937 lines
34 KiB
C++
937 lines
34 KiB
C++
/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2004 Robert Osfield
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*
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* This library is open source and may be redistributed and/or modified under
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* the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or
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* (at your option) any later version. The full license is in LICENSE file
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* included with this distribution, and on the openscenegraph.org website.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* OpenSceneGraph Public License for more details.
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*/
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#ifndef OSG_MATRIXF
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#define OSG_MATRIXF 1
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#include <osg/Object>
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#include <osg/Vec3d>
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#include <osg/Vec4d>
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#include <osg/Quat>
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namespace osg {
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class Matrixf;
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class OSG_EXPORT Matrixf
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{
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public:
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typedef float value_type;
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typedef double other_value_type;
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inline Matrixf() { makeIdentity(); }
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inline Matrixf( const Matrixf& mat) { set(mat.ptr()); }
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Matrixf( const Matrixd& mat );
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inline explicit Matrixf( float const * const ptr ) { set(ptr); }
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inline explicit Matrixf( double const * const ptr ) { set(ptr); }
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inline explicit Matrixf( const Quat& quat ) { makeRotate(quat); }
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Matrixf( value_type a00, value_type a01, value_type a02, value_type a03,
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value_type a10, value_type a11, value_type a12, value_type a13,
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value_type a20, value_type a21, value_type a22, value_type a23,
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value_type a30, value_type a31, value_type a32, value_type a33);
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~Matrixf() {}
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int compare(const Matrixf& m) const;
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bool operator < (const Matrixf& m) const { return compare(m)<0; }
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bool operator == (const Matrixf& m) const { return compare(m)==0; }
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bool operator != (const Matrixf& m) const { return compare(m)!=0; }
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inline value_type& operator()(int row, int col) { return _mat[row][col]; }
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inline value_type operator()(int row, int col) const { return _mat[row][col]; }
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inline bool valid() const { return !isNaN(); }
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inline bool isNaN() const { return osg::isNaN(_mat[0][0]) || osg::isNaN(_mat[0][1]) || osg::isNaN(_mat[0][2]) || osg::isNaN(_mat[0][3]) ||
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osg::isNaN(_mat[1][0]) || osg::isNaN(_mat[1][1]) || osg::isNaN(_mat[1][2]) || osg::isNaN(_mat[1][3]) ||
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osg::isNaN(_mat[2][0]) || osg::isNaN(_mat[2][1]) || osg::isNaN(_mat[2][2]) || osg::isNaN(_mat[2][3]) ||
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osg::isNaN(_mat[3][0]) || osg::isNaN(_mat[3][1]) || osg::isNaN(_mat[3][2]) || osg::isNaN(_mat[3][3]); }
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inline Matrixf& operator = (const Matrixf& rhs)
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{
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if( &rhs == this ) return *this;
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set(rhs.ptr());
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return *this;
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}
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Matrixf& operator = (const Matrixd& other);
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inline void set(const Matrixf& rhs) { set(rhs.ptr()); }
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void set(const Matrixd& rhs);
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inline void set(float const * const ptr)
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{
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value_type* local_ptr = (value_type*)_mat;
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for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
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}
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inline void set(double const * const ptr)
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{
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value_type* local_ptr = (value_type*)_mat;
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for(int i=0;i<16;++i) local_ptr[i]=(value_type)ptr[i];
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}
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void set(value_type a00, value_type a01, value_type a02,value_type a03,
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value_type a10, value_type a11, value_type a12,value_type a13,
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value_type a20, value_type a21, value_type a22,value_type a23,
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value_type a30, value_type a31, value_type a32,value_type a33);
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value_type * ptr() { return (value_type*)_mat; }
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const value_type * ptr() const { return (const value_type *)_mat; }
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bool isIdentity() const
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{
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return _mat[0][0]==1.0f && _mat[0][1]==0.0f && _mat[0][2]==0.0f && _mat[0][3]==0.0f &&
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_mat[1][0]==0.0f && _mat[1][1]==1.0f && _mat[1][2]==0.0f && _mat[1][3]==0.0f &&
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_mat[2][0]==0.0f && _mat[2][1]==0.0f && _mat[2][2]==1.0f && _mat[2][3]==0.0f &&
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_mat[3][0]==0.0f && _mat[3][1]==0.0f && _mat[3][2]==0.0f && _mat[3][3]==1.0f;
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}
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void makeIdentity();
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void makeScale( const Vec3f& );
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void makeScale( const Vec3d& );
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void makeScale( value_type, value_type, value_type );
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void makeTranslate( const Vec3f& );
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void makeTranslate( const Vec3d& );
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void makeTranslate( value_type, value_type, value_type );
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void makeRotate( const Vec3f& from, const Vec3f& to );
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void makeRotate( const Vec3d& from, const Vec3d& to );
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void makeRotate( value_type angle, const Vec3f& axis );
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void makeRotate( value_type angle, const Vec3d& axis );
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void makeRotate( value_type angle, value_type x, value_type y, value_type z );
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void makeRotate( const Quat& );
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void makeRotate( value_type angle1, const Vec3f& axis1,
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value_type angle2, const Vec3f& axis2,
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value_type angle3, const Vec3f& axis3);
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void makeRotate( value_type angle1, const Vec3d& axis1,
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value_type angle2, const Vec3d& axis2,
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value_type angle3, const Vec3d& axis3);
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/** decompose the matrix into translation, rotation, scale and scale orientation.*/
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void decompose( osg::Vec3f& translation,
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osg::Quat& rotation,
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osg::Vec3f& scale,
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osg::Quat& so ) const;
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/** decompose the matrix into translation, rotation, scale and scale orientation.*/
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void decompose( osg::Vec3d& translation,
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osg::Quat& rotation,
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osg::Vec3d& scale,
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osg::Quat& so ) const;
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/** Set to an orthographic projection.
