Warning, /include/Geant4/tools/lina/mat4 is written in an unsupported language. File is not indexed.
0001 // Copyright (C) 2010, Guy Barrand. All rights reserved.
0002 // See the file tools.license for terms.
0003
0004 #ifndef tools_mat4
0005 #define tools_mat4
0006
0007 #include "mat"
0008
0009 //#include <cmath>
0010
0011 namespace tools {
0012
0013 template <class T>
0014 class mat4 : public mat<T,4> {
0015 typedef mat<T,4> parent;
0016 typedef mat<T,4> pr;
0017 public:
0018 #ifdef TOOLS_MEM
0019 mat4(bool a_inc = true):parent(a_inc) {}
0020 #else
0021 mat4():parent() {}
0022 #endif
0023 mat4(const mat<T,4>& a_from):parent(a_from){}
0024 virtual ~mat4() {}
0025 public:
0026 mat4(const mat4& a_from):parent(a_from){}
0027 mat4& operator=(const mat4& a_from){
0028 parent::operator=(a_from);
0029 return *this;
0030 }
0031 public:
0032 mat4(const T& a_00,const T& a_01,const T& a_02,const T& a_03, //first row
0033 const T& a_10,const T& a_11,const T& a_12,const T& a_13, //second row
0034 const T& a_20,const T& a_21,const T& a_22,const T& a_23, //third row
0035 const T& a_30,const T& a_31,const T& a_32,const T& a_33) //fourth row
0036 {
0037 set_matrix(a_00,a_01,a_02,a_03,
0038 a_10,a_11,a_12,a_13,
0039 a_20,a_21,a_22,a_23,
0040 a_30,a_31,a_32,a_33);
0041 }
0042 public:
0043 void set_matrix(const mat4<T>& a_m) {parent::set_matrix(a_m);}
0044 void set_matrix(
0045 const T& a_00,const T& a_01,const T& a_02,const T& a_03, //1 row
0046 const T& a_10,const T& a_11,const T& a_12,const T& a_13, //2 row
0047 const T& a_20,const T& a_21,const T& a_22,const T& a_23, //3 row
0048 const T& a_30,const T& a_31,const T& a_32,const T& a_33) //4 row
0049 {
0050 //a_<R><C>
0051 //pr::m_vec[R + C * 4];
0052 pr::m_vec[0] = a_00;pr::m_vec[4] = a_01;pr::m_vec[ 8] = a_02;pr::m_vec[12] = a_03;
0053 pr::m_vec[1] = a_10;pr::m_vec[5] = a_11;pr::m_vec[ 9] = a_12;pr::m_vec[13] = a_13;
0054 pr::m_vec[2] = a_20;pr::m_vec[6] = a_21;pr::m_vec[10] = a_22;pr::m_vec[14] = a_23;
0055 pr::m_vec[3] = a_30;pr::m_vec[7] = a_31;pr::m_vec[11] = a_32;pr::m_vec[15] = a_33;
0056 }
0057
0058 void set_scale(const T& a_s) {_set_scale(a_s,a_s,a_s,pr::m_vec);}
0059 void set_scale(const T& a_1,const T& a_2,const T& a_3) {_set_scale(a_1,a_2,a_3,pr::m_vec);}
0060 void set_translate(const T& a_x,const T& a_y,const T& a_z) {_set_translate(a_x,a_y,a_z,pr::m_vec);}
0061 void set_rotate(const T& a_x,const T& a_y,const T& a_z,const T& a_angle,T(*a_sin)(T),T(*a_cos)(T)) {
0062 _set_rotate(a_x,a_y,a_z,a_angle,pr::m_vec,a_sin,a_cos);
0063 }
0064 void set_ortho(const T& a_l,const T& a_r, //left,right
0065 const T& a_b,const T& a_t, //bottom,top
0066 const T& a_n,const T& a_f) { //znear,zfar
0067 // from man glOrtho.
