Simple Vector Library 1.5 http://www.cs.cmu.edu/~ajw/doc/svl.html
Mat3.h@0:785cff1e5a7c, 2016-01-04 (annotated)
- Committer:
- BartJanssens
- Date:
- Mon Jan 04 15:19:10 2016 +0000
- Revision:
- 0:785cff1e5a7c
svl-1.5
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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BartJanssens | 0:785cff1e5a7c | 1 | /* |
BartJanssens | 0:785cff1e5a7c | 2 | File: Mat3.h |
BartJanssens | 0:785cff1e5a7c | 3 | |
BartJanssens | 0:785cff1e5a7c | 4 | Function: Defines a 3 x 3 matrix. |
BartJanssens | 0:785cff1e5a7c | 5 | |
BartJanssens | 0:785cff1e5a7c | 6 | Author(s): Andrew Willmott |
BartJanssens | 0:785cff1e5a7c | 7 | |
BartJanssens | 0:785cff1e5a7c | 8 | Copyright: (c) 1995-2001, Andrew Willmott |
BartJanssens | 0:785cff1e5a7c | 9 | */ |
BartJanssens | 0:785cff1e5a7c | 10 | |
BartJanssens | 0:785cff1e5a7c | 11 | #ifndef __Mat3__ |
BartJanssens | 0:785cff1e5a7c | 12 | #define __Mat3__ |
BartJanssens | 0:785cff1e5a7c | 13 | |
BartJanssens | 0:785cff1e5a7c | 14 | #include "Vec3.h" |
BartJanssens | 0:785cff1e5a7c | 15 | |
BartJanssens | 0:785cff1e5a7c | 16 | |
BartJanssens | 0:785cff1e5a7c | 17 | // --- Mat3 Class ------------------------------------------------------------- |
BartJanssens | 0:785cff1e5a7c | 18 | |
BartJanssens | 0:785cff1e5a7c | 19 | |
BartJanssens | 0:785cff1e5a7c | 20 | class Vec4; |
BartJanssens | 0:785cff1e5a7c | 21 | |
BartJanssens | 0:785cff1e5a7c | 22 | class Mat3 |
BartJanssens | 0:785cff1e5a7c | 23 | { |
BartJanssens | 0:785cff1e5a7c | 24 | public: |
BartJanssens | 0:785cff1e5a7c | 25 | |
BartJanssens | 0:785cff1e5a7c | 26 | // Constructors |
BartJanssens | 0:785cff1e5a7c | 27 | |
BartJanssens | 0:785cff1e5a7c | 28 | Mat3(); |
BartJanssens | 0:785cff1e5a7c | 29 | Mat3(Real a, Real b, Real c, |
BartJanssens | 0:785cff1e5a7c | 30 | Real d, Real e, Real f, |
BartJanssens | 0:785cff1e5a7c | 31 | Real g, Real h, Real i); |
BartJanssens | 0:785cff1e5a7c | 32 | Mat3(const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 33 | Mat3(ZeroOrOne k); |
BartJanssens | 0:785cff1e5a7c | 34 | Mat3(Block k); |
BartJanssens | 0:785cff1e5a7c | 35 | |
BartJanssens | 0:785cff1e5a7c | 36 | // Accessor functions |
BartJanssens | 0:785cff1e5a7c | 37 | |
BartJanssens | 0:785cff1e5a7c | 38 | Int Rows() const { return(3); }; |
BartJanssens | 0:785cff1e5a7c | 39 | Int Cols() const { return(3); }; |
BartJanssens | 0:785cff1e5a7c | 40 | |
BartJanssens | 0:785cff1e5a7c | 41 | Vec3 &operator [] (Int i); |
BartJanssens | 0:785cff1e5a7c | 42 | const Vec3 &operator [] (Int i) const; |
BartJanssens | 0:785cff1e5a7c | 43 | |
BartJanssens | 0:785cff1e5a7c | 44 | Real *Ref() const; // Return pointer to data |
BartJanssens | 0:785cff1e5a7c | 45 | |
BartJanssens | 0:785cff1e5a7c | 46 | // Assignment operators |
BartJanssens | 0:785cff1e5a7c | 47 | |