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* See glOrtho for further details.
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*/
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void makeOrtho(double left, double right,
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double bottom, double top,
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double zNear, double zFar);
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/** Get the orthographic settings of the orthographic projection matrix.
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* Note, if matrix is not an orthographic matrix then invalid values
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* will be returned.
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*/
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bool getOrtho(double& left, double& right,
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double& bottom, double& top,
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double& zNear, double& zFar) const;
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/** float version of getOrtho(..) */
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bool getOrtho(float& left, float& right,
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float& bottom, float& top,
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float& zNear, float& zFar) const;
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/** Set to a 2D orthographic projection.
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* See glOrtho2D for further details.
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*/
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inline void makeOrtho2D(double left, double right,
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double bottom, double top)
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{
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makeOrtho(left,right,bottom,top,-1.0,1.0);
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}
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/** Set to a perspective projection.
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* See glFrustum for further details.
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*/
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void makeFrustum(double left, double right,
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double bottom, double top,
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double zNear, double zFar);
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/** Get the frustum settings of a perspective projection matrix.
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* Note, if matrix is not a perspective matrix then invalid values
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* will be returned.
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*/
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bool getFrustum(double& left, double& right,
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double& bottom, double& top,
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double& zNear, double& zFar) const;
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/** float version of getFrustum(..) */
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bool getFrustum(float& left, float& right,
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float& bottom, float& top,
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float& zNear, float& zFar) const;
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/** Set to a symmetrical perspective projection.
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* See gluPerspective for further details.
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* Aspect ratio is defined as width/height.
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*/
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void makePerspective(double fovy, double aspectRatio,
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double zNear, double zFar);
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/** Get the frustum settings of a symmetric perspective projection
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* matrix.
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* Return false if matrix is not a perspective matrix,
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* where parameter values are undefined.
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* Note, if matrix is not a symmetric perspective matrix then the
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* shear will be lost.
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* Asymmetric matrices occur when stereo, power walls, caves and
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* reality center display are used.
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* In these configuration one should use the AsFrustum method instead.
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*/
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bool getPerspective(double& fovy, double& aspectRatio,
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double& zNear, double& zFar) const;
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/** float version of getPerspective(..) */
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bool getPerspective(float& fovy, float& aspectRatio,
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float& zNear, float& zFar) const;
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/** Set the position and orientation to be a view matrix,
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* using the same convention as gluLookAt.
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*/
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void makeLookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up);
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/** Get to the position and orientation of a modelview matrix,
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* using the same convention as gluLookAt.
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*/
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void getLookAt(Vec3f& eye,Vec3f& center,Vec3f& up,
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value_type lookDistance=1.0f) const;
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/** Get to the position and orientation of a modelview matrix,
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* using the same convention as gluLookAt.
