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00039 #ifndef _OSGMATRIX_H_
00040 #define _OSGMATRIX_H_
00041 #ifdef __sgi
00042 #pragma once
00043 #endif
00044
00045
00046 #include <cstdlib>
00047 #include <cstdio>
00048
00049 #include <iostream>
00050 #include <iomanip>
00051
00052 #include "OSGLog.h"
00053 #include "OSGVector.h"
00054
00055 OSG_BEGIN_NAMESPACE
00056
00057 #if defined(OSG_MICROSOFT_COMPILER_HACKS) || defined(__sun)
00058 static const UInt32 JacobiRank = 3;
00059 #endif
00060
00061 template <class ValueTypeT> class QuaternionBase;
00062
00071 template<class ValueTypeT>
00072 class TransformationMatrix
00073 {
00074
00075
00076 public:
00077
00078
00082 typedef ValueTypeT ValueType;
00083 typedef VectorInterface<ValueTypeT,
00084 VecStorage4<ValueTypeT> > VectorType;
00085
00086 typedef QuaternionBase <ValueType> QuaternionType;
00087
00088 typedef VectorInterface<ValueTypeT,
00089 VecStorage3<ValueTypeT> > VectorType3f;
00090
00091 typedef PointInterface<ValueTypeT,
00092 VecStorage3<ValueTypeT> > PointType3f;
00093
00095
00099 static const TransformationMatrix &identity(void);
00100
00102
00106 TransformationMatrix(void);
00107 TransformationMatrix(const TransformationMatrix &source );
00108
00109 TransformationMatrix(const VectorType3f &vector1,
00110 const VectorType3f &vector2,
00111 const VectorType3f &vector3);
00112
00113 TransformationMatrix(const VectorType3f &vector1,
00114 const VectorType3f &vector2,
00115 const VectorType3f &vector3,
00116 const VectorType3f &vector4);
00117
00118 TransformationMatrix(const ValueTypeT rVal00,
00119 const ValueTypeT rVal10,
00120 const ValueTypeT rVal20,
00121 const ValueTypeT rVal30,
00122
00123 const ValueTypeT rVal01,
00124 const ValueTypeT rVal11,
00125 const ValueTypeT rVal21,
00126 const ValueTypeT rVal31,
00127
00128 const ValueTypeT rVal02,
00129 const ValueTypeT rVal12,
00130 const ValueTypeT rVal22,
00131 const ValueTypeT rVal32,
00132
00133 const ValueTypeT rVal03,
00134 const ValueTypeT rVal13,
00135 const ValueTypeT rVal23,
00136 const ValueTypeT rVal33);
00137
00139
00143 ~TransformationMatrix(void);
00144
00146
00150 void setIdentity (void );
00151
00152 void setValue (const TransformationMatrix &mat );
00153
00154 template<class ValueTypeR>
00155 void convertFrom (const TransformationMatrix<ValueTypeR>& mat );
00156
00157 void setValue (const VectorType3f &vector1,
00158 const VectorType3f &vector2,
00159 const VectorType3f &vector3 );
00160
00161 void setValue (const VectorType3f &vector1,
00162 const VectorType3f &vector2,
00163 const VectorType3f &vector3,
00164 const VectorType3f &vector4 );
00165
00166 void setValue (const ValueTypeT rVal00,
00167 const ValueTypeT rVal10,
00168 const ValueTypeT rVal20,
00169 const ValueTypeT rVal30,
00170
00171 const ValueTypeT rVal01,
00172 const ValueTypeT rVal11,
00173 const ValueTypeT rVal21,
00174 const ValueTypeT rVal31,
00175
00176 const ValueTypeT rVal02,
00177 const ValueTypeT rVal12,
00178 const ValueTypeT rVal22,
00179 const ValueTypeT rVal32,
00180
00181 const ValueTypeT rVal03,
00182 const ValueTypeT rVal13,
00183 const ValueTypeT rVal23,
00184 const ValueTypeT rVal33 );
00185
00186 void setValueTransposed(const ValueTypeT rVal00,
00187 const ValueTypeT rVal01,
00188 const ValueTypeT rVal02,
00189 const ValueTypeT rVal03,
00190
00191 const ValueTypeT rVal10,
00192 const ValueTypeT rVal11,
00193 const ValueTypeT rVal12,
00194 const ValueTypeT rVal13,
00195
00196 const ValueTypeT rVal20,
00197 const ValueTypeT rVal21,
00198 const ValueTypeT rVal22,
00199 const ValueTypeT rVal23,
