?? math.h
字號:
return *(&x+i); }};inline vrReal length(const Vector4 &vec){ return (vrReal)sqrt((vrReal)(vec.x*vec.x+vec.y*vec.y+vec.z*vec.z+vec.w*vec.w));}// TODO: return void?inline Vector4 normalize(Vector4 &vec){ vrReal l=1/length(vec); vec.x*=l; vec.y*=l; vec.z*=l; vec.w*=l; return vec;}inline Vector4 normalize(const Vector4 &vec){ vrReal l=1/length(vec); Vector4 vec2; vec2.x=vec.x*l; vec2.y=vec.y*l; vec2.z=vec.z*l; vec2.w=vec.w*l; return vec2;}inline Vector4 operator*(vrReal scalar,const Vector4 &vector){ return Vector4(vector.x*scalar,vector.y*scalar,vector.z*scalar,vector.w*scalar);}inline vrReal dot(const Vector4 &vec1,const Vector4 &vec2){ return vec1.x*vec2.x+vec1.y*vec2.y+vec1.z*vec2.z+vec1.w*vec2.w;}//Matrix3x3class Matrix3x3{public: vrReal data[9]; class RowAccessor{ public: inline RowAccessor(Matrix3x3 *m,int r){ matrix=m; row=r; } inline vrReal &operator[](int col){ return matrix->at(row,col); } inline vrReal operator[](int col) const{ return matrix->at(row,col); } Matrix3x3 *matrix; int row; }; inline Matrix3x3(){ data[0]=1;data[3]=0;data[6]=0; data[1]=0;data[4]=1;data[7]=0; data[2]=0;data[5]=0;data[8]=1; } inline Matrix3x3(vrReal x1,vrReal x2,vrReal x3,vrReal y1,vrReal y2,vrReal y3,vrReal z1,vrReal z2,vrReal z3){ data[0]=x1;data[3]=x2;data[6]=x3; data[1]=y1;data[4]=y2;data[7]=y3; data[2]=z1;data[5]=z2;data[8]=z3; } inline RowAccessor operator[](int row){ return RowAccessor(this,row); } inline vrReal at(int row,int col) const{ return data[col*3+row]; } inline vrReal &at(int row,int col){ return data[col*3+row]; } inline vrReal *getData(){return (vrReal*)data;} inline const vrReal *getData() const{return (vrReal*)data;} inline bool operator==(const Matrix3x3 &m2) const{ return data[0]==m2.data[0] && data[1]==m2.data[1] && data[2]==m2.data[2] && data[3]==m2.data[3] && data[4]==m2.data[4] && data[5]==m2.data[5] && data[6]==m2.data[6] && data[7]==m2.data[7] && data[8]==m2.data[8]; } inline bool operator!=(const Matrix3x3 &m2) const{ return !(*this==m2); } Matrix3x3 operator*(const Matrix3x3 &m2) const{ Matrix3x3 dest;#define A(row,col) at(row,col)#define B(row,col) m2.at(row,col)#define D(row,col) dest.at(row,col) D(0,0)=A(0,0)*B(0,0)+A(0,1)*B(1,0)+A(0,2)*B(2,0); D(0,1)=A(0,0)*B(0,1)+A(0,1)*B(1,1)+A(0,2)*B(2,1); D(0,2)=A(0,0)*B(0,2)+A(0,1)*B(1,2)+A(0,2)*B(2,2); D(1,0)=A(1,0)*B(0,0)+A(1,1)*B(1,0)+A(1,2)*B(2,0); D(1,1)=A(1,0)*B(0,1)+A(1,1)*B(1,1)+A(1,2)*B(2,1); D(1,2)=A(1,0)*B(0,2)+A(1,1)*B(1,2)+A(1,2)*B(2,2); D(2,0)=A(2,0)*B(0,0)+A(2,1)*B(1,0)+A(2,2)*B(2,0); D(2,1)=A(2,0)*B(0,1)+A(2,1)*B(1,1)+A(2,2)*B(2,1); D(2,2)=A(2,0)*B(0,2)+A(2,1)*B(1,2)+A(2,2)*B(2,2);#undef