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// Filename: lmatrix3_src.I
// Created by: drose (29Jan99)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University. All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license. You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Row::Constructor
// Access: Private
// Description: Defines a row-level index accessor to the matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::Row::
Row(FLOATTYPE *row) : _row(row) {
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Row::operator []
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LMatrix3)::Row::
operator [](int i) const {
nassertr(i >= 0 && i < 3, 0.0);
return _row[i];
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Row::operator []
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE &FLOATNAME(LMatrix3)::Row::
operator [](int i) {
nassertr(i >= 0 && i < 3, _row[0]);
return _row[i];
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Row::size
// Access: Published, Static
// Description: Returns 3: the number of columns of a LMatrix3.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH int FLOATNAME(LMatrix3)::Row::
size() {
return 3;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::CRow::Constructor
// Access: Private
// Description: Defines a row-level constant accessor to the matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::CRow::
CRow(const FLOATTYPE *row) : _row(row) {
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::CRow::operator []
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LMatrix3)::CRow::
operator [](int i) const {
nassertr(i >= 0 && i < 3, 0.0);
return _row[i];
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::CRow::size
// Access: Published, Static
// Description: Returns 3: the number of columns of a LMatrix3.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH int FLOATNAME(LMatrix3)::CRow::
size() {
return 3;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::ident_mat
// Access: Published, Static
// Description: Returns an identity matrix.
//
// This function definition must appear first, since
// some inline functions below take advantage of it.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
ident_mat() {
return _ident_mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Default Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::
FLOATNAME(LMatrix3)() {
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Copy Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::
FLOATNAME(LMatrix3)(const FLOATNAME(LMatrix3) &copy) : _m(copy._m) {
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Copy Assignment Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator = (const FLOATNAME(LMatrix3) &copy) {
TAU_PROFILE("void LMatrix3::operator = (const LMatrix3 &)", " ", TAU_USER);
_m = copy._m;
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Fill Assignment Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator = (FLOATTYPE fill_value) {
fill(fill_value);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Constructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::
FLOATNAME(LMatrix3)(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02,
FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12,
FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22) {
TAU_PROFILE("LMatrix3::LMatrix3(FLOATTYPE, ...)", " ", TAU_USER);
_m(0, 0) = e00;
_m(0, 1) = e01;
_m(0, 2) = e02;
_m(1, 0) = e10;
_m(1, 1) = e11;
_m(1, 2) = e12;
_m(2, 0) = e20;
_m(2, 1) = e21;
_m(2, 2) = e22;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02,
FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12,
FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22) {
TAU_PROFILE("void LMatrix3::set(FLOATTYPE, ...)", " ", TAU_USER);
_m(0, 0) = e00;
_m(0, 1) = e01;
_m(0, 2) = e02;
_m(1, 0) = e10;
_m(1, 1) = e11;
_m(1, 2) = e12;
_m(2, 0) = e20;
_m(2, 1) = e21;
_m(2, 2) = e22;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set_row
// Access: Published
// Description: Replaces the indicated row of the matrix from a
// three-component vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_row(int row, const FLOATNAME(LVecBase3) &v) {
#ifdef HAVE_EIGEN
_m.row(row) = v._v;
#else
(*this)(row, 0) = v._v(0);
(*this)(row, 1) = v._v(1);
(*this)(row, 2) = v._v(2);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set_column
// Access: Published
// Description: Replaces the indicated column of the matrix from a
// three-component vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_col(int col, const FLOATNAME(LVecBase3) &v) {
#ifdef HAVE_EIGEN
_m.col(col) = v._v;
#else
(*this)(0, col) = v._v(0);
(*this)(1, col) = v._v(1);
(*this)(2, col) = v._v(2);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set_row
// Access: Published
// Description: Replaces the indicated row of the matrix from a
// two-component vector, ignoring the last column.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_row(int row, const FLOATNAME(LVecBase2) &v) {
#ifdef HAVE_EIGEN
_m.block<1, 2>(row, 0) = v._v;
#else
(*this)(row, 0) = v._v(0);
(*this)(row, 1) = v._v(1);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set_column
// Access: Published
// Description: Replaces the indicated column of the matrix from a
// two-component vector, ignoring the last row.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_col(int col, const FLOATNAME(LVecBase2) &v) {
#ifdef HAVE_EIGEN
_m.block<2, 1>(0, col) = v._v;
#else
(*this)(0, col) = v._v(0);
(*this)(1, col) = v._v(1);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_row
// Access: Published
// Description: Returns the indicated row of the matrix as a
// three-component vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
get_row(int row) const {
#ifdef HAVE_EIGEN
return FLOATNAME(LVecBase3)(_m.row(row));
#else
return FLOATNAME(LVecBase3)((*this)(row, 0), (*this)(row, 1), (*this)(row, 2));
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_row
// Access: Published