0068 T tx = -(a_r+a_l)/(a_r-a_l);
0069 T ty = -(a_t+a_b)/(a_t-a_b);
0070 T tz = -(a_f+a_n)/(a_f-a_n);
0071
0072 T a_00,a_01,a_02,a_03;
0073 T a_10,a_11,a_12,a_13;
0074 T a_20,a_21,a_22,a_23;
0075 T a_30,a_31,a_32,a_33;
0076 a_00 = 2/(a_r-a_l);a_01 = 0;a_02 = 0;a_03 = tx;
0077 a_10 = 0;a_11 = 2/(a_t-a_b);a_12 = 0;a_13 = ty;
0078 a_20 = 0;a_21 = 0;a_22 = -2/(a_f-a_n);a_23 = tz;
0079 a_30 = 0;a_31 = 0;a_32 = 0;a_33 = 1;
0080 set_matrix(a_00,a_01,a_02,a_03, //1 row
0081 a_10,a_11,a_12,a_13, //2 row
0082 a_20,a_21,a_22,a_23, //3 row
0083 a_30,a_31,a_32,a_33); //4 row
0084
0085 //NOTE : Z(x,y, z,1) = -2z/(f-n)+tz = [-2z-f-n]/(f-n)
0086 // W(x,y, z,1) = 1 -> Z/W = Z
0087 // Z(x,y,-n,1) = -1
0088 // Z(x,y,-f,1) = 1
0089
0090 // Z(x,y,-(f+n)/2,1) = 0
0091
0092 // X(x,0, z,1) = 2x/(r-l)+tx = [2x-r-l]/(r-l)
0093 // X(r,0, z,1) = 1
0094
0095 // the view direction is then (0,0,1) in the final projection.
0096 }
0097 void set_frustum(const T& a_l,const T& a_r, //left,right
0098 const T& a_b,const T& a_t, //bottom,top
0099 const T& a_n,const T& a_f) { //znear,zfar
0100 // from man glFrustum.
0101 T A = (a_r+a_l)/(a_r-a_l);
0102 T B = (a_t+a_b)/(a_t-a_b);
0103 T C = -(a_f+a_n)/(a_f-a_n);
0104 T D = -(2*a_f*a_n)/(a_f-a_n);
0105
0106 T a_00,a_01,a_02,a_03;
0107 T a_10,a_11,a_12,a_13;
0108 T a_20,a_21,a_22,a_23;
0109 T a_30,a_31,a_32,a_33;
0110 a_00 = (2*a_n)/(a_r-a_l);a_01 = 0;a_02 = A;a_03 = 0;
0111 a_10 = 0;a_11 = (2*a_n)/(a_t-a_b);a_12 = B;a_13 = 0;
0112 a_20 = 0;a_21 = 0;a_22 = C;a_23 = D;
0113 a_30 = 0;a_31 = 0;a_32 = -1;a_33 = 0;
0114 set_matrix(a_00,a_01,a_02,a_03, //1 row
0115 a_10,a_11,a_12,a_13, //2 row
0116 a_20,a_21,a_22,a_23, //3 row
0117 a_30,a_31,a_32,a_33); //4 row
0118
0119 //NOTE : Z(x,y, z,1) = C*z+D = -[(f+n)*z+2*f*n]/(f-n)
0120
0121 // Z(x,y,-n,1) = -[-fn-nn+2fn]/(f-n) = -[fn-nn]/(f-n) = -n
0122 // W(x,y,-n,1) = n
0123 // -> Z/W(x,y,-n,1) = -1
0124
0125 // Z(x,y,-2fn/(f+n),1) = 0
0126 // -> Z/W = 0
0127
0128 // Z(x,y,-f,1) = -[-ff-fn+2fn]/(f-n) = -[fn-ff]/(f-n) = f
0129 // W(x,y,-f,1) = f
0130 // -> Z/W(x,y,-f,1) = 1
0131
0132 // X(x,0, z,1) = 2nx/(r-l)+z(r+l)/(r-l) = [2nx+zr+zl]/(r-l)
0133 // X(r,0,-n,1) = [nr-nl]/(r-l) = n
0134 // W(r,0,-n,1) = n
0135 // -> X/W(r,0,-n,1) = 1
0136
0137 // X(l,0,-n,1) = (2nl-n(r+l))/(r-l) = -n
0138 // W(l,0,-n,1) = n
0139 // -> X/W(l,0,-n,1) = -1
0140
0141 // lrbt corners are in plane z=-1 at xy=+/-1.
