/** * $Id$ * ***** 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 ***** */ /* * Copyright (c) 2000 Gino van den Bergen * * 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 #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 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(2.0) / 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 getEuler(MT_Scalar& yaw, MT_Scalar& pitch, MT_Scalar& roll) const { if (m_el[2][0] != -1.0 && m_el[2][0] != 1.0) { pitch = MT_Scalar(-asin(m_el[2][0])); yaw = MT_Scalar(atan2(m_el[2][1] / cos(pitch), m_el[2][2] / cos(pitch))); roll = MT_Scalar(atan2(m_el[1][0] / cos(pitch), m_el[0][0] / cos(pitch))); } else { roll = MT_Scalar(0); if (m_el[2][0] == -1.0) { pitch = MT_PI / 2.0; yaw = MT_Scalar(atan2(m_el[0][1], m_el[0][2])); } else { pitch = - MT_PI / 2.0; yaw = MT_Scalar(atan2(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(1.0), 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++ = (float) m_el[0][0]; *m++ = (float) m_el[1][0]; *m++ = (float) m_el[2][0]; *m++ = (float) 0.0; *m++ = (float) m_el[0][1]; *m++ = (float) m_el[1][1]; *m++ = (float) m_el[2][1]; *m++ = (float) 0.0; *m++ = (float) m_el[0][2]; *m++ = (float) m_el[1][2]; *m++ = (float) m_el[2][2]; *m = (float) 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; } 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