1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/libs/assimp/assimp/matrix4x4.h	Sat Feb 01 19:58:19 2014 +0200
     1.3 @@ -0,0 +1,238 @@
     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 +/** @file matrix4x4.h
    1.45 + *  @brief 4x4 matrix structure, including operators when compiling in C++
    1.46 + */
    1.47 +#ifndef AI_MATRIX4X4_H_INC
    1.48 +#define AI_MATRIX4X4_H_INC
    1.49 +
    1.50 +#include "./Compiler/pushpack1.h"
    1.51 +
    1.52 +#ifdef __cplusplus
    1.53 +
    1.54 +template<typename TReal> class aiMatrix3x3t;
    1.55 +template<typename TReal> class aiQuaterniont;
    1.56 +
    1.57 +// ---------------------------------------------------------------------------
    1.58 +/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
    1.59 + *   coordinates.
    1.60 + *
    1.61 + *  There's much confusion about matrix layouts (column vs. row order). 
    1.62 + *  This is *always* a row-major matrix. Not even with the
    1.63 + *  #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
    1.64 + *  matrix order - it just affects the handedness of the coordinate system
    1.65 + *  defined thereby.
    1.66 + */
    1.67 +template<typename TReal>
    1.68 +class aiMatrix4x4t
    1.69 +{
    1.70 +public:
    1.71 +	
    1.72 +	/** set to identity */
    1.73 +	aiMatrix4x4t ();
    1.74 +
    1.75 +	/** construction from single values */
    1.76 +	aiMatrix4x4t (	TReal _a1, TReal _a2, TReal _a3, TReal _a4,
    1.77 +					TReal _b1, TReal _b2, TReal _b3, TReal _b4,
    1.78 +					TReal _c1, TReal _c2, TReal _c3, TReal _c4,
    1.79 +					TReal _d1, TReal _d2, TReal _d3, TReal _d4);
    1.80 +
    1.81 +
    1.82 +	/** construction from 3x3 matrix, remaining elements are set to identity */
    1.83 +	explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
    1.84 +
    1.85 +public:
    1.86 +
    1.87 +	// array access operators
    1.88 +	TReal* operator[]       (unsigned int p_iIndex);
    1.89 +	const TReal* operator[] (unsigned int p_iIndex) const;
    1.90 +
    1.91 +	// comparison operators
    1.92 +	bool operator== (const aiMatrix4x4t m) const;
    1.93 +	bool operator!= (const aiMatrix4x4t m) const;
    1.94 +
    1.95 +	// matrix multiplication. 
    1.96 +	aiMatrix4x4t& operator *= (const aiMatrix4x4t& m);
    1.97 +	aiMatrix4x4t  operator *  (const aiMatrix4x4t& m) const;
    1.98 +
    1.99 +	template <typename TOther>
   1.100 +	operator aiMatrix4x4t<TOther> () const;
   1.101 +
   1.102 +public:
   1.103 +
   1.104 +	// -------------------------------------------------------------------
   1.105 +	/** @brief Transpose the matrix */
   1.106 +	aiMatrix4x4t& Transpose();
   1.107 +
   1.108 +	// -------------------------------------------------------------------
   1.109 +	/** @brief Invert the matrix.
   1.110 +	 *  If the matrix is not invertible all elements are set to qnan.
   1.111 +	 *  Beware, use (f != f) to check whether a TReal f is qnan.
   1.112 +	 */
   1.113 +	aiMatrix4x4t& Inverse();
   1.114 +	TReal Determinant() const;
   1.115 +
   1.116 +
   1.117 +	// -------------------------------------------------------------------
   1.118 +	/** @brief Returns true of the matrix is the identity matrix.
   1.119 +	 *  The check is performed against a not so small epsilon.
