// Filename: lmatrix3_src.h // Created by: drose (29Jan99) // //////////////////////////////////////////////////////////////////// // // PANDA 3D SOFTWARE // Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved // // All use of this software is subject to the terms of the Panda 3d // Software license. You should have received a copy of this license // along with this source code; you will also find a current copy of // the license at http://etc.cmu.edu/panda3d/docs/license/ . // // To contact the maintainers of this program write to // panda3d-general@lists.sourceforge.net . // //////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////// // Class : LMatrix3 // Description : This is a 3-by-3 transform matrix. It typically will // represent either a rotation-and-scale (no // translation) matrix in 3-d, or a full affine matrix // (rotation, scale, translation) in 2-d, e.g. for a // texture matrix. //////////////////////////////////////////////////////////////////// class EXPCL_PANDA FLOATNAME(LMatrix3) { PUBLISHED: typedef const FLOATTYPE *iterator; typedef const FLOATTYPE *const_iterator; INLINE_LINMATH FLOATNAME(LMatrix3)(); INLINE_LINMATH FLOATNAME(LMatrix3)(const FLOATNAME(LMatrix3) &other); INLINE_LINMATH FLOATNAME(LMatrix3) &operator = (const FLOATNAME(LMatrix3) &other); INLINE_LINMATH FLOATNAME(LMatrix3) &operator = (FLOATTYPE fill_value); INLINE_LINMATH FLOATNAME(LMatrix3)(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22); void fill(FLOATTYPE fill_value); INLINE_LINMATH void set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22); INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase3) &v); INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase3) &v); INLINE_LINMATH void set_row(int row, const FLOATNAME(LVecBase2) &v); INLINE_LINMATH void set_col(int col, const FLOATNAME(LVecBase2) &v); INLINE_LINMATH FLOATNAME(LVecBase3) get_row(int row) const; INLINE_LINMATH FLOATNAME(LVecBase3) get_col(int col) const; INLINE_LINMATH FLOATNAME(LVecBase2) get_row2(int row) const; INLINE_LINMATH FLOATNAME(LVecBase2) get_col2(int col) const; // these versions inline better INLINE_LINMATH void get_row(FLOATNAME(LVecBase3) &result_vec, int row) const; INLINE_LINMATH FLOATTYPE &operator () (int row, int col); INLINE_LINMATH FLOATTYPE operator () (int row, int col) const; INLINE_LINMATH bool is_nan() const; INLINE_LINMATH FLOATTYPE get_cell(int row, int col) const; INLINE_LINMATH void set_cell(int row, int col, FLOATTYPE value); INLINE_LINMATH const FLOATTYPE *get_data() const; INLINE_LINMATH int get_num_components() const; public: INLINE_LINMATH iterator begin(); INLINE_LINMATH iterator end(); INLINE_LINMATH const_iterator begin() const; INLINE_LINMATH const_iterator end() const; PUBLISHED: INLINE_LINMATH bool operator < (const FLOATNAME(LMatrix3) &other) const; INLINE_LINMATH bool operator == (const FLOATNAME(LMatrix3) &other) const; INLINE_LINMATH bool operator != (const FLOATNAME(LMatrix3) &other) const; INLINE_LINMATH int compare_to(const FLOATNAME(LMatrix3) &other) const; int compare_to(const FLOATNAME(LMatrix3) &other, FLOATTYPE threshold) const; INLINE_LINMATH size_t get_hash() const; INLINE_LINMATH size_t get_hash(FLOATTYPE threshold) const; INLINE_LINMATH size_t add_hash(size_t hash) const; INLINE_LINMATH size_t add_hash(size_t hash, FLOATTYPE threshold) const; INLINE_LINMATH FLOATNAME(LVecBase3) xform(const FLOATNAME(LVecBase3) &v) const; INLINE_LINMATH FLOATNAME(LVecBase2) xform_point(const FLOATNAME(LVecBase2) &v) const; INLINE_LINMATH FLOATNAME(LVecBase2) xform_vec(const FLOATNAME(LVecBase2) &v) const; // this = other1 * other2 INLINE_LINMATH void multiply(const FLOATNAME(LMatrix3) &other1, const FLOATNAME(LMatrix3) &other2); INLINE_LINMATH FLOATNAME(LMatrix3) operator * (const FLOATNAME(LMatrix3) &other) const; INLINE_LINMATH FLOATNAME(LMatrix3) operator * (FLOATTYPE scalar) const; INLINE_LINMATH FLOATNAME(LMatrix3) operator / (FLOATTYPE scalar) const; INLINE_LINMATH FLOATNAME(LMatrix3) &operator += (const FLOATNAME(LMatrix3) &other); INLINE_LINMATH FLOATNAME(LMatrix3) &operator -= (const FLOATNAME(LMatrix3) &other); INLINE_LINMATH FLOATNAME(LMatrix3) &operator *= (const FLOATNAME(LMatrix3) &other); INLINE_LINMATH FLOATNAME(LMatrix3) &operator *= (FLOATTYPE scalar); INLINE_LINMATH FLOATNAME(LMatrix3) &operator /= (FLOATTYPE scalar); INLINE_LINMATH