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inc/types/Matrix4.h@74:8cb1c4aa4527, 2018-01-26 (annotated)

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cristianobarbosa
Date:
Fri Jan 26 14:11:55 2018 +0000
Revision:
74:8cb1c4aa4527
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Jonathan Austin 1:8aa5cdb4ab67 1 /*
Jonathan Austin 1:8aa5cdb4ab67 2 The MIT License (MIT)
Jonathan Austin 1:8aa5cdb4ab67 3
Jonathan Austin 1:8aa5cdb4ab67 4 Copyright (c) 2016 British Broadcasting Corporation.
Jonathan Austin 1:8aa5cdb4ab67 5 This software is provided by Lancaster University by arrangement with the BBC.
Jonathan Austin 1:8aa5cdb4ab67 6
Jonathan Austin 1:8aa5cdb4ab67 7 Permission is hereby granted, free of charge, to any person obtaining a
Jonathan Austin 1:8aa5cdb4ab67 8 copy of this software and associated documentation files (the "Software"),
Jonathan Austin 1:8aa5cdb4ab67 9 to deal in the Software without restriction, including without limitation
Jonathan Austin 1:8aa5cdb4ab67 10 the rights to use, copy, modify, merge, publish, distribute, sublicense,
Jonathan Austin 1:8aa5cdb4ab67 11 and/or sell copies of the Software, and to permit persons to whom the
Jonathan Austin 1:8aa5cdb4ab67 12 Software is furnished to do so, subject to the following conditions:
Jonathan Austin 1:8aa5cdb4ab67 13
Jonathan Austin 1:8aa5cdb4ab67 14 The above copyright notice and this permission notice shall be included in
Jonathan Austin 1:8aa5cdb4ab67 15 all copies or substantial portions of the Software.
Jonathan Austin 1:8aa5cdb4ab67 16
Jonathan Austin 1:8aa5cdb4ab67 17 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
Jonathan Austin 1:8aa5cdb4ab67 18 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
Jonathan Austin 1:8aa5cdb4ab67 19 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
Jonathan Austin 1:8aa5cdb4ab67 20 THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 21 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
Jonathan Austin 1:8aa5cdb4ab67 22 FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
Jonathan Austin 1:8aa5cdb4ab67 23 DEALINGS IN THE SOFTWARE.
Jonathan Austin 1:8aa5cdb4ab67 24 */
Jonathan Austin 1:8aa5cdb4ab67 25
Jonathan Austin 1:8aa5cdb4ab67 26 #ifndef MICROBIT_MATRIX4_H
Jonathan Austin 1:8aa5cdb4ab67 27 #define MICROBIT_MATRIX4_H
Jonathan Austin 1:8aa5cdb4ab67 28
Jonathan Austin 1:8aa5cdb4ab67 29 #include "MicroBitConfig.h"
Jonathan Austin 1:8aa5cdb4ab67 30
Jonathan Austin 1:8aa5cdb4ab67 31 /**
Jonathan Austin 1:8aa5cdb4ab67 32 * Class definition for a simple matrix, that is optimised for nx4 or 4xn matrices.
Jonathan Austin 1:8aa5cdb4ab67 33 *
Jonathan Austin 1:8aa5cdb4ab67 34 * This class is heavily optimised for these commonly used matrices as used in 3D geometry.
Jonathan Austin 1:8aa5cdb4ab67 35 * Whilst this class does support basic operations on matrices of any dimension, it is not intended as a
Jonathan Austin 1:8aa5cdb4ab67 36 * general purpose matrix class as inversion operations are only provided for 4x4 matrices.