A#undef B#undef D return dest; } inline Vector3 operator*(const Vector3 &vec) const{ return Vector3( at(0,0)*vec.x+at(0,1)*vec.y+at(0,2)*vec.z, at(1,0)*vec.x+at(1,1)*vec.y+at(1,2)*vec.z, at(2,0)*vec.x+at(2,1)*vec.y+at(2,2)*vec.z); } inline void mult(const Vector3 &vec,Vector3 &dest) const{ dest.x=at(0,0)*vec.x+at(0,1)*vec.y+at(0,2)*vec.z; dest.y=at(1,0)*vec.x+at(1,1)*vec.y+at(1,2)*vec.z; dest.z=at(2,0)*vec.x+at(2,1)*vec.y+at(2,2)*vec.z; }};inline void setTranspose(Matrix3x3 &res,const Matrix3x3 &src){ res.at(0,0)=src.at(0,0); res.at(0,1)=src.at(1,0); res.at(0,2)=src.at(2,0); res.at(1,0)=src.at(0,1); res.at(1,1)=src.at(1,1); res.at(1,2)=src.at(2,1); res.at(2,0)=src.at(0,2); res.at(2,1)=src.at(1,2); res.at(2,2)=src.at(2,2);}inline Matrix3x3 makeTranspose(const Matrix3x3 &src){ Matrix3x3 res; setTranspose(res,src); return res;}inline double determinant(const Matrix3x3 &src){ return -src.at(0,0)*src.at(1,1)*src.at(2,2)+src.at(0,0)*src.at(2,1)*src.at(1,2)+src.at(0,1)*src.at(1,0)*src.at(2,2)-src.at(0,1)*src.at(2,0)*src.at(1,2)-src.at(0,2)*src.at(1,0)*src.at(2,1)+src.at(0,2)*src.at(2,0)*src.at(1,1);}inline bool setInverse(Matrix3x3 &res,const Matrix3x3 src){ double det=1.0/determinant(src); if(det==0){ return false; } else{ res.at(0,0)=-(src.at(1,1)*src.at(2,2)-src.at(2,1)*src.at(1,2))*det; res.at(1,0)=(src.at(1,0)*src.at(2,2)-src.at(2,0)*src.at(1,2))*det; res.at(2,0)=-(src.at(1,0)*src.at(2,1)-src.at(2,0)*src.at(1,1))*det; res.at(0,1)=(src.at(0,1)*src.at(2,2)-src.at(2,1)*src.at(0,2))*det; res.at(1,1)=-(src.at(0,0)*src.at(2,2)-src.at(2,0)*src.at(0,2))*det; res.at(2,1)=(src.at(0,0)*src.at(2,1)-src.at(2,0)*src.at(0,1))*det; res.at(0,2)=-(src.at(0,1)*src.at(1,2)-src.at(1,1)*src.at(0,2))*det; res.at(1,2)=(src.at(0,0)*src.at(1,2)-src.at(1,0)*src.at(0,2))*det; res.at(2,2)=-(src.at(0,0)*src.at(1,1)-src.at(1,0)*src.at(0,1))*det; return true; }}inline Matrix3x3 makeInverse(const Matrix3x3 &src){ Matrix3x3 res; setInverse(res,src); return res;}inline EulerAngle makeEulerAngle(const Matrix3x3 &mat){ EulerAngle euler; euler.y=asin(-mat.at(2,0)); if(euler.y<vrPi/2){ if(euler.y>-vrPi/2){ euler.z=atan2(mat.at(1,0),mat.at(0,0)); euler.x=atan2(mat.at(2,1),mat.at(2,2)); } else{ euler.z=-atan2(-mat.at(0,1),mat.at(0,2)); euler.x=0; } } else{ euler.z=atan2(-mat.at(0,1),mat.at(0,2)); euler.x=0; } return euler;}inline Matrix3x3 makeMatrix3x3FromX(vrReal