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*/
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void getLookAt(Vec3d& eye,Vec3d& center,Vec3d& up,
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value_type lookDistance=1.0f) const;
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/** invert the matrix rhs, automatically select invert_4x3 or invert_4x4. */
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inline bool invert( const Matrixf& rhs)
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{
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bool is_4x3 = (rhs._mat[0][3]==0.0f && rhs._mat[1][3]==0.0f && rhs._mat[2][3]==0.0f && rhs._mat[3][3]==1.0f);
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return is_4x3 ? invert_4x3(rhs) : invert_4x4(rhs);
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}
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/** 4x3 matrix invert, not right hand column is assumed to be 0,0,0,1. */
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bool invert_4x3( const Matrixf& rhs);
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/** full 4x4 matrix invert. */
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bool invert_4x4( const Matrixf& rhs);
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/** transpose matrix **/
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bool transpose(const Matrixf&rhs);
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/** transpose orthogonal part of the matrix **/
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bool transpose3x3(const Matrixf&rhs);
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/** ortho-normalize the 3x3 rotation & scale matrix */
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void orthoNormalize(const Matrixf& rhs);
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//basic utility functions to create new matrices
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inline static Matrixf identity( void );
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inline static Matrixf scale( const Vec3f& sv);
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inline static Matrixf scale( const Vec3d& sv);
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inline static Matrixf scale( value_type sx, value_type sy, value_type sz);
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inline static Matrixf translate( const Vec3f& dv);
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inline static Matrixf translate( const Vec3d& dv);
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inline static Matrixf translate( value_type x, value_type y, value_type z);
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inline static Matrixf rotate( const Vec3f& from, const Vec3f& to);
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inline static Matrixf rotate( const Vec3d& from, const Vec3d& to);
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inline static Matrixf rotate( value_type angle, value_type x, value_type y, value_type z);
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inline static Matrixf rotate( value_type angle, const Vec3f& axis);
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inline static Matrixf rotate( value_type angle, const Vec3d& axis);
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inline static Matrixf rotate( value_type angle1, const Vec3f& axis1,
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value_type angle2, const Vec3f& axis2,
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value_type angle3, const Vec3f& axis3);
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inline static Matrixf rotate( value_type angle1, const Vec3d& axis1,
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value_type angle2, const Vec3d& axis2,
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value_type angle3, const Vec3d& axis3);
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inline static Matrixf rotate( const Quat& quat);
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inline static Matrixf inverse( const Matrixf& matrix);
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inline static Matrixf orthoNormal(const Matrixf& matrix);
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/** Create an orthographic projection matrix.
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* See glOrtho for further details.
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*/
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inline static Matrixf ortho(double left, double right,
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double bottom, double top,
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double zNear, double zFar);
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/** Create a 2D orthographic projection.
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* See glOrtho for further details.
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*/
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inline static Matrixf ortho2D(double left, double right,
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double bottom, double top);
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/** Create a perspective projection.
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* See glFrustum for further details.
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*/
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inline static Matrixf frustum(double left, double right,
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double bottom, double top,
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double zNear, double zFar);
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/** Create a symmetrical perspective projection.
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* See gluPerspective for further details.
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* Aspect ratio is defined as width/height.
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*/
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inline static Matrixf perspective(double fovy, double aspectRatio,
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double zNear, double zFar);
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/** Create the position and orientation as per a camera,
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* using the same convention as gluLookAt.
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*/
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inline static Matrixf lookAt(const Vec3f& eye,
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const Vec3f& center,
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const Vec3f& up);
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/** Create the position and orientation as per a camera,
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* using the same convention as gluLookAt.
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*/
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inline static Matrixf lookAt(const Vec3d& eye,
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const Vec3d& center,
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const Vec3d& up);
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inline Vec3f preMult( const Vec3f& v ) const;
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inline Vec3d preMult( const Vec3d& v ) const;
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inline Vec3f postMult( const Vec3f& v ) const;
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inline Vec3d postMult( const Vec3d& v ) const;
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inline Vec3f operator* ( const Vec3f& v ) const;
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inline Vec3d operator* ( const Vec3d& v ) const;
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inline Vec4f preMult( const Vec4f& v ) const;
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inline Vec4d preMult( const Vec4d& v ) const;
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inline Vec4f postMult( const Vec4f& v ) const;
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inline Vec4d postMult( const Vec4d& v ) const;
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inline Vec4f operator* ( const Vec4f& v ) const;
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inline Vec4d operator* ( const Vec4d& v ) const;
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#ifdef USE_DEPRECATED_API
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inline void set(const Quat& q) { makeRotate(q); }
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inline void get(Quat& q) const { q = getRotate(); }
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#endif
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void setRotate(const Quat& q);
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/** Get the matrix rotation as a Quat. Note that this function
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* assumes a non-scaled matrix and will return incorrect results
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* for scaled matrixces. Consider decompose() instead.
