1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/libs/assimp/assimp/matrix3x3.inl	Sat Feb 01 19:58:19 2014 +0200
     1.3 @@ -0,0 +1,316 @@
     1.4 +/*
     1.5 +---------------------------------------------------------------------------
     1.6 +Open Asset Import Library (assimp)
     1.7 +---------------------------------------------------------------------------
     1.8 +
     1.9 +Copyright (c) 2006-2012, assimp team
    1.10 +
    1.11 +All rights reserved.
    1.12 +
    1.13 +Redistribution and use of this software in source and binary forms, 
    1.14 +with or without modification, are permitted provided that the following 
    1.15 +conditions are met:
    1.16 +
    1.17 +* Redistributions of source code must retain the above
    1.18 +  copyright notice, this list of conditions and the
    1.19 +  following disclaimer.
    1.20 +
    1.21 +* Redistributions in binary form must reproduce the above
    1.22 +  copyright notice, this list of conditions and the
    1.23 +  following disclaimer in the documentation and/or other
    1.24 +  materials provided with the distribution.
    1.25 +
    1.26 +* Neither the name of the assimp team, nor the names of its
    1.27 +  contributors may be used to endorse or promote products
    1.28 +  derived from this software without specific prior
    1.29 +  written permission of the assimp team.
    1.30 +
    1.31 +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
    1.32 +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 
    1.33 +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
    1.34 +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 
    1.35 +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
    1.36 +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 
    1.37 +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
    1.38 +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 
    1.39 +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 
    1.40 +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 
    1.41 +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    1.42 +---------------------------------------------------------------------------
    1.43 +*/
    1.44 +
    1.45 +/** @file aiMatrix3x3.inl
    1.46 + *  @brief Inline implementation of the 3x3 matrix operators
    1.47 + */
    1.48 +#ifndef AI_MATRIX3x3_INL_INC
    1.49 +#define AI_MATRIX3x3_INL_INC
    1.50 +
    1.51 +#ifdef __cplusplus
    1.52 +#include "matrix3x3.h"
    1.53 +
    1.54 +#include "matrix4x4.h"
    1.55 +#include <algorithm>
    1.56 +#include <limits>
    1.57 +
    1.58 +// ------------------------------------------------------------------------------------------------
    1.59 +// Construction from a 4x4 matrix. The remaining parts of the matrix are ignored.
    1.60 +template <typename TReal>
    1.61 +inline aiMatrix3x3t<TReal>::aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix)
    1.62 +{
    1.63 +	a1 = pMatrix.a1; a2 = pMatrix.a2; a3 = pMatrix.a3;
    1.64 +	b1 = pMatrix.b1; b2 = pMatrix.b2; b3 = pMatrix.b3;
    1.65 +	c1 = pMatrix.c1; c2 = pMatrix.c2; c3 = pMatrix.c3;
    1.66 +}
    1.67 +
    1.68 +// ------------------------------------------------------------------------------------------------
    1.69 +template <typename TReal>
    1.70 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::operator *= (const aiMatrix3x3t<TReal>& m)
    1.71 +{
    1.72 +	*this = aiMatrix3x3t<TReal>(m.a1 * a1 + m.b1 * a2 + m.c1 * a3,
    1.73 +		m.a2 * a1 + m.b2 * a2 + m.c2 * a3,
    1.74 +		m.a3 * a1 + m.b3 * a2 + m.c3 * a3,
    1.75 +		m.a1 * b1 + m.b1 * b2 + m.c1 * b3,
    1.76 +		m.a2 * b1 + m.b2 * b2 + m.c2 * b3,
    1.77 +		m.a3 * b1 + m.b3 * b2 + m.c3 * b3,
    1.78 +		m.a1 * c1 + m.b1 * c2 + m.c1 * c3,
    1.79 +		m.a2 * c1 + m.b2 * c2 + m.c2 * c3,
    1.80 +		m.a3 * c1 + m.b3 * c2 + m.c3 * c3);
