl
- << " |" << setw(8) << m[1][0] << "," << setw(8) << m[1][1] << "," << setw(8) << m[1][2] << setw(8) << m[1][3] << " |" << endl
- << " |" << setw(8) << m[2][0] << "," << setw(8) << m[2][1] << "," << setw(8) << m[2][2] << setw(8) << m[2][3] << " |" << endl
- << " |" << setw(8) << m[3][0] << "," << setw(8) << m[3][1] << "," << setw(8) << m[3][2] << setw(8) << m[3][3] << " |" << endl;
-}
-
-Vector3 MultVector3( Vector3 const & a, Vector3 const & b ) {
- Vector3 answer;
- answer.x = a.y * b.z - a.z * b.y;
- answer.y = a.z * b.x - a.x * b.z;
- answer.z = a.x * b.y - a.y * b.x;
-
- return answer;
-}
-
-void SetIdentity33( Matrix33 & m ) {
- m[0][0] = 1.0f; m[0][1] = 0.0f; m[0][2] = 0.0f;
- m[1][0] = 0.0f; m[1][1] = 1.0f; m[1][2] = 0.0f;
- m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = 1.0f;
-}
-
-void SetIdentity44( Matrix44 & m ) {
- m[0][0] = 1.0f; m[0][1] = 0.0f; m[0][2] = 0.0f; m[0][3] = 0.0f;
- m[1][0] = 0.0f; m[1][1] = 1.0f; m[1][2] = 0.0f; m[1][3] = 0.0f;
- m[2][0] = 0.0f; m[2][1] = 0.0f; m[2][2] = 1.0f; m[2][3] = 0.0f;
- m[3][0] = 0.0f; m[3][1] = 0.0f; m[3][2] = 0.0f; m[3][3] = 1.0f;
-}
-
-Matrix33 MultMatrix33( Matrix33 const & a, Matrix33 const & b ) {
- Matrix33 result;
- for (int i = 0; i < 3; i++) {
- for (int j = 0; j < 3; j++) {
- float t = 0.0f;
- for (int k = 0; k < 4; k++) {
- t += a[i][k] * b[k][j];
- }
- result[i][j] = t;
- }
- }
- return result;
-}
-
-Matrix44 MultMatrix44( Matrix44 const & a, Matrix44 const & b ) {
- Matrix44 result;
- for (int i = 0; i < 4; i++) {
- for (int j = 0; j < 4; j++) {
- float t = 0.0f;
- for (int k = 0; k < 4; k++) {
- t += a[i][k] * b[k][j];
- }
- result[i][j] = t;
- }
- }
- return result;
-}
-
-float DetMatrix33( Matrix33 const & m ) {
- return m[0][0]*(m[1][1]*m[2][2]-m[1][2]*m[2][1])
- - m[0][1]*(m[1][0]*m[2][2]-m[1][2]*m[2][0])
- + m[0][2]*(m[1][0]*m[2][1]-m[1][1]*m[2][0]);
-}
-
-float DetMatrix44( Matrix44 const & m ) {
- Matrix33 sub1(
- m[1][1], m[1][2], m[1][3],
- m[2][1], m[2][2], m[2][3],
- m[3][1], m[3][2], m[3][3]
- );
-
- Matrix33 sub2(
- m[1][0], m[1][2], m[1][3],
- m[2][0], m[2][2], m[2][3],
- m[3][0], m[3][2], m[3][3]
- );
-
- Matrix33 sub3(
- m[1][0], m[1][1], m[1][3],
- m[2][0], m[2][1], m[2][3],
- m[3][0], m[3][1], m[3][3]
- );
-
- Matrix33 sub4(
- m[1][0], m[1][1], m[1][2],
- m[2][0], m[2][1], m[2][2],
- m[3][0], m[3][1], m[3][2]
- );
-
- return m[0][0] * DetMatrix33( sub1 )
- - m[0][1] * DetMatrix33( sub2 )
- + m[0][2] * DetMatrix33( sub3 )
- - m[0][3] * DetMatrix33( sub4 );
-}
+//Constants
-float AdjMatrix44(Matrix44 const & m, int skip_r, int skip_c) {
- Matrix33 sub;
- int i = 0, j = 0;
- for (int r = 0; r < 4; r++) {
- if (r == skip_c)
- continue;
- for (int c = 0; c < 4; c++) {
- if (c == skip_r)
- continue;
- sub[i][j] = m[r][c];
- j++;
- }
- i++;
- j = 0;
- }
