Subversion Repositories gelsvn

Rev

Rev 10 | Rev 89 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed

Rev Author Line No. Line
2 bj 1 
#ifndef __CGLA_ARITHSQMAT4X4FLOAT_H
2 
#define __CGLA_ARITHSQMAT4X4FLOAT_H
3 
 
4 
#include "ExceptionStandard.h"
5 
#include "CGLA.h"
6 
#include "Vec3f.h"
7 
#include "Vec3Hf.h"
8 
#include "Vec4f.h"
9 
#include "ArithSqMatFloat.h"
10 
 
11 
 
12 jab 12 
namespace CGLA
13 
{
14 
  CGLA_DERIVEEXCEPTION(Mat4x4fException)
15 
  CGLA_DERIVEEXCEPTION(Mat4x4fNotAffine)
16 
  CGLA_DERIVEEXCEPTION(Mat4x4fSingular)
17 
 
18 
  /** Four by four float matrix.
19 
      this class is useful for transformations such as perspective
20 
      projections or translation where 3x3 matrices do not suffice. */
21 
  template<class VT, class M>
22 
  class ArithSqMat4x4Float: public ArithSqMatFloat<VT, M, 4>
23 
  {
24 
  public:
25 
 
26 
    /// Vector type
27 
    typedef VT VectorType;
28 
 
29 
    /// The type of a matrix element
30 
    typedef typename VT::ScalarType ScalarType;
31 
 
32 
  public:
33 
 
34 
    /// Construct a Mat4x4f from four V vectors
35 
    ArithSqMat4x4Float(VT a, VT b, VT c, VT d):
36 
      ArithSqMatFloat<VT, M, 4> (a,b,c,d) {}
2 bj 37 
 
12 jab 38 
    /// Construct the NAN matrix
39 
    ArithSqMat4x4Float() {}
2 bj 40 
 
12 jab 41 
    /// Construct matrix where all values are equal to constructor argument.
42 
    explicit ArithSqMat4x4Float(ScalarType  _a):
43 
      ArithSqMatFloat<VT,M,4>(_a) {}
10 jab 44 
 
12 jab 45 
    /** Multiply vector onto matrix. Here the fourth coordinate
46 
	is se to 0. This removes any translation from the matrix.
47 
	Useful if one wants to transform a vector which does not
48 
	represent a point but a direction. Note that this is not
49 
	correct for transforming normal vectors if the matric
50 
	contains anisotropic scaling. */
51 
    template<class T, class VecT>
52 
    const VecT mul_3D_vector(const ArithVec3Float<T,VecT>& v_in) const
53 
    {
54 
      VT v_out  = (*this) * VT(v_in[0],v_in[1],v_in[2],0);
55 
      return VecT(v_out[0],v_out[1],v_out[2]);
56 
    }
10 jab 57 
 
12 jab 58 
    /** Multiply 3D point onto matrix. Here the fourth coordinate
59 
	becomes 1 to ensure that the point is translated. Note that
60 
	the vector is converted back into a Vec3f without any
61 
	division by w. This is deliberate: Typically, w=1 except
62 
	for projections. If we are doing projection, we can use
63 
	project_3D_point instead */
64 
    template<class T, class VecT>
65 
    const VecT mul_3D_point(const ArithVec3Float<T,VecT> & v_in) const
66 
    {
67 
      VT v_out  = (*this) * VT(v_in[0],v_in[1],v_in[2],1);
68 
      return VecT(v_out[0],v_out[1],v_out[2]);
69 
    }
2 bj 70 
 
12 jab 71 
    /** Multiply 3D point onto matrix. We set w=1 before
72 
	multiplication and divide by w after multiplication. */
73 
    template<class T, class VecT>
74 
    const VecT project_3D_point(const ArithVec3Float<T,VecT>& v_in) const
75 
    {
76 
      VT v_out = (*this) * VT(v_in[0],v_in[1],v_in[2],1);
77 
      v_out.de_homogenize();
78 
      return VecT(v_out[0],v_out[1],v_out[2]);
79 
    }
2 bj 80 
 
12 jab 81 
  };
2 bj 82 
 
12 jab 83 
  /** Compute the adjoint of a matrix. This is the matrix where each
84 
      entry is the subdeterminant of 'in' where the row and column of
85 
      the element is removed. Use mostly to compute the inverse */
86 
  template<class VT, class M>
87 
  M adjoint(const ArithSqMat4x4Float<VT,M>&);
2 bj 88 
 
12 jab 89 
  /** Compute the determinant of a 4x4f matrix. */
90 
  template<class VT, class M>
91 
  double determinant(const ArithSqMat4x4Float<VT,M>&);
2 bj 92 
 
12 jab 93 
  /// Compute the inverse matrix of a Mat4x4f.
94 
  template<class VT, class M>
95 
  M invert(const ArithSqMat4x4Float<VT,M>&);
2 bj 96 
 
12 jab 97 
  /// Compute the inverse matrix of a Mat4x4f that is affine
98 
  template<class VT, class M>
99 
  M invert_affine(const ArithSqMat4x4Float<VT,M>&);
2 bj 100 
 
101 
}
102 
#endif
103 
 
104 
 
105 
 
106 
 
107 
 
108 
 
109