// Description: Stores the indicated row of the matrix as a
// three-component vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
get_row(FLOATNAME(LVecBase3) &result_vec,int row) const {
#ifdef HAVE_EIGEN
result_vec._v = _m.row(row);
#else
result_vec._v(0) = (*this)(row, 0);
result_vec._v(1) = (*this)(row, 1);
result_vec._v(2) = (*this)(row, 2);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_col
// Access: Published
// Description: Returns the indicated column of the matrix as a
// three-component vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
get_col(int col) const {
#ifdef HAVE_EIGEN
return FLOATNAME(LVecBase3)(_m.col(col));
#else
return FLOATNAME(LVecBase3)((*this)(0, col), (*this)(1, col), (*this)(2, col));
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_row2
// Access: Published
// Description: Returns the indicated row of the matrix as a
// two-component vector, ignoring the last column.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase2) FLOATNAME(LMatrix3)::
get_row2(int row) const {
return FLOATNAME(LVecBase2)((*this)(row, 0), (*this)(row, 1));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_col2
// Access: Published
// Description: Returns the indicated column of the matrix as a
// two-component vector, ignoring the last row.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase2) FLOATNAME(LMatrix3)::
get_col2(int col) const {
return FLOATNAME(LVecBase2)((*this)(0, col), (*this)(1, col));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Indexing operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE &FLOATNAME(LMatrix3)::
operator () (int row, int col) {
nassertr(row >= 0 && row < 3 && col >= 0 && col < 3, _m(0, 0));
return _m(row, col);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Indexing operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LMatrix3)::
operator () (int row, int col) const {
nassertr(row >= 0 && row < 3 && col >= 0 && col < 3, 0.0);
return _m(row, col);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Indexing Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::CRow FLOATNAME(LMatrix3)::
operator [](int i) const {
nassertr(i >= 0 && i < 3, CRow(&_m(0, 0)));
return CRow(&_m(i, 0));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Indexing Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::Row FLOATNAME(LMatrix3)::
operator [](int i) {
nassertr(i >= 0 && i < 3, Row(&_m(0, 0)));
return Row(&_m(i, 0));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::size
// Access: Published, Static
// Description: Returns 3: the number of rows of a LMatrix3.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH int FLOATNAME(LMatrix3)::
size() {
return 3;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::is_nan
// Access: Published
// Description: Returns true if any component of the matrix is
// not-a-number, false otherwise.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
is_nan() const {
TAU_PROFILE("bool LMatrix3::is_nan()", " ", TAU_USER);
return
cnan(_m(0, 0)) || cnan(_m(0, 1)) || cnan(_m(0, 2)) ||
cnan(_m(1, 0)) || cnan(_m(1, 1)) || cnan(_m(1, 2)) ||
cnan(_m(2, 0)) || cnan(_m(2, 1)) || cnan(_m(2, 2));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_cell
// Access: Published
// Description: Returns a particular element of the matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LMatrix3)::
get_cell(int row, int col) const {
nassertr(row >= 0 && row < 3 && col >= 0 && col < 3, 0.0);
return _m(row, col);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::set_cell
// Access: Published
// Description: Changes a particular element of the matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_cell(int row, int col, FLOATTYPE value) {
nassertv(row >= 0 && row < 3 && col >= 0 && col < 3);
_m(row, col) = value;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_data
// Access: Published
// Description: Returns the address of the first of the nine data
// elements in the matrix. The remaining elements
// occupy the next eight positions in row-major order.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH const FLOATTYPE *FLOATNAME(LMatrix3)::
get_data() const {
return &_m(0, 0);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_num_components
// Access: Published
// Description: Returns the number of elements in the matrix, nine.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH int FLOATNAME(LMatrix3)::
get_num_components() const {
return 9;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::begin
// Access: Published
// Description: Returns an iterator that may be used to traverse the
// elements of the matrix, STL-style.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::iterator FLOATNAME(LMatrix3)::
begin() {
return &_m(0, 0);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::end
// Access: Published
// Description: Returns an iterator that may be used to traverse the
// elements of the matrix, STL-style.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::iterator FLOATNAME(LMatrix3)::
end() {
return begin() + get_num_components();
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::begin
// Access: Published
// Description: Returns an iterator that may be used to traverse the
// elements of the matrix, STL-style.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::const_iterator FLOATNAME(LMatrix3)::
begin() const {
return &_m(0, 0);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::end
// Access: Published
// Description: Returns an iterator that may be used to traverse the
// elements of the matrix, STL-style.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)::const_iterator FLOATNAME(LMatrix3)::
end() const {
return begin() + get_num_components();
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Ordering Operator
// Access: Published
// Description: This performs a lexicographical comparison. It's of
// questionable mathematical meaning, but sometimes has
// a practical purpose for sorting unique vectors,
// especially in an STL container. Also see
// compare_to().
