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00039 #ifndef _OSGMATRIX_H_
00040 #define _OSGMATRIX_H_
00041 #ifdef __sgi
00042 #pragma once
00043 #endif
00044
00045
00046 #include <cstdlib>
00047 #include <cstdio>
00048
00049 #include <iostream>
00050 #include <iomanip>
00051
00052 #include "OSGLog.h"
00053 #include "OSGVector.h"
00054
00055 OSG_BEGIN_NAMESPACE
00056
00057 #if defined(OSG_MICROSOFT_COMPILER_HACKS) || defined(__sun)
00058 static const UInt32 JacobiRank = 3;
00059 #endif
00060
00061 template <class ValueTypeT> class QuaternionBase;
00062
00074 template<class ValueTypeT>
00075 class TransformationMatrix
00076 {
00077
00078
00079 public:
00080
00081
00085 typedef TransformationMatrix<ValueTypeT> Self;
00086
00087 typedef ValueTypeT ValueType;
00088 typedef Vector <ValueTypeT, 4> VectorType;
00089
00090 typedef QuaternionBase <ValueType> QuaternionType;
00091
00092 typedef Vector <ValueTypeT, 3> VectorType3f;
00093
00094 typedef Point <ValueTypeT, 4> PointType;
00095 typedef Point <ValueTypeT, 3> PointType3f;
00096
00098
00102 static const TransformationMatrix &identity(void);
00103
00105
00109 TransformationMatrix(void);
00110 TransformationMatrix(const TransformationMatrix &source );
00111
00112 TransformationMatrix(const VectorType3f &vector1,
00113 const VectorType3f &vector2,
00114 const VectorType3f &vector3);
00115
00116 TransformationMatrix(const VectorType &vector1,
00117 const VectorType &vector2,
00118 const VectorType &vector3,
00119 const VectorType &vector4 );
00120
00121 TransformationMatrix(const VectorType3f &vector1,
00122 const VectorType3f &vector2,
00123 const VectorType3f &vector3,
00124 const VectorType3f &vector4);
00125
00126 TransformationMatrix(const ValueTypeT rVal00,
00127 const ValueTypeT rVal10,
00128 const ValueTypeT rVal20,
00129 const ValueTypeT rVal30,
00130
00131 const ValueTypeT rVal01,
00132 const ValueTypeT rVal11,
00133 const ValueTypeT rVal21,
00134 const ValueTypeT rVal31,
00135
00136 const ValueTypeT rVal02,
00137 const ValueTypeT rVal12,
00138 const ValueTypeT rVal22,
00139 const ValueTypeT rVal32,
00140
00141 const ValueTypeT rVal03,
00142 const ValueTypeT rVal13,
00143 const ValueTypeT rVal23,
00144 const ValueTypeT rVal33);
00145
00147
00151 ~TransformationMatrix(void);
00152
00154
00158 void setIdentity (void );
00159
00160 void setValue (const TransformationMatrix &mat );
00161
00162 template<class ValueTypeR>
00163 void convertFrom (const TransformationMatrix<ValueTypeR>& mat );
00164
00165 void setValue (const VectorType3f &vector1,
00166 const VectorType3f &vector2,
00167 const VectorType3f &vector3 );
00168
00169 void setValue (const VectorType3f &vector1,
00170 const VectorType3f &vector2,
00171 const VectorType3f &vector3,
00172 const VectorType3f &vector4 );
00173
00174 void setValue (const ValueTypeT rVal00,
00175 const ValueTypeT rVal10,
00176 const ValueTypeT rVal20,
00177 const ValueTypeT rVal30,
00178
00179 const ValueTypeT rVal01,
00180 const ValueTypeT rVal11,
00181 const ValueTypeT rVal21,
00182 const ValueTypeT rVal31,
00183
00184 const ValueTypeT rVal02,
00185 const ValueTypeT rVal12,
00186 const ValueTypeT rVal22,
00187 const ValueTypeT rVal32,
00188
00189 const ValueTypeT rVal03,
00190 const ValueTypeT rVal13,
00191 const ValueTypeT rVal23,
00192 const ValueTypeT rVal33 );
00193
00194 void setValueTransposed(const ValueTypeT rVal00,
00195 const ValueTypeT rVal01,
00196 const ValueTypeT rVal02,
00197 const ValueTypeT rVal03,
00198
00199 const ValueTypeT rVal10,
00200 const ValueTypeT rVal11,
00201 const ValueTypeT rVal12,
00202 const ValueTypeT rVal13,
00203
00204 const ValueTypeT rVal20,
00205 const ValueTypeT rVal21,
00206 const ValueTypeT rVal22,
00207 const ValueTypeT rVal23,
00208
00209 const ValueTypeT rVal30,
00210 const ValueTypeT rVal31,
00211 const ValueTypeT rVal32,
00212 const ValueTypeT rVal33 );
00213
00214 void setValue (const ValueTypeT *pMat,
00215 bool bTransposed = true );
00216
00217 void setValue (const VectorType *pMat );
00218
00219 void setValue (const VectorType3f *pMat );
00220
00221 void setValue (const Char8 *string,
