Subversion Repositories gelsvn

#ifndef __CGLA_ARITHMATFLOAT_H__

#define __CGLA_ARITHMATFLOAT_H__

#include <vector>

#include <iostream>

#include "CGLA.h"

namespace CGLA {

	/** Basic class template for matrices.

	In this template a matrix is defined as an array of vectors. This may

	not in all cases be the most efficient but it has the advantage that 

	it is possible to use the double subscripting notation:

	T x = m[i][j]

	This template should be used through inheritance just like the 

	vector template */

	template <class VVT, class HVT, class MT, int ROWS>

	class ArithMatFloat

	{ 

#define for_all_i(expr) for(int i=0;i<ROWS;i++) {expr;}

	public:

		/// Horizontal vector type

		typedef HVT HVectorType;

		/// Vertical vector type

		typedef VVT VVectorType;

		/// The type of a matrix element

		typedef typename HVT::ScalarType ScalarType;

	protected:

		/// The actual contents of the matrix.

		HVT data[ROWS];

	protected:

		/// Construct 0 matrix

		ArithMatFloat() 

		{

#ifndef NDEBUG

			for_all_i(data[i]=HVT(CGLA_INIT_VALUE));

#endif

		}

		/// Construct a matrix where all entries are the same.

		explicit ArithMatFloat(ScalarType x)

		{

			for_all_i(data[i] = HVT(x));

		}

		/// Construct a matrix where all rows are the same.

		explicit ArithMatFloat(HVT _a)

		{

			for_all_i(data[i] = _a);

		}

		/// Construct a matrix with two rows.

		ArithMatFloat(HVT _a, HVT _b)

		{

			data[0] = _a;

			data[1] = _b;

		}

		/// Construct a matrix with three rows.

		ArithMatFloat(HVT _a, HVT _b, HVT _c)

		{

			data[0] = _a;

			data[1] = _b;

			data[2] = _c;

		}

		/// Construct a matrix with four rows.

		ArithMatFloat(HVT _a, HVT _b, HVT _c, HVT _d)

		{

			data[0] = _a;

			data[1] = _b;

			data[2] = _c;

			data[3] = _d;

		}

	public:

		/// Get vertical dimension of matrix 

		static int get_v_dim() {return VVT::get_dim();}

		/// Get horizontal dimension of matrix

		static int get_h_dim() {return HVT::get_dim();}

		/** Get const pointer to data array.

				This function may be useful when interfacing with some other API 

				such as OpenGL (TM). */

		const ScalarType* get() const 

		{

			return data[0].get();

		}

		/** Get pointer to data array.

				This function may be useful when interfacing with some other API 

				such as OpenGL (TM). */

		ScalarType* get()

		{

			return data[0].get();

		}

		/** Set values by passing an array to the matrix.

				The values should be ordered like [[row][row]...[row]] */

		void set(const ScalarType* sa) 

		{

			memcpy(get(), sa, sizeof(ScalarType)*get_h_dim()*get_v_dim());

		}

		/// Construct a matrix from an array of scalar values.

		explicit ArithMatFloat(const ScalarType* sa) 

		{

			set(sa);

		}

		/// Assign the rows of a 2D matrix.

		void set(HVT _a, HVT _b)

		{

			assert(ROWS==2);

			data[0] = _a;

			data[1] = _b;

		}

		/// Assign the rows of a 3D matrix.

		void set(HVT _a, HVT _b, HVT _c)

		{

			assert(ROWS==3);

			data[0] = _a;

			data[1] = _b;

			data[2] = _c;

		}

		/// Assign the rows of a 4D matrix.

		void set(HVT _a, HVT _b, HVT _c, HVT _d)

		{

			assert(ROWS==4);

			data[0] = _a;

			data[1] = _b;

			data[2] = _c;

			data[3] = _d;

		}

		//----------------------------------------------------------------------

		// index operators

		//----------------------------------------------------------------------

		/// Const index operator. Returns i'th row of matrix.

		const HVT& operator [] ( int i ) const

		{

			assert(i<ROWS);

			return data[i];

		}

		/// Non-const index operator. Returns i'th row of matrix.

