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: /** @file matrix4x4.h nuclear@0: * @brief 4x4 matrix structure, including operators when compiling in C++ nuclear@0: */ nuclear@0: #pragma once nuclear@0: #ifndef AI_MATRIX4X4_H_INC nuclear@0: #define AI_MATRIX4X4_H_INC nuclear@0: nuclear@0: #include "vector3.h" nuclear@0: #include "defs.h" nuclear@0: nuclear@0: #ifdef __cplusplus nuclear@0: nuclear@0: template class aiMatrix3x3t; nuclear@0: template class aiQuaterniont; nuclear@0: nuclear@0: // --------------------------------------------------------------------------- nuclear@0: /** @brief Represents a row-major 4x4 matrix, use this for homogeneous nuclear@0: * coordinates. 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 aiMatrix4x4t nuclear@0: { nuclear@0: public: nuclear@0: nuclear@0: /** set to identity */ nuclear@0: aiMatrix4x4t() AI_NO_EXCEPT; nuclear@0: nuclear@0: /** construction from single values */ nuclear@0: aiMatrix4x4t ( TReal _a1, TReal _a2, TReal _a3, TReal _a4, nuclear@0: TReal _b1, TReal _b2, TReal _b3, TReal _b4, nuclear@0: TReal _c1, TReal _c2, TReal _c3, TReal _c4, nuclear@0: TReal _d1, TReal _d2, TReal _d3, TReal _d4); nuclear@0: nuclear@0: nuclear@0: /** construction from 3x3 matrix, remaining elements are set to identity */ nuclear@0: explicit aiMatrix4x4t( const aiMatrix3x3t& m); nuclear@0: nuclear@0: /** construction from position, rotation and scaling components nuclear@0: * @param scaling The scaling for the x,y,z axes nuclear@0: * @param rotation The rotation as a hamilton quaternion nuclear@0: * @param position The position for the x,y,z axes nuclear@0: */ nuclear@0: aiMatrix4x4t(const aiVector3t& scaling, const aiQuaterniont& rotation, nuclear@0: const aiVector3t& position); nuclear@0: nuclear@0: public: nuclear@0: nuclear@0: // array access operators nuclear@0: /** @fn TReal* operator[] (unsigned int p_iIndex) nuclear@0: * @param [in] p_iIndex - index of the row. nuclear@0: * @return pointer to pointed row. nuclear@0: */ nuclear@0: TReal* operator[] (unsigned int p_iIndex); nuclear@0: nuclear@0: /** @fn const TReal* operator[] (unsigned int p_iIndex) const nuclear@0: * @overload TReal* operator[] (unsigned int p_iIndex) nuclear@0: */ 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: // matrix multiplication. nuclear@0: aiMatrix4x4t& operator *= (const aiMatrix4x4t& m); nuclear@0: aiMatrix4x4t operator * (const aiMatrix4x4t& m) const; nuclear@0: aiMatrix4x4t operator * (const TReal& aFloat) const; nuclear@0: aiMatrix4x4t operator + (const aiMatrix4x4t& aMatrix) const; nuclear@0: nuclear@0: template nuclear@0: operator aiMatrix4x4t () const; nuclear@0: nuclear@0: public: nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Transpose the matrix */ nuclear@0: aiMatrix4x4t& 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: aiMatrix4x4t& Inverse(); nuclear@0: TReal Determinant() const; nuclear@0: nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns true of the matrix is the identity matrix. nuclear@0: * The check is performed against a not so small epsilon. nuclear@0: */ nuclear@0: inline bool IsIdentity() const; nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Decompose a trafo matrix into its original components nuclear@0: * @param scaling Receives the output scaling for the x,y,z axes nuclear@0: * @param rotation Receives the output rotation as a hamilton nuclear@0: * quaternion nuclear@0: * @param position Receives the output position for the x,y,z axes nuclear@0: */ nuclear@0: void Decompose (aiVector3t& scaling, aiQuaterniont& rotation, nuclear@0: aiVector3t& position) const; nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @fn void Decompose(aiVector3t& pScaling, aiVector3t& pRotation, aiVector3t& pPosition) const nuclear@0: * @brief Decompose a trafo matrix into its original components. nuclear@0: * Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat nuclear@0: * @param [out] pScaling - Receives the output scaling for the x,y,z axes. nuclear@0: * @param [out] pRotation - Receives the output rotation as a Euler angles. nuclear@0: * @param [out] pPosition - Receives