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
operator < (const FLOATNAME(LMatrix3) &other) const {
return compare_to(other) < 0;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Equality Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
operator == (const FLOATNAME(LMatrix3) &other) const {
return compare_to(other) == 0;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::Inequality Operator
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
operator != (const FLOATNAME(LMatrix3) &other) const {
return !operator == (other);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::compare_to
// Access: Published
// Description: This flavor of compare_to uses a default threshold
// value based on the numeric type.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH int FLOATNAME(LMatrix3)::
compare_to(const FLOATNAME(LMatrix3) &other) const {
return compare_to(other, NEARLY_ZERO(FLOATTYPE));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_hash
// Access: Published
// Description: Returns a suitable hash for phash_map.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH size_t FLOATNAME(LMatrix3)::
get_hash() const {
return add_hash(0);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::get_hash
// Access: Published
// Description: Returns a suitable hash for phash_map.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH size_t FLOATNAME(LMatrix3)::
get_hash(FLOATTYPE threshold) const {
return add_hash(0, threshold);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::add_hash
// Access: Published
// Description: Adds the vector into the running hash.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH size_t FLOATNAME(LMatrix3)::
add_hash(size_t hash) const {
return add_hash(hash, NEARLY_ZERO(FLOATTYPE));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::add_hash
// Access: Published
// Description: Adds the vector into the running hash.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH size_t FLOATNAME(LMatrix3)::
add_hash(size_t hash, FLOATTYPE threshold) const {
TAU_PROFILE("size_t LMatrix3::add_hash(size_t, FLOATTYPE)", " ", TAU_USER);
float_hash fhasher(threshold);
hash = fhasher.add_hash(hash, _m(0, 0));
hash = fhasher.add_hash(hash, _m(0, 1));
hash = fhasher.add_hash(hash, _m(0, 2));
hash = fhasher.add_hash(hash, _m(1, 0));
hash = fhasher.add_hash(hash, _m(1, 1));
hash = fhasher.add_hash(hash, _m(1, 2));
hash = fhasher.add_hash(hash, _m(2, 0));
hash = fhasher.add_hash(hash, _m(2, 1));
hash = fhasher.add_hash(hash, _m(2, 2));
return hash;
}
#define VECTOR3_MATRIX3_PRODUCT(v_res, v, mat) \
v_res._v(0) = v._v(0)*mat._m(0, 0) + v._v(1)*mat._m(1, 0) + v._v(2)*mat._m(2, 0); \
v_res._v(1) = v._v(0)*mat._m(0, 1) + v._v(1)*mat._m(1, 1) + v._v(2)*mat._m(2, 1); \
v_res._v(2) = v._v(0)*mat._m(0, 2) + v._v(1)*mat._m(1, 2) + v._v(2)*mat._m(2, 2);
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform
// Access: Published
// Description: 3-component vector or point times matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LVecBase3) v_res;
#ifdef HAVE_EIGEN
v_res._v.noalias() = v._v * _m;
#else
VECTOR3_MATRIX3_PRODUCT(v_res, v,(*this));
#endif // HAVE_EIGEN
return v_res;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_point
// Access: Published
// Description: The matrix transforms a 2-component point (including
// translation component) and returns the result. This
// assumes the matrix is an affine transform.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase2) FLOATNAME(LMatrix3)::
xform_point(const FLOATNAME(LVecBase2) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_point(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LVecBase2) v_res;
// v._v(2) == 1.0f for this case
#ifdef HAVE_EIGEN
v_res._v.noalias() = v._v * _m.block<2, 2>(0, 0) + _m.block<1, 2>(2, 0);
#else
v_res._v(0) = v._v(0)*_m(0, 0) + v._v(1)*_m(1, 0) + _m(2, 0);
v_res._v(1) = v._v(0)*_m(0, 1) + v._v(1)*_m(1, 1) + _m(2, 1);
#endif // HAVE_EIGEN
return v_res;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec
// Access: Published
// Description: The matrix transforms a 2-component vector (without
// translation component) and returns the result. This
// assumes the matrix is an affine transform.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase2) FLOATNAME(LMatrix3)::
xform_vec(const FLOATNAME(LVecBase2) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_vec(const LVecBase3 &)", " ", TAU_USER);
FLOATNAME(LVecBase2) v_res;
// v._v(2) == 0.0f for this case
#ifdef HAVE_EIGEN
v_res._v.noalias() = v._v * _m.block<2, 2>(0, 0);
#else
v_res._v(0) = v._v(0)*_m(0, 0) + v._v(1)*_m(1, 0);
v_res._v(1) = v._v(0)*_m(0, 1) + v._v(1)*_m(1, 1);
#endif // HAVE_EIGEN
return v_res;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec
// Access: Published
// Description: The matrix transforms a 3-component vector and
// returns the result. This assumes the matrix is an
// orthonormal transform.
//
// In practice, this is the same computation as xform().