+const Matrix44 Matrix44::IDENTITY( 1.0f, 0.0f, 0.0f, 0.0f,
+ 0.0f, 1.0f, 0.0f, 0.0f,
+ 0.0f, 0.0f, 1.0f, 0.0f,
+ 0.0f, 0.0f, 0.0f, 1.0f );
- return pow(-1.0f, float(skip_r + skip_c)) * DetMatrix33( sub );
-}
+const Matrix33 Matrix33::IDENTITY( 1.0f, 0.0f, 0.0f,
+ 0.0f, 1.0f, 0.0f,
+ 0.0f, 0.0f, 1.0f );
-Matrix44 InverseMatrix44( Matrix44 const & m ) {
- Matrix44 result;
- float det = DetMatrix44(m);
- for (int r = 0; r < 4; r++) {
- for (int c = 0; c < 4; c++) {
- result[r][c] = AdjMatrix44(m, r, c) / det;
- }
- }
- return result;
-}
+const Matrix22 Matrix22::IDENTITY( 1.0f, 0.0f,
+ 0.0f, 1.0f );
/*
* Vector3 Methods
@@ -268,10 +150,22 @@ Vector3 Vector3::CrossProduct( const Vector3 & rh) const {
// return *this;
//}
+/*
+ * Matrix22 Methods
+ */
+
+Matrix22::Matrix22() {
+ *this = Matrix22::IDENTITY;
+}
+
/*
* Matrix33 Methods
*/
+Matrix33::Matrix33() {
+ *this = Matrix33::IDENTITY;
+}
+
Quaternion Matrix33::AsQuaternion() {
Quaternion quat;
float tr, s, q[4];
@@ -318,12 +212,145 @@ Quaternion Matrix33::AsQuaternion() {
return quat;
}
+float Matrix33::Determinant() const {
+ return (*this)[0][0] * ( (*this)[1][1] * (*this)[2][2] - (*this)[1][2] * (*this)[2][1] )
+ - (*this)[0][1] * ( (*this)[1][0] * (*this)[2][2] - (*this)[1][2] * (*this)[2][0] )
+ + (*this)[0][2] * ( (*this)[1][0] * (*this)[2][1] - (*this)[1][1] * (*this)[2][0] );
+}
+
+
+
/*
* Matrix44 Methods
*/
Matrix44::Matrix44() {
- *this = IDENTITY44;
+ *this = Matrix44::IDENTITY;
+}
+
+Matrix44::Matrix44( const Vector3 & t, const Matrix33 & r, float scale ) {
+ //Set up a matrix with rotate and translate information
+ Matrix44 rt;
+ rt[0][0] = r[0][0]; rt[0][1] = r[0][1]; rt[0][2] = r[0][2]; rt[0][3] = 0.0f;
+ rt[1][0] = r[1][0]; rt[1][1] = r[1][1]; rt[1][2] = r[1][2]; rt[1][3] = 0.0f;
+ rt[2][0] = r[2][0]; rt[2][1] = r[2][1]; rt[2][2] = r[2][2]; rt[2][3] = 0.0f;
+ rt[3][0] = t.x; rt[3][1] = t.y; rt[3][2] = t.z; rt[3][3] = 1.0f;
+
+ //Set up another matrix with the scale information
+ Matrix44 s;
+ s[0][0] = scale; s[0][1] = 0.0f; s[0][2] = 0.0f; s[0][3] = 0.0f;
+ s[1][0] = 0.0f; s[1][1] = scale; s[1][2] = 0.0f; s[1][3] = 0.0f;
+ s[2][0] = 0.0f; s[2][1] = 0.0f; s[2][2] = scale; s[2][3] = 0.0f;
+ s[3][0] = 0.0f; s[3][1] = 0.0f; s[3][2] = 0.0f; s[3][3] = 1.0f;
+
+ //Multiply the two for the combined transform
+ *this = s * rt;
+}
+
+Matrix44 Matrix44::operator*( const Matrix44 & rh ) const {
+ return Matrix44(*this) *= rh;
+}
+Matrix44 & Matrix44::operator*=( const Matrix44 & rh ) {
+ Matrix44 r;
+ Matrix44 & lh = *this;
+ float t;
+ for (int i = 0; i < 4; i++) {
+ for (int j = 0; j < 4; j++) {
+ t = 0.0f;
+ for (int k = 0; k < 4; k++) {
+ t += lh[i][k] * rh[k][j];
+ }
+ r[i][j] = t;
+ }
+ }
+
+ *this = r;
+ return *this;
+}
+
+Matrix44 Matrix44::operator*( float rh ) const {
+ return Matrix44(*this) *= rh;
+}
+