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*/
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Quat getRotate() const;
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void setTrans( value_type tx, value_type ty, value_type tz );
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void setTrans( const Vec3f& v );
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void setTrans( const Vec3d& v );
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inline Vec3d getTrans() const { return Vec3d(_mat[3][0],_mat[3][1],_mat[3][2]); }
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inline Vec3d getScale() const {
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Vec3d x_vec(_mat[0][0],_mat[1][0],_mat[2][0]);
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Vec3d y_vec(_mat[0][1],_mat[1][1],_mat[2][1]);
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Vec3d z_vec(_mat[0][2],_mat[1][2],_mat[2][2]);
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return Vec3d(x_vec.length(), y_vec.length(), z_vec.length());
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}
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/** apply a 3x3 transform of v*M[0..2,0..2]. */
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inline static Vec3f transform3x3(const Vec3f& v,const Matrixf& m);
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/** apply a 3x3 transform of v*M[0..2,0..2]. */
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inline static Vec3d transform3x3(const Vec3d& v,const Matrixf& m);
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/** apply a 3x3 transform of M[0..2,0..2]*v. */
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inline static Vec3f transform3x3(const Matrixf& m,const Vec3f& v);
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/** apply a 3x3 transform of M[0..2,0..2]*v. */
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inline static Vec3d transform3x3(const Matrixf& m,const Vec3d& v);
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// basic Matrixf multiplication, our workhorse methods.
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void mult( const Matrixf&, const Matrixf& );
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void preMult( const Matrixf& );
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void postMult( const Matrixf& );
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/** Optimized version of preMult(translate(v)); */
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inline void preMultTranslate( const Vec3d& v );
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inline void preMultTranslate( const Vec3f& v );
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/** Optimized version of postMult(translate(v)); */
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inline void postMultTranslate( const Vec3d& v );
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inline void postMultTranslate( const Vec3f& v );
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/** Optimized version of preMult(scale(v)); */
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inline void preMultScale( const Vec3d& v );
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inline void preMultScale( const Vec3f& v );
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/** Optimized version of postMult(scale(v)); */
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inline void postMultScale( const Vec3d& v );
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inline void postMultScale( const Vec3f& v );
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/** Optimized version of preMult(rotate(q)); */
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inline void preMultRotate( const Quat& q );
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/** Optimized version of postMult(rotate(q)); */
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inline void postMultRotate( const Quat& q );
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inline void operator *= ( const Matrixf& other )
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{ if( this == &other ) {
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Matrixf temp(other);
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postMult( temp );
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}
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else postMult( other );
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}