		HVT& operator [] ( int i ) 

		{

			assert(i<ROWS);

			return data[i];

		}

		//----------------------------------------------------------------------

		/// Equality operator. 

		bool operator==(const MT& v) const 

		{

			for_all_i(if (data[i] != v[i]) return false)

				return true;

		}

		/// Inequality operator.

		bool operator!=(const MT& v) const 

		{

			return !(*this==v);

		}

		//----------------------------------------------------------------------

		/// Multiply scalar onto matrix. All entries are multiplied by scalar.

		const MT operator * (ScalarType k) const

		{

			MT v_new;

			for_all_i(v_new[i] = data[i] * k);

			return v_new;

		}

		/// Divide all entries in matrix by scalar.

		const MT operator / (ScalarType k) const

		{

			MT v_new;

			for_all_i(v_new[i] = data[i] / k);

			return v_new;      

		}

		/// Assignment multiplication of matrix by scalar.

		const MT& operator *=(ScalarType k) 

			{

				for_all_i(data[i] *= k); 

				return static_cast<const MT&>(*this);

			}

		/// Assignment division of matrix by scalar.

		const MT& operator /=(ScalarType k) 

			{ 

				for_all_i(data[i] /= k); 

				return static_cast<const MT&>(*this);

			}

		//----------------------------------------------------------------------

		/// Add two matrices. 

		const MT operator + (const MT& m1) const

		{

			MT v_new;

			for_all_i(v_new[i] = data[i] + m1[i]);

			return v_new;

		}

		/// Subtract two matrices.

		const MT operator - (const MT& m1) const

		{

			MT v_new;

			for_all_i(v_new[i] = data[i] - m1[i]);

			return v_new;

		}

		/// Assigment addition of matrices.

		const MT& operator +=(const MT& v) 

			{

				for_all_i(data[i] += v[i]); 

				return static_cast<const MT&>(*this);

			}

		/// Assigment subtraction of matrices.

		const MT& operator -=(const MT& v) 

			{

				for_all_i(data[i] -= v[i]); 

				return static_cast<const MT&>(*this);

			}

		//----------------------------------------------------------------------

		/// Negate matrix.

		const MT operator - () const

		{

			MT v_new;

			for_all_i(v_new[i] = - data[i]);

			return v_new;

		}

#undef for_all_i  

	};

	/// Multiply scalar onto matrix

	template <class VVT, class HVT, class MT, int ROWS>

	inline const MT operator * (double k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v) 

	{

		return v * k;

	}

	/// Multiply scalar onto matrix

	template <class VVT, class HVT, class MT, int ROWS>

	inline const MT operator * (float k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v) 

	{

		return v * k;

	}

	/// Multiply scalar onto matrix

	template <class VVT, class HVT, class MT, int ROWS>

	inline const MT operator * (int k, const ArithMatFloat<VVT,HVT,MT,ROWS>& v) 

	{

		return v * k;

	}

	/// Multiply vector onto matrix 

	template <class VVT, class HVT, class MT, int ROWS>

	inline VVT operator*(const ArithMatFloat<VVT,HVT,MT,ROWS>& m,const HVT& v) 

	{

		VVT v2;

		for(int i=0;i<ROWS;i++) v2[i] = dot(m[i], v);

		return v2;

	}

#ifndef WIN32

	/** Multiply two arbitrary matrices. 

			In principle, this function could return a matrix, but in general

			the new matrix will be of a type that is different from either of

			the two matrices that are multiplied together. We do not want to 

			return an ArithMatFloat - so it seems best to let the return value be

			a reference arg.

			This template can only be instantiated if the dimensions of the

			matrices match -- i.e. if the multiplication can actually be

			carried out. This is more type safe than the win32 version below.