0142
0143 // eye ?
0144 // eye before ? (0,0,z,1) -> (zA,zB,zC+D,-z) /W -> (-A,-B,-(C+D/z),1)
0145 // z=0 -> (0,0,D=-2fn(f-n),0)
0146
0147 }
0148
0149 void get_translate(T& a_x,T& a_y,T& a_z) const {
0150 a_x = pr::m_vec[12];
0151 a_y = pr::m_vec[13];
0152 a_z = pr::m_vec[14];
0153 }
0154
0155 void no_translate() {
0156 pr::m_vec[12] = 0;
0157 pr::m_vec[13] = 0;
0158 pr::m_vec[14] = 0;
0159 }
0160
0161 //void set_translate_only(const T& a_x,const T& a_y,const T& a_z) {
0162 // pr::m_vec[12] = a_x;
0163 // pr::m_vec[13] = a_y;
0164 // pr::m_vec[14] = a_z;
0165 //}
0166
0167 public:
0168 void mul_4(T& a_x,T& a_y,T& a_z,T& a_p) const {
0169 // a_[x,y,z,p] = this * a_[x,y,z,p]
0170 //pr::m_vec[R + C * 4];
0171 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0172 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0173 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0174 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0175 T x = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z+pr::m_vec[12]*a_p;
0176 T y = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z+pr::m_vec[13]*a_p;
0177 T z = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z+pr::m_vec[14]*a_p;
0178 T p = pr::m_vec[3]*a_x+pr::m_vec[7]*a_y+pr::m_vec[11]*a_z+pr::m_vec[15]*a_p;
0179 a_x = x;
0180 a_y = y;
0181 a_z = z;
0182 a_p = p;
0183 }
0184 void mul_4_opt(T& a_x,T& a_y,T& a_z,T& a_p,T a_tmp[4]) const {
0185 // a_[x,y,z,p] = this * a_[x,y,z,p]
0186 //pr::m_vec[R + C * 4];
0187 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0188 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0189 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0190 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0191 a_tmp[0] = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z+pr::m_vec[12]*a_p;
0192 a_tmp[1] = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z+pr::m_vec[13]*a_p;
0193 a_tmp[2] = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z+pr::m_vec[14]*a_p;
0194 a_tmp[3] = pr::m_vec[3]*a_x+pr::m_vec[7]*a_y+pr::m_vec[11]*a_z+pr::m_vec[15]*a_p;
0195 a_x = a_tmp[0];
0196 a_y = a_tmp[1];
0197 a_z = a_tmp[2];
0198 a_p = a_tmp[3];
0199 }
0200 void mul_3(T& a_x,T& a_y,T& a_z) const {
0201 // a_[x,y,z] = this * a_[x,y,z]
0202 //pr::m_vec[R + C * 4];
0203 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0204 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0205 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0206 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0207 T x = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z+pr::m_vec[12];
0208 T y = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z+pr::m_vec[13];
0209 T z = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z+pr::m_vec[14];
0210 a_x = x;
0211 a_y = y;
0212 a_z = z;
0213 }
0214 void mul_3_opt(T& a_x,T& a_y,T& a_z,T a_tmp[3]) const {
0215 // a_[x,y,z] = this * a_[x,y,z]
0216 //pr::m_vec[R + C * 4];
0217 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0218 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0219 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0220 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0221 a_tmp[0] = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z+pr::m_vec[12];
0222 a_tmp[1] = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z+pr::m_vec[13];
0223 a_tmp[2] = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z+pr::m_vec[14];
0224 a_x = a_tmp[0];
0225 a_y = a_tmp[1];
0226 a_z = a_tmp[2];
0227 }
0228 void mul_2(T& a_x,T& a_y) const {
0229 // a_[x,y] = this * a_[x,y]
0230 //pr::m_vec[R + C * 4];
0231 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0232 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0233 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0234 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0235 T x = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[12];
0236 T y = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[13];
0237 a_x = x;
0238 a_y = y;
0239 }
0240
0241 void mul_dir_3(T& a_x,T& a_y,T& a_z) const {
0242 // used to multiply normals.