    1.81 +	return *this;
    1.82 +}
    1.83 +
    1.84 +// ------------------------------------------------------------------------------------------------
    1.85 +template <typename TReal>
    1.86 +template <typename TOther>
    1.87 +aiMatrix3x3t<TReal>::operator aiMatrix3x3t<TOther> () const
    1.88 +{
    1.89 +	return aiMatrix3x3t<TOther>(static_cast<TOther>(a1),static_cast<TOther>(a2),static_cast<TOther>(a3),
    1.90 +		static_cast<TOther>(b1),static_cast<TOther>(b2),static_cast<TOther>(b3),
    1.91 +		static_cast<TOther>(c1),static_cast<TOther>(c2),static_cast<TOther>(c3));
    1.92 +}
    1.93 +
    1.94 +// ------------------------------------------------------------------------------------------------
    1.95 +template <typename TReal>
    1.96 +inline aiMatrix3x3t<TReal> aiMatrix3x3t<TReal>::operator* (const aiMatrix3x3t<TReal>& m) const
    1.97 +{
    1.98 +	aiMatrix3x3t<TReal> temp( *this);
    1.99 +	temp *= m;
   1.100 +	return temp;
   1.101 +}
   1.102 +
   1.103 +// ------------------------------------------------------------------------------------------------
   1.104 +template <typename TReal>
   1.105 +inline TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex)
   1.106 +{
   1.107 +	return &this->a1 + p_iIndex * 3;
   1.108 +}
   1.109 +
   1.110 +// ------------------------------------------------------------------------------------------------
   1.111 +template <typename TReal>
   1.112 +inline const TReal* aiMatrix3x3t<TReal>::operator[] (unsigned int p_iIndex) const
   1.113 +{
   1.114 +	return &this->a1 + p_iIndex * 3;
   1.115 +}
   1.116 +
   1.117 +// ------------------------------------------------------------------------------------------------
   1.118 +template <typename TReal>
   1.119 +inline bool aiMatrix3x3t<TReal>::operator== (const aiMatrix4x4t<TReal> m) const
   1.120 +{
   1.121 +	return a1 == m.a1 && a2 == m.a2 && a3 == m.a3 &&
   1.122 +		   b1 == m.b1 && b2 == m.b2 && b3 == m.b3 &&
   1.123 +		   c1 == m.c1 && c2 == m.c2 && c3 == m.c3;
   1.124 +}
   1.125 +
   1.126 +// ------------------------------------------------------------------------------------------------
   1.127 +template <typename TReal>
   1.128 +inline bool aiMatrix3x3t<TReal>::operator!= (const aiMatrix4x4t<TReal> m) const
   1.129 +{
   1.130 +	return !(*this == m);
   1.131 +}
   1.132 +
   1.133 +// ------------------------------------------------------------------------------------------------
   1.134 +template <typename TReal>
   1.135 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Transpose()
   1.136 +{
   1.137 +	// (TReal&) don't remove, GCC complains cause of packed fields
   1.138 +	std::swap( (TReal&)a2, (TReal&)b1);
   1.139 +	std::swap( (TReal&)a3, (TReal&)c1);
   1.140 +	std::swap( (TReal&)b3, (TReal&)c2);
   1.141 +	return *this;
   1.142 +}
   1.143 +
   1.144 +// ----------------------------------------------------------------------------------------
   1.145 +template <typename TReal>
   1.146 +inline TReal aiMatrix3x3t<TReal>::Determinant() const
   1.147 +{
   1.148 +	return a1*b2*c3 - a1*b3*c2 + a2*b3*c1 - a2*b1*c3 + a3*b1*c2 - a3*b2*c1;
   1.149 +}
   1.150 +
   1.151 +// ----------------------------------------------------------------------------------------
   1.152 +template <typename TReal>
   1.153 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Inverse()
   1.154 +{
   1.155 +	// Compute the reciprocal determinant
   1.156 +	TReal det = Determinant();
   1.157 +	if(det == static_cast<TReal>(0.0)) 
   1.158 +	{
   1.159 +		// Matrix not invertible. Setting all elements to nan is not really
   1.160 +		// correct in a mathematical sense; but at least qnans are easy to 
   1.161 +		// spot. XXX we might throw an exception instead, which would
   1.162 +		// be even much better to spot :/.