the output position for the x,y,z axes. nuclear@0: */ nuclear@0: void Decompose(aiVector3t& pScaling, aiVector3t& pRotation, aiVector3t& pPosition) const; nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @fn void Decompose(aiVector3t& pScaling, aiVector3t& pRotationAxis, TReal& pRotationAngle, aiVector3t& pPosition) const nuclear@0: * @brief Decompose a trafo matrix into its original components nuclear@0: * Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat nuclear@0: * @param [out] pScaling - Receives the output scaling for the x,y,z axes. nuclear@0: * @param [out] pRotationAxis - Receives the output rotation axis. nuclear@0: * @param [out] pRotationAngle - Receives the output rotation angle for @ref pRotationAxis. nuclear@0: * @param [out] pPosition - Receives the output position for the x,y,z axes. nuclear@0: */ nuclear@0: void Decompose(aiVector3t& pScaling, aiVector3t& pRotationAxis, TReal& pRotationAngle, aiVector3t& pPosition) const; nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Decompose a trafo matrix with no scaling into its nuclear@0: * original components nuclear@0: * @param rotation Receives the output rotation as a hamilton nuclear@0: * quaternion nuclear@0: * @param position Receives the output position for the x,y,z axes nuclear@0: */ nuclear@0: void DecomposeNoScaling (aiQuaterniont& rotation, nuclear@0: aiVector3t& position) const; nuclear@0: nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Creates a trafo matrix from a set of euler angles nuclear@0: * @param x Rotation angle for the x-axis, in radians nuclear@0: * @param y Rotation angle for the y-axis, in radians nuclear@0: * @param z Rotation angle for the z-axis, in radians nuclear@0: */ nuclear@0: aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z); nuclear@0: aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t& blubb); nuclear@0: nuclear@0: public: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a rotation matrix for a rotation around the x axis 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 aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a rotation matrix for a rotation around the y axis 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 aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a rotation matrix for a rotation around the z axis 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 aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** Returns a rotation matrix for a rotation around an arbitrary axis. nuclear@0: * @param a Rotation angle, in radians nuclear@0: * @param axis Rotation axis, should be a normalized vector. nuclear@0: * @param out Receives the output matrix nuclear@0: * @return Reference to the output matrix nuclear@0: */ nuclear@0: static aiMatrix4x4t& Rotation(TReal a, const aiVector3t& axis, nuclear@0: aiMatrix4x4t& 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 aiMatrix4x4t& Translation( const aiVector3t& v, nuclear@0: aiMatrix4x4t& out); nuclear@0: nuclear@0: // ------------------------------------------------------------------- nuclear@0: /** @brief Returns a scaling matrix nuclear@0: * @param v Scaling vector nuclear@0: * @param out Receives the output matrix nuclear@0: * @return Reference to the output matrix nuclear@0: */ nuclear@0: static aiMatrix4x4t& Scaling( const aiVector3t& v, aiMatrix4x4t& 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 Mueller, 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 aiMatrix4x4t& FromToMatrix(const aiVector3t& from, nuclear@0: const aiVector3t& to, aiMatrix4x4t& out); nuclear@0: nuclear@0: public: nuclear@0: TReal a1, a2, a3, a4; nuclear@0: TReal b1, b2, b3, b4; nuclear@0: TReal c1, c2, c3, c4; nuclear@0: TReal d1, d2, d3, d4; nuclear@0: }; nuclear@0: nuclear@0: typedef aiMatrix4x4t aiMatrix4x4; nuclear@0: nuclear@0: #else nuclear@0: nuclear@0: struct aiMatrix4x4 { nuclear@0: ai_real a1, a2, a3, a4; nuclear@0: ai_real b1, b2, b3, b4; nuclear@0: ai_real c1, c2, c3, c4; nuclear@0: ai_real d1, d2, d3, d4; nuclear@0: }; nuclear@0: nuclear@0: nuclear@0: #endif // __cplusplus nuclear@0: nuclear@0: #endif // AI_MATRIX4X4_H_INC