0243 // a_[x,y,z] = rot_part(this) * a_[x,y,z]
0244
0245 T x = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z;
0246 T y = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z;
0247 T z = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z;
0248 a_x = x;
0249 a_y = y;
0250 a_z = z;
0251 }
0252 void mul_dir_3_opt(T& a_x,T& a_y,T& a_z,T a_tmp[3]) const {
0253 // used to multiply normals.
0254 // a_[x,y,z] = rot_part(this) * a_[x,y,z]
0255
0256 a_tmp[0] = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z;
0257 a_tmp[1] = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z;
0258 a_tmp[2] = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z;
0259 a_x = a_tmp[0];
0260 a_y = a_tmp[1];
0261 a_z = a_tmp[2];
0262 }
0263
0264 void mul_trans_3(T& a_x,T& a_y,T& a_z) const {
0265 // used in sg::healpix.
0266 // a_[x,y,z] = trans_part(this) * a_[x,y,z]
0267 a_x += pr::m_vec[12];
0268 a_y += pr::m_vec[13];
0269 a_z += pr::m_vec[14];
0270 }
0271
0272 template <class VEC>
0273 void mul_dir_3(VEC& a_dir) const {mul_dir_3(a_dir[0],a_dir[1],a_dir[2]);}
0274
0275 void mul_scale(const T& a_sx,const T& a_sy,const T& a_sz) {
0276 // this = this * mat4_scale(a_s[x,y,z]
0277 //pr::m_vec[R + C * 4];
0278 //pr::m_vec[0]= 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0279 //pr::m_vec[1]= 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0280 //pr::m_vec[2]= 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0281 //pr::m_vec[3]= 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0282 pr::m_vec[0] *= a_sx;
0283 pr::m_vec[1] *= a_sx;
0284 pr::m_vec[2] *= a_sx;
0285 pr::m_vec[3] *= a_sx;
0286
0287 pr::m_vec[4] *= a_sy;
0288 pr::m_vec[5] *= a_sy;
0289 pr::m_vec[6] *= a_sy;
0290 pr::m_vec[7] *= a_sy;
0291
0292 pr::m_vec[ 8] *= a_sz;
0293 pr::m_vec[ 9] *= a_sz;
0294 pr::m_vec[10] *= a_sz;
0295 pr::m_vec[11] *= a_sz;
0296 }
0297 void mul_scale(const T& a_s) {
0298 pr::m_vec[0] *= a_s;
0299 pr::m_vec[1] *= a_s;
0300 pr::m_vec[2] *= a_s;
0301 pr::m_vec[3] *= a_s;
0302
0303 pr::m_vec[4] *= a_s;
0304 pr::m_vec[5] *= a_s;
0305 pr::m_vec[6] *= a_s;
0306 pr::m_vec[7] *= a_s;
0307
0308 pr::m_vec[ 8] *= a_s;
0309 pr::m_vec[ 9] *= a_s;
0310 pr::m_vec[10] *= a_s;
0311 pr::m_vec[11] *= a_s;
0312 }
0313 void mul_translate(const T& a_x,const T& a_y,const T& a_z) {
0314 pr::m_vec[12] = pr::m_vec[0]*a_x+pr::m_vec[4]*a_y+pr::m_vec[ 8]*a_z+pr::m_vec[12];
0315 pr::m_vec[13] = pr::m_vec[1]*a_x+pr::m_vec[5]*a_y+pr::m_vec[ 9]*a_z+pr::m_vec[13];
0316 pr::m_vec[14] = pr::m_vec[2]*a_x+pr::m_vec[6]*a_y+pr::m_vec[10]*a_z+pr::m_vec[14];
0317 pr::m_vec[15] = pr::m_vec[3]*a_x+pr::m_vec[7]*a_y+pr::m_vec[11]*a_z+pr::m_vec[15];
0318 }
0319
0320 void mul_rotate(const T& a_x,const T& a_y,const T& a_z,const T& a_angle,T(*a_sin)(T),T(*a_cos)(T)) {
0321 T rot[16];
0322 _set_rotate(a_x,a_y,a_z,a_angle,rot,a_sin,a_cos);
0323 parent::_mul_mtx(rot);
0324 }
0325
0326 void left_mul_rotate(const T& a_x,const T& a_y,const T& a_z,const T& a_angle,T(*a_sin)(T),T(*a_cos)(T)) {
0327 T _m[16];