z){ return Matrix3x3( 1,0,0, 0,(vrReal)cos(z),-(vrReal)sin(z), 0,(vrReal)sin(z),(vrReal)cos(z));}inline Matrix3x3 makeMatrix3x3FromY(vrReal y){ return Matrix3x3( (vrReal)cos(y),0,(vrReal)sin(y), 0,1,0, -(vrReal)sin(y),0,(vrReal)cos(y));}inline Matrix3x3 makeMatrix3x3FromZ(vrReal x){ return Matrix3x3( (vrReal)cos(x),-(vrReal)sin(x),0, (vrReal)sin(x),(vrReal)cos(x),0, 0,0,1);}inline Matrix3x3 makeMatrix3x3(const EulerAngle &angles){ return makeMatrix3x3FromX(angles.x)*makeMatrix3x3FromY(angles.y)*makeMatrix3x3FromZ(angles.z);}inline void setMatrix3x3FromDirCos(Matrix3x3 &res,const Vector3 &xDest,const Vector3 &yDest,const Vector3 &zDest,const Vector3 &xSrc,const Vector3 &ySrc,const Vector3 &zSrc){ vrReal Xa,Xb,Xc; vrReal Ya,Yb,Yc; vrReal Za,Zb,Zc; Xa=dot(xDest,xSrc);Xb=dot(xDest,ySrc);Xc=dot(xDest,zSrc); Ya=dot(yDest,xSrc);Yb=dot(yDest,ySrc);Yc=dot(yDest,zSrc); Za=dot(zDest,xSrc);Zb=dot(zDest,ySrc);Zc=dot(zDest,zSrc); res.at(0,0)=Xa;res.at(0,1)=Ya;res.at(0,2)=Za; res.at(1,0)=Xb;res.at(1,1)=Yb;res.at(1,2)=Zb; res.at(2,0)=Xc;res.at(2,1)=Yc;res.at(2,2)=Zc;}inline Matrix3x3 makeMatrix3x3FromDirCos(const Vector3 &xDest,const Vector3 &yDest,const Vector3 &zDest,const Vector3 &xSrc,const Vector3 &ySrc,const Vector3 &zSrc){ Matrix3x3 res; setMatrix3x3FromDirCos(res,xDest,yDest,zDest,xSrc,ySrc,zSrc); return res;}inline void setMatrix3x3FromAxis(Matrix3x3 &res,const Vector3 &xAxis,const Vector3 &yAxis,const Vector3 &zAxis){ res.at(0,0)=xAxis[0]; res.at(1,0)=xAxis[1]; res.at(2,0)=xAxis[2]; res.at(0,1)=yAxis[0]; res.at(1,1)=yAxis[1]; res.at(2,1)=yAxis[2]; res.at(0,2)=zAxis[0]; res.at(1,2)=zAxis[1]; res.at(2,2)=zAxis[2];}inline Matrix3x3 makeMatrix3x3FromAxis(const Vector3 &xAxis,const Vector3 &yAxis,const Vector3 &zAxis){ Matrix3x3 res; setMatrix3x3FromAxis(res,xAxis,yAxis,zAxis); return res;}class Matrix4x4{public: vrReal data[16]; class RowAccessor{ public: inline RowAccessor(Matrix4x4 *m,int r){ matrix=m; row=r; } inline vrReal &operator[](int col){ return matrix->at(row,col); } inline vrReal operator[](int col) const{ return matrix->at(row,col); } Matrix4x4 *matrix; int row; }; inline Matrix4x4(){ data[0]=1;data[4]=0;data[8]=0;data[12]=0; data[1]=0;data[5]=1;data[9]=0;data[13]=0; data[2]=0;data[6]=0;data[10]=1;data[14]=0; data[3]=0;data[7]=0;data[11]=0;data[15]=1; } inline Matrix4x4(vrReal x1,vrReal x2,vrReal x3,vrReal x4,vrReal y1,vrReal y2,vrReal y3,vrReal y4,vrReal z1,vrReal z2,vrReal z3,vrReal z4,vrReal w1,vrReal w2,vrReal w3,vrReal w4){ data[0]=x1;data[4]=x2;data[8]=x3;data[12]=x4; data[1]=y1;data[5]=y2;data[9]=y3;data[13]=y4; data[2]=z1;data[6]=z2;data[10]=z3;data[14]=z4; data[3]=w1;data[7]=w2;data[11]=w3;data[15]=w4; } inline RowAccessor operator[](int row){ return RowAccessor(this,row); } inline vrReal at(int row,int col) const{ return data[col*4+row]; } inline vrReal &at(int row,int col){ return data[col*4+row]; } inline vrReal *getData(){return (vrReal*)data;} inline const vrReal *getData() const{return (vrReal*)data;} Matrix4x4 operator*(const Matrix4x4 &m2) const{ Matrix4x4 dest;#define A(row,col) at(row,col)#define B(row,col) m2.at(row,col)#define D(row,col) dest.at(row,col) D(0,0)=A(0,0)*B(0,0)+A(0,1)*B(1,0)+A(0,2)*B(2,0)+A(0,3)*B(3,0); D(0,1)=A(0,0)*B(0,1)+A(0,1)*B(1,1)+A(0,2)*B(2,1)+A(0,3)*B(3,1); D(0,2)=A(0,0)*B(0,2)+A(0,1)*B(1,2)+A(0,2)*B(2,2)+A(0,3)*B(3,2); D(0,3)=A(0,0)*B(0,3)+A(0,1)*B(1,3)+A(0,2)*B(2,3)+A(0,3)*B(3,3); D(1,0)=A(1,0)*B(0,0)+A(1,1)*B(1,0)+A(1,2)*B(2,0)+A(1,3)*B(3,0); D(1,1)=A(1,0)*B(0,1)+A(1,1)*B(1,1)+A(1,2)*B(2,1)+A(1,3)*B(3,1); D(1,2)=A(1,0)*B(0,2)+A(1,1)*B(1,2)+A(1,2)*B(2,2)+A(1,3)*B(3,2); D(1,3)=A(1,0)*B(0,3)+A(1,1)*B(1,3)+A(1,2)*B(2,3)+A(1,3)*B(3,3); D(2,0)=A(2,0)*B(0,0)+A(2,1)*B(1,0)+A(2,2)*B(2,0)+A(2,3)*B(3,0); D(2,1)=A(2,0)*B(0,1)+A(2,1)*B(1,1)+A(2,2)*B(2,1)+A(2,3)*B(3,1); D(2,2)=A(2,0)*B(0,2)+A(2,1)*B(1,2)+A(2,2)*B(2,2)+A(2,3)*B(3,2); D(2,3)=A(2,0)*B(0,3)+A(2,1)*B(1,3)+A(2,2)*B(2,3)+A(2,3)*B(3,3); D(3,0)=A(3,0)*B(0,0)+A(3,1)*B(1,0)+A(3,2)*B(2,0)+A(3,3)*B(3,0); D(3,1)=A(3,0)*B(0,1)+A(3,1)*B(1,1)+A(3,2)*B(2,1)+A(3,3)*B(3,1); D(3,2)=A(3,0)*B(0,2)+A(3,1)*B(1,2)+A(3,2)*B(2,2)+A(3,3)*B(3,2); D(3,3)=A(3,0)*B(0,3)+A(3,1)*B(1,3)+A(3,2)*B(2,3)+A(3,3)*B(3,3);#undef D#undef B#undef A return dest; } inline Vector4 operator*(const Vector4 &vec) const{ return Vector4( at(0,0)*vec.x+at(0,1)*vec.y+at(0,2)*vec.z+at(0,3)*vec.w, at(1,0)*vec.x+at(1,1)*vec.y+at(1,2)*vec.z+at(1,3)*vec.w, at(2,0)*vec.x+at(2,1)*vec.y+at(2,2)*vec.z+at(2,3)*vec.w, at(3,0)*vec.x+at(3,1)*vec.y+at(3,2)*vec.z+at(3,3)*vec.w); } inline void mult(const Vector4 &vec,Vector4 &dest) const{ dest.x=at(0,0)*vec.x+at(0,1)*vec.y+at(0,2)*vec.z+at(0,3)*vec.w; dest.y=at(1,0)*vec.x+at(1,1)*vec.y+at(1,2)*vec.z+at(1,3)*vec.w; dest.z=at(2,0)*vec.x+at(2,1)*vec.y+at(2,2)*vec.z+at(2,3)*vec.w; dest.z=at(3,0)*vec.x+at(3,1)*vec.y+at(3,2)*vec.z+at(3,3)*vec.w; }};inline void setMatrix3x3(Matrix3x3 &res,const Matrix4x4 &src){ for(int i=0;i<3;i++){ res.at(0,i)=src.at(0,i); res.at(1,i)=src.at(1,i); res.at(2,i)=src.at(2,i); }}inline