miniassimp

annotate include/miniassimp/matrix3x3.h @ 0:879c81d94345

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author John Tsiombikas <nuclear@member.fsf.org>
date Mon, 28 Jan 2019 18:19:26 +0200
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nuclear@0 1 /*
nuclear@0 2 ---------------------------------------------------------------------------
nuclear@0 3 Open Asset Import Library (assimp)
nuclear@0 4 ---------------------------------------------------------------------------
nuclear@0 5
nuclear@0 6 Copyright (c) 2006-2018, assimp team
nuclear@0 7
nuclear@0 8
nuclear@0 9
nuclear@0 10 All rights reserved.
nuclear@0 11
nuclear@0 12 Redistribution and use of this software in source and binary forms,
nuclear@0 13 with or without modification, are permitted provided that the following
nuclear@0 14 conditions are met:
nuclear@0 15
nuclear@0 16 * Redistributions of source code must retain the above
nuclear@0 17 copyright notice, this list of conditions and the
nuclear@0 18 following disclaimer.
nuclear@0 19
nuclear@0 20 * Redistributions in binary form must reproduce the above
nuclear@0 21 copyright notice, this list of conditions and the
nuclear@0 22 following disclaimer in the documentation and/or other
nuclear@0 23 materials provided with the distribution.
nuclear@0 24
nuclear@0 25 * Neither the name of the assimp team, nor the names of its
nuclear@0 26 contributors may be used to endorse or promote products
nuclear@0 27 derived from this software without specific prior
nuclear@0 28 written permission of the assimp team.
nuclear@0 29
nuclear@0 30 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
nuclear@0 31 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
nuclear@0 32 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
nuclear@0 33 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
nuclear@0 34 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
nuclear@0 35 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
nuclear@0 36 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
nuclear@0 37 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
nuclear@0 38 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nuclear@0 39 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nuclear@0 40 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nuclear@0 41 ---------------------------------------------------------------------------
nuclear@0 42 */
nuclear@0 43
nuclear@0 44 /** @file matrix3x3.h
nuclear@0 45 * @brief Definition of a 3x3 matrix, including operators when compiling in C++
nuclear@0 46 */
nuclear@0 47 #pragma once
nuclear@0 48 #ifndef AI_MATRIX3X3_H_INC
nuclear@0 49 #define AI_MATRIX3X3_H_INC
nuclear@0 50
nuclear@0 51 #include "defs.h"
nuclear@0 52
nuclear@0 53 #ifdef __cplusplus
nuclear@0 54
nuclear@0 55 template <typename T> class aiMatrix4x4t;
nuclear@0 56 template <typename T> class aiVector2t;
nuclear@0 57
nuclear@0 58 // ---------------------------------------------------------------------------
nuclear@0 59 /** @brief Represents a row-major 3x3 matrix
nuclear@0 60 *
nuclear@0 61 * There's much confusion about matrix layouts (column vs. row order).
nuclear@0 62 * This is *always* a row-major matrix. Not even with the
nuclear@0 63 * #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
nuclear@0 64 * matrix order - it just affects the handedness of the coordinate system
nuclear@0 65 * defined thereby.
nuclear@0 66 */
nuclear@0 67 template <typename TReal>
nuclear@0 68 class aiMatrix3x3t
nuclear@0 69 {
nuclear@0 70 public:
nuclear@0 71
nuclear@0 72 aiMatrix3x3t() AI_NO_EXCEPT :
nuclear@0 73 a1(static_cast<TReal>(1.0f)), a2(), a3(),
nuclear@0 74 b1(), b2(static_cast<TReal>(1.0f)), b3(),
nuclear@0 75 c1(), c2(), c3(static_cast<TReal>(1.0f)) {}
nuclear@0 76
nuclear@0 77 aiMatrix3x3t ( TReal _a1, TReal _a2, TReal _a3,
nuclear@0 78 TReal _b1, TReal _b2, TReal _b3,
nuclear@0 79 TReal _c1, TReal _c2, TReal _c3) :
nuclear@0 80 a1(_a1), a2(_a2), a3(_a3),
nuclear@0 81 b1(_b1), b2(_b2), b3(_b3),
nuclear@0 82 c1(_c1), c2(_c2), c3(_c3)
nuclear@0 83 {}
nuclear@0 84
nuclear@0 85 public:
nuclear@0 86
nuclear@0 87 // matrix multiplication.