0328 _set_rotate(a_x,a_y,a_z,a_angle,_m,a_sin,a_cos);
0329 parent::_left_mul_mtx(_m);
0330 }
0331
0332 void left_mul_scale(const T& a_x,const T& a_y,const T& a_z) {
0333 T _m[16];
0334 _set_scale(a_x,a_y,a_z,_m);
0335 parent::_left_mul_mtx(_m);
0336 }
0337
0338 void left_mul_translate(const T& a_x,const T& a_y,const T& a_z) {
0339 T _m[16];
0340 _set_translate(a_x,a_y,a_z,_m);
0341 parent::_left_mul_mtx(_m);
0342 }
0343
0344 void v00(const T& a_value){pr::m_vec[0+0*4] = a_value;}
0345 void v10(const T& a_value){pr::m_vec[1+0*4] = a_value;}
0346 void v20(const T& a_value){pr::m_vec[2+0*4] = a_value;}
0347 void v30(const T& a_value){pr::m_vec[3+0*4] = a_value;}
0348
0349 void v01(const T& a_value){pr::m_vec[0+1*4] = a_value;}
0350 void v11(const T& a_value){pr::m_vec[1+1*4] = a_value;}
0351 void v21(const T& a_value){pr::m_vec[2+1*4] = a_value;}
0352 void v31(const T& a_value){pr::m_vec[3+1*4] = a_value;}
0353
0354 void v02(const T& a_value){pr::m_vec[0+2*4] = a_value;}
0355 void v12(const T& a_value){pr::m_vec[1+2*4] = a_value;}
0356 void v22(const T& a_value){pr::m_vec[2+2*4] = a_value;}
0357 void v32(const T& a_value){pr::m_vec[3+2*4] = a_value;}
0358
0359 void v03(const T& a_value){pr::m_vec[0+3*4] = a_value;}
0360 void v13(const T& a_value){pr::m_vec[1+3*4] = a_value;}
0361 void v23(const T& a_value){pr::m_vec[2+3*4] = a_value;}
0362 void v33(const T& a_value){pr::m_vec[3+3*4] = a_value;}
0363
0364 const T& v00() const {return pr::m_vec[0+0*4];}
0365 const T& v10() const {return pr::m_vec[1+0*4];}
0366 const T& v20() const {return pr::m_vec[2+0*4];}
0367 const T& v30() const {return pr::m_vec[3+0*4];}
0368
0369 const T& v01() const {return pr::m_vec[0+1*4];}
0370 const T& v11() const {return pr::m_vec[1+1*4];}
0371 const T& v21() const {return pr::m_vec[2+1*4];}
0372 const T& v31() const {return pr::m_vec[3+1*4];}
0373
0374 const T& v02() const {return pr::m_vec[0+2*4];}
0375 const T& v12() const {return pr::m_vec[1+2*4];}
0376 const T& v22() const {return pr::m_vec[2+2*4];}
0377 const T& v32() const {return pr::m_vec[3+2*4];}
0378
0379 const T& v03() const {return pr::m_vec[0+3*4];}
0380 const T& v13() const {return pr::m_vec[1+3*4];}
0381 const T& v23() const {return pr::m_vec[2+3*4];}
0382 const T& v33() const {return pr::m_vec[3+3*4];}
0383
0384 protected:
0385 static void _set_translate(const T& a_x,const T& a_y,const T& a_z,T v[]) {
0386 v[0] = T(1);v[4] = 0;v[ 8] = 0;v[12] = a_x;
0387 v[1] = 0;v[5] = T(1);v[ 9] = 0;v[13] = a_y;
0388 v[2] = 0;v[6] = 0;v[10] = T(1);v[14] = a_z;
0389 v[3] = 0;v[7] = 0;v[11] = 0;v[15] = T(1);
0390 }
0391
0392 static void _set_scale(const T& a_1,const T& a_2,const T& a_3,T v[]) {
0393 v[0] = a_1;v[4] = 0;v[ 8] = 0;v[12] = 0;
0394 v[1] = 0;v[5] = a_2;v[ 9] = 0;v[13] = 0;
0395 v[2] = 0;v[6] = 0;v[10] = a_3;v[14] = 0;
0396 v[3] = 0;v[7] = 0;v[11] = 0;v[15] = T(1);
0397 }
0398
0399 static void _set_rotate(const T& a_x,const T& a_y,const T& a_z,const T& a_angle,T v[],T(*a_sin)(T),T(*a_cos)(T)) {
0400 //WARNING : (a_x,a_y,a_z) must be a normalized vector.
