Added new convenience functions to KRMat4

--HG--
extra : convert_revision : svn%3A7752d6cf-9f14-4ad2-affc-04f1e67b81a5/trunk%40129

KREngine/KREngine/Classes/KRMat4.cpp

@@ -34,6 +34,7 @@
 #include <math.h>
 
 #include "KRMat4.h"
+#include "KRQuaternion.h"
 
 KRMat4::KRMat4() {
     // Default constructor - Initialize with an identity matrix
@@ -171,6 +172,11 @@ void KRMat4::rotate(GLfloat angle, AXIS axis) {
     *this *= newMatrix;
 }
 
+void KRMat4::rotate(const KRQuaternion &q)
+{
+    *this *= q.rotationMatrix();
+}
+
 /* Scale matrix by separate x, y, and z amounts */
 void KRMat4::scale(GLfloat x, GLfloat y, GLfloat z) {
     KRMat4 newMatrix; // Create new identity matrix
@@ -330,4 +336,18 @@ KRMat4 KRMat4::LookAt(const KRVector3 &cameraPos, const KRVector3 &lookAtPos, co
     matLookat.getPointer()[14] = -KRVector3::Dot(lookat_z_axis, cameraPos);
     
     return matLookat;
-}
+}
+
+KRMat4 KRMat4::Invert(const KRMat4 &m)
+{
+    KRMat4 matInvert = m;
+    matInvert.invert();
+    return matInvert;
+}
+
+KRMat4 KRMat4::Transpose(const KRMat4 &m)
+{
+    KRMat4 matTranspose = m;
+    matTranspose.transpose();
+    return matTranspose;
+}

KREngine/KREngine/Classes/KRMat4.h

@@ -54,6 +54,7 @@ typedef enum {
     Z_AXIS
 } AXIS;
 
+class KRQuaternion;
 
 class KRMat4 {
     
@@ -98,10 +99,13 @@ public:
     void scale(const KRVector3 &v);
     void scale(GLfloat s);
     void rotate(GLfloat angle, AXIS axis);
+    void rotate(const KRQuaternion &q);
     void bias();
     bool invert();
     void transpose();
     
+    static KRMat4 Invert(const KRMat4 &m);
+    static KRMat4 Transpose(const KRMat4 &m);
     static KRVector3 Dot(const KRMat4 &m, const KRVector3 &v);
     static float DotW(const KRMat4 &m, const KRVector3 &v);
     static KRVector3 DotWDiv(const KRMat4 &m, const KRVector3 &v);