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Diffstat (limited to 'src/vg/Math.h')
-rw-r--r-- | src/vg/Math.h | 380 |
1 files changed, 380 insertions, 0 deletions
diff --git a/src/vg/Math.h b/src/vg/Math.h new file mode 100644 index 0000000..7cbcdce --- /dev/null +++ b/src/vg/Math.h @@ -0,0 +1,380 @@ +#ifndef __MATH_H +#define __MATH_H + +/*------------------------------------------------------------------------ + * + * OpenVG 1.1 Reference Implementation + * ----------------------------------- + * + * Copyright (c) 2007 The Khronos Group Inc. + * + * Permission is hereby granted, free of charge, to any person obtaining a + * copy of this software and /or associated documentation files + * (the "Materials "), to deal in the Materials without restriction, + * including without limitation the rights to use, copy, modify, merge, + * publish, distribute, sublicense, and/or sell copies of the Materials, + * and to permit persons to whom the Materials are furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included + * in all copies or substantial portions of the Materials. + * + * THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, + * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. + * IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR + * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE MATERIALS OR + * THE USE OR OTHER DEALINGS IN THE MATERIALS. + * + *//** + * \file + * \brief Math functions, Vector and Matrix classes. + * \note + *//*-------------------------------------------------------------------*/ + +#include "Defs.h" + +#include <math.h> + +namespace tgOpenVG +{ + +/*-------------------------------------------------------------------*//*! +* \brief +* \param +* \return +* \note +*//*-------------------------------------------------------------------*/ + +inline int RI_ISNAN(float a) +{ + RIfloatInt p; + p.f = a; + unsigned int exponent = (p.i>>23) & 0xff; + unsigned int mantissa = p.i & 0x7fffff; + if(exponent == 255 && mantissa) + return 1; + return 0; +} + +#if (RI_MANTISSA_BITS > 23) +#error RI_MANTISSA_BITS is greater than 23 +#elif (RI_EXPONENT_BITS > 8) +#error RI_EXPONENT_BITS is greater than 8 +#elif (RI_MANTISSA_BITS != 23) || (RI_EXPONENT_BITS != 8) + +class RIfloat +{ +public: + RIfloat() : v(0.0f) { removeBits(); } + RIfloat(float a) : v(a) { removeBits(); } + RIfloat(double a) : v((float)a) { removeBits(); } + RIfloat(int a) : v((float)a) { removeBits(); } + RIfloat(unsigned int a) : v((float)a) { removeBits(); } + RIfloat& operator=(const RIfloat &a) { v = a.v; removeBits(); return *this; } + RIfloat& operator+=(const RIfloat &a){ v += a.v; removeBits(); return *this; } + RIfloat& operator-=(const RIfloat &a){ v -= a.v; removeBits(); return *this; } + RIfloat& operator*=(const RIfloat &a){ v *= a.v; removeBits(); return *this; } + RIfloat& operator/=(const RIfloat &a){ v /= a.v; removeBits(); return *this; } + RIfloat operator-() const { return -v; } + operator float() const { return v; } + operator double() const { return (double)v; } + operator int() const { return (int)v; } + + friend RIfloat operator+(const RIfloat &a, const RIfloat &b); + friend RIfloat operator+(float a, const RIfloat &b); + friend RIfloat operator+(const RIfloat &a, float b); + friend RIfloat operator-(const RIfloat &a, const RIfloat &b); + friend RIfloat operator-(float a, const