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/*
* 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.
*/
#pragma once
#include "BLI_float3.hh"
#include "BLI_math_matrix.h"
namespace blender {
struct float4x4 {
float values[4][4];
float4x4() = default;
float4x4(const float *matrix)
{
memcpy(values, matrix, sizeof(float) * 16);
}
float4x4(const float matrix[4][4]) : float4x4(static_cast<const float *>(matrix[0]))
{
}
/* Assumes an XYZ euler order. */
static float4x4 from_loc_eul_scale(const float3 location,
const float3 rotation,
const float3 scale)
{
float4x4 mat;
loc_eul_size_to_mat4(mat.values, location, rotation, scale);
return mat;
}
static float4x4 identity()
{
float4x4 mat;
unit_m4(mat.values);
return mat;
}
operator float *()
{
return &values[0][0];
}
operator const float *() const
{
return &values[0][0];
}
using c_style_float4x4 = float[4][4];
c_style_float4x4 &ptr()
{
return values;
}
const c_style_float4x4 &ptr() const
{
return values;
}
friend float4x4 operator*(const float4x4 &a, const float4x4 &b)
{
float4x4 result;
mul_m4_m4m4(result.values, a.values, b.values);
return result;
}
/**
* This also applies the translation on the vector. Use `m.ref_3x3() * v` if that is not
* intended.
*/
friend float3 operator*(const float4x4 &m, const float3 &v)
{
float3 result;
mul_v3_m4v3(result, m.values, v);
return result;
}
friend float3 operator*(const float4x4 &m, const float (*v)[3])
{
return m * float3(v);
}
float3 translation() const
{
return float3(values[3]);
}
/* Assumes XYZ rotation order. */
float3 to_euler() const
{
float3 euler;
mat4_to_eul(euler, values);
return euler;
}
float3 scale() const
{
float3 scale;
mat4_to_size(scale, values);
return scale;
}
float4x4 inverted() const
{
float4x4 result;
invert_m4_m4(result.values, values);
return result;
}
/**
* Matrix inversion can be implemented more efficiently for affine matrices.
*/
float4x4 inverted_affine() const
{
BLI_assert(values[0][3] == 0.0f && values[1][3] == 0.0f && values[2][3] == 0.0f &&
values[3][3] == 1.0f);
return this->inverted();
}
float4x4 transposed() const
{
float4x4 result;
transpose_m4_m4(result.values, values);
return result;
}
float4x4 inverted_transposed_affine() const
{
return this->inverted_affine().transposed();
}
struct float3x3_ref {
const float4x4 &data;
friend float3 operator*(const float3x3_ref &m, const float3 &v)
{
float3 result;
mul_v3_mat3_m4v3(result, m.data.values, v);
return result;
}
};
float3x3_ref ref_3x3() const
{
return {*this};
}
static float4x4 interpolate(const float4x4 &a, const float4x4 &b, float t)
{
float result[4][4];
interp_m4_m4m4(result, a.values, b.values, t);
return result;
}
uint64_t hash() const
{
uint64_t h = 435109;
for (int i = 0; i < 16; i++) {
float value = (static_cast<const float *>(values[0]))[i];
h = h * 33 + *reinterpret_cast<const uint32_t *>(&value);
}
return h;
}
};
} // namespace blender
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