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/* ----------------------------------------------------------------------- *
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* This file is part of GEL, http://www.imm.dtu.dk/GEL
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* Copyright (C) the authors and DTU Informatics
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* For license and list of authors, see ../../doc/intro.pdf
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* ----------------------------------------------------------------------- */
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/** @file Mat4x4d.h
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* @brief 4x4 double matrix class
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*/
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#ifndef __CGLA_MAT4X4D_H__
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#define __CGLA_MAT4X4D_H__
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#include "ExceptionStandard.h"
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#include "CGLA.h"
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#include "Vec3d.h"
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#include "Vec3Hf.h"
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#include "Vec4d.h"
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#include "ArithSqMat4x4Float.h"
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namespace CGLA {
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/** \brief 4x4 double matrix.
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This class is useful for transformations such as perspective projections
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or translation where 3x3 matrices do not suffice. */
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class Mat4x4d: public ArithSqMat4x4Float<Vec4d, Mat4x4d>
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{
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public:
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/// Construct a Mat4x4d from four Vec4d vectors
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Mat4x4d(Vec4d _a, Vec4d _b, Vec4d _c, Vec4d _d):
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ArithSqMat4x4Float<Vec4d, Mat4x4d> (_a,_b,_c,_d) {}
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/// Construct the nan matrix
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Mat4x4d() {}
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/// Construct a matrix with identical elements.
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explicit Mat4x4d(double a): ArithSqMat4x4Float<Vec4d, Mat4x4d> (a) {}
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};
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/// Create a rotation _matrix. Rotates about one of the major axes.
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Mat4x4d rotation_Mat4x4d(CGLA::Axis axis, float angle);
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/// Create a translation matrix
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Mat4x4d translation_Mat4x4d(const Vec3d&);
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/// Create a scaling matrix.
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Mat4x4d scaling_Mat4x4d(const Vec3d&);
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/// Create an identity matrix.
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inline Mat4x4d identity_Mat4x4d()
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{
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return Mat4x4d(Vec4d(1.0,0.0,0.0,0.0),
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Vec4d(0.0,1.0,0.0,0.0),
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Vec4d(0.0,0.0,1.0,0.0),
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Vec4d(0.0,0.0,0.0,1.0));
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}
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/** Compute inverse assuming that the upper-left 3x3 sub-matrix is
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orthonormal (which is the case if the transformation is only
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a concatenation of rotations and translations).
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*/
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inline Mat4x4d invert_ortho(const Mat4x4d& m)
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{
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Vec3d rx(m[0][0], m[1][0], m[2][0]);
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Vec3d ry(m[0][1], m[1][1], m[2][1]);
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Vec3d rz(m[0][2], m[1][2], m[2][2]);
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Vec3d t(m[0][3], m[1][3], m[2][3]);
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return Mat4x4d(Vec4d(rx, -dot(t, rx)),
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Vec4d(ry, -dot(t, ry)),
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Vec4d(rz, -dot(t, rz)),
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Vec4d(0.0, 0.0, 0.0, 1.0));
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}
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}
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#endif
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