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform_vec(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_vec(const LVecBase3 &)", " ", TAU_USER);
return xform(v);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec_general
// Access: Published
// Description: The matrix transforms a 3-component vector (without
// translation component) and returns the result, as a
// fully general operation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LVecBase3) FLOATNAME(LMatrix3)::
xform_vec_general(const FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("LVecBase3 LMatrix3::xform_vec_general(const LVecBase3 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
return FLOATNAME(LVecBase3)(v._v * _m.inverse().transpose());
#else
FLOATNAME(LMatrix3) i;
i.invert_transpose_from(*this);
return i.xform(v);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_in_place
// Access: Published
// Description: 3-component vector or point times matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
xform_in_place(FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("void LMatrix3::xform_in_place(LVecBase3 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
v._v = v._v * _m;
#else
v = xform(v);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_point_in_place
// Access: Published
// Description: The matrix transforms a 2-component point (including
// translation component). This assumes the matrix is
// an affine transform.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
xform_point_in_place(FLOATNAME(LVecBase2) &v) const {
TAU_PROFILE("void LMatrix3::xform_point_in_place(LVecBase3 &)", " ", TAU_USER);
// v._v(2) == 1.0f for this case
#ifdef HAVE_EIGEN
v._v = v._v * _m.block<2, 2>(0, 0) + _m.block<1, 2>(2, 0);
#else
v = xform_point(v);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec_in_place
// Access: Published
// Description: The matrix transforms a 2-component vector (without
// translation component). This assumes the matrix is
// an affine transform.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
xform_vec_in_place(FLOATNAME(LVecBase2) &v) const {
TAU_PROFILE("void LMatrix3::xform_vec_in_place(LVecBase3 &)", " ", TAU_USER);
// v._v(2) == 0.0f for this case
#ifdef HAVE_EIGEN
v._v = v._v * _m.block<2, 2>(0, 0);
#else
v = xform_vec(v);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec_in_place
// Access: Published
// Description: The matrix transforms a 3-component vector. This
// assumes the matrix is an orthonormal transform.
//
// In practice, this is the same computation as xform().
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
xform_vec_in_place(FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("void LMatrix3::xform_vec_in_place(LVecBase3 &)", " ", TAU_USER);
xform_in_place(v);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::xform_vec_general_in_place
// Access: Published
// Description: The matrix transforms a 3-component vector (without
// translation component), as a fully general operation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
xform_vec_general_in_place(FLOATNAME(LVecBase3) &v) const {
TAU_PROFILE("void LMatrix3::xform_vec_general_in_place(LVecBase3 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
v._v = v._v * _m.inverse().transpose();
#else
v = xform_vec(v);
#endif // HAVE_EIGEN
}
#define MATRIX3_PRODUCT(res, a, b) \
res._m(0, 0) = a._m(0, 0)*b._m(0, 0) + a._m(0, 1)*b._m(1, 0) + a._m(0, 2)*b._m(2, 0); \
res._m(0, 1) = a._m(0, 0)*b._m(0, 1) + a._m(0, 1)*b._m(1, 1) + a._m(0, 2)*b._m(2, 1); \
res._m(0, 2) = a._m(0, 0)*b._m(0, 2) + a._m(0, 1)*b._m(1, 2) + a._m(0, 2)*b._m(2, 2); \
res._m(1, 0) = a._m(1, 0)*b._m(0, 0) + a._m(1, 1)*b._m(1, 0) + a._m(1, 2)*b._m(2, 0); \
res._m(1, 1) = a._m(1, 0)*b._m(0, 1) + a._m(1, 1)*b._m(1, 1) + a._m(1, 2)*b._m(2, 1); \
res._m(1, 2) = a._m(1, 0)*b._m(0, 2) + a._m(1, 1)*b._m(1, 2) + a._m(1, 2)*b._m(2, 2); \
res._m(2, 0) = a._m(2, 0)*b._m(0, 0) + a._m(2, 1)*b._m(1, 0) + a._m(2, 2)*b._m(2, 0); \
res._m(2, 1) = a._m(2, 0)*b._m(0, 1) + a._m(2, 1)*b._m(1, 1) + a._m(2, 2)*b._m(2, 1); \
res._m(2, 2) = a._m(2, 0)*b._m(0, 2) + a._m(2, 1)*b._m(1, 2) + a._m(2, 2)*b._m(2, 2);
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix * matrix
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
operator * (const FLOATNAME(LMatrix3) &other) const {
TAU_PROFILE("LMatrix3 LMatrix3::operator *(const LMatrix3 &)", " ", TAU_USER);
FLOATNAME(LMatrix3) t;
t.multiply(*this, other);
return t;
}
// this = other1 * other2
INLINE_LINMATH void FLOATNAME(LMatrix3)::
multiply(const FLOATNAME(LMatrix3) &other1, const FLOATNAME(LMatrix3) &other2) {