+Matrix44 & Matrix44::operator*=( float rh ) {
+ for (int i = 0; i < 4; i++) {
+ for (int j = 0; j < 4; j++) {
+ (*this)[i][j] *= rh;
+ }
+ }
+ return *this;
+}
+
+Matrix44 Matrix44::operator+( const Matrix44 & rh ) const {
+ return Matrix44(*this) += rh;
+}
+
+Matrix44 & Matrix44::operator+=( const Matrix44 & rh ) {
+ for (int i = 0; i < 4; i++) {
+ for (int j = 0; j < 4; j++) {
+ (*this)[i][j] += rh[i][j];
+ }
+ }
+ return *this;
+}
+
+Matrix44 & Matrix44::operator=( const Matrix44 & rh ) {
+ memcpy(rows, rh.rows, sizeof(Float4) * 4);
+ return *this;
+}
+
+bool Matrix44::operator==( const Matrix44 & rh ) const {
+ for (int i = 0; i < 4; i++) {
+ for (int j = 0; j < 4; j++) {
+ if ( (*this)[i][j] != rh[i][j] )
+ return false;
+ }
+ }
+ return true;
+}
+
+Matrix44 Matrix44::Transpose() const {
+ const Matrix44 & t = *this;
+ return Matrix44( t[0][0], t[0][1], t[0][2], t[0][3],
+ t[1][0], t[1][1], t[1][2], t[1][3],
+ t[2][0], t[2][1], t[2][2], t[2][3],
+ t[3][0], t[3][1], t[3][2], t[3][3] );
+}
+
+Matrix33 Matrix44::Submatrix( int skip_r, int skip_c ) const {
+ Matrix33 sub;
+ int i = 0, j = 0;
+ for (int r = 0; r < 4; r++) {
+ if (r == skip_c)
+ continue;
+ for (int c = 0; c < 4; c++) {
+ if (c == skip_r)
+ continue;
+ sub[i][j] = (*this)[r][c];
+ j++;
+ }
+ i++;
+ j = 0;
+ }
+ return sub;
+}
+
+float Matrix44::Adjunct( int skip_r, int skip_c ) const {
+ Matrix33 sub = Submatrix( skip_r, skip_c );
+ return pow(-1.0f, float(skip_r + skip_c)) * sub.Determinant();
+}
+
+Matrix44 Matrix44::Inverse() const {
+ Matrix44 result;
+
+ float det = Determinant();
+ for (int r = 0; r < 4; r++) {
+ for (int c = 0; c < 4; c++) {
+ result[r][c] = Adjunct(r, c) / det;
+ }
+ }
+
+ return result;
}
/*
diff --git a/nif_math.h b/nif_math.h
index 7642c4e58c5ba269554f28e0954b05f8991a1651..81f5a1c3ce2efefcb02e986d61592298a0814b1e 100644
--- a/nif_math.h
+++ b/nif_math.h
@@ -318,6 +318,9 @@ struct Float2 {
/*! Stores a 2 by 2 matrix used for bump maps. */
struct Matrix22 {
+ /*! The 2x2 identity matrix */
+ static const Matrix22 IDENTITY;
+
Float2 rows[2]; /*!< The two rows of Float2 structures which hold two floating point numbers each. */
/*! The bracket operator makes it possible to use this structure like a 2x2 C++ array.
@@ -332,7 +335,7 @@ struct Matrix22 {
}
/*! Default Constructor */
- Matrix22() {}
+ Matrix22();
/*! This constructor can be used to set all values in this matrix during initialization
* \param m11 The value to set at row 1, column 1.
@@ -427,6 +430,9 @@ struct Float3 {
/*! Stores a 3 by 3 matrix used for rotation. */
struct Matrix33 {
+ /*! The 3x3 identity matrix */
+ static const Matrix33 IDENTITY;
+
Float3 rows[3]; /*!< The three rows of Float3 structures which hold three floating point numbers each. */
/*! The bracket operator makes it possible to use this structure like a 3x3 C++ array.