BartJanssens | 0:785cff1e5a7c | 48 | Mat3 &operator = (const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 49 | Mat3 &operator = (ZeroOrOne k); |
BartJanssens | 0:785cff1e5a7c | 50 | Mat3 &operator = (Block k); |
BartJanssens | 0:785cff1e5a7c | 51 | Mat3 &operator += (const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 52 | Mat3 &operator -= (const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 53 | Mat3 &operator *= (const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 54 | Mat3 &operator *= (Real s); |
BartJanssens | 0:785cff1e5a7c | 55 | Mat3 &operator /= (Real s); |
BartJanssens | 0:785cff1e5a7c | 56 | |
BartJanssens | 0:785cff1e5a7c | 57 | // Comparison operators |
BartJanssens | 0:785cff1e5a7c | 58 | |
BartJanssens | 0:785cff1e5a7c | 59 | Bool operator == (const Mat3 &m) const; // M == N? |
BartJanssens | 0:785cff1e5a7c | 60 | Bool operator != (const Mat3 &m) const; // M != N? |
BartJanssens | 0:785cff1e5a7c | 61 | |
BartJanssens | 0:785cff1e5a7c | 62 | // Arithmetic operators |
BartJanssens | 0:785cff1e5a7c | 63 | |
BartJanssens | 0:785cff1e5a7c | 64 | Mat3 operator + (const Mat3 &m) const; // M + N |
BartJanssens | 0:785cff1e5a7c | 65 | Mat3 operator - (const Mat3 &m) const; // M - N |
BartJanssens | 0:785cff1e5a7c | 66 | Mat3 operator - () const; // -M |
BartJanssens | 0:785cff1e5a7c | 67 | Mat3 operator * (const Mat3 &m) const; // M * N |
BartJanssens | 0:785cff1e5a7c | 68 | Mat3 operator * (Real s) const; // M * s |
BartJanssens | 0:785cff1e5a7c | 69 | Mat3 operator / (Real s) const; // M / s |
BartJanssens | 0:785cff1e5a7c | 70 | |
BartJanssens | 0:785cff1e5a7c | 71 | // Initialisers |
BartJanssens | 0:785cff1e5a7c | 72 | |
BartJanssens | 0:785cff1e5a7c | 73 | Void MakeZero(); // Zero matrix |
BartJanssens | 0:785cff1e5a7c | 74 | Void MakeDiag(Real k = vl_one); // I |
BartJanssens | 0:785cff1e5a7c | 75 | Void MakeBlock(Real k = vl_one); // all elts = k |
BartJanssens | 0:785cff1e5a7c | 76 | |
BartJanssens | 0:785cff1e5a7c | 77 | // Vector Transforms |
BartJanssens | 0:785cff1e5a7c | 78 | |
BartJanssens | 0:785cff1e5a7c | 79 | Mat3& MakeRot(const Vec3 &axis, Real theta); |
BartJanssens | 0:785cff1e5a7c | 80 | Mat3& MakeRot(const Vec4 &q); // Rotate by quaternion |
BartJanssens | 0:785cff1e5a7c | 81 | Mat3& MakeScale(const Vec3 &s); |
BartJanssens | 0:785cff1e5a7c | 82 | |
BartJanssens | 0:785cff1e5a7c | 83 | // Homogeneous Transforms |
BartJanssens | 0:785cff1e5a7c | 84 | |
BartJanssens | 0:785cff1e5a7c | 85 | Mat3& MakeHRot(Real theta); // Rotate by theta rads |
BartJanssens | 0:785cff1e5a7c | 86 | Mat3& MakeHScale(const Vec2 &s); // Scale by s |
BartJanssens | 0:785cff1e5a7c | 87 | Mat3& MakeHTrans(const Vec2 &t); // Translation by t |
BartJanssens | 0:785cff1e5a7c | 88 | |
BartJanssens | 0:785cff1e5a7c | 89 | // Private... |
BartJanssens | 0:785cff1e5a7c | 90 | |
BartJanssens | 0:785cff1e5a7c | 91 | protected: |