nuclear@0 88 aiMatrix3x3t& operator *= (const aiMatrix3x3t& m);
nuclear@0 89 aiMatrix3x3t operator * (const aiMatrix3x3t& m) const;
nuclear@0 90
nuclear@0 91 // array access operators
nuclear@0 92 TReal* operator[] (unsigned int p_iIndex);
nuclear@0 93 const TReal* operator[] (unsigned int p_iIndex) const;
nuclear@0 94
nuclear@0 95 // comparison operators
nuclear@0 96 bool operator== (const aiMatrix4x4t<TReal>& m) const;
nuclear@0 97 bool operator!= (const aiMatrix4x4t<TReal>& m) const;
nuclear@0 98
nuclear@0 99 bool Equal(const aiMatrix4x4t<TReal>& m, TReal epsilon = 1e-6) const;
nuclear@0 100
nuclear@0 101 template <typename TOther>
nuclear@0 102 operator aiMatrix3x3t<TOther> () const;
nuclear@0 103
nuclear@0 104 public:
nuclear@0 105
nuclear@0 106 // -------------------------------------------------------------------
nuclear@0 107 /** @brief Construction from a 4x4 matrix. The remaining parts
nuclear@0 108 * of the matrix are ignored.
nuclear@0 109 */
nuclear@0 110 explicit aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix);
nuclear@0 111
nuclear@0 112 // -------------------------------------------------------------------
nuclear@0 113 /** @brief Transpose the matrix
nuclear@0 114 */
nuclear@0 115 aiMatrix3x3t& Transpose();
nuclear@0 116
nuclear@0 117 // -------------------------------------------------------------------
nuclear@0 118 /** @brief Invert the matrix.
nuclear@0 119 * If the matrix is not invertible all elements are set to qnan.
nuclear@0 120 * Beware, use (f != f) to check whether a TReal f is qnan.
nuclear@0 121 */
nuclear@0 122 aiMatrix3x3t& Inverse();
nuclear@0 123 TReal Determinant() const;
nuclear@0 124
nuclear@0 125 public:
nuclear@0 126 // -------------------------------------------------------------------
nuclear@0 127 /** @brief Returns a rotation matrix for a rotation around z
nuclear@0 128 * @param a Rotation angle, in radians
nuclear@0 129 * @param out Receives the output matrix
nuclear@0 130 * @return Reference to the output matrix
nuclear@0 131 */
nuclear@0 132 static aiMatrix3x3t& RotationZ(TReal a, aiMatrix3x3t& out);
nuclear@0 133
nuclear@0 134 // -------------------------------------------------------------------
nuclear@0 135 /** @brief Returns a rotation matrix for a rotation around
nuclear@0 136 * an arbitrary axis.
nuclear@0 137 *
nuclear@0 138 * @param a Rotation angle, in radians
nuclear@0 139 * @param axis Axis to rotate around
nuclear@0 140 * @param out To be filled
nuclear@0 141 */
nuclear@0 142 static aiMatrix3x3t& Rotation( TReal a,
nuclear@0 143 const aiVector3t<TReal>& axis, aiMatrix3x3t& out);
nuclear@0 144
nuclear@0 145 // -------------------------------------------------------------------
nuclear@0 146 /** @brief Returns a translation matrix
nuclear@0 147 * @param v Translation vector
nuclear@0 148 * @param out Receives the output matrix
nuclear@0 149 * @return Reference to the output matrix
nuclear@0 150 */
nuclear@0 151 static aiMatrix3x3t& Translation( const aiVector2t<TReal>& v, aiMatrix3x3t& out);
nuclear@0 152
nuclear@0 153 // -------------------------------------------------------------------
nuclear@0 154 /** @brief A function for creating a rotation matrix that rotates a
nuclear@0 155 * vector called "from" into another vector called "to".
nuclear@0 156 * Input : from[3], to[3] which both must be *normalized* non-zero vectors
nuclear@0 157 * Output: mtx[3][3] -- a 3x3 matrix in column-major form
nuclear@0 158 * Authors: Tomas Möller, John Hughes
nuclear@0 159 * "Efficiently Building a Matrix to Rotate One Vector to Another"
nuclear@0 160 * Journal of Graphics Tools, 4(4):1-4, 1999
nuclear@0 161 */
nuclear@0 162 static aiMatrix3x3t& FromToMatrix(const aiVector3t<TReal>& from,
nuclear@0 163 const aiVector3t<TReal>& to, aiMatrix3x3t& out);
nuclear@0 164
nuclear@0 165 public:
nuclear@0 166 TReal a1, a2, a3;
nuclear@0 167 TReal b1, b2, b3;
nuclear@0 168 TReal c1, c2, c3;
nuclear@0 169 };
nuclear@0 170
nuclear@0 171 typedef aiMatrix3x3t<ai_real> aiMatrix3x3;
nuclear@0 172
nuclear@0 173 #else
nuclear@0 174
nuclear@0 175 struct aiMatrix3x3 {
nuclear@0 176 ai_real a1, a2, a3;
nuclear@0 177 ai_real b1, b2, b3;
nuclear@0 178 ai_real c1, c2, c3;
nuclear@0 179 };
nuclear@0 180
nuclear@0 181 #endif // __cplusplus
nuclear@0 182
nuclear@0 183 #endif // AI_MATRIX3X3_H_INC