RIfloat &b); + friend RIfloat operator-(const RIfloat &a, float b); + friend RIfloat operator*(const RIfloat &a, const RIfloat &b); + friend RIfloat operator*(float a, const RIfloat &b); + friend RIfloat operator*(const RIfloat &a, float b); + friend RIfloat operator/(const RIfloat &a, const RIfloat &b); + friend RIfloat operator/(float a, const RIfloat &b); + friend RIfloat operator/(const RIfloat &a, float b); + + friend bool operator<(const RIfloat &a, const RIfloat &b); + friend bool operator<(float a, const RIfloat &b); + friend bool operator<(const RIfloat &a, float b); + friend bool operator>(const RIfloat &a, const RIfloat &b); + friend bool operator>(float a, const RIfloat &b); + friend bool operator>(const RIfloat &a, float b); + friend bool operator<=(const RIfloat &a, const RIfloat &b); + friend bool operator<=(float a, const RIfloat &b); + friend bool operator<=(const RIfloat &a, float b); + friend bool operator>=(const RIfloat &a, const RIfloat &b); + friend bool operator>=(float a, const RIfloat &b); + friend bool operator>=(const RIfloat &a, float b); + friend bool operator==(const RIfloat &a, const RIfloat &b); + friend bool operator==(float a, const RIfloat &b); + friend bool operator==(const RIfloat &a, float b); + friend bool operator!=(const RIfloat &a, const RIfloat &b); + friend bool operator!=(float a, const RIfloat &b); + friend bool operator!=(const RIfloat &a, float b); +private: + void removeBits() + { + RIfloatInt p; + p.f = v; + unsigned int exponent = (p.i>>23) & 0xff; + if(exponent == 0 || exponent == 255) + return; //zero, denormal, infinite, or NaN + + p.i &= ~((1<<(23-RI_MANTISSA_BITS))-1); + +#if (RI_EXPONENT_BITS != 8) + if (exponent > 127 + (1 << (RI_EXPONENT_BITS-1))) + exponent = 127 + (1 << (RI_EXPONENT_BITS-1)); + + if (exponent < 127 + 1 - (1 << (RI_EXPONENT_BITS-1))) + exponent = 127 + 1 - (1 << (RI_EXPONENT_BITS-1)); + + p.i &= ~(0xff<<23); + p.i |= exponent<<23; +#endif + v = p.f; + } + + float v; +}; + +inline RIfloat operator+(const RIfloat &a, const RIfloat &b) { return RIfloat(a.v+b.v); } +inline RIfloat operator+(float a, const RIfloat &b) { return RIfloat(a+b.v); } +inline RIfloat operator+(const RIfloat &a, float b) { return RIfloat(a.v+b); } +inline RIfloat operator-(const RIfloat &a, const RIfloat &b) { return RIfloat(a.v-b.v); } +inline RIfloat operator-(float a, const RIfloat &b) { return RIfloat(a-b.v); } +inline RIfloat operator-(const RIfloat &a, float b) { return RIfloat(a.v-b); } +inline RIfloat operator*(const RIfloat &a, const RIfloat &b) { return RIfloat(a.v*b.v); } +inline RIfloat operator*(float a, const RIfloat &b) { return RIfloat(a*b.v); } +inline RIfloat operator*(const RIfloat &a, float b) { return RIfloat(a.v*b); } +inline RIfloat operator/(const RIfloat &a, const RIfloat &b) { return RIfloat(a.v/b.v); } +inline RIfloat operator/(float a, const RIfloat &b) { return RIfloat(a/b.v); } +inline RIfloat operator/(const RIfloat &a, float b) { return RIfloat(a.v/b); } + +inline bool operator<(const RIfloat &a, const RIfloat &b) { return a.v < b.v ? true : false; } +inline bool operator<(float a, const RIfloat &b) { return a < b.v ? true : false; } +inline bool operator<(const RIfloat &a, float b) { return a.v < b ? true : false; } +inline bool operator>(const RIfloat &a, const RIfloat &b) { return a.v > b.v ? true : false; } +inline bool operator>(float