BartJanssens | 0:785cff1e5a7c | 92 | |
BartJanssens | 0:785cff1e5a7c | 93 | Vec3 row[3]; |
BartJanssens | 0:785cff1e5a7c | 94 | }; |
BartJanssens | 0:785cff1e5a7c | 95 | |
BartJanssens | 0:785cff1e5a7c | 96 | |
BartJanssens | 0:785cff1e5a7c | 97 | // --- Matrix operators ------------------------------------------------------- |
BartJanssens | 0:785cff1e5a7c | 98 | |
BartJanssens | 0:785cff1e5a7c | 99 | inline Vec3 &operator *= (Vec3 &v, const Mat3 &m); // v *= m |
BartJanssens | 0:785cff1e5a7c | 100 | inline Vec3 operator * (const Mat3 &m, const Vec3 &v); // m * v |
BartJanssens | 0:785cff1e5a7c | 101 | inline Vec3 operator * (const Vec3 &v, const Mat3 &m); // v * m |
BartJanssens | 0:785cff1e5a7c | 102 | inline Mat3 operator * (const Real s, const Mat3 &m); // s * m |
BartJanssens | 0:785cff1e5a7c | 103 | |
BartJanssens | 0:785cff1e5a7c | 104 | Mat3 trans(const Mat3 &m); // Transpose |
BartJanssens | 0:785cff1e5a7c | 105 | Real trace(const Mat3 &m); // Trace |
BartJanssens | 0:785cff1e5a7c | 106 | Mat3 adj(const Mat3 &m); // Adjoint |
BartJanssens | 0:785cff1e5a7c | 107 | Real det(const Mat3 &m); // Determinant |
BartJanssens | 0:785cff1e5a7c | 108 | Mat3 inv(const Mat3 &m); // Inverse |
BartJanssens | 0:785cff1e5a7c | 109 | Mat3 oprod(const Vec3 &a, const Vec3 &b); // Outer product |
BartJanssens | 0:785cff1e5a7c | 110 | |
BartJanssens | 0:785cff1e5a7c | 111 | // The xform functions help avoid dependence on whether row or column |
BartJanssens | 0:785cff1e5a7c | 112 | // vectors are used to represent points and vectors. |
BartJanssens | 0:785cff1e5a7c | 113 | inline Vec3 xform(const Mat3 &m, const Vec3 &v); // Transform of v by m |
BartJanssens | 0:785cff1e5a7c | 114 | inline Vec2 xform(const Mat3 &m, const Vec2 &v); // Hom. xform of v by m |
BartJanssens | 0:785cff1e5a7c | 115 | inline Mat3 xform(const Mat3 &m, const Mat3 &n); // Xform v -> m(n(v)) |
BartJanssens | 0:785cff1e5a7c | 116 | |
BartJanssens | 0:785cff1e5a7c | 117 | //std::ostream &operator << (std::ostream &s, const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 118 | //std::istream &operator >> (std::istream &s, Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 119 | |
BartJanssens | 0:785cff1e5a7c | 120 | void printMat3(const Mat3 &m); |
BartJanssens | 0:785cff1e5a7c | 121 | |
BartJanssens | 0:785cff1e5a7c | 122 | |
BartJanssens | 0:785cff1e5a7c | 123 | // --- Inlines ---------------------------------------------------------------- |
BartJanssens | 0:785cff1e5a7c | 124 | |
BartJanssens | 0:785cff1e5a7c | 125 | inline Mat3::Mat3() |
BartJanssens | 0:785cff1e5a7c | 126 | { |
BartJanssens | 0:785cff1e5a7c | 127 | } |
BartJanssens | 0:785cff1e5a7c | 128 | |
BartJanssens | 0:785cff1e5a7c | 129 | inline Vec3 &Mat3::operator [] (Int i) |
BartJanssens | 0:785cff1e5a7c | 130 | { |