00222 bool bTransposed = true );
00223
00225
00229 ValueTypeT *getValues(void);
00230 const ValueTypeT *getValues(void) const;
00231
00233
00237 void setScale (const ValueTypeT s );
00238
00239 void setScale (const ValueTypeT sx,
00240 const ValueTypeT sy,
00241 const ValueTypeT sz );
00242
00243 void setScale (const VectorType3f &s );
00244
00245
00246 void setTranslate(const ValueTypeT tx,
00247 const ValueTypeT ty,
00248 const ValueTypeT tz );
00249
00250 void setTranslate(const VectorType3f &t );
00251
00252 void setTranslate(const PointType3f &t );
00253
00254
00255 void setRotate (const QuaternionType &q );
00256
00257
00258 void setTransform(const VectorType3f &t );
00259
00260 void setTransform(const QuaternionType &r );
00261
00262 void setTransform(const VectorType3f &t,
00263 const QuaternionType &r );
00264
00265 void setTransform(const VectorType3f &t,
00266 const QuaternionType &r,
00267 const VectorType3f &s );
00268
00269 void setTransform(const VectorType3f &t,
00270 const QuaternionType &r,
00271 const VectorType3f &s,
00272 const QuaternionType &so );
00273
00274 void setTransform(const VectorType3f &translation,
00275 const QuaternionType &rotation,
00276 const VectorType3f &scaleFactor,
00277 const QuaternionType &scaleOrientation,
00278 const VectorType3f ¢er );
00279
00281
00285 void getTransform( VectorType3f &translation,
00286 QuaternionType &rotation,
00287 VectorType3f &scaleFactor,
00288 QuaternionType &scaleOrientation,
00289 const VectorType3f ¢er) const;
00290
00291 void getTransform( VectorType3f &translation,
00292 QuaternionType &rotation,
00293 VectorType3f &scaleFactor,
00294 QuaternionType &scaleOrientation) const;
00295
00296 bool factor ( TransformationMatrix &r,
00297 VectorType3f &s,
00298 TransformationMatrix &u,
00299 VectorType3f &t,
00300 TransformationMatrix &proj) const;
00301
00303
00307 void mult (const PointType &pntIn, PointType &pntOut) const;
00308 void multFull (const PointType3f &pntIn, PointType3f &pntOut) const;
00309 void mult (const PointType3f &pntIn, PointType3f &pntOut) const;
00310
00311 void mult (const VectorType &vecIn, VectorType &vecOut) const;
00312 void multFull (const VectorType3f &vecIn, VectorType3f &vecOut) const;
00313 void mult (const VectorType3f &vecIn, VectorType3f &vecOut) const;
00314
00315 void mult3x3 (const PointType3f &pntIn, PointType3f &pntOut) const;
00316 void mult3x3 (const VectorType3f &vecIn, VectorType3f &vecOut) const;
00317
00318 void multLeftFull(const PointType3f &pntIn, PointType3f &pntOut) const;
00319 void multLeft (const PointType3f &pntIn, PointType3f &pntOut) const;
00320
00321 void multLeftFull(const VectorType3f &vecIn, VectorType3f &vecOut) const;
00322 void multLeft (const VectorType3f &vecIn, VectorType3f &vecOut) const;
00323
00324 PointType operator *(const PointType &pntIn) const;
00325 PointType3f operator *(const PointType3f &pntIn) const;
00326
00327 VectorType operator *(const VectorType &vecIn) const;
00328 VectorType3f operator *(const VectorType3f &vecIn) const;
00329
00331
00335 bool equals (const TransformationMatrix &matrix,
00336 const ValueType tol ) const;
00337
00338 ValueTypeT det3 ( void ) const;
00339 ValueTypeT det ( void ) const;
00340
00341 bool inverse ( TransformationMatrix &result) const;
00342 bool invert ( void );
00343 bool invertFrom (const TransformationMatrix &matrix);
00344
00345 bool inverse3 ( TransformationMatrix &result) const;
00346 bool invert3 ( void );
00347 bool invertFrom3 (const TransformationMatrix &matrix);
00348
00349 bool transposed ( TransformationMatrix &result) const;
00350 bool transpose ( void );
00351 bool transposeFrom(const TransformationMatrix &matrix);
00352
00353 template<class ValueTypeR>
00354 void mult (const TransformationMatrix<ValueTypeR>& mat);
00355 template<class ValueTypeR>
00356 void multLeft (const TransformationMatrix<ValueTypeR>& mat);
00357
00358 void add (const TransformationMatrix &matrix);
00359 void scale ( ValueTypeT s );
00360 void addScaled (const TransformationMatrix &matrix,
00361 ValueTypeT s );
00362 void negate ( void );
00363
00364 ValueTypeT norm1 ( void ) const;