@@ -440,8 +446,8 @@ struct Matrix33 {
return rows[n];
}
- /*! Default constructor. */
- Matrix33() {}
+ /*! Default constructor. Initializes matrix to identity. */
+ Matrix33();
/*! This constructor can be used to set all values in this matrix during initialization
* \param m11 The value to set at row 1, column 1.
@@ -485,8 +491,17 @@ struct Matrix33 {
rows[2][0] = m31; rows[2][1] = m32; rows[2][2] = m33;
}
+ /*! Returns a quaternion representation of the rotation stored in this matrix.
+ * \return A quaternion with an equivalent rotation to the one stored in this matrix.
+ */
Quaternion AsQuaternion();
+ /*! Calculates the determinant of this matrix.
+ * \return The determinant of this matrix.
+ */
+ float Determinant() const;
+
+ //Undocumented
void AsFloatArr( float out[3][3] ) {
out[0][0] = rows[0][0]; out[0][1] = rows[0][1]; out[0][2] = rows[0][2];
out[1][0] = rows[1][0]; out[1][1] = rows[1][1]; out[1][2] = rows[1][2];
@@ -560,6 +575,9 @@ struct Float4 {
/*! Stores a 4 by 4 matrix used for combined transformations. */
struct Matrix44 {
+ /*! The 4x4 identity matrix */
+ static const Matrix44 IDENTITY;
+
Float4 rows[4]; /*!< The three rows of Float3 structures which hold three floating point numbers each. */
/*! The bracket operator makes it possible to use this structure like a 4x4 C++ array.
@@ -611,6 +629,14 @@ struct Matrix44 {
rows[3][0] = m41; rows[3][1] = m42; rows[3][2] = m43; rows[3][3] = m44;
}
+ /*! This constructor allows a 4x4 transform matrix to be initalized from a
+ * translate vector, a 3x3 rotation matrix, and a scale factor.
+ * \param translate The translation vector that specifies the new x, y, and z coordinates.
+ * \param rotate The 3x3 rotation matrix.
+ * \param scale The scale factor.
+ */
+ Matrix44( const Vector3 & translate, const Matrix33 & rotation, float scale );
+
/*! This function can be used to set all values in this matrix at the same time.
* \param m11 The value to set at row 1, column 1.
* \param m12 The value to set at row 1, column 2.
@@ -641,6 +667,96 @@ struct Matrix44 {
rows[3][0] = m41; rows[3][1] = m42; rows[3][2] = m43; rows[3][3] = m44;
}
+ /* Multiplies this matrix by another.
+ * \param rh The matrix to multiply this one with.
+ * \return The result of the multiplication.
+ */
+ Matrix44 operator*( const Matrix44 & rh ) const;
+
+ /* Multiplies this matrix by another and sets the result to itself.
+ * \param rh The matrix to multiply this one with.
+ * \return This matrix is returned.
+ */
+ Matrix44 & operator*=( const Matrix44 & rh );
+
+ /* Multiplies this matrix by a scalar value.
+ * \param rh The scalar value to multiply each component of this matrix by.
+ * \return The result of the multiplication.
+ */
+ Matrix44 operator*( float rh ) const;
+
+ /* Multiplies this matrix by a scalar value and sets the resutl to itself.
+ * \param rh The scalar value to multiply each component of this matrix by.
+ * \return This matrix is returned.
+ */
+ Matrix44 & operator*=( float rh );
+
+ /* Multiplies this matrix by a vector with x, y, and z components.
+ * \param rh The vector to multiply this matrix with.
+ * \return The result of the multiplication.
+ */
+ Vector3 operator*( const Vector3 & rh ) const;
+
+ /* Adds this matrix to another.
+ * \param rh The matrix to be added to this one.
+ * \return The result of the addition.
+ */
+ Matrix44 operator+( const Matrix44 & rh ) const;
+
+ /* Adds this matrix to another and sets the result to itself.
+ * \param rh The matrix to be added to this one.
+ * \return This matrix is returned.
+ */
+ Matrix44 & operator+=( const Matrix44 & rh );
+
+ /* Sets the values of this matrix to those of the given matrix.
+ * \param rh The matrix to copy values from.
+ * \return This matrix is returned.
+ */
+ Matrix44 & operator=( const Matrix44 & rh );
+
+ /* Compares two 4x4 matricies. They are considered equal if all components are equal.
+ * \param rh The matrix to compare this one with.