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inline Matrixf operator * ( const Matrixf &m ) const
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{
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osg::Matrixf r;
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r.mult(*this,m);
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return r;
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}
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/** Multiply by scalar. */
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inline Matrixf operator * (value_type rhs) const
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{
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return Matrixf(
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_mat[0][0]*rhs, _mat[0][1]*rhs, _mat[0][2]*rhs, _mat[0][3]*rhs,
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_mat[1][0]*rhs, _mat[1][1]*rhs, _mat[1][2]*rhs, _mat[1][3]*rhs,
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_mat[2][0]*rhs, _mat[2][1]*rhs, _mat[2][2]*rhs, _mat[2][3]*rhs,
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_mat[3][0]*rhs, _mat[3][1]*rhs, _mat[3][2]*rhs, _mat[3][3]*rhs);
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}
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/** Unary multiply by scalar. */
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inline Matrixf& operator *= (value_type rhs)
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{
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_mat[0][0]*=rhs;
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_mat[0][1]*=rhs;
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_mat[0][2]*=rhs;
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_mat[0][3]*=rhs;
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_mat[1][0]*=rhs;
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_mat[1][1]*=rhs;
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_mat[1][2]*=rhs;
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_mat[1][3]*=rhs;
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_mat[2][0]*=rhs;
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_mat[2][1]*=rhs;
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_mat[2][2]*=rhs;
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_mat[2][3]*=rhs;
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_mat[3][0]*=rhs;
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_mat[3][1]*=rhs;
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_mat[3][2]*=rhs;
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_mat[3][3]*=rhs;
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return *this;
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}
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/** Divide by scalar. */
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inline Matrixf operator / (value_type rhs) const
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{
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return Matrixf(
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_mat[0][0]/rhs, _mat[0][1]/rhs, _mat[0][2]/rhs, _mat[0][3]/rhs,
|
|
_mat[1][0]/rhs, _mat[1][1]/rhs, _mat[1][2]/rhs, _mat[1][3]/rhs,
|
|
_mat[2][0]/rhs, _mat[2][1]/rhs, _mat[2][2]/rhs, _mat[2][3]/rhs,
|
|
_mat[3][0]/rhs, _mat[3][1]/rhs, _mat[3][2]/rhs, _mat[3][3]/rhs);
|
|
}
|
|
|
|
/** Unary divide by scalar. */
|
|
inline Matrixf& operator /= (value_type rhs)
|
|
{
|
|
_mat[0][0]/=rhs;
|
|
_mat[0][1]/=rhs;
|
|
_mat[0][2]/=rhs;
|
|
_mat[0][3]/=rhs;
|
|
_mat[1][0]/=rhs;
|
|
_mat[1][1]/=rhs;
|
|
_mat[1][2]/=rhs;
|
|
_mat[1][3]/=rhs;
|
|
_mat[2][0]/=rhs;
|
|
_mat[2][1]/=rhs;
|
|
_mat[2][2]/=rhs;
|
|
_mat[2][3]/=rhs;
|
|
_mat[3][0]/=rhs;
|
|
_mat[3][1]/=rhs;
|
|
_mat[3][2]/=rhs;
|
|
_mat[3][3]/=rhs;
|
|
return *this;
|
|
}
|
|
|
|
/** Binary vector add. */
|
|
inline Matrixf operator + (const Matrixf& rhs) const
|
|
{
|
|
return Matrixf(
|
|
_mat[0][0] + rhs._mat[0][0],
|
|
_mat[0][1] + rhs._mat[0][1],
|
|
_mat[0][2] + rhs._mat[0][2],
|
|
_mat[0][3] + rhs._mat[0][3],
|
|
_mat[1][0] + rhs._mat[1][0],
|
|
_mat[1][1] + rhs._mat[1][1],
|
|
_mat[1][2] + rhs._mat[1][2],
|
|
_mat[1][3] + rhs._mat[1][3],
|
|
_mat[2][0] + rhs._mat[2][0],
|
|
_mat[2][1] + rhs._mat[2][1],
|
|
_mat[2][2] + rhs._mat[2][2],
|
|
_mat[2][3] + rhs._mat[2][3],
|
|
_mat[3][0] + rhs._mat[3][0],
|
|
_mat[3][1] + rhs._mat[3][1],
|
|
_mat[3][2] + rhs._mat[3][2],
|
|
_mat[3][3] + rhs._mat[3][3]);
|
|
}
|
|
|
|