Jonathan Austin 1:8aa5cdb4ab67 37 * For programmers needing more flexible Matrix support, the Matrix and MatrixMath classes from
Jonathan Austin 1:8aa5cdb4ab67 38 * Ernsesto Palacios provide a good basis:
Jonathan Austin 1:8aa5cdb4ab67 39 *
Jonathan Austin 1:8aa5cdb4ab67 40 * https://developer.mbed.org/cookbook/MatrixClass
Jonathan Austin 1:8aa5cdb4ab67 41 * https://developer.mbed.org/users/Yo_Robot/code/MatrixMath/
Jonathan Austin 1:8aa5cdb4ab67 42 */
Jonathan Austin 1:8aa5cdb4ab67 43 class Matrix4
Jonathan Austin 1:8aa5cdb4ab67 44 {
Jonathan Austin 1:8aa5cdb4ab67 45 float *data; // Linear buffer representing the matrix.
Jonathan Austin 1:8aa5cdb4ab67 46 int rows; // The number of rows in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 47 int cols; // The number of columns in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 48
Jonathan Austin 1:8aa5cdb4ab67 49 public:
Jonathan Austin 1:8aa5cdb4ab67 50
Jonathan Austin 1:8aa5cdb4ab67 51 /**
Jonathan Austin 1:8aa5cdb4ab67 52 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 53 * Create a matrix of the given size.
Jonathan Austin 1:8aa5cdb4ab67 54 *
Jonathan Austin 1:8aa5cdb4ab67 55 * @param rows the number of rows in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 56 *
Jonathan Austin 1:8aa5cdb4ab67 57 * @param cols the number of columns in the matrix to be created.
Jonathan Austin 1:8aa5cdb4ab67 58 *
Jonathan Austin 1:8aa5cdb4ab67 59 * @code
Jonathan Austin 1:8aa5cdb4ab67 60 * Matrix4(10, 4); // Creates a Matrix with 10 rows and 4 columns.
Jonathan Austin 1:8aa5cdb4ab67 61 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 62 */
Jonathan Austin 1:8aa5cdb4ab67 63 Matrix4(int rows, int cols);
Jonathan Austin 1:8aa5cdb4ab67 64
Jonathan Austin 1:8aa5cdb4ab67 65 /**
Jonathan Austin 1:8aa5cdb4ab67 66 * Constructor.
Jonathan Austin 1:8aa5cdb4ab67 67 * Create a matrix that is an identical copy of the given matrix.
Jonathan Austin 1:8aa5cdb4ab67 68 *
Jonathan Austin 1:8aa5cdb4ab67 69 * @param matrix The matrix to copy.
Jonathan Austin 1:8aa5cdb4ab67 70 *
Jonathan Austin 1:8aa5cdb4ab67 71 * @code
Jonathan Austin 1:8aa5cdb4ab67 72 * Matrix newMatrix(matrix); .
Jonathan Austin 1:8aa5cdb4ab67 73 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 74 */
Jonathan Austin 1:8aa5cdb4ab67 75 Matrix4(const Matrix4 &matrix);
Jonathan Austin 1:8aa5cdb4ab67 76
Jonathan Austin 1:8aa5cdb4ab67 77 /**
Jonathan Austin 1:8aa5cdb4ab67 78 * Determines the number of columns in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 79 *
Jonathan Austin 1:8aa5cdb4ab67 80 * @return The number of columns in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 81 *
Jonathan Austin 1:8aa5cdb4ab67 82 * @code
Jonathan Austin 1:8aa5cdb4ab67 83 * int c = matrix.width();
Jonathan Austin 1:8aa5cdb4ab67 84 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 85 */
Jonathan Austin 1:8aa5cdb4ab67 86 int width();
Jonathan Austin 1:8aa5cdb4ab67 87
Jonathan Austin 1:8aa5cdb4ab67 88 /**
Jonathan Austin 1:8aa5cdb4ab67 89 * Determines the number of rows in this matrix.
Jonathan Austin 1:8aa5cdb4ab67 90 *
Jonathan Austin 1:8aa5cdb4ab67 91 * @return The number of rows in the matrix.