BartJanssens | 0:785cff1e5a7c | 131 | CheckRange(i, 0, 3, "(Mat3::[i]) index out of range"); |
BartJanssens | 0:785cff1e5a7c | 132 | return(row[i]); |
BartJanssens | 0:785cff1e5a7c | 133 | } |
BartJanssens | 0:785cff1e5a7c | 134 | |
BartJanssens | 0:785cff1e5a7c | 135 | inline const Vec3 &Mat3::operator [] (Int i) const |
BartJanssens | 0:785cff1e5a7c | 136 | { |
BartJanssens | 0:785cff1e5a7c | 137 | CheckRange(i, 0, 3, "(Mat3::[i]) index out of range"); |
BartJanssens | 0:785cff1e5a7c | 138 | return(row[i]); |
BartJanssens | 0:785cff1e5a7c | 139 | } |
BartJanssens | 0:785cff1e5a7c | 140 | |
BartJanssens | 0:785cff1e5a7c | 141 | inline Real *Mat3::Ref() const |
BartJanssens | 0:785cff1e5a7c | 142 | { |
BartJanssens | 0:785cff1e5a7c | 143 | return((Real *) row); |
BartJanssens | 0:785cff1e5a7c | 144 | } |
BartJanssens | 0:785cff1e5a7c | 145 | |
BartJanssens | 0:785cff1e5a7c | 146 | inline Mat3::Mat3(ZeroOrOne k) |
BartJanssens | 0:785cff1e5a7c | 147 | { |
BartJanssens | 0:785cff1e5a7c | 148 | MakeDiag(k); |
BartJanssens | 0:785cff1e5a7c | 149 | } |
BartJanssens | 0:785cff1e5a7c | 150 | |
BartJanssens | 0:785cff1e5a7c | 151 | inline Mat3::Mat3(Block k) |
BartJanssens | 0:785cff1e5a7c | 152 | { |
BartJanssens | 0:785cff1e5a7c | 153 | MakeBlock((ZeroOrOne) k); |
BartJanssens | 0:785cff1e5a7c | 154 | } |
BartJanssens | 0:785cff1e5a7c | 155 | |
BartJanssens | 0:785cff1e5a7c | 156 | inline Mat3 &Mat3::operator = (ZeroOrOne k) |
BartJanssens | 0:785cff1e5a7c | 157 | { |
BartJanssens | 0:785cff1e5a7c | 158 | MakeDiag(k); |
BartJanssens | 0:785cff1e5a7c | 159 | |
BartJanssens | 0:785cff1e5a7c | 160 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 161 | } |
BartJanssens | 0:785cff1e5a7c | 162 | |
BartJanssens | 0:785cff1e5a7c | 163 | inline Mat3 &Mat3::operator = (Block k) |
BartJanssens | 0:785cff1e5a7c | 164 | { |
BartJanssens | 0:785cff1e5a7c | 165 | MakeBlock((ZeroOrOne) k); |
BartJanssens | 0:785cff1e5a7c | 166 | |
BartJanssens | 0:785cff1e5a7c | 167 | return(SELF); |
BartJanssens | 0:785cff1e5a7c | 168 | } |
BartJanssens | 0:785cff1e5a7c | 169 | |
BartJanssens | 0:785cff1e5a7c | 170 | inline Mat3 operator * (const Real s, const Mat3 &m) |
BartJanssens | 0:785cff1e5a7c | 171 | { |
BartJanssens | 0:785cff1e5a7c | 172 | return(m * s); |
BartJanssens | 0:785cff1e5a7c | 173 | } |
BartJanssens | 0:785cff1e5a7c | 174 | |
BartJanssens | 0:785cff1e5a7c | 175 | inline Vec3 operator * (const Mat3 &m, const Vec3 &v) |
BartJanssens | 0:785cff1e5a7c | 176 | { |
BartJanssens | 0:785cff1e5a7c | 177 | Vec3 result; |
BartJanssens | 0:785cff1e5a7c | 178 | |
BartJanssens | 0:785cff1e5a7c | 179 | result[0] = v[0] * m[0][0] + v[1] * m[0][1] + v[2] * m[0][2]; |
BartJanssens | 0:785cff1e5a7c | 180 | result[1] = v[0] * m[1][0] + v[1] * m[1][1] + v[2] * m[1][2]; |
BartJanssens | 0:785cff1e5a7c | 181 | result[2] = v[0] * m[2][0] + v[1] * m[2][1] + v[2] * m[2][2]; |