a, const RIfloat &b) { return a > b.v ? true : false; } +inline bool operator>(const RIfloat &a, float b) { return a.v > b ? true : false; } +inline bool operator<=(const RIfloat &a, const RIfloat &b) { return a.v <= b.v ? true : false; } +inline bool operator<=(float a, const RIfloat &b) { return a <= b.v ? true : false; } +inline bool operator<=(const RIfloat &a, float b) { return a.v <= b ? true : false; } +inline bool operator>=(const RIfloat &a, const RIfloat &b) { return a.v >= b.v ? true : false; } +inline bool operator>=(float a, const RIfloat &b) { return a >= b.v ? true : false; } +inline bool operator>=(const RIfloat &a, float b) { return a.v >= b ? true : false; } +inline bool operator==(const RIfloat &a, const RIfloat &b) { return a.v == b.v ? true : false; } +inline bool operator==(float a, const RIfloat &b) { return a == b.v ? true : false; } +inline bool operator==(const RIfloat &a, float b) { return a.v == b ? true : false; } +inline bool operator!=(const RIfloat &a, const RIfloat &b) { return a.v != b.v ? true : false; } +inline bool operator!=(float a, const RIfloat &b) { return a != b.v ? true : false; } +inline bool operator!=(const RIfloat &a, float b) { return a.v != b ? true : false; } + +#else +typedef float RIfloat; +#endif + +#define PI 3.141592654f + +inline RIfloat RI_MAX(RIfloat a, RIfloat b) { return (a > b) ? a : b; } +inline RIfloat RI_MIN(RIfloat a, RIfloat b) { return (a < b) ? a : b; } +inline RIfloat RI_CLAMP(RIfloat a, RIfloat l, RIfloat h) { if(RI_ISNAN(a)) return l; RI_ASSERT(l <= h); return (a < l) ? l : (a > h) ? h : a; } +inline void RI_SWAP(RIfloat &a, RIfloat &b) { RIfloat tmp = a; a = b; b = tmp; } +inline RIfloat RI_ABS(RIfloat a) { return (a < 0.0f) ? -a : a; } +inline RIfloat RI_SQR(RIfloat a) { return a * a; } +inline RIfloat RI_DEG_TO_RAD(RIfloat a) { return a * PI / 180.0f; } +inline RIfloat RI_RAD_TO_DEG(RIfloat a) { return a * 180.0f/ PI; } +inline RIfloat RI_MOD(RIfloat a, RIfloat b) { if(RI_ISNAN(a) || RI_ISNAN(b)) return 0.0f; RI_ASSERT(b >= 0.0f); if(b == 0.0f) return 0.0f; RIfloat f = (RIfloat)fmod(a, b); if(f < 0.0f) f += b; RI_ASSERT(f >= 0.0f && f <= b); return f; } + +inline int RI_INT_MAX(int a, int b) { return (a > b) ? a : b; } +inline int RI_INT_MIN(int a, int b) { return (a < b) ? a : b; } +inline void RI_INT_SWAP(int &a, int &b) { int tmp = a; a = b; b = tmp; } +inline int RI_INT_MOD(int a, int b) { RI_ASSERT(b >= 0); if(!b) return 0; int i = a % b; if(i < 0) i += b; RI_ASSERT(i >= 0 && i < b); return i; } +inline int RI_INT_ADDSATURATE(int a, int b) { RI_ASSERT(b >= 0); int r = a + b; return (r >= a) ? r : RI_INT32_MAX; } + +class Matrix3x3; +class Vector2; +class Vector3; + +//============================================================================================== + +//MatrixRxC, R = number of rows, C = number of columns +//indexing: matrix[row][column] +//Matrix3x3 inline functions cannot be inside the class because Vector3 is not defined yet when Matrix3x3 is defined + +class Matrix3x3 +{ +public: + inline Matrix3x3 (); //initialized to identity + inline Matrix3x3 ( const Matrix3x3& m ); + inline Matrix3x3 ( RIfloat m00, RIfloat m01, RIfloat m02, RIfloat m10, RIfloat m11, RIfloat m12, RIfloat m20, RIfloat m21, RIfloat m22 ); + inline ~Matrix3x3 (); + inline Matrix3x3& operator= ( const Matrix3x3& m ); + inline Vector3& operator[] ( int