00200
00201 const ValueTypeT rVal30,
00202 const ValueTypeT rVal31,
00203 const ValueTypeT rVal32,
00204 const ValueTypeT rVal33 );
00205
00206 void setValue (const ValueTypeT *pMat,
00207 bool bTransposed = true );
00208
00209 void setValue (const VectorType *pMat );
00210
00211 #ifndef WIN32
00212 void setValue (const VectorType3f *pMat );
00213 #endif
00214
00215 void setValue (const Char8 *string,
00216 bool bTransposed = true );
00217
00219
00223 ValueTypeT *getValues(void);
00224 const ValueTypeT *getValues(void) const;
00225
00227
00231 void setScale (const ValueTypeT s );
00232
00233 void setScale (const ValueTypeT sx,
00234 const ValueTypeT sy,
00235 const ValueTypeT sz );
00236
00237 void setScale (const VectorType3f &s );
00238
00239
00240 void setTranslate(const ValueTypeT tx,
00241 const ValueTypeT ty,
00242 const ValueTypeT tz );
00243
00244 void setTranslate(const VectorType3f &t );
00245
00246 void setTranslate(const PointType3f &t );
00247
00248
00249 void setRotate (const QuaternionType &q );
00250
00251
00252 void setTransform(const VectorType3f &t );
00253
00254 void setTransform(const QuaternionType &r );
00255
00256 void setTransform(const VectorType3f &t,
00257 const QuaternionType &r );
00258
00259 void setTransform(const VectorType3f &t,
00260 const QuaternionType &r,
00261 const VectorType3f &s );
00262
00263 void setTransform(const VectorType3f &t,
00264 const QuaternionType &r,
00265 const VectorType3f &s,
00266 const QuaternionType &so );
00267
00268 void setTransform(const VectorType3f &translation,
00269 const QuaternionType &rotation,
00270 const VectorType3f &scaleFactor,
00271 const QuaternionType &scaleOrientation,
00272 const VectorType3f ¢er );
00273
00275
00279 void getTransform( VectorType3f &translation,
00280 QuaternionType &rotation,
00281 VectorType3f &scaleFactor,
00282 QuaternionType &scaleOrientation,
00283 const VectorType3f ¢er) const;
00284
00285 void getTransform( VectorType3f &translation,
00286 QuaternionType &rotation,
00287 VectorType3f &scaleFactor,
00288 QuaternionType &scaleOrientation) const;
00289
00290 bool factor ( TransformationMatrix &r,
00291 VectorType3f &s,
00292 TransformationMatrix &u,
00293 VectorType3f &t,
00294 TransformationMatrix &proj) const;
00295
00297
00301 void multMatrixPnt (const PointType3f &src,
00302 PointType3f &dst) const;
00303 void multMatrixPnt ( PointType3f &pnt) const;
00304 void multFullMatrixPnt(const PointType3f &src,
00305 PointType3f &dst) const;
00306 void multFullMatrixPnt( PointType3f &pnt) const;
00307
00308 void multMatrixVec (const VectorType3f &src,
00309 VectorType3f &dst) const;
00310 void multMatrixVec ( VectorType3f &vec) const;
00311
00312 void mult (const PointType3f &src,
00313 PointType3f &dst) const;
00314 void mult ( PointType3f &vec) const;
00315 void mult (const VectorType3f &src,
00316 VectorType3f &dst) const;
00317 void mult ( VectorType3f &vec) const;
00318
00319
00320 void multPntMatrix (const PointType3f &src,
00321 PointType3f &dst) const;
00322 void multPntMatrix ( PointType3f &pnt) const;
00323 void multPntFullMatrix(const PointType3f &src,
00324 PointType3f &dst) const;
00325 void multPntFullMatrix( PointType3f &pnt) const;
00326
00327 void multVecMatrix (const VectorType3f &src,
00328 VectorType3f &dst) const;
00329 void multVecMatrix ( VectorType3f &vec) const;
00330
00331
00332 void multMatrixVec (const VectorType &src,
00333 VectorType &dst) const;
00334 void multMatrixVec ( VectorType &vec) const;
00335
00337
00341 bool equals (const TransformationMatrix &matrix,