TAU_PROFILE("LMatrix3 multiply(const LMatrix3 &, const LMatrix3 &)", " ", TAU_USER);
// faster than operator * since it writes result in place, avoiding extra copying
// this will fail if you try to mat.multiply(mat,other_mat)
nassertv((&other1 != this) && (&other2 != this));
MATRIX3_PRODUCT((*this), other1, other2);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix * scalar
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
operator * (FLOATTYPE scalar) const {
TAU_PROFILE("LMatrix3 operator *(const LMatrix3 &, FLOATTYPE)", " ", TAU_USER);
FLOATNAME(LMatrix3) t;
t._m(0, 0) = _m(0, 0) * scalar;
t._m(0, 1) = _m(0, 1) * scalar;
t._m(0, 2) = _m(0, 2) * scalar;
t._m(1, 0) = _m(1, 0) * scalar;
t._m(1, 1) = _m(1, 1) * scalar;
t._m(1, 2) = _m(1, 2) * scalar;
t._m(2, 0) = _m(2, 0) * scalar;
t._m(2, 1) = _m(2, 1) * scalar;
t._m(2, 2) = _m(2, 2) * scalar;
return t;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix / scalar
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
operator / (FLOATTYPE scalar) const {
FLOATTYPE recip_scalar = 1.0f/scalar;
return (*this) * recip_scalar;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix += matrix
// Access: Published
// Description: Performs a memberwise addition between two matrices.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator += (const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("LMatrix3 LMatrix3::operator +=(const LMatrix3 &)", " ", TAU_USER);
_m(0, 0) += other._m(0, 0);
_m(0, 1) += other._m(0, 1);
_m(0, 2) += other._m(0, 2);
_m(1, 0) += other._m(1, 0);
_m(1, 1) += other._m(1, 1);
_m(1, 2) += other._m(1, 2);
_m(2, 0) += other._m(2, 0);
_m(2, 1) += other._m(2, 1);
_m(2, 2) += other._m(2, 2);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix -= matrix
// Access: Published
// Description: Performs a memberwise subtraction between two matrices.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator -= (const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("LMatrix3 LMatrix3::operator -=(const LMatrix3 &)", " ", TAU_USER);
_m(0, 0) -= other._m(0, 0);
_m(0, 1) -= other._m(0, 1);
_m(0, 2) -= other._m(0, 2);
_m(1, 0) -= other._m(1, 0);
_m(1, 1) -= other._m(1, 1);
_m(1, 2) -= other._m(1, 2);
_m(2, 0) -= other._m(2, 0);
_m(2, 1) -= other._m(2, 1);
_m(2, 2) -= other._m(2, 2);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix *= matrix
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator *= (const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("LMatrix3 LMatrix3::operator *=(const LMatrix3 &)", " ", TAU_USER);
FLOATNAME(LMatrix3) temp = *this;
multiply(temp, other);
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix *= scalar
// Access: Published
// Description: Performs a memberwise scale.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator *= (FLOATTYPE scalar) {
TAU_PROFILE("LMatrix3 LMatrix3::operator *=(FLOATTYPE)", " ", TAU_USER);
_m(0, 0) *= scalar;
_m(0, 1) *= scalar;
_m(0, 2) *= scalar;
_m(1, 0) *= scalar;
_m(1, 1) *= scalar;
_m(1, 2) *= scalar;
_m(2, 0) *= scalar;
_m(2, 1) *= scalar;
_m(2, 2) *= scalar;
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::matrix /= scalar
// Access: Published
// Description: Performs a memberwise scale.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) &FLOATNAME(LMatrix3)::
operator /= (FLOATTYPE scalar) {
TAU_PROFILE("LMatrix3 LMatrix3::operator /=(FLOATTYPE)", " ", TAU_USER);
FLOATTYPE recip_scalar = 1.0f/scalar;
_m(0, 0) *= recip_scalar;
_m(0, 1) *= recip_scalar;
_m(0, 2) *= recip_scalar;
_m(1, 0) *= recip_scalar;
_m(1, 1) *= recip_scalar;
_m(1, 2) *= recip_scalar;
_m(2, 0) *= recip_scalar;
_m(2, 1) *= recip_scalar;
_m(2, 2) *= recip_scalar;
return *this;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::transpose_from
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
transpose_from(const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("LMatrix3 LMatrix3::transpose_from(const LMatrix3 &other)", " ", TAU_USER);
_m(0, 0) = other._m(0, 0);
_m(0, 1) = other._m(1, 0);
_m(0, 2) = other._m(2, 0);
_m(1, 0) = other._m(0, 1);
_m(1, 1) = other._m(1, 1);
_m(1, 2) = other._m(2, 1);
_m(2, 0) = other._m(0, 2);
_m(2, 1) = other._m(1, 2);
_m(2, 2) = other._m(2, 2);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::transpose_in_place
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
transpose_in_place() {
TAU_PROFILE("void LMatrix3::transpose_in_place()", " ", TAU_USER);
#define SWAP__(x,y) { FLOATTYPE temp = (x); (x) = (y); (y) = temp;}
SWAP__(_m(0, 1),_m(1, 0));
SWAP__(_m(0, 2),_m(2, 0));
SWAP__(_m(1, 2),_m(2, 1));
#undef SWAP__
}
// Matrix inversion code from Numerical Recipes in C.