   1.120 +	 */
   1.121 +	inline bool IsIdentity() const;
   1.122 +
   1.123 +	// -------------------------------------------------------------------
   1.124 +	/** @brief Decompose a trafo matrix into its original components
   1.125 +	 *  @param scaling Receives the output scaling for the x,y,z axes
   1.126 +	 *  @param rotation Receives the output rotation as a hamilton
   1.127 +	 *   quaternion 
   1.128 +	 *  @param position Receives the output position for the x,y,z axes
   1.129 +	 */
   1.130 +	void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
   1.131 +		aiVector3t<TReal>& position) const;
   1.132 +
   1.133 +	// -------------------------------------------------------------------
   1.134 +	/** @brief Decompose a trafo matrix with no scaling into its 
   1.135 +	 *    original components
   1.136 +	 *  @param rotation Receives the output rotation as a hamilton
   1.137 +	 *    quaternion 
   1.138 +	 *  @param position Receives the output position for the x,y,z axes
   1.139 +	 */
   1.140 +	void DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
   1.141 +		aiVector3t<TReal>& position) const;
   1.142 +
   1.143 +
   1.144 +	// -------------------------------------------------------------------
   1.145 +	/** @brief Creates a trafo matrix from a set of euler angles
   1.146 +	 *  @param x Rotation angle for the x-axis, in radians
   1.147 +	 *  @param y Rotation angle for the y-axis, in radians
   1.148 +	 *  @param z Rotation angle for the z-axis, in radians
   1.149 +	 */
   1.150 +	aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z);
   1.151 +	aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb);
   1.152 +
   1.153 +public:
   1.154 +	// -------------------------------------------------------------------
   1.155 +	/** @brief Returns a rotation matrix for a rotation around the x axis
   1.156 +	 *  @param a Rotation angle, in radians
   1.157 +	 *  @param out Receives the output matrix
   1.158 +	 *  @return Reference to the output matrix
   1.159 +	 */
   1.160 +	static aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& out);
   1.161 +
   1.162 +	// -------------------------------------------------------------------
   1.163 +	/** @brief Returns a rotation matrix for a rotation around the y axis
   1.164 +	 *  @param a Rotation angle, in radians
   1.165 +	 *  @param out Receives the output matrix
   1.166 +	 *  @return Reference to the output matrix
   1.167 +	 */
   1.168 +	static aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& out);
   1.169 +
   1.170 +	// -------------------------------------------------------------------
   1.171 +	/** @brief Returns a rotation matrix for a rotation around the z axis
   1.172 +	 *  @param a Rotation angle, in radians
   1.173 +	 *  @param out Receives the output matrix
   1.174 +	 *  @return Reference to the output matrix
   1.175 +	 */
   1.176 +	static aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& out);
   1.177 +
   1.178 +	// -------------------------------------------------------------------
   1.179 +	/** Returns a rotation matrix for a rotation around an arbitrary axis.
   1.180 +	 *  @param a Rotation angle, in radians
   1.181 +	 *  @param axis Rotation axis, should be a normalized vector.
   1.182 +	 *  @param out Receives the output matrix
   1.183 +	 *  @return Reference to the output matrix
   1.184 +	 */
   1.185 +	static aiMatrix4x4t& Rotation(TReal a, const aiVector3t<TReal>& axis, 
   1.186 +		aiMatrix4x4t& out);
   1.187 +
   1.188 +	// -------------------------------------------------------------------
   1.189 +	/** @brief Returns a translation matrix 
   1.190 +	 *  @param v Translation vector
   1.191 +	 *  @param out Receives the output matrix
   1.192 +	 *  @return Reference to the output matrix
   1.193 +	 */
   1.194 +	static aiMatrix4x4t& Translation( const aiVector3t<TReal>& v, aiMatrix4x4t& out);
   1.195 +
   1.196 +	// -------------------------------------------------------------------
   1.197 +	/** @brief Returns a scaling matrix 
   1.198 +	 *  @param v Scaling vector
   1.199 +	 *  @param out Receives the output matrix
   1.200 +	 *  @return Reference to the output matrix
   1.201 +	 */
   1.202 +	static aiMatrix4x4t& Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t& out);
   1.203 +
   1.204 +	// -------------------------------------------------------------------
   1.205 +	/** @brief A function for creating a rotation matrix that rotates a
   1.206 +	 *  vector called "from" into another vector called "to".
   1.207 +	 * Input : from[3], to[3] which both must be *normalized* non-zero vectors
   1.208 +	 * Output: mtx[3][3] -- a 3x3 matrix in colum-major form
   1.209 +	 * Authors: Tomas Möller, John Hughes
   1.210 +	 *          "Efficiently Building a Matrix to Rotate One Vector to Another"
   1.211 +	 *          Journal of Graphics Tools, 4(4):1-4, 1999
   1.212 +	 */
   1.213 +	static aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from, 
   1.214 +		const aiVector3t<TReal>& to, aiMatrix4x4t& out);
   1.215 +
   1.216 +public:
   1.217 +
   1.218 +	TReal a1, a2, a3, a4;
   1.219 +	TReal b1, b2, b3, b4;
   1.220 +	TReal c1, c2, c3, c4;
   1.221 +	TReal d1, d2, d3, d4;
   1.222 +
   1.223 +} PACK_STRUCT; 
   1.224 +
   1.225 +typedef aiMatrix4x4t<float> aiMatrix4x4;
   1.226 +
   1.227 +#else
   1.228 +
   1.229 +struct aiMatrix4x4 {
   1.230 +	float a1, a2, a3, a4;
   1.231 +	float b1, b2, b3, b4;
   1.232 +	float c1, c2, c3, c4;
   1.233 +	float d1, d2, d3, d4;
   1.234 +};
   1.235 +
   1.236 +
   1.237 +#endif // __cplusplus
   1.238 +
   1.239 +#include "./Compiler/poppack1.h"
   1.240 +
   1.241 +#endif // AI_MATRIX4X4_H_INC