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Diffstat (limited to 'intern/moto/include/MT_Matrix3x3.h')
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diff --git a/intern/moto/include/MT_Matrix3x3.h b/intern/moto/include/MT_Matrix3x3.h new file mode 100755 index 00000000000..01e5f01b539 --- /dev/null +++ b/intern/moto/include/MT_Matrix3x3.h @@ -0,0 +1,214 @@ +/** + * $Id$ + * ***** BEGIN GPL/BL DUAL 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. The Blender + * Foundation also sells licenses for use in proprietary software under + * the Blender License. See http://www.blender.org/BL/ for information + * about this. + * + * 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., 59 Temple Place - Suite 330, Boston, MA 02111-1307, 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/BL DUAL LICENSE BLOCK ***** + */ + +/* + + * 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]; } + + 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 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(2.0) / 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(1.0) - (yy + zz), xy - wz , xz + wy, + xy + wz , MT_Scalar(1.0) - (xx + zz), yz - wx, + xz - wy , yz + wx, MT_Scalar(1.0) - (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 = cos(euler[0]); + MT_Scalar cj = cos(euler[1]); + MT_Scalar ch = cos(euler[2]); + MT_Scalar si = sin(euler[0]); + MT_Scalar sj = sin(euler[1]); + MT_Scalar sh = sin(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 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(1.0), MT_Scalar(0.0), MT_Scalar(0.0), + MT_Scalar(0.0), MT_Scalar(1.0), MT_Scalar(0.0), + MT_Scalar(0.0), MT_Scalar(0.0), MT_Scalar(1.0)); + } + + void getValue(float *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 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; + } + + 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 |