   1.163 +		const TReal nan = std::numeric_limits<TReal>::quiet_NaN();
   1.164 +		*this = aiMatrix3x3t<TReal>( nan,nan,nan,nan,nan,nan,nan,nan,nan);
   1.165 +
   1.166 +		return *this;
   1.167 +	}
   1.168 +
   1.169 +	TReal invdet = static_cast<TReal>(1.0) / det;
   1.170 +
   1.171 +	aiMatrix3x3t<TReal> res;
   1.172 +	res.a1 = invdet  * (b2 * c3 - b3 * c2);
   1.173 +	res.a2 = -invdet * (a2 * c3 - a3 * c2);
   1.174 +	res.a3 = invdet  * (a2 * b3 - a3 * b2);
   1.175 +	res.b1 = -invdet * (b1 * c3 - b3 * c1);
   1.176 +	res.b2 = invdet  * (a1 * c3 - a3 * c1);
   1.177 +	res.b3 = -invdet * (a1 * b3 - a3 * b1);
   1.178 +	res.c1 = invdet  * (b1 * c2 - b2 * c1);
   1.179 +	res.c2 = -invdet * (a1 * c2 - a2 * c1);
   1.180 +	res.c3 = invdet  * (a1 * b2 - a2 * b1);
   1.181 +	*this = res;
   1.182 +
   1.183 +	return *this;
   1.184 +}
   1.185 +
   1.186 +// ------------------------------------------------------------------------------------------------
   1.187 +template <typename TReal>
   1.188 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::RotationZ(TReal a, aiMatrix3x3t<TReal>& out)
   1.189 +{
   1.190 +	out.a1 = out.b2 = ::cos(a);
   1.191 +	out.b1 = ::sin(a);
   1.192 +	out.a2 = - out.b1;
   1.193 +
   1.194 +	out.a3 = out.b3 = out.c1 = out.c2 = 0.f;
   1.195 +	out.c3 = 1.f;
   1.196 +
   1.197 +	return out;
   1.198 +}
   1.199 +
   1.200 +// ------------------------------------------------------------------------------------------------
   1.201 +// Returns a rotation matrix for a rotation around an arbitrary axis.
   1.202 +template <typename TReal>
   1.203 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix3x3t<TReal>& out)
   1.204 +{
   1.205 +  TReal c = cos( a), s = sin( a), t = 1 - c;
   1.206 +  TReal x = axis.x, y = axis.y, z = axis.z;
   1.207 +
   1.208 +  // Many thanks to MathWorld and Wikipedia
   1.209 +  out.a1 = t*x*x + c;   out.a2 = t*x*y - s*z; out.a3 = t*x*z + s*y;
   1.210 +  out.b1 = t*x*y + s*z; out.b2 = t*y*y + c;   out.b3 = t*y*z - s*x;
   1.211 +  out.c1 = t*x*z - s*y; out.c2 = t*y*z + s*x; out.c3 = t*z*z + c;
   1.212 +
   1.213 +  return out;
   1.214 +}
   1.215 +
   1.216 +// ------------------------------------------------------------------------------------------------
   1.217 +template <typename TReal>
   1.218 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::Translation( const aiVector2t<TReal>& v, aiMatrix3x3t<TReal>& out)
   1.219 +{
   1.220 +	out = aiMatrix3x3t<TReal>();
   1.221 +	out.a3 = v.x;
   1.222 +	out.b3 = v.y;
   1.223 +	return out;
   1.224 +}
   1.225 +
   1.226 +// ----------------------------------------------------------------------------------------
   1.227 +/** A function for creating a rotation matrix that rotates a vector called
   1.228 + * "from" into another vector called "to".