i ); //returns a row vector + inline const Vector3& operator[] ( int i ) const; + inline void set ( RIfloat m00, RIfloat m01, RIfloat m02, RIfloat m10, RIfloat m11, RIfloat m12, RIfloat m20, RIfloat m21, RIfloat m22 ); + inline const Vector3 getRow ( int i ) const; + inline const Vector3 getColumn ( int i ) const; + inline void setRow ( int i, const Vector3& v ); + inline void setColumn ( int i, const Vector3& v ); + inline void operator*= ( const Matrix3x3& m ); + inline void operator*= ( RIfloat f ); + inline void operator+= ( const Matrix3x3& m ); + inline void operator-= ( const Matrix3x3& m ); + inline const Matrix3x3 operator- () const; + inline void identity (); + inline void transpose (); + bool invert (); //if the matrix is singular, returns false and leaves it unmodified + inline RIfloat det () const; + inline bool isAffine () const; + +private: + RIfloat matrix[3][3]; +}; + +//============================================================================================== + +class Vector2 +{ +public: + inline Vector2 () : x(0.0f), y(0.0f) {} + inline Vector2 ( const Vector2& v ) : x(v.x), y(v.y) {} + inline Vector2 ( RIfloat fx, RIfloat fy ) : x(fx), y(fy) {} + inline ~Vector2 () {} + inline Vector2& operator= ( const Vector2& v ) { x = v.x; y = v.y; return *this; } + inline RIfloat& operator[] ( int i ) { RI_ASSERT(i>=0&&i<2); return (&x)[i]; } + inline const RIfloat& operator[] ( int i ) const { RI_ASSERT(i>=0&&i<2); return (&x)[i]; } + inline void set ( RIfloat fx, RIfloat fy ) { x = fx; y = fy; } + inline void operator*= ( RIfloat f ) { x *= f; y *= f; } + inline void operator+= ( const Vector2& v ) { x += v.x; y += v.y; } + inline void operator-= ( const Vector2& v ) { x -= v.x; y -= v.y; } + inline const Vector2 operator- () const { return Vector2(-x,-y); } + //if the vector is zero, returns false and leaves it unmodified + inline bool normalize () { double l = (double)x*(double)x+(double)y*(double)y; if( l == 0.0 ) return false; l = 1.0 / sqrt(l); x = (RIfloat)((double)x * l); y = (RIfloat)((double)y * l); return true; } + inline RIfloat length () const { return (RIfloat)sqrt((double)x*(double)x+(double)y*(double)y); } + inline void scale ( const Vector2& v ) { x *= v.x; y *= v.y; } //component-wise scale + inline void negate () { x = -x; y = -y; } + + RIfloat x,y; +}; + +//============================================================================================== + +class Vector3 +{ +public: + inline Vector3 () : x(0.0f), y(0.0f), z(0.0f) {} + inline Vector3 ( const Vector3& v ) : x(v.x), y(v.y), z(v.z) {} + inline Vector3 ( RIfloat fx, RIfloat fy, RIfloat fz ) : x(fx), y(fy), z(fz) {} + inline ~Vector3 () {} + inline Vector3& operator= ( const Vector3& v ) { x = v.x; y = v.y; z = v.z; return *this; } + inline RIfloat& operator[] ( int i ) { RI_ASSERT(i>=0&&i<3); return (&x)[i]; } + inline const RIfloat& operator[] ( int i ) const { RI_ASSERT(i>=0&&i<3); return (&x)[i]; } + inline void set ( RIfloat fx, RIfloat fy, RIfloat fz ){ x = fx; y = fy; z = fz; } + inline void operator*= ( RIfloat f ) { x *= f; y *= f; z *= f; } + inline void operator+= ( const Vector3& v ) { x += v.x; y += v.y; z += v.z; } + inline void operator-= ( const Vector3& v ) { x -= v.x; y -= v.y; z -= v.z; } + inline const Vector3 operator- () const { return Vector3(-x,-y,-z); } + //if the vector is zero, returns