	*/

	template <class VVT, class HVT, 

						class HV1T, class VV2T,

						class MT1, class MT2, class MT,

						int ROWS1, int ROWS2>

	inline void mul(const ArithMatFloat<VVT,HV1T,MT1,ROWS1>& m1,

									const ArithMatFloat<VV2T,HVT,MT2,ROWS2>& m2,

									ArithMatFloat<VVT,HVT,MT,ROWS1>& m)

	{

		int cols = ArithMatFloat<VVT,HVT,MT,ROWS1>::get_h_dim();

		for(int i=0;i<ROWS1;i++)

			for(int j=0;j<cols;j++)

				{

					m[i][j] = 0;

					for(int k=0;k<ROWS2;k++)

						m[i][j] += m1[i][k] * m2[k][j]; 

				}

	}

	/** Transpose. See the discussion on mul if you are curious as to why

			I don't simply return the transpose. */

	template <class VVT, class HVT, class M1T, class M2T, int ROWS, int COLS>

	inline void transpose(const ArithMatFloat<VVT,HVT,M1T,ROWS>& m,

												ArithMatFloat<HVT,VVT,M2T,COLS>& m_new)

	{

		for(int i=0;i<M2T::get_v_dim();i++)

			for(int j=0;j<M2T::get_h_dim();j++)

				m_new[i][j] = m[j][i];

	}

#else

	//----------------- win32 -------------------------------

	// Visual studio is not good at deducing the args. to these template functions.

	// This means that you can call the two functions below with 

	// matrices of wrong dimension.

	template <class M1, class M2, class M>

	inline void mul(const M1& m1, const M2& m2, M& m)

	{

		int cols = M::get_h_dim();

		int rows1 = M1::get_v_dim();

		int rows2 = M2::get_v_dim();

		for(int i=0;i<rows1;i++)

			for(int j=0;j<cols;j++)

				{

					m[i][j] = 0;

					for(int k=0;k<rows2;k++)

						m[i][j] += m1[i][k] * m2[k][j];

				}

	}

	/** Transpose. See the discussion on mul if you are curious as to why

			I don't simply return the transpose. */

	template <class M1, class M2>

	inline void transpose(const M1& m1, M2& m2)

	{

		for(int i=0;i<M2::get_v_dim();i++)

			for(int j=0;j<M2::get_h_dim();j++)

				m2[i][j] = m1[j][i];

	}

#endif

	/** Compute the outer product of a and b: a * transpose(b). This is 

			a matrix with a::rows and b::columns. */

 	template <class VVT, class HVT, class MT, int ROWS>

	void outer_product(const VVT& a, const HVT& b, 

										 ArithMatFloat<VVT,HVT,MT,ROWS>& m)

	{

		int R = VVT::get_dim();

		int C = HVT::get_dim();

		for(int i=0;i<R;++i)

			for(int j=0;j<C;++j)

				{

					m[i][j] = a[i] * b[j];

				}

	}

	/** Copy a matrix to another matrix, cell by cell.

			This conversion that takes a const matrix as first argument

			(source) and a non-const matrix as second argument

			(destination). The contents of the first matrix is simply copied

			to the second matrix. 

			However, if the first matrix is	larger than the second,

			the cells outside the range of the destination are simply not

			copied. If the destination is larger, the cells outside the 

			range of the source matrix are not touched.

			An obvious use of this function is to copy a 3x3 rotation matrix

			into a 4x4 transformation matrix.

	*/

	template <class M1, class M2>

	void copy_matrix(const M1& inmat, M2& outmat)

		{

			const int R = s_min(inmat.get_v_dim(), outmat.get_v_dim());

			const int C = s_min(inmat.get_h_dim(), outmat.get_h_dim());

			for(int i=0;i<R;++i)

				for(int j=0;j<C;++j)

					outmat[i][j] = inmat[i][j];

		}

	/** Put to operator */

	template <class VVT, class HVT, class MT, int ROWS>

	inline std::ostream& 

	operator<<(std::ostream&os, const ArithMatFloat<VVT,HVT,MT,ROWS>& m)

	{

		os << "[\n";

		for(int i=0;i<ROWS;i++) os << "  " << m[i] << "\n";

		os << "]\n";

		return os;

	}

	/** Get from operator */

	template <class VVT, class HVT, class MT, int ROWS>

	inline std::istream& operator>>(std::istream&is, 

																	const ArithMatFloat<VVT,HVT,MT,ROWS>& m)

	{

		for(int i=0;i<ROWS;i++) is>>m[i];

		return is;

	}

}

#endif