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-/*
- * ***** BEGIN GPL LICENSE BLOCK *****
- *
- * This program is free software; you can redistribute it and/or
- * modify it under the terms of the GNU General Public License
- * as published by the Free Software Foundation; either version 2
- * of the License, or (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software Foundation,
- * Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
- *
- * The Original Code is Copyright (C) 2001-2002 by NaN Holding BV.
- * All rights reserved.
- *
- * The Original Code is: all of this file.
- *
- * Contributor(s): none yet.
- *
- * ***** END GPL LICENSE BLOCK *****
- */
-
-/** \file moto/include/MT_Matrix3x3.h
- * \ingroup moto
- */
-
-
-/*
-
- * Copyright (c) 2000 Gino van den Bergen <gino@acm.org>
- *
- * Permission to use, copy, modify, distribute and sell this software
- * and its documentation for any purpose is hereby granted without fee,
- * provided that the above copyright notice appear in all copies and
- * that both that copyright notice and this permission notice appear
- * in supporting documentation. Gino van den Bergen makes no
- * representations about the suitability of this software for any
- * purpose. It is provided "as is" without express or implied warranty.
- *
- */
-
-#ifndef MT_MATRIX3X3_H
-#define MT_MATRIX3X3_H
-
-#include <MT_assert.h>
-
-#include "MT_Vector3.h"
-#include "MT_Quaternion.h"
-
-class MT_Matrix3x3 {
-public:
- MT_Matrix3x3() {}
- MT_Matrix3x3(const float *m) { setValue(m); }
- MT_Matrix3x3(const double *m) { setValue(m); }
- MT_Matrix3x3(const MT_Quaternion& q) { setRotation(q); }
-
- MT_Matrix3x3(const MT_Quaternion& q, const MT_Vector3& s) {
- setRotation(q);
- scale(s[0], s[1], s[2]);
- }
-
- MT_Matrix3x3(const MT_Vector3& euler) { setEuler(euler); }
- MT_Matrix3x3(const MT_Vector3& euler, const MT_Vector3& s) {
- setEuler(euler);
- scale(s[0], s[1], s[2]);
- }
-
- MT_Matrix3x3(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz,
- MT_Scalar yx, MT_Scalar yy, MT_Scalar yz,
- MT_Scalar zx, MT_Scalar zy, MT_Scalar zz) {
- setValue(xx, xy, xz,
- yx, yy, yz,
- zx, zy, zz);
- }
-
- MT_Vector3& operator[](int i) { return m_el[i]; }
- const MT_Vector3& operator[](int i) const { return m_el[i]; }
-
- MT_Vector3 getColumn(int i) const {
- return MT_Vector3(m_el[0][i], m_el[1][i], m_el[2][i]);
- }
-
- void setColumn(int i, const MT_Vector3& v) {
- m_el[0][i] = v[0];
- m_el[1][i] = v[1];
- m_el[2][i] = v[2];
- }
-
- void setRow(int i, const MT_Vector3& v) {
- m_el[i][0] = v[0];
- m_el[i][1] = v[1];
- m_el[i][2] = v[2];
- }
-
- void setValue(const float *m) {
- m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m++;
- m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m++;
- m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m;
- }
-
- void setValue(const double *m) {
- m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++; m++;
- m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++; m++;
- m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m;
- }
-
- void setValue3x3(const float *m) {
- m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++;
- m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++;
- m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m;
- }
-
- void setValue3x3(const double *m) {
- m_el[0][0] = *m++; m_el[1][0] = *m++; m_el[2][0] = *m++;
- m_el[0][1] = *m++; m_el[1][1] = *m++; m_el[2][1] = *m++;
- m_el[0][2] = *m++; m_el[1][2] = *m++; m_el[2][2] = *m;
- }
-
- void setValue(MT_Scalar xx, MT_Scalar xy, MT_Scalar xz,
- MT_Scalar yx, MT_Scalar yy, MT_Scalar yz,
- MT_Scalar zx, MT_Scalar zy, MT_Scalar zz) {
- m_el[0][0] = xx; m_el[0][1] = xy; m_el[0][2] = xz;
- m_el[1][0] = yx; m_el[1][1] = yy; m_el[1][2] = yz;
- m_el[2][0] = zx; m_el[2][1] = zy; m_el[2][2] = zz;
- }
-
- void setRotation(const MT_Quaternion& q) {
- MT_Scalar d = q.length2();
- MT_assert(!MT_fuzzyZero2(d));
- MT_Scalar s = MT_Scalar(2.0f) / d;
- MT_Scalar xs = q[0] * s, ys = q[1] * s, zs = q[2] * s;
- MT_Scalar wx = q[3] * xs, wy = q[3] * ys, wz = q[3] * zs;
- MT_Scalar xx = q[0] * xs, xy = q[0] * ys, xz = q[0] * zs;
- MT_Scalar yy = q[1] * ys, yz = q[1] * zs, zz = q[2] * zs;
- setValue(MT_Scalar(1.0f) - (yy + zz), xy - wz , xz + wy,
- xy + wz , MT_Scalar(1.0f) - (xx + zz), yz - wx,