+ * \return true if the matricies are equal, false otherwise.
+ */
+ bool operator==( const Matrix44 & rh ) const;
+
+ /* Allows the contents of the matrix to be printed to an ostream.
+ * \param lh The ostream to insert the text into.
+ * \param rh The matrix to insert into the stream.
+ * \return The given ostream is returned.
+ */
+ friend ostream & operator<<( ostream & lh, const Matrix44 & rh );
+
+ /*! Calculates the transpose of this matrix.
+ * \return The transpose of this matrix.
+ */
+ Matrix44 Transpose() const;
+
+ /*! Calculates the determinant of this matrix.
+ * \return The determinant of this matrix.
+ */
+ float Determinant() const;
+
+ /*! Calculates the inverse of this matrix.
+ * \retun The inverse of this matrix.
+ */
+ Matrix44 Inverse() const;
+
+ /*! Returns a 3x3 submatrix of this matrix created by skipping the indicated row and column.
+ * \param skip_r The row to skip. Must be a value between 0 and 3.
+ * \param skip_c The colum to skip. Must be a value between 0 and 3.
+ * \return The 3x3 submatrix obtained by skipping the indicated row and column.
+ */
+ Matrix33 Submatrix( int skip_r, int skip_c ) const;
+
+ /*! Calculates the adjunct of this matrix created by skipping the indicated row and column.
+ * \param skip_r The row to skip. Must be a value between 0 and 3.
+ * \param skip_c The colum to skip. Must be a value between 0 and 3.
+ * \return The adjunct obtained by skipping the indicated row and column.
+ */
+ float Adjunct( int skip_r, int skip_c ) const;
+
//undocumented
void AsFloatArr( float out[4][4] ) {
out[0][0] = rows[0][0]; out[0][1] = rows[0][1]; out[0][2] = rows[0][2]; out[0][3] = rows[0][3];
@@ -657,12 +773,6 @@ struct Matrix44 {
}
};
-/*! The 4x4 identity matrix */
-const Matrix44 IDENTITY44( 1.0f, 0.0f, 0.0f, 0.0f,
- 0.0f, 1.0f, 0.0f, 0.0f,
- 0.0f, 0.0f, 1.0f, 0.0f,
- 0.0f, 0.0f, 0.0f, 1.0f );
-
/*! Stores a color along with alpha translucency */
struct Color4 {
float r; /*!< The red component of this color. Should be between 0.0f and 1.0f. */
@@ -758,21 +868,8 @@ ostream & operator<<( ostream & out, Matrix22 const & val );
ostream & operator<<( ostream & out, Float3 const & val );
ostream & operator<<( ostream & out, Matrix33 const & val );
ostream & operator<<( ostream & out, Float4 const & val );
-ostream & operator<<( ostream & out, Matrix44 const & val );
ostream & operator<<( ostream & out, Color4 const & val );
ostream & operator<<( ostream & out, Quaternion const & val );
-
-Matrix33 MultMatrix33( Matrix33 const & a, Matrix33 const & b );
-Matrix44 MultMatrix44( Matrix44 const & a, Matrix44 const & b );
-float DetMatrix33( Matrix33 const & m );
-float DetMatrix44( Matrix44 const & m );
-float AdjMatrix44( Matrix44 const & m, int r, int c );
-Matrix44 InverseMatrix44( Matrix44 const & m );
-void SetIdentity33( Matrix33 & m );
-void SetIdentity44( Matrix44 & m );
-void PrintMatrix33( Matrix33 const & m, ostream & out );
-void PrintMatrix44( Matrix44 const & m, ostream & out );
-
#endif
diff --git a/niflib.cpp b/niflib.cpp
index f683e0a2c67f7111af19a674ee4f4cb8726533a3..f4789c06f9a501347cfc4664db94330ccef475f2 100644
--- a/niflib.cpp
+++ b/niflib.cpp
@@ -553,7 +553,7 @@ void BuildUpBindPositions( blk_ref const & block ) {
//Post-multipy the block's bind matrix with the parent's bind matrix
Matrix44 par_mat = par_node->GetWorldBindPos();
Matrix44 blk_mat = blk_node->GetWorldBindPos();
- Matrix44 result = MultMatrix44( blk_mat, par_mat);
+ Matrix44 result = blk_mat * par_mat;
//Store result back to block bind position
blk_node->SetWorldBindPos( result );