// don't trust compilers to inline these
#define DET2(E00,E01,E10,E11) ((E00)*(E11) - (E10)*(E01))
#define MATRIX3_DETERMINANT(mat) \
( (mat)(0, 0) * DET2((mat)(1, 1),(mat)(1, 2),(mat)(2, 1),(mat)(2, 2)) \
-(mat)(0, 1) * DET2((mat)(1, 0),(mat)(1, 2),(mat)(2, 0),(mat)(2, 2)) \
+(mat)(0, 2) * DET2((mat)(1, 0),(mat)(1, 1),(mat)(2, 0),(mat)(2, 1)))
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::determinant
// Access: Published
// Description: Returns the determinant of the matrix.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATTYPE FLOATNAME(LMatrix3)::
determinant() const {
TAU_PROFILE("FLOATTYPE LMatrix3::determinant()", " ", TAU_USER);
#ifdef HAVE_EIGEN
return _m.determinant();
#else
return MATRIX3_DETERMINANT(_m);
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_from
// Access: Published
// Description: Computes the inverse of the other matrix, and stores
// the result in this matrix. This is a fully general
// operation and makes no assumptions about the type of
// transform represented by the matrix.
//
// The other matrix must be a different object than this
// matrix. However, if you need to invert a matrix in
// place, see invert_in_place.
//
// The return value is true if the matrix was
// successfully inverted, false if there was a
// singularity.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_from(const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("bool LMatrix3::invert_from(const LMatrix3 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
bool invertible;
other._m.computeInverseWithCheck(_m, invertible);
if (!invertible) {
#ifdef NDEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
}
return invertible;
#else // HAVE_EIGEN
FLOATTYPE other_det = MATRIX3_DETERMINANT(other._m);
// We throw the value out only if it's smaller than our "small"
// threshold squared. This helps reduce overly-sensitive
// rejections.
if (IS_THRESHOLD_ZERO(other_det, (NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE)))) {
// if (IS_NEARLY_ZERO(other_det)) {
#ifdef NOTIFY_DEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
return false;
}
other_det = 1.0f / other_det;
_m(0, 0) = other_det * DET2(other._m(1, 1), other._m(1, 2), other._m(2, 1), other._m(2, 2));
_m(1, 0) = -other_det * DET2(other._m(1, 0), other._m(1, 2), other._m(2, 0), other._m(2, 2));
_m(2, 0) = other_det * DET2(other._m(1, 0), other._m(1, 1), other._m(2, 0), other._m(2, 1));
_m(0, 1) = -other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(2, 1), other._m(2, 2));
_m(1, 1) = other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(2, 0), other._m(2, 2));
_m(2, 1) = -other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(2, 0), other._m(2, 1));
_m(0, 2) = other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(1, 1), other._m(1, 2));
_m(1, 2) = -other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(1, 0), other._m(1, 2));
_m(2, 2) = other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(1, 0), other._m(1, 1));
return true;
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_in_place
// Access: Published
// Description: Inverts the current matrix. Returns true if the
// inverse is successful, false if the matrix was
// singular.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_in_place() {
TAU_PROFILE("bool LMatrix3::invert_in_place()", " ", TAU_USER);
FLOATNAME(LMatrix3) temp = (*this);
return invert_from(temp);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_transpose_from
// Access: Published
// Description: Simultaneously computes the inverse of the indicated
// matrix, and then the transpose of that inverse.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_transpose_from(const FLOATNAME(LMatrix3) &other) {
TAU_PROFILE("bool LMatrix3::invert_transpose_from(const LMatrix3 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
bool invertible;
EMatrix3 temp;
other._m.computeInverseWithCheck(temp, invertible);
if (!invertible) {
#ifdef NDEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
}
_m = temp.transpose();
return true;
#else // HAVE_EIGEN
FLOATTYPE other_det = MATRIX3_DETERMINANT(other._m);
if (IS_THRESHOLD_ZERO(other_det, (NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE)))) {
#ifdef NOTIFY_DEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
return false;
}
other_det = 1.0f / other_det;
_m(0, 0) = other_det * DET2(other._m(1, 1), other._m(1, 2), other._m(2, 1), other._m(2, 2));
_m(0, 1) = -other_det * DET2(other._m(1, 0), other._m(1, 2), other._m(2, 0), other._m(2, 2));
_m(0, 2) = other_det * DET2(other._m(1, 0), other._m(1, 1), other._m(2, 0), other._m(2, 1));
_m(1, 0) = -other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(2, 1), other._m(2, 2));
_m(1, 1) = other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(2, 0), other._m(2, 2));
_m(1, 2) = -other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(2, 0), other._m(2, 1));
_m(2, 0) = other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(1, 1), other._m(1, 2));
_m(2, 1) = -other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(1, 0), other._m(1, 2));
_m(2, 2) = other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(1, 0), other._m(1, 1));
return true;
