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0001 /* 0002 --------------------------------------------------------------------------- 0003 Open Asset Import Library (assimp) 0004 --------------------------------------------------------------------------- 0005 0006 Copyright (c) 2006-2024, assimp team 0007 0008 All rights reserved. 0009 0010 Redistribution and use of this software in source and binary forms, 0011 with or without modification, are permitted provided that the following 0012 conditions are met: 0013 0014 * Redistributions of source code must retain the above 0015 copyright notice, this list of conditions and the 0016 following disclaimer. 0017 0018 * Redistributions in binary form must reproduce the above 0019 copyright notice, this list of conditions and the 0020 following disclaimer in the documentation and/or other 0021 materials provided with the distribution. 0022 0023 * Neither the name of the assimp team, nor the names of its 0024 contributors may be used to endorse or promote products 0025 derived from this software without specific prior 0026 written permission of the assimp team. 0027 0028 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 0029 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 0030 LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR 0031 A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT 0032 OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 0033 SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 0034 LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, 0035 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY 0036 THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 0037 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 0038 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 0039 --------------------------------------------------------------------------- 0040 */ 0041 0042 /** @file matrix3x3.h 0043 * @brief Definition of a 3x3 matrix, including operators when compiling in C++ 0044 */ 0045 #pragma once 0046 #ifndef AI_MATRIX3X3_H_INC 0047 #define AI_MATRIX3X3_H_INC 0048 0049 #ifdef __GNUC__ 0050 # pragma GCC system_header 0051 #endif 0052 0053 #include <assimp/defs.h> 0054 0055 #ifdef __cplusplus 0056 0057 template <typename T> class aiMatrix4x4t; 0058 template <typename T> class aiVector2t; 0059 template <typename T> class aiVector3t; 0060 0061 // --------------------------------------------------------------------------- 0062 /** @brief Represents a row-major 3x3 matrix 0063 * 0064 * There's much confusion about matrix layouts (column vs. row order). 0065 * This is *always* a row-major matrix. Not even with the 0066 * #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect 0067 * matrix order - it just affects the handedness of the coordinate system 0068 * defined thereby. 0069 */ 0070 template <typename TReal> 0071 class aiMatrix3x3t { 0072 public: 0073 aiMatrix3x3t() AI_NO_EXCEPT : 0074 a1(static_cast<TReal>(1.0f)), a2(), a3(), 0075 b1(), b2(static_cast<TReal>(1.0f)), b3(), 0076 c1(), c2(), c3(static_cast<TReal>(1.0f)) {} 0077 0078 aiMatrix3x3t ( TReal _a1, TReal _a2, TReal _a3, 0079 TReal _b1, TReal _b2, TReal _b3, 0080 TReal _c1, TReal _c2, TReal _c3) : 0081 a1(_a1), a2(_a2), a3(_a3), 0082 b1(_b1), b2(_b2), b3(_b3), 0083 c1(_c1), c2(_c2), c3(_c3) 0084 {} 0085 0086 // matrix multiplication. 0087 aiMatrix3x3t& operator *= (const aiMatrix3x3t& m); 0088 aiMatrix3x3t operator * (const aiMatrix3x3t& m) const; 0089 0090 // array access operators 0091 TReal* operator[] (unsigned int p_iIndex); 0092 const TReal* operator[] (unsigned int p_iIndex) const; 0093 0094 // comparison operators 0095 bool operator== (const aiMatrix3x3t<TReal>& m) const; 0096 bool operator!= (const aiMatrix3x3t<TReal>& m) const; 0097 0098 bool Equal(const aiMatrix3x3t<TReal> &m, TReal epsilon = ai_epsilon) const; 0099 0100 template <typename TOther> 0101 operator aiMatrix3x3t<TOther> () const; 0102 0103 // ------------------------------------------------------------------- 0104 /** @brief Construction from a 4x4 matrix. The remaining parts 0105 * of the matrix are ignored. 0106 */ 0107 explicit aiMatrix3x3t( const aiMatrix4x4t<TReal>& pMatrix); 0108 0109 // ------------------------------------------------------------------- 0110 /** @brief Transpose the matrix 0111 */ 0112 aiMatrix3x3t& Transpose(); 0113 0114 // ------------------------------------------------------------------- 0115 /** @brief Invert the matrix. 0116 * If the matrix is not invertible all elements are set to qnan. 0117 * Beware, use (f != f) to check whether a TReal f is qnan. 0118 */ 0119 aiMatrix3x3t& Inverse(); 0120 TReal Determinant() const; 0121 0122 // ------------------------------------------------------------------- 0123 /** @brief Returns a rotation matrix for a rotation around z 0124 * @param a Rotation angle, in radians 0125 * @param out Receives the output matrix 0126 * @return Reference to the output matrix 0127 */ 0128 static aiMatrix3x3t& RotationZ(TReal a, aiMatrix3x3t& out); 0129 0130 // ------------------------------------------------------------------- 0131 /** @brief Returns a rotation matrix for a rotation around 0132 * an arbitrary axis. 0133 * 0134 * @param a Rotation angle, in radians 0135 * @param axis Axis to rotate around 0136 * @param out To be filled 0137 */ 0138 static aiMatrix3x3t& Rotation( TReal a, const aiVector3t<TReal>& axis, aiMatrix3x3t& out); 0139 0140 // ------------------------------------------------------------------- 0141 /** @brief Returns a translation matrix 0142 * @param v Translation vector 0143 * @param out Receives the output matrix 0144 * @return Reference to the output matrix 0145 */ 0146 static aiMatrix3x3t& Translation( const aiVector2t<TReal>& v, aiMatrix3x3t& out); 0147 0148 // ------------------------------------------------------------------- 0149 /** @brief A function for creating a rotation matrix that rotates a 0150 * vector called "from" into another vector called "to". 0151 * Input : from[3], to[3] which both must be *normalized* non-zero vectors 0152 * Output: mtx[3][3] -- a 3x3 matrix in column-major form 0153 * Authors: Tomas Möller, John Hughes 0154 * "Efficiently Building a Matrix to Rotate One Vector to Another" 0155 * Journal of Graphics Tools, 4(4):1-4, 1999 0156 */ 0157 static aiMatrix3x3t& FromToMatrix(const aiVector3t<TReal>& from, 0158 const aiVector3t<TReal>& to, aiMatrix3x3t& out); 0159 0160 public: 0161 TReal a1, a2, a3; 0162 TReal b1, b2, b3; 0163 TReal c1, c2, c3; 0164 }; 0165 0166 typedef aiMatrix3x3t<ai_real> aiMatrix3x3; 0167 0168 #else 0169 0170 struct aiMatrix3x3 { 0171 ai_real a1, a2, a3; 0172 ai_real b1, b2, b3; 0173 ai_real c1, c2, c3; 0174 }; 0175 0176 #endif // __cplusplus 0177 0178 #endif // AI_MATRIX3X3_H_INC
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