164 lines
5.9 KiB
Plaintext
164 lines
5.9 KiB
Plaintext
// Filename: compose_matrix_src.I
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// Created by: drose (21Feb99)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) 2001 - 2004, Disney Enterprises, Inc. All rights reserved
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//
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// All use of this software is subject to the terms of the Panda 3d
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// Software license. You should have received a copy of this license
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// along with this source code; you will also find a current copy of
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// the license at http://etc.cmu.edu/panda3d/docs/license/ .
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//
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// To contact the maintainers of this program write to
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// panda3d-general@lists.sourceforge.net .
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//
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////////////////////////////////////////////////////////////////////
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////////////////////////////////////////////////////////////////////
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// Function: compose_matrix
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// Description: Computes the 4x4 matrix according to scale, shear,
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// rotation, and translation.
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////////////////////////////////////////////////////////////////////
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INLINE_LINMATH void
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compose_matrix(FLOATNAME(LMatrix4) &mat,
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const FLOATNAME(LVecBase3) &scale,
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const FLOATNAME(LVecBase3) &shear,
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const FLOATNAME(LVecBase3) &hpr,
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const FLOATNAME(LVecBase3) &translate,
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CoordinateSystem cs) {
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FLOATNAME(LMatrix3) upper3;
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compose_matrix(upper3, scale, shear, hpr, cs);
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mat = FLOATNAME(LMatrix4)(upper3, translate);
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}
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INLINE_LINMATH void
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compose_matrix(FLOATNAME(LMatrix4) &mat,
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const FLOATTYPE components[num_matrix_components],
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CoordinateSystem cs) {
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FLOATNAME(LVector3) scale(components[0],
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components[1],
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components[2]);
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FLOATNAME(LVector3) shear(components[3],
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components[4],
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components[5]);
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FLOATNAME(LVector3) hpr(components[6],
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components[7],
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components[8]);
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FLOATNAME(LVector3) translate(components[9],
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components[10],
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components[11]);
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compose_matrix(mat, scale, shear, hpr, translate, cs);
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}
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////////////////////////////////////////////////////////////////////
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// Function: decompose_matrix
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// Description: Extracts out the components of an affine matrix.
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// Returns true if the scale, shear, hpr, and translate
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// completely describe the matrix, or false if the
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// matrix is not affine.
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////////////////////////////////////////////////////////////////////
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INLINE_LINMATH bool
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decompose_matrix(const FLOATNAME(LMatrix4) &mat,
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FLOATNAME(LVecBase3) &scale,
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FLOATNAME(LVecBase3) &shear,
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FLOATNAME(LVecBase3) &hpr,
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FLOATNAME(LVecBase3) &translate,
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CoordinateSystem cs) {
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// Get the translation first.
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mat.get_row3(translate,3);
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if (!decompose_matrix(mat.get_upper_3(), scale, shear, hpr, cs)) {
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return false;
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}
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#ifndef NDEBUG
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return mat.get_col(3).almost_equal(FLOATNAME(LVecBase4)(0.0, 0.0, 0.0, 1.0));
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#else
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return true;
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#endif
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}
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INLINE_LINMATH bool
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decompose_matrix(const FLOATNAME(LMatrix4) &mat,
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FLOATTYPE components[num_matrix_components],
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CoordinateSystem cs) {
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FLOATNAME(LVector3) scale, shear, hpr, translate;
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bool result = decompose_matrix(mat, scale, shear, hpr, translate, cs);
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components[0] = scale[0];
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components[1] = scale[1];
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components[2] = scale[2];
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components[3] = shear[0];
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components[4] = shear[1];
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components[5] = shear[2];
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components[6] = hpr[0];
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components[7] = hpr[1];
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components[8] = hpr[2];
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components[9] = translate[0];
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components[10] = translate[1];
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components[11] = translate[2];
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return result;
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}
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// The following functions are deprecated; they have been replaced
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// with new versions, above, that accept a shear component as well.
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INLINE EXPCL_PANDA void
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compose_matrix(FLOATNAME(LMatrix3) &mat,
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const FLOATNAME(LVecBase3) &scale,
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const FLOATNAME(LVecBase3) &hpr,
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CoordinateSystem cs) {
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compose_matrix(mat, scale, FLOATNAME(LVecBase3)(0, 0, 0), hpr, cs);
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}
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////////////////////////////////////////////////////////////////////
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// Function: compose_matrix
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// Description: Computes the 4x4 matrix according to scale, rotation,
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// and translation.
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////////////////////////////////////////////////////////////////////
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INLINE_LINMATH void
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compose_matrix(FLOATNAME(LMatrix4) &mat,
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const FLOATNAME(LVecBase3) &scale,
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const FLOATNAME(LVecBase3) &hpr,
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const FLOATNAME(LVecBase3) &translate,
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CoordinateSystem cs) {
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FLOATNAME(LMatrix3) upper3;
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compose_matrix(upper3, scale, hpr, cs);
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mat = FLOATNAME(LMatrix4)(upper3, translate);
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}
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INLINE EXPCL_PANDA bool
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decompose_matrix(const FLOATNAME(LMatrix3) &mat,
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FLOATNAME(LVecBase3) &scale,
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FLOATNAME(LVecBase3) &hpr,
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CoordinateSystem cs) {
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FLOATNAME(LVecBase3) shear;
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if (!decompose_matrix(mat, scale, shear, hpr, cs)) {
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return false;
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}
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return shear.almost_equal(FLOATNAME(LVecBase3)::zero());
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}
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////////////////////////////////////////////////////////////////////
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// Function: decompose_matrix
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// Description: Extracts out the components of an affine matrix.
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// Returns true if the scale, hpr, translate
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// completely describe the matrix, or false if there is
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// also a shear component or if the matrix is not
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// affine.
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////////////////////////////////////////////////////////////////////
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INLINE_LINMATH bool
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decompose_matrix(const FLOATNAME(LMatrix4) &mat,
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FLOATNAME(LVecBase3) &scale,
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FLOATNAME(LVecBase3) &hpr,
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FLOATNAME(LVecBase3) &translate,
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CoordinateSystem cs) {
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// Get the translation first.
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mat.get_row3(translate,3);
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return decompose_matrix(mat.get_upper_3(), scale, hpr, cs);
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}
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