0401 // v[] = exp(-a_angle*n(a_x,a_y,a_z)*Rs). It models the rotation of an object in the same coordinate system (active rotation).
0402 T si = a_sin(a_angle);
0403 T co = a_cos(a_angle);
0404 T x = a_x;
0405 T y = a_y;
0406 T z = a_z;
0407 T x2 = x*x;
0408 T y2 = y*y;
0409 T z2 = z*z;
0410 T xy = x*y;
0411 T xz = x*z;
0412 T yz = y*z;
0413 v[0] = x2+(1-x2)*co;v[4] = xy*(1-co)-z*si;v[ 8] = xz*(1-co)+y*si;v[12] = 0;
0414 v[1] = xy*(1-co)+z*si;v[5] = y2+(1-y2)*co;v[ 9] = yz*(1-co)-x*si;v[13] = 0;
0415 v[2] = xz*(1-co)-y*si;v[6] = yz*(1-co)+x*si;v[10] = z2+(1-z2)*co;v[14] = 0;
0416 v[3] = 0;v[7] = 0;v[11] = 0;v[15] = 1;
0417
0418 // If :
0419 // n =(x,y,z)
0420 // n2 = x2+y2+z2 = 1
0421 // n.E = x*E1+y*E2+z*E3
0422 // with :
0423 // E1 E2 E3
0424 // 0 0 0 0 0 -1 0 1 0
0425 // 0 0 1 0 0 0 -1 0 0
0426 // 0 -1 0 1 0 0 0 0 0
0427 //
0428 // R(r,c) = cos(theta)*Id(r,c)+(1-cos(theta))*nr*nc-sin(theta)*(n.E)(r,c)
0429 //
0430 // R = exp(-theta*(n.E)) // active rotation (it models the rotation of an object by theta along n).
0431
0432 }
0433
0434 public:
0435 void mul_mtx_rot_root(const T& a_00,const T& a_01,const T& a_02, //1 row
0436 const T& a_10,const T& a_11,const T& a_12, //2 row
0437 const T& a_20,const T& a_21,const T& a_22) //3 row
0438 {
0439 T* tv = pr::m_vec;
0440 //pr::m_vec[0] = 00;pr::m_vec[4] = 01;pr::m_vec[ 8] = 02;pr::m_vec[12] = 03;
0441 //pr::m_vec[1] = 10;pr::m_vec[5] = 11;pr::m_vec[ 9] = 12;pr::m_vec[13] = 13;
0442 //pr::m_vec[2] = 20;pr::m_vec[6] = 21;pr::m_vec[10] = 22;pr::m_vec[14] = 23;
0443 //pr::m_vec[3] = 30;pr::m_vec[7] = 31;pr::m_vec[11] = 32;pr::m_vec[15] = 33;
0444
0445 T tv_0 = tv[0];
0446 T tv_1 = tv[1];
0447 T tv_2 = tv[2];
0448 T tv_3 = tv[3];
0449 T tv_4 = tv[4];
0450 T tv_5 = tv[5];
0451 T tv_6 = tv[6];
0452 T tv_7 = tv[7];
0453 T tv_8 = tv[8];
0454 T tv_9 = tv[9];
0455 T tv_10 = tv[10];
0456 T tv_11 = tv[11];
0457 T tv_12 = tv[12];
0458 T tv_13 = tv[13];
0459 T tv_14 = tv[14];
0460 T tv_15 = tv[15];
0461
0462 T fv_0 = a_00;
0463 T fv_1 = a_10;
0464 T fv_2 = a_20;
0465 //T fv_3 = 0;
0466
0467 T fv_4 = a_01;
0468 T fv_5 = a_11;
0469 T fv_6 = a_21;
0470 //T fv_7 = 0;
0471
0472 T fv_8 = a_02;
0473 T fv_9 = a_12;
0474 T fv_10 = a_22;
0475 //T fv_11 = 0;
0476
0477 //T fv_12 = 0;
0478 //T fv_13 = 0;
0479 //T fv_14 = 0;
0480 //T fv_15 = 1;
0481
