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Diffstat (limited to 'intern/moto/include/MT_Matrix3x3.inl')
| -rw-r--r-- | intern/moto/include/MT_Matrix3x3.inl | 128 |
1 files changed, 128 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Matrix3x3.inl b/intern/moto/include/MT_Matrix3x3.inl new file mode 100644 index 00000000000..c581640ebfe --- /dev/null +++ b/intern/moto/include/MT_Matrix3x3.inl @@ -0,0 +1,128 @@ +#include "MT_Optimize.h" + +GEN_INLINE MT_Quaternion MT_Matrix3x3::getRotation() const { + static int next[3] = { 1, 2, 0 }; + + MT_Quaternion result; + + MT_Scalar trace = m_el[0][0] + m_el[1][1] + m_el[2][2]; + + if (trace > 0.0) + { + MT_Scalar s = sqrt(trace + MT_Scalar(1.0)); + result[3] = s * MT_Scalar(0.5); + s = MT_Scalar(0.5) / s; + + result[0] = (m_el[2][1] - m_el[1][2]) * s; + result[1] = (m_el[0][2] - m_el[2][0]) * s; + result[2] = (m_el[1][0] - m_el[0][1]) * s; + } + else + { + int i = 0; + if (m_el[1][1] > m_el[0][0]) + i = 1; + if (m_el[2][2] > m_el[i][i]) + i = 2; + + int j = next[i]; + int k = next[j]; + + MT_Scalar s = sqrt(m_el[i][i] - m_el[j][j] - m_el[k][k] + MT_Scalar(1.0)); + + result[i] = s * MT_Scalar(0.5); + + s = MT_Scalar(0.5) / s; + + result[3] = (m_el[k][j] - m_el[j][k]) * s; + result[j] = (m_el[j][i] + m_el[i][j]) * s; + result[k] = (m_el[k][i] + m_el[i][k]) * s; + } + return result; +} + +GEN_INLINE MT_Matrix3x3& MT_Matrix3x3::operator*=(const MT_Matrix3x3& m) { + setValue(m.tdot(0, m_el[0]), m.tdot(1, m_el[0]), m.tdot(2, m_el[0]), + m.tdot(0, m_el[1]), m.tdot(1, m_el[1]), m.tdot(2, m_el[1]), + m.tdot(0, m_el[2]), m.tdot(1, m_el[2]), m.tdot(2, m_el[2])); + return *this; +} + +GEN_INLINE MT_Scalar MT_Matrix3x3::determinant() const { + return MT_triple((*this)[0], (*this)[1], (*this)[2]); +} + +GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::absolute() const { + return + MT_Matrix3x3(MT_abs(m_el[0][0]), MT_abs(m_el[0][1]), MT_abs(m_el[0][2]), + MT_abs(m_el[1][0]), MT_abs(m_el[1][1]), MT_abs(m_el[1][2]), + MT_abs(m_el[2][0]), MT_abs(m_el[2][1]), MT_abs(m_el[2][2])); +} + +GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::transposed() const { + return MT_Matrix3x3(m_el[0][0], m_el[1][0], m_el[2][0], + m_el[0][1], m_el[1][1], m_el[2][1], + m_el[0][2], m_el[1][2], m_el[2][2]); +} + +GEN_INLINE void MT_Matrix3x3::transpose() { + *this = transposed(); +} + +GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::adjoint() const { + return + MT_Matrix3x3(cofac(1, 1, 2, 2), cofac(0, 2, 2, 1), cofac(0, 1, 1, 2), + cofac(1, 2, 2, 0), cofac(0, 0, 2, 2), cofac(0, 2, 1, 0), + cofac(1, 0, 2, 1), cofac(0, 1, 2, 0), cofac(0, 0, 1, 1)); +} + +GEN_INLINE MT_Matrix3x3 MT_Matrix3x3::inverse() const { + MT_Vector3 co(cofac(1, 1, 2, 2), cofac(1, 2, 2, 0), cofac(1, 0, 2, 1)); + MT_Scalar det = MT_dot((*this)[0], co); + MT_assert(!MT_fuzzyZero2(det)); + MT_Scalar s = MT_Scalar(1.0) / det; + return + MT_Matrix3x3(co[0] * s, cofac(0, 2, 2, 1) * s, cofac(0, 1, 1, 2) * s, + co[1] * s, cofac(0, 0, 2, 2) * s, cofac(0, 2, 1, 0) * s, + co[2] * s, cofac(0, 1, 2, 0) * s, cofac(0, 0, 1, 1) * s); +} + +GEN_INLINE void MT_Matrix3x3::invert() { + *this = inverse(); +} + +GEN_INLINE MT_Vector3 operator*(const MT_Matrix3x3& m, const MT_Vector3& v) { + return MT_Vector3(MT_dot(m[0], v), MT_dot(m[1], v), MT_dot(m[2], v)); +} + +GEN_INLINE MT_Vector3 operator*(const MT_Vector3& v, const MT_Matrix3x3& m) { + return MT_Vector3(m.tdot(0, v), m.tdot(1, v), m.tdot(2, v)); +} + +GEN_INLINE MT_Matrix3x3 operator*(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) { + return + MT_Matrix3x3(m2.tdot(0, m1[0]), m2.tdot(1, m1[0]), m2.tdot(2, m1[0]), + m2.tdot(0, m1[1]), m2.tdot(1, m1[1]), m2.tdot(2, m1[1]), + m2.tdot(0, m1[2]), m2.tdot(1, m1[2]), m2.tdot(2, m1[2])); +} + +GEN_INLINE MT_Matrix3x3 MT_multTransposeLeft(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) { + return MT_Matrix3x3( + m1[0][0] * m2[0][0] + m1[1][0] * m2[1][0] + m1[2][0] * m2[2][0], + m1[0][0] * m2[0][1] + m1[1][0] * m2[1][1] + m1[2][0] * m2[2][1], + m1[0][0] * m2[0][2] + m1[1][0] * m2[1][2] + m1[2][0] * m2[2][2], + m1[0][1] * m2[0][0] + m1[1][1] * m2[1][0] + m1[2][1] * m2[2][0], + m1[0][1] * m2[0][1] + m1[1][1] * m2[1][1] + m1[2][1] * m2[2][1], + m1[0][1] * m2[0][2] + m1[1][1] * m2[1][2] + m1[2][1] * m2[2][2], + m1[0][2] * m2[0][0] + m1[1][2] * m2[1][0] + m1[2][2] * m2[2][0], + m1[0][2] * m2[0][1] + m1[1][2] * m2[1][1] + m1[2][2] * m2[2][1], + m1[0][2] * m2[0][2] + m1[1][2] * m2[1][2] + m1[2][2] * m2[2][2]); +} + +GEN_INLINE MT_Matrix3x3 MT_multTransposeRight(const MT_Matrix3x3& m1, const MT_Matrix3x3& m2) { + return + MT_Matrix3x3(m1[0].dot(m2[0]), m1[0].dot(m2[1]), m1[0].dot(m2[2]), + m1[1].dot(m2[0]), m1[1].dot(m2[1]), m1[1].dot(m2[2]), + m1[2].dot(m2[0]), m1[2].dot(m2[1]), m1[2].dot(m2[2])); + +} |