- xz - wy , yz + wx, MT_Scalar(1.0f) - (xx + yy));
- }
-
- /**
- * setEuler
- * @param euler a const reference to a MT_Vector3 of euler angles
- * These angles are used to produce a rotation matrix. The euler
- * angles are applied in ZYX order. I.e a vector is first rotated
- * about X then Y and then Z
- **/
-
- void setEuler(const MT_Vector3& euler) {
- MT_Scalar ci = cosf(euler[0]);
- MT_Scalar cj = cosf(euler[1]);
- MT_Scalar ch = cosf(euler[2]);
- MT_Scalar si = sinf(euler[0]);
- MT_Scalar sj = sinf(euler[1]);
- MT_Scalar sh = sinf(euler[2]);
- MT_Scalar cc = ci * ch;
- MT_Scalar cs = ci * sh;
- MT_Scalar sc = si * ch;
- MT_Scalar ss = si * sh;
-
- setValue(cj * ch, sj * sc - cs, sj * cc + ss,
- cj * sh, sj * ss + cc, sj * cs - sc,
- -sj, cj * si, cj * ci);
- }
-
- void getEuler(MT_Scalar& yaw, MT_Scalar& pitch, MT_Scalar& roll) const
- {
- if (m_el[2][0] != -1.0f && m_el[2][0] != 1.0f) {
- pitch = MT_Scalar(-asinf(m_el[2][0]));
- yaw = MT_Scalar(atan2f(m_el[2][1] / cosf(pitch), m_el[2][2] / cosf(pitch)));
- roll = MT_Scalar(atan2f(m_el[1][0] / cosf(pitch), m_el[0][0] / cosf(pitch)));
- }
- else {
- roll = MT_Scalar(0);
- if (m_el[2][0] == -1.0f) {
- pitch = (float)MT_PI / 2.0f;
- yaw = MT_Scalar(atan2f(m_el[0][1], m_el[0][2]));
- }
- else {
- pitch = (float)-MT_PI / 2.0f;
- yaw = MT_Scalar(atan2f(m_el[0][1], m_el[0][2]));
- }
- }
- }
-
- void scale(MT_Scalar x, MT_Scalar y, MT_Scalar z) {
- m_el[0][0] *= x; m_el[0][1] *= y; m_el[0][2] *= z;
- m_el[1][0] *= x; m_el[1][1] *= y; m_el[1][2] *= z;
- m_el[2][0] *= x; m_el[2][1] *= y; m_el[2][2] *= z;
- }
-
- MT_Matrix3x3 scaled(MT_Scalar x, MT_Scalar y, MT_Scalar z) const {
- return MT_Matrix3x3(m_el[0][0] * x, m_el[0][1] * y, m_el[0][2] * z,
- m_el[1][0] * x, m_el[1][1] * y, m_el[1][2] * z,
- m_el[2][0] * x, m_el[2][1] * y, m_el[2][2] * z);
- }
-
- void setIdentity() {
- setValue(MT_Scalar(1.0f), MT_Scalar(0.0f), MT_Scalar(0.0f),
- MT_Scalar(0.0f), MT_Scalar(1.0f), MT_Scalar(0.0f),
- MT_Scalar(0.0f), MT_Scalar(0.0f), MT_Scalar(1.0f));
- }
-
- void getValue(float *m) const {
- *m++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0]; *m++ = (float) 0.0f;
- *m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1]; *m++ = (float) 0.0f;
- *m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2]; *m = (float) 0.0f;
- }
-
- void getValue(double *m) const {
- *m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0]; *m++ = 0.0;
- *m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1]; *m++ = 0.0;
- *m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2]; *m = 0.0;
- }
-
- void getValue3x3(float *m) const {
- *m++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0];
- *m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1];
- *m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2];
- }
-
- void getValue3x3(double *m) const {
- *m++ = m_el[0][0]; *m++ = m_el[1][0]; *m++ = m_el[2][0];
- *m++ = m_el[0][1]; *m++ = m_el[1][1]; *m++ = m_el[2][1];
- *m++ = m_el[0][2]; *m++ = m_el[1][2]; *m++ = m_el[2][2];
- }
-
- MT_Quaternion getRotation() const;
-
- MT_Matrix3x3& operator*=(const MT_Matrix3x3& m);
-
- MT_Scalar tdot(int c, const MT_Vector3& v) const {
- return m_el[0][c] * v[0] + m_el[1][c] * v[1] + m_el[2][c] * v[2];
- }
-
- MT_Scalar cofac(int r1, int c1, int r2, int c2) const {
- return m_el[r1][c1] * m_el[r2][c2] - m_el[r1][c2] * m_el[r2][c1];
- }
-
- MT_Scalar determinant() const;
- MT_Matrix3x3 adjoint() const;
-
- MT_Matrix3x3 absolute() const;
-
- MT_Matrix3x3 transposed() const;
- void transpose();
-
- MT_Matrix3x3 inverse() const;
- void invert();
-
-protected:
-
- MT_Vector3 m_el[3];
-};
-
-MT_Vector3 operator*(const MT_Matrix3x3& m, const MT_Vector3& v);
-MT_Vector3 operator*(const MT_Vector3& v, const MT_Matrix3x3& m);
-MT_Matrix3x3 operator*(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2);
-
-MT_Matrix3x3 MT_multTransposeLeft(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2);
-MT_Matrix3x3 MT_multTransposeRight(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2);
-
-inline MT_OStream& operator<<(MT_OStream& os, const MT_Matrix3x3& m) {
- return os << m[0] << GEN_endl << m[1] << GEN_endl << m[2] << GEN_endl;
-}
-
-#ifdef GEN_INLINED
-#include "MT_Matrix3x3.inl"
-#endif
-
-#endif
-
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