FLOATTYPE determinant() const; INLINE_LINMATH void transpose_from(const FLOATNAME(LMatrix3) &other); INLINE_LINMATH void transpose_in_place(); INLINE_LINMATH bool invert_from(const FLOATNAME(LMatrix3) &other); INLINE_LINMATH bool invert_in_place(); static INLINE_LINMATH const FLOATNAME(LMatrix3) &ident_mat(); // A 3x3 matrix is likely to be used for one of two purposes. In // 2-d coordinate space (e.g. texture or surface coordinates), it // can contain a full affine transform, with scale, rotate, // translate. In 3-d coordinate space, it can contain only scale // and/or rotate; e.g., the upper 3x3 rectangle of a full 4x4 // matrix. // The following named constructors return 3x3 matrices suitable for // affine transforms in 2-d coordinate space. static INLINE_LINMATH FLOATNAME(LMatrix3) translate_mat(const FLOATNAME(LVecBase2) &trans); static INLINE_LINMATH FLOATNAME(LMatrix3) translate_mat(FLOATTYPE tx, FLOATTYPE ty); static INLINE_LINMATH FLOATNAME(LMatrix3) rotate_mat(FLOATTYPE angle); static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(const FLOATNAME(LVecBase2) &scale); static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(FLOATTYPE sx, FLOATTYPE sy); // The following named constructors return 3x3 matrices suitable for // scale/rotate transforms in 3-d coordinate space. static INLINE_LINMATH FLOATNAME(LMatrix3) rotate_mat(FLOATTYPE angle, FLOATNAME(LVecBase3) axis, CoordinateSystem cs = CS_default); static INLINE_LINMATH FLOATNAME(LMatrix3) rotate_mat_normaxis(FLOATTYPE angle, const FLOATNAME(LVecBase3) &axis, CoordinateSystem cs = CS_default); static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(const FLOATNAME(LVecBase3) &scale); static INLINE_LINMATH FLOATNAME(LMatrix3) scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz); static INLINE_LINMATH FLOATNAME(LMatrix3) shear_mat(const FLOATNAME(LVecBase3) &shear, CoordinateSystem cs = CS_default); static INLINE_LINMATH FLOATNAME(LMatrix3) shear_mat(FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz, CoordinateSystem cs = CS_default); static FLOATNAME(LMatrix3) scale_shear_mat(const FLOATNAME(LVecBase3) &scale, const FLOATNAME(LVecBase3) &shear, CoordinateSystem cs = CS_default); static INLINE_LINMATH FLOATNAME(LMatrix3) scale_shear_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz, FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz, CoordinateSystem cs = CS_default); static const FLOATNAME(LMatrix3) &convert_mat(CoordinateSystem from, CoordinateSystem to); // We don't have a scale_mat() that takes a single uniform scale // parameter, because it would be ambiguous whether we mean a 2-d or // a 3-d scale. bool almost_equal(const FLOATNAME(LMatrix3) &other, FLOATTYPE threshold) const; INLINE_LINMATH bool almost_equal(const FLOATNAME(LMatrix3) &other) const; void output(ostream &out) const; void write(ostream &out, int indent_level = 0) const; public: INLINE_LINMATH void generate_hash(ChecksumHashGenerator &hashgen) const; void generate_hash(ChecksumHashGenerator &hashgen, FLOATTYPE threshold) const; public: union { struct { FLOATTYPE _00, _01, _02; FLOATTYPE _10, _11, _12; FLOATTYPE _20, _21, _22; } m; FLOATTYPE data[3 * 3]; } _m; private: INLINE_LINMATH FLOATTYPE mult_cel(const FLOATNAME(LMatrix3) &other, int x, int y) const; INLINE_LINMATH FLOATTYPE det2(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e10, FLOATTYPE e11) const; static const FLOATNAME(LMatrix3) _ident_mat; static const FLOATNAME(LMatrix3) _y_to_z_up_mat; static const FLOATNAME(LMatrix3) _z_to_y_up_mat; static const FLOATNAME(LMatrix3) _flip_y_mat; static const FLOATNAME(LMatrix3) _flip_z_mat; static const FLOATNAME(LMatrix3) _lz_to_ry_mat; static const FLOATNAME(LMatrix3) _ly_to_rz_mat; //Functionality for reading and writing from/to a binary source public: void write_datagram(Datagram& destination) const; void read_datagram(DatagramIterator& scan); public: static TypeHandle get_class_type() { return _type_handle; } static void init_type(); private: static TypeHandle _type_handle; }; INLINE_LINMATH ostream &operator << (ostream &out, const FLOATNAME(LMatrix3) &mat) { mat.output(out); return out; } BEGIN_PUBLISH INLINE_LINMATH FLOATNAME(LMatrix3) transpose(const FLOATNAME(LMatrix3) &a); INLINE_LINMATH FLOATNAME(LMatrix3) invert(const FLOATNAME(LMatrix3) &a); END_PUBLISH #include "lmatrix3_src.I"