00342 const ValueType tol ) const;
00343
00344 ValueTypeT det3 ( void ) const;
00345 ValueTypeT det ( void ) const;
00346
00347 bool inverse ( TransformationMatrix &result) const;
00348 bool invert ( void );
00349 bool invertFrom (const TransformationMatrix &matrix);
00350
00351 bool inverse3 ( TransformationMatrix &result) const;
00352 bool invert3 ( void );
00353 bool invertFrom3 (const TransformationMatrix &matrix);
00354
00355 bool transposed ( TransformationMatrix &result) const;
00356 bool transpose ( void );
00357 bool transposeFrom(const TransformationMatrix &matrix);
00358
00359 void mult (const TransformationMatrix &matrix);
00360 void multLeft (const TransformationMatrix &matrix);
00361
00362 void add (const TransformationMatrix &matrix);
00363 void scale ( ValueTypeT s );
00364 void addScaled (const TransformationMatrix &matrix,
00365 ValueTypeT s );
00366 void negate ( void );
00367
00368 ValueTypeT norm1 ( void ) const;
00369 ValueTypeT norm2 ( void ) const;
00370 ValueTypeT normInfinity ( void ) const;
00371
00372 bool sqrt ( TransformationMatrix &result) const;
00373 bool sqrtOf (const TransformationMatrix &matrix);
00374 bool sqrt ( void );
00375
00376 bool log ( TransformationMatrix &result) const;
00377 bool logOf (const TransformationMatrix &matrix);
00378
00379 bool exp ( TransformationMatrix &result) const;
00380 bool expOf (const TransformationMatrix &matrix);
00381
00383
00387 VectorType &operator [](UInt32 uiIndex);
00388 const VectorType &operator [](UInt32 uiIndex) const;
00389
00391
00395 TransformationMatrix &operator =(const TransformationMatrix &source);
00396
00398
00402 bool operator == (const TransformationMatrix &other) const;
00403 bool operator != (const TransformationMatrix &other) const;
00404
00406
00407
00408 protected:
00409
00410
00414 VectorType _matrix[4];
00415
00417
00421 ValueTypeT rowMulCol4(const TransformationMatrix &gRowMat,
00422 UInt32 iRow,
00423 const TransformationMatrix &gColMat,
00424 UInt32 iColumn) const;
00425
00426 ValueTypeT det2_calc (const ValueTypeT a1,
00427 const ValueTypeT a2,
00428 const ValueTypeT b1,
00429 const ValueTypeT b2 ) const;
00430 ValueTypeT det3_calc (const ValueTypeT a1,
00431 const ValueTypeT a2,
00432 const ValueTypeT a3,
00433 const ValueTypeT b1,
00434 const ValueTypeT b2,
00435 const ValueTypeT b3,
00436 const ValueTypeT c1,
00437 const ValueTypeT c2,
00438 const ValueTypeT c3 ) const;
00439
00440 #ifdef __sgi
00441 #pragma set woff 1424
00442 #endif
00443
00444 #if !defined(OSG_MICROSOFT_COMPILER_HACKS) && !defined(__sun)
00445 static const UInt32 JacobiRank = 3;
00446 #endif
00447
00448 bool jacobi(ValueTypeT evalues [JacobiRank],
00449 VectorType3f evectors[JacobiRank],
00450 Int32 &rots);
00451
00452 #ifdef __sgi
00453 #pragma reset woff 1424
00454 #endif
00455
00457
00458
00459 private:
00460
00461 static TransformationMatrix _identityMatrix;
00462 };
00463
00469 typedef TransformationMatrix<Real32> Matrix4f;
00470
00476 typedef TransformationMatrix<Real64> Matrix4d;
00477
00483 typedef TransformationMatrix<Fixed32> Matrix4fx;
00484
00490 typedef TransformationMatrix<Real32 > Matrix;
00491
00497 typedef TransformationMatrix<Fixed32> Matrix4fx;
00498
00499 #ifdef OSG_FLOAT_PROFILE
00500
00506 typedef Matrix4f Matrixr;
00507
00508 #else
00509
00515 typedef Matrix4fx Matrixr;
00516
00517 #endif
00518
00519 template<class ValueTypeT>
00520 std::ostream &operator <<( std::ostream &os,
00521 const TransformationMatrix<ValueTypeT> &obj);
00522
00523 OSG_END_NAMESPACE
00524
00525 #include "OSGMatrix.inl"
00526
00527 #endif
00528
00529