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::invert_transpose_from
// Access: Published
// Description: Simultaneously computes the inverse of the indicated
// matrix, and then the transpose of that inverse.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
invert_transpose_from(const FLOATNAME(LMatrix4) &other) {
TAU_PROFILE("bool LMatrix3::invert_transpose_from(const LMatrix4 &)", " ", TAU_USER);
#ifdef HAVE_EIGEN
bool invertible;
EMatrix3 temp;
other._m.block<3, 3>(0, 0).computeInverseWithCheck(temp, invertible);
if (!invertible) {
#ifdef NDEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix3.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
}
_m = temp.transpose();
return true;
#else // HAVE_EIGEN
FLOATTYPE other_det = MATRIX3_DETERMINANT(other._m);
if (IS_THRESHOLD_ZERO(other_det, (NEARLY_ZERO(FLOATTYPE) * NEARLY_ZERO(FLOATTYPE)))) {
#ifdef NOTIFY_DEBUG
linmath_cat.warning() << "Tried to invert singular LMatrix4.\n";
#endif
(*this) = ident_mat();
nassertr(!no_singular_invert, false);
return false;
}
other_det = 1.0f / other_det;
_m(0, 0) = other_det * DET2(other._m(1, 1), other._m(1, 2), other._m(2, 1), other._m(2, 2));
_m(0, 1) = -other_det * DET2(other._m(1, 0), other._m(1, 2), other._m(2, 0), other._m(2, 2));
_m(0, 2) = other_det * DET2(other._m(1, 0), other._m(1, 1), other._m(2, 0), other._m(2, 1));
_m(1, 0) = -other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(2, 1), other._m(2, 2));
_m(1, 1) = other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(2, 0), other._m(2, 2));
_m(1, 2) = -other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(2, 0), other._m(2, 1));
_m(2, 0) = other_det * DET2(other._m(0, 1), other._m(0, 2), other._m(1, 1), other._m(1, 2));
_m(2, 1) = -other_det * DET2(other._m(0, 0), other._m(0, 2), other._m(1, 0), other._m(1, 2));
_m(2, 2) = other_det * DET2(other._m(0, 0), other._m(0, 1), other._m(1, 0), other._m(1, 1));
return true;
#endif // HAVE_EIGEN
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_translate_mat
// Access: Published
// Description: Fills mat with a matrix that applies the indicated
// translation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_translate_mat(const FLOATNAME(LVecBase2) &trans) {
set(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
trans._v(0), trans._v(1), 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_rotate_mat
// Access: Published
// Description: Fills mat with a matrix that rotates by the given
// angle in degrees counterclockwise.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_rotate_mat(FLOATTYPE angle) {
TAU_PROFILE("void LMatrix3::rotate_mat(LMatrix3, FLOATTYPE)", " ", TAU_USER);
FLOATTYPE angle_rad = deg_2_rad(angle);
FLOATTYPE s, c;
csincos(angle_rad, &s, &c);
set( c, s, 0.0f,
-s, c, 0.0f,
0.0f, 0.0f, 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_scale_mat
// Access: Published
// Description: Fills mat with a matrix that applies the indicated
// scale in each of the two axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_scale_mat(const FLOATNAME(LVecBase2) &scale) {
set(scale._v(0), 0.0f, 0.0f,
0.0f, scale._v(1), 0.0f,
0.0f, 0.0f, 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::translate_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// translation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
translate_mat(const FLOATNAME(LVecBase2) &trans) {
return FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
trans._v(0), trans._v(1), 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::translate_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// translation.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
translate_mat(FLOATTYPE tx, FLOATTYPE ty) {
return FLOATNAME(LMatrix3)(1.0f, 0.0f, 0.0f,
0.0f, 1.0f, 0.0f,
tx, ty, 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::rotate_mat
// Access: Published, Static
// Description: Returns a matrix that rotates by the given angle in
// degrees counterclockwise.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
rotate_mat(FLOATTYPE angle) {
FLOATNAME(LMatrix3) mat;
mat.set_rotate_mat(angle);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale in each of the two axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_mat(const FLOATNAME(LVecBase2) &scale) {
return FLOATNAME(LMatrix3)(scale._v(0), 0.0f, 0.0f,
0.0f, scale._v(1), 0.0f,
0.0f, 0.0f, 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale in each of the two axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_mat(FLOATTYPE sx, FLOATTYPE sy) {
return FLOATNAME(LMatrix3)(sx, 0.0f, 0.0f,
0.0f, sy, 0.0f,
0.0f, 0.0f, 1.0f);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::rotate_mat
// Access: Published, Static
// Description: Returns a matrix that rotates by the given angle in
// degrees counterclockwise about the indicated vector.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
rotate_mat(FLOATTYPE angle, const FLOATNAME(LVecBase3) &axis,
CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_rotate_mat(angle, axis, cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::rotate_mat_normaxis
// Access: Published, Static
// Description: Returns a matrix that rotates by the given angle in
// degrees counterclockwise about the indicated vector.