BartJanssens | 0:785cff1e5a7c | 182 | |
BartJanssens | 0:785cff1e5a7c | 183 | return(result); |
BartJanssens | 0:785cff1e5a7c | 184 | } |
BartJanssens | 0:785cff1e5a7c | 185 | |
BartJanssens | 0:785cff1e5a7c | 186 | inline Vec3 operator * (const Vec3 &v, const Mat3 &m) |
BartJanssens | 0:785cff1e5a7c | 187 | { |
BartJanssens | 0:785cff1e5a7c | 188 | Vec3 result; |
BartJanssens | 0:785cff1e5a7c | 189 | |
BartJanssens | 0:785cff1e5a7c | 190 | result[0] = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; |
BartJanssens | 0:785cff1e5a7c | 191 | result[1] = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; |
BartJanssens | 0:785cff1e5a7c | 192 | result[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; |
BartJanssens | 0:785cff1e5a7c | 193 | |
BartJanssens | 0:785cff1e5a7c | 194 | return(result); |
BartJanssens | 0:785cff1e5a7c | 195 | } |
BartJanssens | 0:785cff1e5a7c | 196 | |
BartJanssens | 0:785cff1e5a7c | 197 | inline Vec3 &operator *= (Vec3 &v, const Mat3 &m) |
BartJanssens | 0:785cff1e5a7c | 198 | { |
BartJanssens | 0:785cff1e5a7c | 199 | Real t0, t1; |
BartJanssens | 0:785cff1e5a7c | 200 | |
BartJanssens | 0:785cff1e5a7c | 201 | t0 = v[0] * m[0][0] + v[1] * m[1][0] + v[2] * m[2][0]; |
BartJanssens | 0:785cff1e5a7c | 202 | t1 = v[0] * m[0][1] + v[1] * m[1][1] + v[2] * m[2][1]; |
BartJanssens | 0:785cff1e5a7c | 203 | v[2] = v[0] * m[0][2] + v[1] * m[1][2] + v[2] * m[2][2]; |
BartJanssens | 0:785cff1e5a7c | 204 | v[0] = t0; |
BartJanssens | 0:785cff1e5a7c | 205 | v[1] = t1; |
BartJanssens | 0:785cff1e5a7c | 206 | |
BartJanssens | 0:785cff1e5a7c | 207 | return(v); |
BartJanssens | 0:785cff1e5a7c | 208 | } |
BartJanssens | 0:785cff1e5a7c | 209 | |
BartJanssens | 0:785cff1e5a7c | 210 | #ifdef VL_ROW_ORIENT |
BartJanssens | 0:785cff1e5a7c | 211 | inline Vec2 xform(const Mat3 &m, const Vec2 &v) |
BartJanssens | 0:785cff1e5a7c | 212 | { return(proj(Vec3(v, 1.0) * m)); } |
BartJanssens | 0:785cff1e5a7c | 213 | inline Vec3 xform(const Mat3 &m, const Vec3 &v) |
BartJanssens | 0:785cff1e5a7c | 214 | { return(v * m); } |
BartJanssens | 0:785cff1e5a7c | 215 | inline Mat3 xform(const Mat3 &m, const Mat3 &n) |
BartJanssens | 0:785cff1e5a7c | 216 | { return(n * m); } |
BartJanssens | 0:785cff1e5a7c | 217 | #else |
BartJanssens | 0:785cff1e5a7c | 218 | inline Vec2 xform(const Mat3 &m, const Vec2 &v) |
BartJanssens | 0:785cff1e5a7c | 219 | { return(proj(m * Vec3(v, 1.0))); } |
BartJanssens | 0:785cff1e5a7c | 220 | inline Vec3 xform(const Mat3 &m, const Vec3 &v) |
BartJanssens | 0:785cff1e5a7c | 221 | { return(m * v); } |
BartJanssens | 0:785cff1e5a7c | 222 | inline Mat3 xform(const Mat3 &m, const Mat3 &n) |
BartJanssens | 0:785cff1e5a7c | 223 | { return(m * n); } |
BartJanssens | 0:785cff1e5a7c | 224 | #endif |
BartJanssens | 0:785cff1e5a7c | 225 | |
BartJanssens | 0:785cff1e5a7c | 226 | #endif |