00365 ValueTypeT norm2 ( void ) const;
00366 ValueTypeT normInfinity ( void ) const;
00367
00368 bool sqrt ( TransformationMatrix &result) const;
00369 bool sqrtOf (const TransformationMatrix &matrix);
00370 bool sqrt ( void );
00371
00372 bool log ( TransformationMatrix &result) const;
00373 bool logOf (const TransformationMatrix &matrix);
00374
00375 bool exp ( TransformationMatrix &result) const;
00376 bool expOf (const TransformationMatrix &matrix);
00377
00379
00383 VectorType &operator [](UInt32 uiIndex);
00384 const VectorType &operator [](UInt32 uiIndex) const;
00385
00387
00391 TransformationMatrix &operator =(const TransformationMatrix &source);
00392
00394
00398 bool operator == (const TransformationMatrix &other) const;
00399 bool operator != (const TransformationMatrix &other) const;
00400
00402
00406 #ifdef OSG_1_COMPAT
00407 void mult ( PointType3f &pnt) const;
00408 void multMatrixPnt ( PointType3f &pnt) const;
00409 void multMatrixPnt (const PointType3f &src,
00410 PointType3f &dst) const;
00411 void multMatrixVec ( VectorType3f &vec) const;
00412 void multMatrixVec (const VectorType3f &src,
00413 VectorType3f &dst) const;
00414 void multFullMatrixPnt( PointType3f &pnt) const;
00415 void multFullMatrixPnt(const PointType3f &src,
00416 PointType3f &dst) const;
00417 void multPntFullMatrix(const PointType3f &src,
00418 PointType3f &dst) const;
00419 #endif
00420
00422
00423
00424 protected:
00425
00426
00430 VectorType _matrix[4];
00431
00433
00437 template<class ValueTypeR, class ValueTypeS>
00438 ValueTypeT rowMulCol4(const TransformationMatrix<ValueTypeR> &gRowMat,
00439 UInt32 iRow,
00440 const TransformationMatrix<ValueTypeS> &gColMat,
00441 UInt32 iColumn) const;
00442
00443 ValueTypeT det2_calc (const ValueTypeT a1,
00444 const ValueTypeT a2,
00445 const ValueTypeT b1,
00446 const ValueTypeT b2 ) const;
00447 ValueTypeT det3_calc (const ValueTypeT a1,
00448 const ValueTypeT a2,
00449 const ValueTypeT a3,
00450 const ValueTypeT b1,
00451 const ValueTypeT b2,
00452 const ValueTypeT b3,
00453 const ValueTypeT c1,
00454 const ValueTypeT c2,
00455 const ValueTypeT c3 ) const;
00456
00457
00458 bool calcInverse ( TransformationMatrix *destM,
00459 const TransformationMatrix *srcM ) const;
00460 bool calcInverse3( TransformationMatrix *destM,
00461 const TransformationMatrix *srcM ) const;
00462
00463
00464 ValueType norm1_3x3 (void) const;
00465 ValueType normInf_3x3 (void) const;
00466
00467 void adjointT_3x3 (TransformationMatrix &result) const;
00468 void polarDecompose (TransformationMatrix &Q,
00469 TransformationMatrix &S,
00470 ValueType &det ) const;
00471 void spectralDecompose(TransformationMatrix &SO,
00472 VectorType3f &k ) const;
00473 void decompose (VectorType3f &t,
00474 ValueType &f,
00475 QuaternionType &r,
00476 QuaternionType &so,
00477 VectorType3f &s ) const;
00478
00479 #ifdef __sgi
00480 #pragma set woff 1424
00481 #endif
00482
00483 #if !defined(OSG_MICROSOFT_COMPILER_HACKS) && !defined(__sun)
00484 static const UInt32 JacobiRank = 3;
00485 #endif
00486
00487 bool jacobi(ValueTypeT evalues [JacobiRank],
00488 VectorType3f evectors[JacobiRank],
00489 Int32 &rots);
00490
00491 #ifdef __sgi
00492 #pragma reset woff 1424
00493 #endif
00494
00496
00497
00498 private:
00499
00500 static TransformationMatrix _identityMatrix;
00501 };
00502
00503
00512 typedef OSG::TransformationMatrix<OSG::Real32> Matrix4f;
00513
00514
00520 typedef OSG::TransformationMatrix<OSG::Real64> Matrix4d;
00521
00522
00528 typedef OSG::TransformationMatrix<OSG::Fixed32> Matrix4fx;
00529
00530
00536 typedef OSG::TransformationMatrix<OSG::Real32 > Matrix;
00537
00538
00544 typedef OSG::TransformationMatrix<OSG::Fixed32> Matrixfx;
00545
00547
00551 #ifdef OSG_FLOAT_PROFILE
00552
00558 typedef Matrix4f Matrixr;
00559
00560
00561 #else
00562
00568 typedef Matrix4fx Matrixr;
00569
00570 #endif
00571
00573
00574
00577 template<class ValueTypeT>
00578 std::ostream &operator <<( std::ostream &os,
00579 const TransformationMatrix<ValueTypeT> &obj);
00580
00581 OSG_END_NAMESPACE
00582
00583 #include "OSGMatrix.inl"
00584
00585 #endif
00586
00587