// Assumes axis has been normalized.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
rotate_mat_normaxis(FLOATTYPE angle, const FLOATNAME(LVecBase3) &axis,
CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_rotate_mat_normaxis(angle, axis, cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_scale_mat
// Access: Published
// Description: Fills mat with a matrix that applies the indicated
// scale in each of the three axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_scale_mat(const FLOATNAME(LVecBase3) &scale) {
set(scale._v(0), 0.0f, 0.0f,
0.0f, scale._v(1), 0.0f,
0.0f, 0.0f, scale._v(2));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale in each of the three axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_mat(const FLOATNAME(LVecBase3) &scale) {
return FLOATNAME(LMatrix3)(scale._v(0), 0.0f, 0.0f,
0.0f, scale._v(1), 0.0f,
0.0f, 0.0f, scale._v(2));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale in each of the three axes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz) {
return FLOATNAME(LMatrix3)(sx, 0.0f, 0.0f,
0.0f, sy, 0.0f,
0.0f, 0.0f, sz);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::set_shear_mat
// Access: Published
// Description: Fills mat with a matrix that applies the indicated
// shear in each of the three planes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
set_shear_mat(const FLOATNAME(LVecBase3) &shear, CoordinateSystem cs) {
set_scale_shear_mat(FLOATNAME(LVecBase3)(1.0f, 1.0f, 1.0f),
shear, cs);
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::shear_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// shear in each of the three planes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
shear_mat(const FLOATNAME(LVecBase3) &shear, CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_shear_mat(shear, cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::shear_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// shear in each of the three planes.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
shear_mat(FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz, CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_shear_mat(FLOATNAME(LVecBase3)(shxy, shxz, shyz), cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_shear_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale and shear.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_shear_mat(const FLOATNAME(LVecBase3) &scale,
const FLOATNAME(LVecBase3) &shear,
CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_scale_shear_mat(scale, shear, cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix::scale_shear_mat
// Access: Published, Static
// Description: Returns a matrix that applies the indicated
// scale and shear.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3) FLOATNAME(LMatrix3)::
scale_shear_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz,
FLOATTYPE shxy, FLOATTYPE shxz, FLOATTYPE shyz,
CoordinateSystem cs) {
FLOATNAME(LMatrix3) mat;
mat.set_scale_shear_mat(FLOATNAME(LVecBase3)(sx, sy, sz),
FLOATNAME(LVecBase3)(shxy, shxz, shyz), cs);
return mat;
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::almost_equal
// Access: Published
// Description: Returns true if two matrices are memberwise equal
// within a default tolerance based on the numeric type.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH bool FLOATNAME(LMatrix3)::
almost_equal(const FLOATNAME(LMatrix3) &other) const {
return almost_equal(other, NEARLY_ZERO(FLOATTYPE));
}
////////////////////////////////////////////////////////////////////
// Function: LMatrix3::generate_hash
// Access: Published
// Description: Adds the vector to the indicated hash generator.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH void FLOATNAME(LMatrix3)::
generate_hash(ChecksumHashGenerator &hashgen) const {
generate_hash(hashgen, NEARLY_ZERO(FLOATTYPE));
}
////////////////////////////////////////////////////////////////////
// Function: transpose
// Description: Transposes the given matrix and returns it.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)
transpose(const FLOATNAME(LMatrix3) &a) {
FLOATNAME(LMatrix3) result;
result.transpose_from(a);
return result;
}
////////////////////////////////////////////////////////////////////
// Function: invert
// Description: Inverts the given matrix and returns it.
////////////////////////////////////////////////////////////////////
INLINE_LINMATH FLOATNAME(LMatrix3)
invert(const FLOATNAME(LMatrix3) &a) {
TAU_PROFILE("LMatrix3 invert(const LMatrix3 &)", " ", TAU_USER);
FLOATNAME(LMatrix3) result;
bool nonsingular = result.invert_from(a);
#ifndef NDEBUG
if (!nonsingular) {
nassert_raise("Attempt to compute inverse of singular matrix!");
return FLOATNAME(LMatrix3)::ident_mat();
}
#endif
return result;
}
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