nuclear@0: /* nuclear@0: --------------------------------------------------------------------------- nuclear@0: Open Asset Import Library (assimp) nuclear@0: --------------------------------------------------------------------------- nuclear@0: nuclear@0: Copyright (c) 2006-2018, assimp team nuclear@0: nuclear@0: nuclear@0: nuclear@0: All rights reserved. nuclear@0: nuclear@0: Redistribution and use of this software in source and binary forms, nuclear@0: with or without modification, are permitted provided that the following nuclear@0: conditions are met: nuclear@0: nuclear@0: * Redistributions of source code must retain the above nuclear@0: copyright notice, this list of conditions and the nuclear@0: following disclaimer. nuclear@0: nuclear@0: * Redistributions in binary form must reproduce the above nuclear@0: copyright notice, this list of conditions and the nuclear@0: following disclaimer in the documentation and/or other nuclear@0: materials provided with the distribution. nuclear@0: nuclear@0: * Neither the name of the assimp team, nor the names of its nuclear@0: contributors may be used to endorse or promote products nuclear@0: derived from this software without specific prior nuclear@0: written permission of the assimp team. nuclear@0: nuclear@0: THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS nuclear@0: "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT nuclear@0: LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR nuclear@0: A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT nuclear@0: OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, nuclear@0: SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT nuclear@0: LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, nuclear@0: DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY nuclear@0: THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT nuclear@0: (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE nuclear@0: OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. nuclear@0: --------------------------------------------------------------------------- nuclear@0: */ nuclear@0: nuclear@0: /** @file matrix3x3.h nuclear@0: * @brief Definition of a 3x3 matrix, including operators when compiling in C++ nuclear@0: */ nuclear@0: #pragma once nuclear@0: #ifndef AI_MATRIX3X3_H_INC nuclear@0: #define AI_MATRIX3X3_H_INC nuclear@0: nuclear@0: #include "defs.h" nuclear@0: nuclear@0: #ifdef __cplusplus nuclear@0: nuclear@0: template class aiMatrix4x4t; nuclear@0: template class aiVector2t; nuclear@0: nuclear@0: // --------------------------------------------------------------------------- nuclear@0: /** @brief Represents a row-major 3x3 matrix nuclear@0: * nuclear@0: * There's much confusion about matrix layouts (column vs. row order). nuclear@0: * This is *always* a row-major matrix. Not even with the nuclear@0: * #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect nuclear@0: * matrix order - it just affects the handedness of the coordinate system nuclear@0: * defined thereby. nuclear@0: */ nuclear@0: template nuclear@0: class aiMatrix3x3t nuclear@0: { nuclear@0: public: nuclear@0: nuclear@0: aiMatrix3x3t() AI_NO_EXCEPT : nuclear@0: a1(static_cast(1.0f)), a2(), a3(), nuclear@0: b1(), b2(static_cast(1.0f)), b3(), nuclear@0: c1(), c2(), c3(static_cast(1.0f)) {} nuclear@0: nuclear@0: aiMatrix3x3t ( TReal _a1, TReal _a2, TReal _a3, nuclear@0: TReal _b1, TReal _b2, TReal _b3, nuclear@0: TReal _c1, TReal _c2, TReal _c3) : nuclear@0: a1(_a1), a2(_a2), a3(_a3), nuclear@0: b1(_b1), b2(_b2), b3(_b3), nuclear@0: c1(_c1), c2(_c2), c3(_c3) nuclear@0: {} nuclear@0: nuclear@0: public: nuclear@0: nuclear@0: // matrix multiplication. nuclear@0: aiMatrix3x3t& operator *= (const aiMatrix3x3t& m); nuclear@0: aiMatrix3x3t operator * (const aiMatrix3x3t& m) const; nuclear@0: nuclear@0: // array access operators nuclear@0: TReal* operator[] (unsigned int p_iIndex); nuclear@0: const TReal* operator[] (unsigned int p_iIndex) const; nuclear@0: nuclear@0: // comparison operators nuclear@0: bool operator== (const aiMatrix4x4t& m) const; nuclear@0: bool operator!= (const aiMatrix4x4t& m) const; nuclear@0: nuclear@0: bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const; nuclear@0: nuclear@0: template nuclear@0: operator aiMatrix3x3t () const; nuclear@0: nuclear@0: public: nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Construction from a 4x4 matrix. The remaining parts nuclear@0: * of the matrix are ignored. nuclear@0: */ nuclear@0: explicit aiMatrix3x3t( const aiMatrix4x4t& pMatrix); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Transpose the matrix nuclear@0: */ nuclear@0: aiMatrix3x3t& Transpose(); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Invert the matrix. nuclear@0: * If the matrix is not invertible all elements are set to qnan. nuclear@0: * Beware, use (f != f) to check whether a TReal f is qnan. nuclear@0: */ nuclear@0: aiMatrix3x3t& Inverse(); nuclear@0: TReal Determinant() const; nuclear@0: nuclear@0: public: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a rotation matrix for a rotation around z nuclear@0: * @param a Rotation angle, in radians nuclear@0: * @param out Receives the output matrix nuclear@0: * @return Reference to the output matrix nuclear@0: */ nuclear@0: static aiMatrix3x3t& RotationZ(TReal a, aiMatrix3x3t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a rotation matrix for a rotation around nuclear@0: * an arbitrary axis. nuclear@0: * nuclear@0: * @param a Rotation angle, in radians nuclear@0: * @param axis Axis to rotate around nuclear@0: * @param out To be filled nuclear@0: */ nuclear@0: static aiMatrix3x3t& Rotation( TReal a, nuclear@0: const aiVector3t& axis, aiMatrix3x3t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a translation matrix nuclear@0: * @param v Translation vector nuclear@0: * @param out Receives the output matrix nuclear@0: * @return Reference to the output matrix nuclear@0: */ nuclear@0: static aiMatrix3x3t& Translation( const aiVector2t& v, aiMatrix3x3t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief A function for creating a rotation matrix that rotates a nuclear@0: * vector called "from" into another vector called "to". nuclear@0: * Input : from[3], to[3] which both must be *normalized* non-zero vectors nuclear@0: * Output: mtx[3][3] -- a 3x3 matrix in column-major form nuclear@0: * Authors: Tomas Möller, John Hughes nuclear@0: * "Efficiently Building a Matrix to Rotate One Vector to Another" nuclear@0: * Journal of Graphics Tools, 4(4):1-4, 1999 nuclear@0: */ nuclear@0: static aiMatrix3x3t& FromToMatrix(const aiVector3t& from, nuclear@0: const aiVector3t& to, aiMatrix3x3t& out); nuclear@0: nuclear@0: public: nuclear@0: TReal a1, a2, a3; nuclear@0: TReal b1, b2, b3; nuclear@0: TReal c1, c2, c3; nuclear@0: }; nuclear@0: nuclear@0: typedef aiMatrix3x3t aiMatrix3x3; nuclear@0: nuclear@0: #else nuclear@0: nuclear@0: struct aiMatrix3x3 { nuclear@0: ai_real a1, a2, a3; nuclear@0: ai_real b1, b2, b3; nuclear@0: ai_real c1, c2, c3; nuclear@0: }; nuclear@0: nuclear@0: #endif // __cplusplus nuclear@0: nuclear@0: #endif // AI_MATRIX3X3_H_INC