false and leaves it unmodified + inline bool normalize () { double l = (double)x*(double)x+(double)y*(double)y+(double)z*(double)z; if( l == 0.0 ) return false; l = 1.0 / sqrt(l); x = (RIfloat)((double)x * l); y = (RIfloat)((double)y * l); z = (RIfloat)((double)z * l); return true; } + inline RIfloat length () const { return (RIfloat)sqrt((double)x*(double)x+(double)y*(double)y+(double)z*(double)z); } + inline void scale ( const Vector3& v ) { x *= v.x; y *= v.y; z *= v.z; } //component-wise scale + inline void negate () { x = -x; y = -y; z = -z; } + + RIfloat x,y,z; +}; + +//============================================================================================== + +//Vector2 global functions +inline bool operator== ( const Vector2& v1, const Vector2& v2 ) { return (v1.x == v2.x) && (v1.y == v2.y); } +inline bool operator!= ( const Vector2& v1, const Vector2& v2 ) { return (v1.x != v2.x) || (v1.y != v2.y); } +inline bool isEqual ( const Vector2& v1, const Vector2& v2, RIfloat epsilon ) { return RI_SQR(v2.x-v1.x) + RI_SQR(v2.y-v1.y) <= epsilon*epsilon; } +inline bool isZero ( const Vector2& v ) { return (v.x == 0.0f) && (v.y == 0.0f); } +inline const Vector2 operator* ( RIfloat f, const Vector2& v ) { return Vector2(v.x*f,v.y*f); } +inline const Vector2 operator* ( const Vector2& v, RIfloat f ) { return Vector2(v.x*f,v.y*f); } +inline const Vector2 operator+ ( const Vector2& v1, const Vector2& v2 ) { return Vector2(v1.x+v2.x, v1.y+v2.y); } +inline const Vector2 operator- ( const Vector2& v1, const Vector2& v2 ) { return Vector2(v1.x-v2.x, v1.y-v2.y); } +inline RIfloat dot ( const Vector2& v1, const Vector2& v2 ) { return v1.x*v2.x+v1.y*v2.y; } +//if v is a zero vector, returns a zero vector +inline const Vector2 normalize ( const Vector2& v ) { double l = (double)v.x*(double)v.x+(double)v.y*(double)v.y; if( l != 0.0 ) l = 1.0 / sqrt(l); return Vector2((RIfloat)((double)v.x * l), (RIfloat)((double)v.y * l)); } +//if onThis is a zero vector, returns a zero vector +inline const Vector2 project ( const Vector2& v, const Vector2& onThis ) { RIfloat l = dot(onThis,onThis); if( l != 0.0f ) l = dot(v, onThis)/l; return onThis * l; } +inline const Vector2 lerp ( const Vector2& v1, const Vector2& v2, RIfloat ratio ) { return v1 + ratio * (v2 - v1); } +inline const Vector2 scale ( const Vector2& v1, const Vector2& v2 ) { return Vector2(v1.x*v2.x, v1.y*v2.y); } +//matrix * column vector. The input vector2 is implicitly expanded to (x,y,1) +inline const Vector2 affineTransform( const Matrix3x3& m, const Vector2& v ) { RI_ASSERT(m.isAffine()); return Vector2(v.x * m[0][0] + v.y * m[0][1] + m[0][2], v.x * m[1][0] + v.y * m[1][1] + m[1][2]); } +//matrix * column vector. The input vector2 is implicitly expanded to (x,y,0) +inline const Vector2 affineTangentTransform(const Matrix3x3& m, const Vector2& v) { RI_ASSERT(m.isAffine()); return Vector2(v.x * m[0][0] + v.y * m[0][1], v.x * m[1][0] + v.y * m[1][1]); } +inline const Vector2 perpendicularCW(const Vector2& v) { return Vector2(v.y, -v.x); } +inline const Vector2 perpendicularCCW(const Vector2& v) { return Vector2(-v.y, v.x); } +inline const Vector2 perpendicular(const Vector2& v, bool cw) { if(cw) return Vector2(v.y, -v.x); return Vector2(-v.y, v.x); } + +//============================================================================================== + +//Vector3 global functions +inline bool operator== ( const Vector3& v1, const Vector3& v2 ) { return (v1.x == v2.x) && (v1.y == v2.y) && (v1.z == v2.z); } +inline bool operator!