/** Unary vector add. Slightly more efficient because no temporary
|
|
* intermediate object.
|
|
*/
|
|
inline Matrixf& operator += (const Matrixf& rhs)
|
|
{
|
|
_mat[0][0] += rhs._mat[0][0];
|
|
_mat[0][1] += rhs._mat[0][1];
|
|
_mat[0][2] += rhs._mat[0][2];
|
|
_mat[0][3] += rhs._mat[0][3];
|
|
_mat[1][0] += rhs._mat[1][0];
|
|
_mat[1][1] += rhs._mat[1][1];
|
|
_mat[1][2] += rhs._mat[1][2];
|
|
_mat[1][3] += rhs._mat[1][3];
|
|
_mat[2][0] += rhs._mat[2][0];
|
|
_mat[2][1] += rhs._mat[2][1];
|
|
_mat[2][2] += rhs._mat[2][2];
|
|
_mat[2][3] += rhs._mat[2][3];
|
|
_mat[3][0] += rhs._mat[3][0];
|
|
_mat[3][1] += rhs._mat[3][1];
|
|
_mat[3][2] += rhs._mat[3][2];
|
|
_mat[3][3] += rhs._mat[3][3];
|
|
return *this;
|
|
}
|
|
|
|
protected:
|
|
value_type _mat[4][4];
|
|
|
|
};
|
|
|
|
class RefMatrixf : public Object, public Matrixf
|
|
{
|
|
public:
|
|
|
|
RefMatrixf():Object(false), Matrixf() {}
|
|
RefMatrixf( const Matrixf& other) : Object(false), Matrixf(other) {}
|
|
RefMatrixf( const Matrixd& other) : Object(false), Matrixf(other) {}
|
|
RefMatrixf( const RefMatrixf& other) : Object(other), Matrixf(other) {}
|
|
explicit RefMatrixf( Matrixf::value_type const * const def ):Object(false), Matrixf(def) {}
|
|
RefMatrixf( Matrixf::value_type a00, Matrixf::value_type a01, Matrixf::value_type a02, Matrixf::value_type a03,
|
|
Matrixf::value_type a10, Matrixf::value_type a11, Matrixf::value_type a12, Matrixf::value_type a13,
|
|
Matrixf::value_type a20, Matrixf::value_type a21, Matrixf::value_type a22, Matrixf::value_type a23,
|
|
Matrixf::value_type a30, Matrixf::value_type a31, Matrixf::value_type a32, Matrixf::value_type a33):
|
|
Object(false),
|
|
Matrixf(a00, a01, a02, a03,
|
|
a10, a11, a12, a13,
|
|
a20, a21, a22, a23,
|
|
a30, a31, a32, a33) {}
|
|
|
|
virtual Object* cloneType() const { return new RefMatrixf(); }
|
|
virtual Object* clone(const CopyOp&) const { return new RefMatrixf(*this); }
|
|
virtual bool isSameKindAs(const Object* obj) const { return dynamic_cast<const RefMatrixf*>(obj)!=NULL; }
|
|
virtual const char* libraryName() const { return "osg"; }
|
|
virtual const char* className() const { return "Matrix"; }
|
|
|
|
|
|
protected:
|
|
|
|
virtual ~RefMatrixf() {}
|
|
};
|
|
|
|
|
|
//static utility methods
|
|
inline Matrixf Matrixf::identity(void)
|
|
{
|
|
Matrixf m;
|
|
m.makeIdentity();
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::scale(value_type sx, value_type sy, value_type sz)
|
|
{
|
|
Matrixf m;
|
|
m.makeScale(sx,sy,sz);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::scale(const Vec3f& v )
|
|
{
|
|
return scale(v.x(), v.y(), v.z() );
|
|
}
|
|
|
|
inline Matrixf Matrixf::scale(const Vec3d& v )
|
|
{
|
|
return scale(v.x(), v.y(), v.z() );
|
|
}
|
|
|
|
inline Matrixf Matrixf::translate(value_type tx, value_type ty, value_type tz)
|
|
{
|
|
Matrixf m;
|
|
m.makeTranslate(tx,ty,tz);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::translate(const Vec3f& v )
|
|
{
|
|
return translate(v.x(), v.y(), v.z() );
|
|
}
|
|
|
|
inline Matrixf Matrixf::translate(const Vec3d& v )
|
|
{
|
|
return translate(v.x(), v.y(), v.z() );
|
|
}
|
|
|
|
inline Matrixf Matrixf::rotate( const Quat& q )
|
|
{
|
|
return Matrixf(q);
|
|
}
|
|
inline Matrixf Matrixf::rotate(value_type angle, value_type x, value_type y, value_type z )
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(angle,x,y,z);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate(value_type angle, const Vec3f& axis )
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(angle,axis);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate(value_type angle, const Vec3d& axis )
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(angle,axis);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate( value_type angle1, const Vec3f& axis1,
|
|
value_type angle2, const Vec3f& axis2,
|
|
value_type angle3, const Vec3f& axis3)
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate( value_type angle1, const Vec3d& axis1,
|
|
value_type angle2, const Vec3d& axis2,
|
|
value_type angle3, const Vec3d& axis3)
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(angle1,axis1,angle2,axis2,angle3,axis3);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate(const Vec3f& from, const Vec3f& to )
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(from,to);
|
|
return m;
|
|
}
|
|
inline Matrixf Matrixf::rotate(const Vec3d& from, const Vec3d& to )
|
|
{
|
|
Matrixf m;
|
|
m.makeRotate(from,to);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::inverse( const Matrixf& matrix)
