189 lines
6.0 KiB
C++
189 lines
6.0 KiB
C++
// Filename: lmatrix4.h
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// Created by: drose (29Jan99)
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//
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////////////////////////////////////////////////////////////////////
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#ifndef LMATRIX4_H
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#define LMATRIX4_H
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#include <pandabase.h>
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#include "coordinateSystem.h"
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#include "lvecBase4.h"
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#include "lvecBase3.h"
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#include "lmatrix3.h"
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#include <typeHandle.h>
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#include <datagram.h>
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#include <datagramIterator.h>
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////////////////////////////////////////////////////////////////////
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// Class : LMatrix4
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// Description : This is a 4-by-4 transform matrix.
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////////////////////////////////////////////////////////////////////
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template<class NumType>
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class LMatrix4 {
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public:
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typedef const NumType *iterator;
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typedef const NumType *const_iterator;
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INLINE LMatrix4();
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INLINE LMatrix4(const LMatrix4<NumType> &other);
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LMatrix4<NumType> &operator = (const LMatrix4<NumType> &other);
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INLINE LMatrix4<NumType> &operator = (NumType fill_value);
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INLINE LMatrix4(NumType e00, NumType e01, NumType e02, NumType e03,
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NumType e10, NumType e11, NumType e12, NumType e13,
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NumType e20, NumType e21, NumType e22, NumType e23,
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NumType e30, NumType e31, NumType e32, NumType e33);
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// Construct a 4x4 matrix given a 3x3 rotation matrix and an optional
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// translation component.
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LMatrix4(const LMatrix3<NumType> &upper3);
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LMatrix4(const LMatrix3<NumType> &upper3,
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const LVecBase3<NumType> &trans);
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void fill(NumType fill_value);
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INLINE void set(NumType e00, NumType e01, NumType e02, NumType e03,
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NumType e10, NumType e11, NumType e12, NumType e13,
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NumType e20, NumType e21, NumType e22, NumType e23,
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NumType e30, NumType e31, NumType e32, NumType e33);
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// Get and set the upper 3x3 rotation matrix.
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INLINE void set_upper_3(const LMatrix3<NumType> &upper3);
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INLINE LMatrix3<NumType> get_upper_3() const;
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INLINE void set_row(int row, const LVecBase4<NumType> &v);
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INLINE void set_col(int col, const LVecBase4<NumType> &v);
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INLINE void set_row(int row, const LVecBase3<NumType> &v);
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INLINE void set_col(int col, const LVecBase3<NumType> &v);
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INLINE LVecBase4<NumType> get_row(int row) const;
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INLINE LVecBase4<NumType> get_col(int col) const;
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INLINE LVecBase3<NumType> get_row3(int row) const;
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INLINE LVecBase3<NumType> get_col3(int col) const;
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INLINE NumType &operator () (int row, int col);
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INLINE NumType operator () (int row, int col) const;
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INLINE bool is_nan() const;
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INLINE NumType get_cell(int row, int col) const;
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INLINE void set_cell(int row, int col, NumType value);
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INLINE const NumType *get_data() const;
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INLINE int get_num_components() const;
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INLINE iterator begin();
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INLINE iterator end();
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INLINE const_iterator begin() const;
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INLINE const_iterator end() const;
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bool operator == (const LMatrix4<NumType> &other) const;
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INLINE bool operator != (const LMatrix4<NumType> &other) const;
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INLINE int compare_to(const LMatrix4<NumType> &other) const;
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int compare_to(const LMatrix4<NumType> &other, NumType threshold) const;
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INLINE LVecBase4<NumType>
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xform(const LVecBase4<NumType> &v) const;
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INLINE LVecBase3<NumType>
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xform_point(const LVecBase3<NumType> &v) const;
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INLINE LVecBase3<NumType>
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xform_vec(const LVecBase3<NumType> &v) const;
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LMatrix4<NumType> operator * (const LMatrix4<NumType> &other) const;
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LMatrix4<NumType> operator * (NumType scalar) const;
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LMatrix4<NumType> operator / (NumType scalar) const;
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LMatrix4<NumType> &operator += (const LMatrix4<NumType> &other);
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LMatrix4<NumType> &operator -= (const LMatrix4<NumType> &other);
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INLINE LMatrix4<NumType> &operator *= (const LMatrix4<NumType> &other);
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LMatrix4<NumType> &operator *= (NumType scalar);
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LMatrix4<NumType> &operator /= (NumType scalar);
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void transpose_from(const LMatrix4<NumType> &other);
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INLINE void transpose_in_place();
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bool invert_from(const LMatrix4<NumType> &other);
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bool invert_affine_from(const LMatrix4<NumType> &other);
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INLINE bool invert_in_place();
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static const LMatrix4<NumType> &ident_mat();
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static LMatrix4<NumType> translate_mat(const LVecBase3<NumType> &trans);
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static LMatrix4<NumType> translate_mat(NumType tx, NumType ty, NumType tz);
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static LMatrix4<NumType> rotate_mat(NumType angle,
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LVecBase3<NumType> axis,
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CoordinateSystem cs = CS_default);
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static LMatrix4<NumType> scale_mat(const LVecBase3<NumType> &scale);
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static LMatrix4<NumType> scale_mat(NumType sx, NumType sy, NumType sz);
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static LMatrix4<NumType> scale_mat(NumType scale);
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static const LMatrix4<NumType> &y_to_z_up_mat();
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static const LMatrix4<NumType> &z_to_y_up_mat();
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static LMatrix4<NumType> convert_mat(CoordinateSystem from,
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CoordinateSystem to);
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bool almost_equal(const LMatrix4<NumType> &other,
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NumType threshold) const;
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INLINE bool almost_equal(const LMatrix4<NumType> &other) const;
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INLINE void output(ostream &out) const;
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INLINE void write(ostream &out, int indent_level = 0) const;
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private:
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INLINE NumType mult_cel(const LMatrix4<NumType> &other, int x, int y) const;
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bool decompose_mat(int index[4]);
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bool back_sub_mat(int index[4], LMatrix4<NumType> &inv, int row) const;
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NumType _data[4 * 4];
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//Functionality for reading and writing from/to a binary source
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public:
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void write_datagram(Datagram& destination) const;
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void read_datagram(DatagramIterator& scan);
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type();
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private:
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static TypeHandle _type_handle;
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};
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template<class NumType>
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INLINE ostream &operator << (ostream &out, const LMatrix4<NumType> &mat) {
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mat.output(out);
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return out;
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}
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template<class NumType>
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INLINE LMatrix4<NumType> transpose(const LMatrix4<NumType> &a);
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template<class NumType>
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INLINE LMatrix4<NumType> invert(const LMatrix4<NumType> &a);
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// Cast to a different numeric type
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template<class NumType, class NumType2>
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INLINE LMatrix4<NumType2>
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lcast_to(NumType2 *type, const LMatrix4<NumType> &source);
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#include "lmatrix4.I"
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EXPORT_TEMPLATE_CLASS(EXPCL_PANDA, EXPTP_PANDA, LMatrix4<float>)
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EXPORT_TEMPLATE_CLASS(EXPCL_PANDA, EXPTP_PANDA, LMatrix4<double>)
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#endif
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