0482 tv[0] = tv_0*fv_0+tv_4*fv_1+ tv_8*fv_2;
0483 tv[1] = tv_1*fv_0+tv_5*fv_1+ tv_9*fv_2;
0484 tv[2] = tv_2*fv_0+tv_6*fv_1+tv_10*fv_2;
0485 tv[3] = tv_3*fv_0+tv_7*fv_1+tv_11*fv_2;
0486
0487 tv[4] = tv_0*fv_4+tv_4*fv_5+ tv_8*fv_6;
0488 tv[5] = tv_1*fv_4+tv_5*fv_5+ tv_9*fv_6;
0489 tv[6] = tv_2*fv_4+tv_6*fv_5+tv_10*fv_6;
0490 tv[7] = tv_3*fv_4+tv_7*fv_5+tv_11*fv_6;
0491
0492 tv[8] = tv_0*fv_8+tv_4*fv_9+ tv_8*fv_10;
0493 tv[9] = tv_1*fv_8+tv_5*fv_9+ tv_9*fv_10;
0494 tv[10] = tv_2*fv_8+tv_6*fv_9+tv_10*fv_10;
0495 tv[11] = tv_3*fv_8+tv_7*fv_9+tv_11*fv_10;
0496
0497 tv[12] = tv_12;
0498 tv[13] = tv_13;
0499 tv[14] = tv_14;
0500 tv[15] = tv_15;
0501 }
0502
0503 template <class MAT3>
0504 void set_mat3(MAT3& a_m3) {
0505 a_m3.set_matrix(pr::m_vec[0],pr::m_vec[4],pr::m_vec[ 8], //1 row
0506 pr::m_vec[1],pr::m_vec[5],pr::m_vec[ 9], //2 row
0507 pr::m_vec[2],pr::m_vec[6],pr::m_vec[10]); //3 row
0508 }
0509 private:static void check_instantiation() {mat4<float> dummy;}
0510 };
0511
0512 ////////////////////////////////////////////////
0513 /// common matrices : //////////////////////////
0514 ////////////////////////////////////////////////
0515
0516 #ifdef TOOLS_MEM
0517 template <class T> inline const mat4<T>& mat4_zero() {static const mat4<T> s_v(false);return s_v;}
0518 #else
0519 template <class T> inline const mat4<T>& mat4_zero() {static const mat4<T> s_v;return s_v;}
0520 #endif
0521
0522 /*
0523 template <class T>
0524 inline const mat4<T>& mat4_identity() {
0525 static mat4<T> s_v(false);
0526 static bool s_first = true;
0527 if(s_first) {s_v.set_identity();s_first=false;}
0528 return s_v;
0529 }
0530 */
0531
0532 //for sf, mf :
0533 template <class T>
0534 inline const T* get_data(const mat4<T>& a_v) {return a_v.data();}
0535
0536 }
0537
0538 #include <ostream>
0539
0540 namespace tools {
0541
0542 template <class T>
0543 inline std::ostream& operator<<(std::ostream& a_out,const mat4<T>& a_mtx){
0544 const T* v = a_mtx.data();
0545 a_out << v[0] << "," << v[4] << "," << v[ 8] << "," << v[12] << std::endl
0546 << v[1] << "," << v[5] << "," << v[ 9] << "," << v[13] << std::endl
0547 << v[2] << "," << v[6] << "," << v[10] << "," << v[14] << std::endl
0548 << v[3] << "," << v[7] << "," << v[11] << "," << v[15] << std::endl;
0549 return a_out;
0550 }
0551
0552 }
0553
0554 #endif
