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view include/miniassimp/matrix4x4.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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1 /*
2 ---------------------------------------------------------------------------
3 Open Asset Import Library (assimp)
4 ---------------------------------------------------------------------------
6 Copyright (c) 2006-2018, assimp team
10 All rights reserved.
12 Redistribution and use of this software in source and binary forms,
13 with or without modification, are permitted provided that the following
14 conditions are met:
16 * Redistributions of source code must retain the above
17 copyright notice, this list of conditions and the
18 following disclaimer.
20 * Redistributions in binary form must reproduce the above
21 copyright notice, this list of conditions and the
22 following disclaimer in the documentation and/or other
23 materials provided with the distribution.
25 * Neither the name of the assimp team, nor the names of its
26 contributors may be used to endorse or promote products
27 derived from this software without specific prior
28 written permission of the assimp team.
30 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
31 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
32 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
33 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
34 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
35 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
36 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
37 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
38 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
39 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
40 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
41 ---------------------------------------------------------------------------
42 */
43 /** @file matrix4x4.h
44 * @brief 4x4 matrix structure, including operators when compiling in C++
45 */
46 #pragma once
47 #ifndef AI_MATRIX4X4_H_INC
48 #define AI_MATRIX4X4_H_INC
50 #include "vector3.h"
51 #include "defs.h"
53 #ifdef __cplusplus
55 template<typename TReal> class aiMatrix3x3t;
56 template<typename TReal> class aiQuaterniont;
58 // ---------------------------------------------------------------------------
59 /** @brief Represents a row-major 4x4 matrix, use this for homogeneous
60 * coordinates.
61 *
62 * There's much confusion about matrix layouts (column vs. row order).
63 * This is *always* a row-major matrix. Not even with the
64 * #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
65 * matrix order - it just affects the handedness of the coordinate system
66 * defined thereby.
67 */
68 template<typename TReal>
69 class aiMatrix4x4t
70 {
71 public:
73 /** set to identity */
74 aiMatrix4x4t() AI_NO_EXCEPT;
76 /** construction from single values */
77 aiMatrix4x4t ( TReal _a1, TReal _a2, TReal _a3, TReal _a4,
78 TReal _b1, TReal _b2, TReal _b3, TReal _b4,
79 TReal _c1, TReal _c2, TReal _c3, TReal _c4,
80 TReal _d1, TReal _d2, TReal _d3, TReal _d4);
83 /** construction from 3x3 matrix, remaining elements are set to identity */
84 explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
86 /** construction from position, rotation and scaling components
87 * @param scaling The scaling for the x,y,z axes
88 * @param rotation The rotation as a hamilton quaternion
89 * @param position The position for the x,y,z axes
90 */
91 aiMatrix4x4t(const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation,
92 const aiVector3t<TReal>& position);
94 public:
96 // array access operators
97 /** @fn TReal* operator[] (unsigned int p_iIndex)
98 * @param [in] p_iIndex - index of the row.
99 * @return pointer to pointed row.
100 */
101 TReal* operator[] (unsigned int p_iIndex);
103 /** @fn const TReal* operator[] (unsigned int p_iIndex) const
104 * @overload TReal* operator[] (unsigned int p_iIndex)
105 */
106 const TReal* operator[] (unsigned int p_iIndex) const;
108 // comparison operators
109 bool operator== (const aiMatrix4x4t& m) const;
110 bool operator!= (const aiMatrix4x4t& m) const;
112 bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const;
114 // matrix multiplication.
115 aiMatrix4x4t& operator *= (const aiMatrix4x4t& m);
116 aiMatrix4x4t operator * (const aiMatrix4x4t& m) const;
117 aiMatrix4x4t operator * (const TReal& aFloat) const;
118 aiMatrix4x4t operator + (const aiMatrix4x4t& aMatrix) const;
120 template <typename TOther>
121 operator aiMatrix4x4t<TOther> () const;
123 public:
125 // -------------------------------------------------------------------
126 /** @brief Transpose the matrix */
127 aiMatrix4x4t& Transpose();
129 // -------------------------------------------------------------------
130 /** @brief Invert the matrix.
131 * If the matrix is not invertible all elements are set to qnan.
132 * Beware, use (f != f) to check whether a TReal f is qnan.
133 */
134 aiMatrix4x4t& Inverse();
135 TReal Determinant() const;
138 // -------------------------------------------------------------------
139 /** @brief Returns true of the matrix is the identity matrix.
140 * The check is performed against a not so small epsilon.