Jonathan Austin 1:8aa5cdb4ab67 92 *
Jonathan Austin 1:8aa5cdb4ab67 93 * @code
Jonathan Austin 1:8aa5cdb4ab67 94 * int r = matrix.height();
Jonathan Austin 1:8aa5cdb4ab67 95 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 96 */
Jonathan Austin 1:8aa5cdb4ab67 97 int height();
Jonathan Austin 1:8aa5cdb4ab67 98
Jonathan Austin 1:8aa5cdb4ab67 99 /**
Jonathan Austin 1:8aa5cdb4ab67 100 * Reads the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 101 *
Jonathan Austin 1:8aa5cdb4ab67 102 * @param row The row of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 103 *
Jonathan Austin 1:8aa5cdb4ab67 104 * @param col The column of the element to read.
Jonathan Austin 1:8aa5cdb4ab67 105 *
Jonathan Austin 1:8aa5cdb4ab67 106 * @return The value of the matrix element at the given position. 0 is returned if the given index is out of range.
Jonathan Austin 1:8aa5cdb4ab67 107 *
Jonathan Austin 1:8aa5cdb4ab67 108 * @code
Jonathan Austin 1:8aa5cdb4ab67 109 * float v = matrix.get(1,2);
Jonathan Austin 1:8aa5cdb4ab67 110 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 111 */
Jonathan Austin 1:8aa5cdb4ab67 112 float get(int row, int col);
Jonathan Austin 1:8aa5cdb4ab67 113
Jonathan Austin 1:8aa5cdb4ab67 114 /**
Jonathan Austin 1:8aa5cdb4ab67 115 * Writes the matrix element at the given position.
Jonathan Austin 1:8aa5cdb4ab67 116 *
Jonathan Austin 1:8aa5cdb4ab67 117 * @param row The row of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 118 *
Jonathan Austin 1:8aa5cdb4ab67 119 * @param col The column of the element to write.
Jonathan Austin 1:8aa5cdb4ab67 120 *
Jonathan Austin 1:8aa5cdb4ab67 121 * @param v The new value of the element.
Jonathan Austin 1:8aa5cdb4ab67 122 *
Jonathan Austin 1:8aa5cdb4ab67 123 * @code
Jonathan Austin 1:8aa5cdb4ab67 124 * matrix.set(1,2,42.0);
Jonathan Austin 1:8aa5cdb4ab67 125 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 126 */
Jonathan Austin 1:8aa5cdb4ab67 127 void set(int row, int col, float v);
Jonathan Austin 1:8aa5cdb4ab67 128
Jonathan Austin 1:8aa5cdb4ab67 129 /**
Jonathan Austin 1:8aa5cdb4ab67 130 * Transposes this matrix.
Jonathan Austin 1:8aa5cdb4ab67 131 *
Jonathan Austin 1:8aa5cdb4ab67 132 * @return the resultant matrix.
Jonathan Austin 1:8aa5cdb4ab67 133 *
Jonathan Austin 1:8aa5cdb4ab67 134 * @code
Jonathan Austin 1:8aa5cdb4ab67 135 * matrix.transpose();
Jonathan Austin 1:8aa5cdb4ab67 136 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 137 */
Jonathan Austin 1:8aa5cdb4ab67 138 Matrix4 transpose();
Jonathan Austin 1:8aa5cdb4ab67 139
Jonathan Austin 1:8aa5cdb4ab67 140 /**
Jonathan Austin 1:8aa5cdb4ab67 141 * Multiplies this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 142 *
Jonathan Austin 1:8aa5cdb4ab67 143 * @param matrix the matrix to multiply this matrix's values against.
Jonathan Austin 1:8aa5cdb4ab67 144 *
Jonathan Austin 1:8aa5cdb4ab67 145 * @param transpose Transpose the matrices before multiplication. Defaults to false.