|
|
{
|
|
Matrixf m;
|
|
m.invert(matrix);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::orthoNormal(const Matrixf& matrix)
|
|
{
|
|
Matrixf m;
|
|
m.orthoNormalize(matrix);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::ortho(double left, double right,
|
|
double bottom, double top,
|
|
double zNear, double zFar)
|
|
{
|
|
Matrixf m;
|
|
m.makeOrtho(left,right,bottom,top,zNear,zFar);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::ortho2D(double left, double right,
|
|
double bottom, double top)
|
|
{
|
|
Matrixf m;
|
|
m.makeOrtho2D(left,right,bottom,top);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::frustum(double left, double right,
|
|
double bottom, double top,
|
|
double zNear, double zFar)
|
|
{
|
|
Matrixf m;
|
|
m.makeFrustum(left,right,bottom,top,zNear,zFar);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::perspective(double fovy,double aspectRatio,
|
|
double zNear, double zFar)
|
|
{
|
|
Matrixf m;
|
|
m.makePerspective(fovy,aspectRatio,zNear,zFar);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::lookAt(const Vec3f& eye,const Vec3f& center,const Vec3f& up)
|
|
{
|
|
Matrixf m;
|
|
m.makeLookAt(eye,center,up);
|
|
return m;
|
|
}
|
|
|
|
inline Matrixf Matrixf::lookAt(const Vec3d& eye,const Vec3d& center,const Vec3d& up)
|
|
{
|
|
Matrixf m;
|
|
m.makeLookAt(eye,center,up);
|
|
return m;
|
|
}
|
|
|
|
inline Vec3f Matrixf::postMult( const Vec3f& v ) const
|
|
{
|
|
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
|
|
return Vec3f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
|
|
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
|
|
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
|
|
}
|
|
inline Vec3d Matrixf::postMult( const Vec3d& v ) const
|
|
{
|
|
value_type d = 1.0f/(_mat[3][0]*v.x()+_mat[3][1]*v.y()+_mat[3][2]*v.z()+_mat[3][3]) ;
|
|
return Vec3d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3])*d,
|
|
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3])*d,
|
|
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3])*d) ;
|
|
}
|
|
|
|
inline Vec3f Matrixf::preMult( const Vec3f& v ) const
|
|
{
|
|
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
|
|
return Vec3f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
|
|
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
|
|
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
|
|
}
|
|
inline Vec3d Matrixf::preMult( const Vec3d& v ) const
|
|
{
|
|
value_type d = 1.0f/(_mat[0][3]*v.x()+_mat[1][3]*v.y()+_mat[2][3]*v.z()+_mat[3][3]) ;
|
|
return Vec3d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0])*d,
|
|
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1])*d,
|
|
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2])*d);
|
|
}
|
|
|
|
inline Vec4f Matrixf::postMult( const Vec4f& v ) const
|
|
{
|
|
return Vec4f( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
|
|
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
|
|
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
|
|
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
|
|
}
|
|
inline Vec4d Matrixf::postMult( const Vec4d& v ) const
|
|
{
|
|
return Vec4d( (_mat[0][0]*v.x() + _mat[0][1]*v.y() + _mat[0][2]*v.z() + _mat[0][3]*v.w()),
|
|
(_mat[1][0]*v.x() + _mat[1][1]*v.y() + _mat[1][2]*v.z() + _mat[1][3]*v.w()),
|
|
(_mat[2][0]*v.x() + _mat[2][1]*v.y() + _mat[2][2]*v.z() + _mat[2][3]*v.w()),
|
|
(_mat[3][0]*v.x() + _mat[3][1]*v.y() + _mat[3][2]*v.z() + _mat[3][3]*v.w())) ;
|
|
}
|
|
|
|
inline Vec4f Matrixf::preMult( const Vec4f& v ) const
|
|
{
|
|
return Vec4f( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
|
|
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
|
|
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
|
|
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
|
|
}
|
|
inline Vec4d Matrixf::preMult( const Vec4d& v ) const
|
|
{
|
|
return Vec4d( (_mat[0][0]*v.x() + _mat[1][0]*v.y() + _mat[2][0]*v.z() + _mat[3][0]*v.w()),
|
|
(_mat[0][1]*v.x() + _mat[1][1]*v.y() + _mat[2][1]*v.z() + _mat[3][1]*v.w()),
|
|
(_mat[0][2]*v.x() + _mat[1][2]*v.y() + _mat[2][2]*v.z() + _mat[3][2]*v.w()),
|
|
(_mat[0][3]*v.x() + _mat[1][3]*v.y() + _mat[2][3]*v.z() + _mat[3][3]*v.w()));
|
|
}
|
|
inline Vec3f Matrixf::transform3x3(const Vec3f& v,const Matrixf& m)
|
|
{
|
|
return Vec3f( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
|
|
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
|
|