141 */
142 inline bool IsIdentity() const;
144 // -------------------------------------------------------------------
145 /** @brief Decompose a trafo matrix into its original components
146 * @param scaling Receives the output scaling for the x,y,z axes
147 * @param rotation Receives the output rotation as a hamilton
148 * quaternion
149 * @param position Receives the output position for the x,y,z axes
150 */
151 void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
152 aiVector3t<TReal>& position) const;
154 // -------------------------------------------------------------------
155 /** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const
156 * @brief Decompose a trafo matrix into its original components.
157 * Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
158 * @param [out] pScaling - Receives the output scaling for the x,y,z axes.
159 * @param [out] pRotation - Receives the output rotation as a Euler angles.
160 * @param [out] pPosition - Receives the output position for the x,y,z axes.
161 */
162 void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const;
164 // -------------------------------------------------------------------
165 /** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const
166 * @brief Decompose a trafo matrix into its original components
167 * Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
168 * @param [out] pScaling - Receives the output scaling for the x,y,z axes.
169 * @param [out] pRotationAxis - Receives the output rotation axis.
170 * @param [out] pRotationAngle - Receives the output rotation angle for @ref pRotationAxis.
171 * @param [out] pPosition - Receives the output position for the x,y,z axes.
172 */
173 void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const;
175 // -------------------------------------------------------------------
176 /** @brief Decompose a trafo matrix with no scaling into its
177 * original components
178 * @param rotation Receives the output rotation as a hamilton
179 * quaternion
180 * @param position Receives the output position for the x,y,z axes
181 */
182 void DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
183 aiVector3t<TReal>& position) const;
186 // -------------------------------------------------------------------
187 /** @brief Creates a trafo matrix from a set of euler angles
188 * @param x Rotation angle for the x-axis, in radians
189 * @param y Rotation angle for the y-axis, in radians
190 * @param z Rotation angle for the z-axis, in radians
191 */
192 aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z);
193 aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb);
195 public:
196 // -------------------------------------------------------------------
197 /** @brief Returns a rotation matrix for a rotation around the x axis
198 * @param a Rotation angle, in radians
199 * @param out Receives the output matrix
200 * @return Reference to the output matrix
201 */
202 static aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& out);
204 // -------------------------------------------------------------------
205 /** @brief Returns a rotation matrix for a rotation around the y axis
206 * @param a Rotation angle, in radians
207 * @param out Receives the output matrix
208 * @return Reference to the output matrix
209 */
210 static aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& out);
212 // -------------------------------------------------------------------
213 /** @brief Returns a rotation matrix for a rotation around the z axis
214 * @param a Rotation angle, in radians
215 * @param out Receives the output matrix
216 * @return Reference to the output matrix
217 */
218 static aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& out);
220 // -------------------------------------------------------------------
221 /** Returns a rotation matrix for a rotation around an arbitrary axis.
222 * @param a Rotation angle, in radians
223 * @param axis Rotation axis, should be a normalized vector.
224 * @param out Receives the output matrix
225 * @return Reference to the output matrix
226 */
227 static aiMatrix4x4t& Rotation(TReal a, const aiVector3t<TReal>& axis,
228 aiMatrix4x4t& out);
230 // -------------------------------------------------------------------
231 /** @brief Returns a translation matrix
232 * @param v Translation vector
233 * @param out Receives the output matrix
234 * @return Reference to the output matrix
235 */
236 static aiMatrix4x4t& Translation( const aiVector3t<TReal>& v,
237 aiMatrix4x4t& out);
239 // -------------------------------------------------------------------
240 /** @brief Returns a scaling matrix
241 * @param v Scaling vector
242 * @param out Receives the output matrix
243 * @return Reference to the output matrix
244 */
245 static aiMatrix4x4t& Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t& out);
247 // -------------------------------------------------------------------
248 /** @brief A function for creating a rotation matrix that rotates a
249 * vector called "from" into another vector called "to".
250 * Input : from[3], to[3] which both must be *normalized* non-zero vectors
251 * Output: mtx[3][3] -- a 3x3 matrix in column-major form
252 * Authors: Tomas Mueller, John Hughes
253 * "Efficiently Building a Matrix to Rotate One Vector to Another"
254 * Journal of Graphics Tools, 4(4):1-4, 1999
255 */
256 static aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from,
257 const aiVector3t<TReal>& to, aiMatrix4x4t& out);
259 public:
260 TReal a1, a2, a3, a4;
261 TReal b1, b2, b3, b4;
262 TReal c1, c2, c3, c4;
263 TReal d1, d2, d3, d4;
264 };
266 typedef aiMatrix4x4t<ai_real> aiMatrix4x4;
268 #else
270 struct aiMatrix4x4 {
271 ai_real a1, a2, a3, a4;
272 ai_real b1, b2, b3, b4;
273 ai_real c1, c2, c3, c4;
274 ai_real d1, d2, d3, d4;
275 };
278 #endif // __cplusplus
280 #endif // AI_MATRIX4X4_H_INC