161 lines
6.0 KiB
C++
161 lines
6.0 KiB
C++
// Filename: lmatrix4_src.h
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// Created by: drose (15Jan99)
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//
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////////////////////////////////////////////////////////////////////
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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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class EXPCL_PANDA FLOATNAME(LMatrix4) {
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PUBLISHED:
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typedef const FLOATTYPE *iterator;
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typedef const FLOATTYPE *const_iterator;
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INLINE FLOATNAME(LMatrix4)();
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INLINE FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix4) &other);
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INLINE FLOATNAME(LMatrix4) &operator = (const FLOATNAME(LMatrix4) &other);
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INLINE FLOATNAME(LMatrix4) &operator = (FLOATTYPE fill_value);
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INLINE FLOATNAME(LMatrix4)(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
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FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
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FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
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FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE 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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INLINE FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3);
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INLINE FLOATNAME(LMatrix4)(const FLOATNAME(LMatrix3) &upper3,const FLOATNAME(LVecBase3) &trans);
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INLINE void fill(FLOATTYPE fill_value);
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INLINE void set(FLOATTYPE e00, FLOATTYPE e01, FLOATTYPE e02, FLOATTYPE e03,
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FLOATTYPE e10, FLOATTYPE e11, FLOATTYPE e12, FLOATTYPE e13,
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FLOATTYPE e20, FLOATTYPE e21, FLOATTYPE e22, FLOATTYPE e23,
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FLOATTYPE e30, FLOATTYPE e31, FLOATTYPE e32, FLOATTYPE e33);
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// Get and set the upper 3x3 rotation matrix.
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INLINE void set_upper_3(const FLOATNAME(LMatrix3) &upper3);
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INLINE FLOATNAME(LMatrix3) get_upper_3() const;
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INLINE void set_row(int row, const FLOATNAME(LVecBase4) &v);
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INLINE void set_col(int col, const FLOATNAME(LVecBase4) &v);
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INLINE void set_row(int row, const FLOATNAME(LVecBase3) &v);
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INLINE void set_col(int col, const FLOATNAME(LVecBase3) &v);
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INLINE FLOATNAME(LVecBase4) get_row(int row) const;
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INLINE FLOATNAME(LVecBase4) get_col(int col) const;
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INLINE FLOATNAME(LVecBase3) get_row3(int row) const;
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INLINE FLOATNAME(LVecBase3) get_col3(int col) const;
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INLINE FLOATTYPE &operator () (int row, int col);
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INLINE FLOATTYPE operator () (int row, int col) const;
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INLINE bool is_nan() const;
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INLINE FLOATTYPE get_cell(int row, int col) const;
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INLINE void set_cell(int row, int col, FLOATTYPE value);
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INLINE const FLOATTYPE *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 FLOATNAME(LMatrix4) &other) const;
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INLINE bool operator != (const FLOATNAME(LMatrix4) &other) const;
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INLINE int compare_to(const FLOATNAME(LMatrix4) &other) const;
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int compare_to(const FLOATNAME(LMatrix4) &other, FLOATTYPE threshold) const;
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INLINE FLOATNAME(LVecBase4)
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xform(const FLOATNAME(LVecBase4) &v) const;
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INLINE FLOATNAME(LVecBase3)
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xform_point(const FLOATNAME(LVecBase3) &v) const;
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INLINE FLOATNAME(LVecBase3)
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xform_vec(const FLOATNAME(LVecBase3) &v) const;
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INLINE FLOATNAME(LMatrix4) operator * (const FLOATNAME(LMatrix4) &other) const;
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INLINE FLOATNAME(LMatrix4) operator * (FLOATTYPE scalar) const;
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INLINE FLOATNAME(LMatrix4) operator / (FLOATTYPE scalar) const;
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INLINE FLOATNAME(LMatrix4) &operator += (const FLOATNAME(LMatrix4) &other);
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INLINE FLOATNAME(LMatrix4) &operator -= (const FLOATNAME(LMatrix4) &other);
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INLINE FLOATNAME(LMatrix4) &operator *= (const FLOATNAME(LMatrix4) &other);
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INLINE FLOATNAME(LMatrix4) &operator *= (FLOATTYPE scalar);
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INLINE FLOATNAME(LMatrix4) &operator /= (FLOATTYPE scalar);
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INLINE void transpose_from(const FLOATNAME(LMatrix4) &other);
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INLINE void transpose_in_place();
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INLINE bool invert_from(const FLOATNAME(LMatrix4) &other);
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INLINE bool invert_affine_from(const FLOATNAME(LMatrix4) &other);
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INLINE bool invert_in_place();
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INLINE static const FLOATNAME(LMatrix4) &ident_mat();
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INLINE static FLOATNAME(LMatrix4) translate_mat(const FLOATNAME(LVecBase3) &trans);
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INLINE static FLOATNAME(LMatrix4) translate_mat(FLOATTYPE tx, FLOATTYPE ty, FLOATTYPE tz);
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INLINE static FLOATNAME(LMatrix4) rotate_mat(FLOATTYPE angle,
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FLOATNAME(LVecBase3) axis,
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CoordinateSystem cs = CS_default);
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INLINE static FLOATNAME(LMatrix4) scale_mat(const FLOATNAME(LVecBase3) &scale);
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INLINE static FLOATNAME(LMatrix4) scale_mat(FLOATTYPE sx, FLOATTYPE sy, FLOATTYPE sz);
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INLINE static FLOATNAME(LMatrix4) scale_mat(FLOATTYPE scale);
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INLINE static const FLOATNAME(LMatrix4) &y_to_z_up_mat();
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INLINE static const FLOATNAME(LMatrix4) &z_to_y_up_mat();
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static FLOATNAME(LMatrix4) convert_mat(CoordinateSystem from,
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CoordinateSystem to);
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bool almost_equal(const FLOATNAME(LMatrix4) &other,
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FLOATTYPE threshold) const;
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INLINE bool almost_equal(const FLOATNAME(LMatrix4) &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 FLOATTYPE mult_cel(const FLOATNAME(LMatrix4) &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], FLOATNAME(LMatrix4) &inv, int row) const;
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FLOATTYPE _data[4 * 4];
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static const FLOATNAME(LMatrix4) _ident_mat;
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static const FLOATNAME(LMatrix4) _y_to_z_up_mat;
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static const FLOATNAME(LMatrix4) _z_to_y_up_mat;
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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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INLINE ostream &operator << (ostream &out, const FLOATNAME(LMatrix4) &mat) {
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mat.output(out);
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return out;
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}
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INLINE FLOATNAME(LMatrix4) transpose(const FLOATNAME(LMatrix4) &a);
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INLINE FLOATNAME(LMatrix4) invert(const FLOATNAME(LMatrix4) &a);
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#include "lmatrix4_src.I"
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