   1.229 + * Input : from[3], to[3] which both must be *normalized* non-zero vectors
   1.230 + * Output: mtx[3][3] -- a 3x3 matrix in colum-major form
   1.231 + * Authors: Tomas Möller, John Hughes
   1.232 + *          "Efficiently Building a Matrix to Rotate One Vector to Another"
   1.233 + *          Journal of Graphics Tools, 4(4):1-4, 1999
   1.234 + */
   1.235 +// ----------------------------------------------------------------------------------------
   1.236 +template <typename TReal>
   1.237 +inline aiMatrix3x3t<TReal>& aiMatrix3x3t<TReal>::FromToMatrix(const aiVector3t<TReal>& from, 
   1.238 +	const aiVector3t<TReal>& to, aiMatrix3x3t<TReal>& mtx)
   1.239 +{
   1.240 +	const TReal e = from * to;
   1.241 +	const TReal f = (e < 0)? -e:e;
   1.242 +
   1.243 +	if (f > static_cast<TReal>(1.0) - static_cast<TReal>(0.00001))     /* "from" and "to"-vector almost parallel */
   1.244 +	{
   1.245 +		aiVector3D u,v;     /* temporary storage vectors */
   1.246 +		aiVector3D x;       /* vector most nearly orthogonal to "from" */
   1.247 +
   1.248 +		x.x = (from.x > 0.0)? from.x : -from.x;
   1.249 +		x.y = (from.y > 0.0)? from.y : -from.y;
   1.250 +		x.z = (from.z > 0.0)? from.z : -from.z;
   1.251 +
   1.252 +		if (x.x < x.y)
   1.253 +		{
   1.254 +			if (x.x < x.z)
   1.255 +			{
   1.256 +				x.x = static_cast<TReal>(1.0); x.y = x.z = static_cast<TReal>(0.0);
   1.257 +			}
   1.258 +			else
   1.259 +			{
   1.260 +				x.z = static_cast<TReal>(1.0); x.y = x.z = static_cast<TReal>(0.0);
   1.261 +			}
   1.262 +		}
   1.263 +		else
   1.264 +		{
   1.265 +			if (x.y < x.z)
   1.266 +			{
   1.267 +				x.y = static_cast<TReal>(1.0); x.x = x.z = static_cast<TReal>(0.0);
   1.268 +			}
   1.269 +			else
   1.270 +			{
   1.271 +				x.z = static_cast<TReal>(1.0); x.x = x.y = static_cast<TReal>(0.0);
   1.272 +			}
   1.273 +		}
   1.274 +
   1.275 +		u.x = x.x - from.x; u.y = x.y - from.y; u.z = x.z - from.z;
   1.276 +		v.x = x.x - to.x;   v.y = x.y - to.y;   v.z = x.z - to.z;
   1.277 +
   1.278 +		const TReal c1 = static_cast<TReal>(2.0) / (u * u);
   1.279 +		const TReal c2 = static_cast<TReal>(2.0) / (v * v);
   1.280 +		const TReal c3 = c1 * c2  * (u * v);
   1.281 +
   1.282 +		for (unsigned int i = 0; i < 3; i++) 
   1.283 +		{
   1.284 +			for (unsigned int j = 0; j < 3; j++) 
   1.285 +			{
   1.286 +				mtx[i][j] =  - c1 * u[i] * u[j] - c2 * v[i] * v[j]
   1.287 +					+ c3 * v[i] * u[j];
   1.288 +			}
   1.289 +			mtx[i][i] += static_cast<TReal>(1.0);
   1.290 +		}
   1.291 +	}
   1.292 +	else  /* the most common case, unless "from"="to", or "from"=-"to" */
   1.293 +	{
   1.294 +		const aiVector3D v = from ^ to;
   1.295 +		/* ... use this hand optimized version (9 mults less) */
   1.296 +		const TReal h = static_cast<TReal>(1.0)/(static_cast<TReal>(1.0) + e);      /* optimization by Gottfried Chen */
   1.297 +		const TReal hvx = h * v.x;
   1.298 +		const TReal hvz = h * v.z;
   1.299 +		const TReal hvxy = hvx * v.y;
   1.300 +		const TReal hvxz = hvx * v.z;
   1.301 +		const TReal hvyz = hvz * v.y;
   1.302 +		mtx[0][0] = e + hvx * v.x;
   1.303 +		mtx[0][1] = hvxy - v.z;
   1.304 +		mtx[0][2] = hvxz + v.y;
   1.305 +
   1.306 +		mtx[1][0] = hvxy + v.z;
   1.307 +		mtx[1][1] = e + h * v.y * v.y;
   1.308 +		mtx[1][2] = hvyz - v.x;
   1.309 +
   1.310 +		mtx[2][0] = hvxz - v.y;
   1.311 +		mtx[2][1] = hvyz + v.x;
   1.312 +		mtx[2][2] = e + hvz * v.z;
   1.313 +	}
   1.314 +	return mtx;
   1.315 +}
   1.316 +
   1.317 +
   1.318 +#endif // __cplusplus
   1.319 +#endif // AI_MATRIX3x3_INL_INC