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
|
|
}
|
|
inline Vec3d Matrixf::transform3x3(const Vec3d& v,const Matrixf& m)
|
|
{
|
|
return Vec3d( (m._mat[0][0]*v.x() + m._mat[1][0]*v.y() + m._mat[2][0]*v.z()),
|
|
(m._mat[0][1]*v.x() + m._mat[1][1]*v.y() + m._mat[2][1]*v.z()),
|
|
(m._mat[0][2]*v.x() + m._mat[1][2]*v.y() + m._mat[2][2]*v.z()));
|
|
}
|
|
|
|
inline Vec3f Matrixf::transform3x3(const Matrixf& m,const Vec3f& v)
|
|
{
|
|
return Vec3f( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
|
|
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
|
|
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
|
|
}
|
|
inline Vec3d Matrixf::transform3x3(const Matrixf& m,const Vec3d& v)
|
|
{
|
|
return Vec3d( (m._mat[0][0]*v.x() + m._mat[0][1]*v.y() + m._mat[0][2]*v.z()),
|
|
(m._mat[1][0]*v.x() + m._mat[1][1]*v.y() + m._mat[1][2]*v.z()),
|
|
(m._mat[2][0]*v.x() + m._mat[2][1]*v.y() + m._mat[2][2]*v.z()) ) ;
|
|
}
|
|
|
|
inline void Matrixf::preMultTranslate( const Vec3d& v )
|
|
{
|
|
for (unsigned i = 0; i < 3; ++i)
|
|
{
|
|
double tmp = v[i];
|
|
if (tmp == 0)
|
|
continue;
|
|
_mat[3][0] += tmp*_mat[i][0];
|
|
_mat[3][1] += tmp*_mat[i][1];
|
|
_mat[3][2] += tmp*_mat[i][2];
|
|
_mat[3][3] += tmp*_mat[i][3];
|
|
}
|
|
}
|
|
|
|
inline void Matrixf::preMultTranslate( const Vec3f& v )
|
|
{
|
|
for (unsigned i = 0; i < 3; ++i)
|
|
{
|
|
float tmp = v[i];
|
|
if (tmp == 0)
|
|
continue;
|
|
_mat[3][0] += tmp*_mat[i][0];
|
|
_mat[3][1] += tmp*_mat[i][1];
|
|
_mat[3][2] += tmp*_mat[i][2];
|
|
_mat[3][3] += tmp*_mat[i][3];
|
|
}
|
|
}
|
|
|
|
inline void Matrixf::postMultTranslate( const Vec3d& v )
|
|
{
|
|
for (unsigned i = 0; i < 3; ++i)
|
|
{
|
|
double tmp = v[i];
|
|
if (tmp == 0)
|
|
continue;
|
|
_mat[0][i] += tmp*_mat[0][3];
|
|
_mat[1][i] += tmp*_mat[1][3];
|
|
_mat[2][i] += tmp*_mat[2][3];
|
|
_mat[3][i] += tmp*_mat[3][3];
|
|
}
|
|
}
|
|
|
|
inline void Matrixf::postMultTranslate( const Vec3f& v )
|
|
{
|
|
for (unsigned i = 0; i < 3; ++i)
|
|
{
|
|
float tmp = v[i];
|
|
if (tmp == 0)
|
|
continue;
|
|
_mat[0][i] += tmp*_mat[0][3];
|
|
_mat[1][i] += tmp*_mat[1][3];
|
|
_mat[2][i] += tmp*_mat[2][3];
|
|
_mat[3][i] += tmp*_mat[3][3];
|
|
}
|
|
}
|
|
|
|
inline void Matrixf::preMultScale( const Vec3d& v )
|
|
{
|
|
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
|
|
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
|
|
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
|
|
}
|
|
|
|
inline void Matrixf::preMultScale( const Vec3f& v )
|
|
{
|
|
_mat[0][0] *= v[0]; _mat[0][1] *= v[0]; _mat[0][2] *= v[0]; _mat[0][3] *= v[0];
|
|
_mat[1][0] *= v[1]; _mat[1][1] *= v[1]; _mat[1][2] *= v[1]; _mat[1][3] *= v[1];
|
|
_mat[2][0] *= v[2]; _mat[2][1] *= v[2]; _mat[2][2] *= v[2]; _mat[2][3] *= v[2];
|
|
}
|
|
|
|
inline void Matrixf::postMultScale( const Vec3d& v )
|
|
{
|
|
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
|
|
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
|
|
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
|
|
}
|
|
|
|
inline void Matrixf::postMultScale( const Vec3f& v )
|
|
{
|
|
_mat[0][0] *= v[0]; _mat[1][0] *= v[0]; _mat[2][0] *= v[0]; _mat[3][0] *= v[0];
|
|
_mat[0][1] *= v[1]; _mat[1][1] *= v[1]; _mat[2][1] *= v[1]; _mat[3][1] *= v[1];
|
|
_mat[0][2] *= v[2]; _mat[1][2] *= v[2]; _mat[2][2] *= v[2]; _mat[3][2] *= v[2];
|
|
}
|
|
|
|
|
|
inline void Matrixf::preMultRotate( const Quat& q )
|
|
{
|
|
if (q.zeroRotation())
|
|
return;
|
|
Matrixf r;
|
|
r.setRotate(q);
|
|
preMult(r);
|
|
}
|
|
|
|
inline void Matrixf::postMultRotate( const Quat& q )
|
|
{
|
|
if (q.zeroRotation())
|
|
return;
|
|
Matrixf r;
|
|
r.setRotate(q);
|
|
postMult(r);
|
|
}
|
|
|
|
inline Vec3f operator* (const Vec3f& v, const Matrixf& m )
|
|
{
|
|
return m.preMult(v);
|
|
}
|
|
inline Vec3d operator* (const Vec3d& v, const Matrixf& m )
|
|
{
|
|
return m.preMult(v);
|
|
}
|
|
inline Vec4f operator* (const Vec4f& v, const Matrixf& m )
|
|
{
|
|
return m.preMult(v);
|
|
}
|
|
inline Vec4d operator* (const Vec4d& v, const Matrixf& m )
|
|
{
|
|
return m.preMult(v);
|
|
}
|
|
|
|
inline Vec3f Matrixf::operator* (const Vec3f& v) const
|
|
{
|
|
return postMult(v);
|
|
}
|
|
inline Vec3d Matrixf::operator* (const Vec3d& v) const
|
|
{
|
|
return postMult(v);
|
|
}
|
|
inline Vec4f Matrixf::operator* (const Vec4f& v) const
|
|
{
|
|
return postMult(v);
|
|
}
|
|
inline Vec4d Matrixf::operator* (const Vec4d& v) const
|
|
{
|
|
return postMult(v);
|
|
}
|
|
|
|
|
|
} //namespace osg
|
|
|
|
|
|
#endif
|