Jonathan Austin 1:8aa5cdb4ab67 146 *
Jonathan Austin 1:8aa5cdb4ab67 147 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 148 *
Jonathan Austin 1:8aa5cdb4ab67 149 * @code
Jonathan Austin 1:8aa5cdb4ab67 150 * Matrix result = matrixA.multiply(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 151 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 152 */
Jonathan Austin 1:8aa5cdb4ab67 153 Matrix4 multiply(Matrix4 &matrix, bool transpose = false);
Jonathan Austin 1:8aa5cdb4ab67 154
Jonathan Austin 1:8aa5cdb4ab67 155 /**
Jonathan Austin 1:8aa5cdb4ab67 156 * Multiplies the transpose of this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 157 *
Jonathan Austin 1:8aa5cdb4ab67 158 * @param matrix the matrix to multiply this matrix's values against.
Jonathan Austin 1:8aa5cdb4ab67 159 *
Jonathan Austin 1:8aa5cdb4ab67 160 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 161 *
Jonathan Austin 1:8aa5cdb4ab67 162 * @code
Jonathan Austin 1:8aa5cdb4ab67 163 * Matrix result = matrixA.multiplyT(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 164 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 165 */
Jonathan Austin 1:8aa5cdb4ab67 166 Matrix4 multiplyT(Matrix4 &matrix);
Jonathan Austin 1:8aa5cdb4ab67 167
Jonathan Austin 1:8aa5cdb4ab67 168 /**
Jonathan Austin 1:8aa5cdb4ab67 169 * Performs an optimised inversion of a 4x4 matrix.
Jonathan Austin 1:8aa5cdb4ab67 170 * Only 4x4 matrices are supported by this operation.
Jonathan Austin 1:8aa5cdb4ab67 171 *
Jonathan Austin 1:8aa5cdb4ab67 172 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 173 *
Jonathan Austin 1:8aa5cdb4ab67 174 * @code
Jonathan Austin 1:8aa5cdb4ab67 175 * Matrix result = matrixA.invert();
Jonathan Austin 1:8aa5cdb4ab67 176 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 177 */
Jonathan Austin 1:8aa5cdb4ab67 178 Matrix4 invert();
Jonathan Austin 1:8aa5cdb4ab67 179
Jonathan Austin 1:8aa5cdb4ab67 180 /**
Jonathan Austin 1:8aa5cdb4ab67 181 * Destructor.
Jonathan Austin 1:8aa5cdb4ab67 182 *
Jonathan Austin 1:8aa5cdb4ab67 183 * Frees any memory consumed by this Matrix4 instance.
Jonathan Austin 1:8aa5cdb4ab67 184 */
Jonathan Austin 1:8aa5cdb4ab67 185 ~Matrix4();
Jonathan Austin 1:8aa5cdb4ab67 186 };
Jonathan Austin 1:8aa5cdb4ab67 187
Jonathan Austin 1:8aa5cdb4ab67 188 /**
Jonathan Austin 1:8aa5cdb4ab67 189 * Multiplies the transpose of this matrix with the given matrix (if possible).
Jonathan Austin 1:8aa5cdb4ab67 190 *
Jonathan Austin 1:8aa5cdb4ab67 191 * @return the resultant matrix. An empty matrix is returned if the operation canot be completed.
Jonathan Austin 1:8aa5cdb4ab67 192 *
Jonathan Austin 1:8aa5cdb4ab67 193 * @code
Jonathan Austin 1:8aa5cdb4ab67 194 * Matrix result = matrixA.multiplyT(matrixB);
Jonathan Austin 1:8aa5cdb4ab67 195 * @endcode
Jonathan Austin 1:8aa5cdb4ab67 196 */
Jonathan Austin 1:8aa5cdb4ab67 197 inline Matrix4 Matrix4::multiplyT(Matrix4 &matrix)
Jonathan Austin 1:8aa5cdb4ab67 198 {
Jonathan Austin 1:8aa5cdb4ab67 199 return multiply(matrix, true);
Jonathan Austin 1:8aa5cdb4ab67 200 }
Jonathan Austin 1:8aa5cdb4ab67 201
Jonathan Austin 1:8aa5cdb4ab67 202 #endif