Matrix3x3 makeMatrix3x3(const Matrix4x4 &src){ Matrix3x3 res; setMatrix3x3(res,src); return res;}inline void setVector3(Vector3 &res,const Matrix4x4 &src){ res.x=src.at(0,3); res.y=src.at(1,3); res.z=src.at(2,3);}inline Vector3 makeVector3(const Matrix4x4 &src){ Vector3 res; setVector3(res,src); return res;}inline void setTranspose(Matrix4x4 &res,const Matrix4x4 &src){ res.at(0,0)=src.at(0,0); res.at(0,1)=src.at(1,0); res.at(0,2)=src.at(2,0); res.at(0,3)=src.at(3,0); res.at(1,0)=src.at(0,1); res.at(1,1)=src.at(1,1); res.at(1,2)=src.at(2,1); res.at(1,3)=src.at(3,1); res.at(2,0)=src.at(0,2); res.at(2,1)=src.at(1,2); res.at(2,2)=src.at(2,2); res.at(2,3)=src.at(3,2); res.at(3,0)=src.at(0,3); res.at(3,1)=src.at(1,3); res.at(3,2)=src.at(2,3); res.at(3,3)=src.at(3,3);}inline Matrix4x4 makeTranspose(const Matrix4x4 &src){ Matrix4x4 res; setTranspose(res,src); return res;}inline double determinant(const Matrix4x4 &src){ double det1 = src.at(1,2) * src.at(2,3) - src.at(2,2) * src.at(1,3); double det2 = src.at(1,1) * src.at(2,3) - src.at(2,1) * src.at(1,3); double det3 = src.at(1,1) * src.at(2,2) - src.at(2,1) * src.at(1,2); double det4 = src.at(1,0) * src.at(2,3) - src.at(2,0) * src.at(1,3); double det5 = src.at(1,0) * src.at(2,2) - src.at(2,0) * src.at(1,2); double det6 = src.at(1,0) * src.at(2,1) - src.at(2,0) * src.at(1,1); return -src.at(3,0) * (src.at(0,1) * det1 - src.at(0,2) * det2 + src.at(0,3) * det3) + src.at(3,1) * (src.at(0,0) * det1 - src.at(0,2) * det4 + src.at(0,3) * det5) - src.at(3,2) * (src.at(0,0) * det2 - src.at(0,1) * det4 + src.at(0,3) * det6) + src.at(3,3) * (src.at(0,0) * det3 - src.at(0,1) * det5 + src.at(0,2) * det6);}inline bool setInverse(Matrix4x4 &res,const Matrix4x4 &src){ double det=determinant(src); if(fabs(det)<vrEpsilon){ return false; } else{ // calculate (transposed cofactor matrix / determinant of given matrix) det=(double)1.0/det; res.at(0,0) = det * (src.at(1,1) * (src.at(2,2) * src.at(3,3) - src.at(2,3) * src.at(3,2)) + src.at(1,2) * (src.at(2,3) * src.at(3,1) - src.at(2,1) * src.at(3,3)) + src.at(1,3) * (src.at(2,1) * src.at(3,2) - src.at(2,2) * src.at(3,1))); res.at(0,1) = det * (src.at(2,1) * (src.at(0,2) * src.at(3,3) - src.at(0,3) * src.at(3,2)) + src.at(2,2) * (src.at(0,3) * src.at(3,1) - src.at(0,1) * src.at(3,3)) + src.at(2,3) * (src.at(0,1) * src.at(3,2) - src.at(0,2) * src.at(3,1))); res.at(0,2) = det * (src.at(3,1) * (src.at(0,2) * src.at(1,3) - src.at(0,3) * src.at(1,2)) + src.at(3,2) * (src.at(0,3) * src.at(1,1) - src.at(0,1) * src.at(1,3)) + src.at(3,3) * (src.at(0,1) * src.at(1,2) - src.at(0,2) * src.at(1,1))); res.at(0,3) = det * (src.at(0,1) * (src.at(1,3) * src.at(2,2) - src.at(1,2) * src.at(2,3)) + src.at(0,2) * (src.at(1,1) * src.at(2,3) - src.at(1,3) * src.at(2,1)) + src.at(0,3) * (src.at(1,2) * src.at(2,1) - src.at(1,1) * src.at(2,2))); res.at(1,0) = det * (src.at(1,2) * (src.at(2,0) * src.at(3,3) - src.at(2,3) * src.at(3,0)) + src.at(1,3) * (src.at(2,2) * src.at(3,0) - src.at(2,0) * src.at(3,2)) + src.at(1,0) * (src.at(2,3) * src.at(3,2) - src.at(2,2) * src.at(3,3))); res.at(1,1) = det * (src.at(2,2) * (src.at(0,0) * src.at(3,3) - src.at(0,3) * src.at(3,0)) + src.at(2,3) * (src.at(0,2) * src.at(3,0) - src.at(0,0) * src.at(3,2)) + src.at(2,0) * (src.at(0,3) * src.at(3,2) - src.at(0,2) * src.at(3,3))); res.at(1,2) = det * (src.at(3,2) * (src.at(0,0) * src.at(1,3) - src.at(0,3) * src.at(1,0)) + src.at(3,3) * (src.at(0,2) * src.at(1,0) - src.at(0,0) * src.at(1,2)) + src.at(3,0) * (src.at(0,3) * src.at(1,2) - src.at(0,2) * src.at(1,3))); res.at(1,3) = det * (src.at(0,2) * (src.at(1,3) * src.at(2,0) - src.at(1,0) * src.at(2,3)) + src.at(0,3) * (src.at(1,0) * src.at(2,2) - src.at(1,2) * src.at(2,0)) + src.at(0,0) * (src.at(1,2) * src.at(2,3) - src.at(1,3) * src.at(2,2))); res.at(2,0) = det * (src.at(1,3) * (src.at(2,0) * src.at(3,1) - src.at(2,1) * src.at(3,0)) + src.at(1,0) * (src.at(2,1) * src.at(3,3) - src.at(2,3) * src.at(3,1)) + src.at(1,1) * (src.at(2,3) * src.at(3,0) - src.at(2,0) * src.at(3,3))); res.at(2,1) = det * (src.at(2,3) * (src.at(0,0) * src.at(3,1) - src.at(0,1) * src.at(3,0)) + src.at(2,0) * (src.at(0,1) * src.at(3,3) - src.at(0,3) * src.at(3,1)) + src.at(2,1) * (src.at(0,3) * src.at(3,0) - src.at(0,0) * src.at(3,3))); res.at(2,2) = det * (src.at(3,3) * (src.at(0,0) * src.at(1,1) - src.at(0,1) * src.at(1,0)) + src.at(3,0) * (src.at(0,1) * src.at(1,3) - src.at(0,3) * src.at(1,1)) + src.at(3,1) * (src.at(0,3) * src.at(1,0) - src.at(0,0) * src.at(1,3))); res.at(2,3) = det * (src.at(0,3) * (src.at(1,1) * src.at(2,0) - src.at(1,0) * src.at(2,1)) + src.at(0,0) * (src.at(1,3) * src.at(2,1) - src.at(1,1) * src.at(2,3)) + src.at(0,1) * (src.at(1,0) * src.at(2,3) - src.at(1,3) * src.at(2,0))); res.at(3,0) = det * (src.at(1,0) * (src.at(2,2) * src.at(3,1) - src.at(2,1) * src.at(3,2)) + src.at(1,1) * (src.at(2,0) * src.at(3,2) - src.at(2,2) * src.at(3,0)) + src.at(1,2) * (src.at(2,1) * src.at(3,0) - src.at(2,0) * src.at(3,1))); res.at(3,1) = det * (src.at(2,0) * (src.at(0,2) * src.at(3,1) - src.at(0,1) * src.at(3,2)) + src.at(2,1) * (src.at(0,0) * src.at(3,2) - src.at(0,2) * src.at(3,0)) + src.at(2,2) * (src.at(0,1) * src.at(3,0) - src.at(0,0) * src.at(3,1))); res.at(3,2) = det * (src.at(3,0) * (src.at(0,2) * src.at(1,1) - src.at(0,1) * src.at(1,2)) + src.at(3,1) * (src.at(0,0) * src.at(1,2) - src.at(0,2) * src.at(1,0)) + src.at(3,2) * (src.at(0,1) * src.at(1,0) - src.at(0,0) * src.at(1,1))); res.at(3,3) = det * (src.at(0,0) * (src.at(1,1) * src.at(2,2) - src.at(1,2) * src.at(2,1)) + src.at(0,1) * (src.at(1,2) * src.at(2,0) - src.at(1,0) * src.at(2,2)) + src.at(0,2) * (src.at(1,0) * src.at(2,1) - src.at(1,1) * src.at(2,0))); return true; }}inline Matrix4x4 makeInverse(const Matrix4x4 &src){ Matrix4x4 res; setInverse(res,src); return res;}inline void setMatrix4x4(Matrix4x4 &res,const Matrix3x3 &src){ for(int i=0;i<3;i++){ res.at(0,i)=src.at(0,i); res.at(1,i)=src.at(1,i); res.at(2,i)=src.at(2,i); }}inline Matrix4x4 makeMatrix4x4(const Matrix3x3 &src){ Matrix4x4 res; setMatrix4x4(res,src); return res;}inline void setMatrix4x4(Matrix4x4 &res,const Vector3 &src){ res.at(0,3)=src[0]; res.at(1,3)=src[1]; res.at(2,3)=src[2];}inline Matrix4x4 makeMatrix4x4(const Vector3 &src){ Matrix4x4 res; setMatrix4x4(res,src); return res;}inline void setMatrix4x4(Matrix4x4 &res,const Matrix3x3 &rotate,const Vector3 &trans){ setMatrix4x4(res,rotate); setMatrix4x4(res,trans);} inline Matrix4x4 makeMatrix4x4(const Matrix3x3 &rotate,const Vector3 &trans){ Matrix4x4 res; setMatrix4x4(res,rotate,trans); return res;}inline void setMatrix4x4FromScale(Matrix4x4 &mat,const Vector3 &scale){ mat.data[0]=scale[0]; mat.data[4]=0; mat.data[8]=0; mat.data[12]=0; mat.data[1]=0; mat.data[5]=scale[1]; mat.data[9]=0; mat.data[13]=0; mat.data[2]=0; mat.data[6]=0; mat.data[10]=scale[2]; mat.data[14]=0; mat.data[3]=0; mat.data[7]=0; mat.data[11]=0; mat.data[15]=1;}inline Matrix4x4 makeMatrix4x4FromScale(const Vector3 &scale){ Matrix4x4 res; setMatrix4x4FromScale(res,scale); return res;}// Quaternionclass Quaternion{public: vrReal x,y,z,w; inline Quaternion():x(0),y(0),z(0),w(0){} inline Quaternion(vrReal x1,vrReal y1,vrReal z1,vrReal w1):x(x1),y(y1),z(z1),w(w1){} inline vrReal *getData(){return (vrReal*)&x;} inline const vrReal *getData() const{return (vrReal*)&x;} inline Quaternion operator*(const Quaternion &q) const{ return Quaternion( +x*q.w+y*q.z-z*q.y+w*q.x,?? 快捷鍵說明
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