= ( const Vector3& v1, const Vector3& v2 ) { return (v1.x != v2.x) || (v1.y != v2.y) || (v1.z != v2.z); } +inline bool isEqual ( const Vector3& v1, const Vector3& v2, RIfloat epsilon ) { return RI_SQR(v2.x-v1.x) + RI_SQR(v2.y-v1.y) + RI_SQR(v2.z-v1.z) <= epsilon*epsilon; } +inline const Vector3 operator* ( RIfloat f, const Vector3& v ) { return Vector3(v.x*f,v.y*f,v.z*f); } +inline const Vector3 operator* ( const Vector3& v, RIfloat f ) { return Vector3(v.x*f,v.y*f,v.z*f); } +inline const Vector3 operator+ ( const Vector3& v1, const Vector3& v2 ) { return Vector3(v1.x+v2.x, v1.y+v2.y, v1.z+v2.z); } +inline const Vector3 operator- ( const Vector3& v1, const Vector3& v2 ) { return Vector3(v1.x-v2.x, v1.y-v2.y, v1.z-v2.z); } +inline RIfloat dot ( const Vector3& v1, const Vector3& v2 ) { return v1.x*v2.x+v1.y*v2.y+v1.z*v2.z; } +inline const Vector3 cross ( const Vector3& v1, const Vector3& v2 ) { return Vector3( v1.y*v2.z-v1.z*v2.y, v1.z*v2.x-v1.x*v2.z, v1.x*v2.y-v1.y*v2.x ); } +//if v is a zero vector, returns a zero vector +inline const Vector3 normalize ( const Vector3& v ) { double l = (double)v.x*(double)v.x+(double)v.y*(double)v.y+(double)v.z*(double)v.z; if( l != 0.0 ) l = 1.0 / sqrt(l); return Vector3((RIfloat)((double)v.x * l), (RIfloat)((double)v.y * l), (RIfloat)((double)v.z * l)); } +inline const Vector3 lerp ( const Vector3& v1, const Vector3& v2, RIfloat ratio ) { return v1 + ratio * (v2 - v1); } +inline const Vector3 scale ( const Vector3& v1, const Vector3& v2 ) { return Vector3(v1.x*v2.x, v1.y*v2.y, v1.z*v2.z); } + +//============================================================================================== + +//matrix * column vector +inline const Vector3 operator* ( const Matrix3x3& m, const Vector3& v) { return Vector3( v.x*m[0][0]+v.y*m[0][1]+v.z*m[0][2], v.x*m[1][0]+v.y*m[1][1]+v.z*m[1][2], v.x*m[2][0]+v.y*m[2][1]+v.z*m[2][2] ); } + +//============================================================================================== + +//Matrix3x3 global functions +inline bool operator== ( const Matrix3x3& m1, const Matrix3x3& m2 ) { for(int i=0;i<3;i++) for(int j=0;j<3;j++) if( m1[i][j] != m2[i][j] ) return false; return true; } +inline bool operator!= ( const Matrix3x3& m1, const Matrix3x3& m2 ) { return !(m1 == m2); } +inline const Matrix3x3 operator* ( const Matrix3x3& m1, const Matrix3x3& m2 ) { Matrix3x3 t; for(int i=0;i<3;i++) for(int j=0;j<3;j++) t[i][j] = m1[i][0] * m2[0][j] + m1[i][1] * m2[1][j] + m1[i][2] * m2[2][j]; return t; } +inline const Matrix3x3 operator* ( RIfloat f, const Matrix3x3& m ) { Matrix3x3 t(m); t *= f; return t; } +inline const Matrix3x3 operator* ( const Matrix3x3& m, RIfloat f ) { Matrix3x3 t(m); t *= f; return t; } +inline const Matrix3x3 operator+ ( const Matrix3x3& m1, const Matrix3x3& m2 ) { Matrix3x3 t(m1); t += m2; return t; } +inline const Matrix3x3 operator- ( const Matrix3x3& m1, const Matrix3x3& m2 ) { Matrix3x3 t(m1); t -= m2; return t; } +inline const Matrix3x3 transpose ( const Matrix3x3& m ) { Matrix3x3 t(m); t.transpose(); return t; } +// if the matrix is singular, returns it unmodified +inline const Matrix3x3 invert ( const Matrix3x3& m ) { Matrix3x3 t(m); t.invert(); return t; } + +//============================================================================================== + +//Matrix3x3 inline functions (cannot be inside the class because Vector3 is not defined yet when Matrix3x3 is defined) +inline Matrix3x3::Matrix3x3 () { identity(); } +inline Matrix3x3::Matrix3x3 ( const Matrix3x3& m ) { *this = m; } +inline Matrix3x3::Matrix3x3 ( RIfloat m00, RIfloat m01, RIfloat m02, RIfloat m10, RIfloat m11, RIfloat m12, RIfloat m20, RIfloat m21, RIfloat m22 ) { set(m00,m01,m02,m10,m11,m12,m20,m21,m22); } +inline Matrix3x3::~Matrix3x3 () {} +inline Matrix3x3& Matrix3x3::operator= ( const Matrix3x3& m ) { for(int i=0;i<3;i++) for(int j=0;j<3;j++) matrix[i][j] = m.matrix[i][j]; return *this; } +inline Vector3& Matrix3x3::operator[] ( int i ) { RI_ASSERT(i>=0&&i<3); return (Vector3&)matrix[i][0]; } +inline const Vector3& Matrix3x3::operator[] ( int i ) const { RI_ASSERT(i>=0&&i<3); return (const Vector3&)matrix[i][0]; } +inline void Matrix3x3::set ( RIfloat m00, RIfloat m01, RIfloat m02, RIfloat m10, RIfloat m11, RIfloat m12, RIfloat m20, RIfloat m21, RIfloat m22 ) { matrix[0][0] = m00; matrix[0][1] = m01; matrix[0][2] = m02; matrix[1][0] = m10; matrix[1][1] = m11; matrix[1][2] = m12; matrix[2][0] = m20; matrix[2][1] = m21; matrix[2][2] = m22; } +inline const Vector3 Matrix3x3::getRow ( int i ) const { RI_ASSERT(i>=0&&i<3); return Vector3(matrix[i][0], matrix[i][1], matrix[i][2]); } +inline const Vector3 Matrix3x3::getColumn ( int i ) const { RI_ASSERT(i>=0&&i<3); return Vector3(matrix[0][i], matrix[1][i], matrix[2][i]); } +inline void Matrix3x3::setRow ( int i, const Vector3& v ) { RI_ASSERT(i>=0&&i<3); matrix[i][0] = v.x; matrix[i][1] = v.y; matrix[i][2] = v.z; } +inline void Matrix3x3::setColumn ( int i, const Vector3& v ) { RI_ASSERT(i>=0&&i<3); matrix[0][i] = v.x; matrix[1][i] = v.y; matrix[2][i] = v.z; } +inline void Matrix3x3::operator*= ( const Matrix3x3& m ) { *this = *this * m; } +inline void Matrix3x3::operator*= ( RIfloat f ) { for(int i=0;i<3;i++) for(int j=0;j<3;j++) matrix[i][j] *= f; } +inline void Matrix3x3::operator+= ( const Matrix3x3& m ) { for(int i=0;i<3;i++) for(int j=0;j<3;j++) matrix[i][j] += m.matrix[i][j]; } +inline void Matrix3x3::operator-= ( const Matrix3x3& m ) { for(int i=0;i<3;i++) for(int j=0;j<3;j++) matrix[i][j] -= m.matrix[i][j]; } +inline const Matrix3x3 Matrix3x3::operator- () const { return Matrix3x3( -matrix[0][0],-matrix[0][1],-matrix[0][2], -matrix[1][0],-matrix[1][1],-matrix[1][2], -matrix[2][0],-matrix[2][1],-matrix[2][2]); } +inline void Matrix3x3::identity () { for(int i=0;i<3;i++) for(int j=0;j<3;j++) matrix[i][j] = (i == j) ? 1.0f : 0.0f; } +inline void Matrix3x3::transpose () { RI_SWAP(matrix[1][0], matrix[0][1]); RI_SWAP(matrix[2][0], matrix[0][2]); RI_SWAP(matrix[2][1], matrix[1][2]); } +inline RIfloat Matrix3x3::det () const { return matrix[0][0] * (matrix[1][1]*matrix[2][2] - matrix[2][1]*matrix[1][2]) + matrix[0][1] * (matrix[2][0]*matrix[1][2] - matrix[1][0]*matrix[2][2]) + matrix[0][2] * (matrix[1][0]*matrix[2][1] - matrix[2][0]*matrix[1][1]); } +inline bool Matrix3x3::isAffine () const { if(matrix[2][0] == 0.0f && matrix[2][1] == 0.0f && matrix[2][2] == 1.0f) return true; return false; } + +//============================================================================================== + +} //namespace tgOpenVG + +#endif /* __MATH_H */ |