Coin: SbMatrix.h Source File

| Coin3D is Free Software, published under the BSD 3-clause license. | https://coin3d.github.io https://www.kongsberg.com/en/kogt/

SbMatrix.h
1#ifndef COIN_SBMATRIX_H
2#define COIN_SBMATRIX_H
3
4/**************************************************************************\
5 * Copyright (c) Kongsberg Oil & Gas Technologies AS
6 * All rights reserved.
7 *
8 * Redistribution and use in source and binary forms, with or without
9 * modification, are permitted provided that the following conditions are
10 * met:
11 *
12 * Redistributions of source code must retain the above copyright notice,
13 * this list of conditions and the following disclaimer.
14 *
15 * Redistributions in binary form must reproduce the above copyright
16 * notice, this list of conditions and the following disclaimer in the
17 * documentation and/or other materials provided with the distribution.
18 *
19 * Neither the name of the copyright holder nor the names of its
20 * contributors may be used to endorse or promote products derived from
21 * this software without specific prior written permission.
22 *
23 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
26 * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
27 * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
28 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
29 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
30 * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
31 * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
32 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
33 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
34\**************************************************************************/
35
36#include <cstdio>
37#include <Inventor/SbBasic.h>
38
39class SbLine;
40class SbRotation;
41class SbVec3f;
42class SbVec4f;
43class SbDPMatrix;
44
45typedef float SbMat[4][4];
46
47 class COIN_DLL_API SbMatrix {
48public:
49 SbMatrix(void);
50 SbMatrix(const float a11, const float a12, const float a13, const float a14,
51 const float a21, const float a22, const float a23, const float a24,
52 const float a31, const float a32, const float a33, const float a34,
53 const float a41, const float a42, const float a43, const float a44);
54 SbMatrix(const SbMat & matrix);
55 SbMatrix(const SbMat * matrix);
56 explicit SbMatrix(const SbDPMatrix & matrix);
57 ~SbMatrix(void);
58
59 void setValue(const SbMat & m);
60 void setValue(const SbDPMatrix & m);
61 void setValue(const float * pMat);
62 const SbMat & getValue(void) const;
63
64 void makeIdentity(void);
65 void setRotate(const SbRotation & q);
66 SbMatrix inverse(void) const;
67 float det3(int r1, int r2, int r3,
68 int c1, int c2, int c3) const;
69 float det3(void) const;
70 float det4(void) const;
71
72 SbBool equals(const SbMatrix & m, float tolerance) const;
73
74
75 void getValue(SbMat & m) const;
76 static SbMatrix identity(void);
77 void setScale(const float s);
78 void setScale(const SbVec3f & s);
79 void setTranslate(const SbVec3f & t);
80 void setTransform(const SbVec3f & t, const SbRotation & r, const SbVec3f & s);
81 void setTransform(const SbVec3f & t, const SbRotation & r, const SbVec3f & s,
82 const SbRotation & so);
83 void setTransform(const SbVec3f & translation,
84 const SbRotation & rotation, const SbVec3f & scaleFactor,
85 const SbRotation & scaleOrientation, const SbVec3f & center);
86 void getTransform(SbVec3f & t, SbRotation & r,
87 SbVec3f & s, SbRotation & so) const;
88 void getTransform(SbVec3f & translation, SbRotation & rotation,
89 SbVec3f & scaleFactor, SbRotation & scaleOrientation,
90 const SbVec3f & center) const;
91 SbBool factor(SbMatrix & r, SbVec3f & s, SbMatrix & u, SbVec3f & t,
92 SbMatrix & proj) const;
93 SbBool LUDecomposition(int index[4], float & d);
94 void LUBackSubstitution(int index[4], float b[4]) const;
95 SbMatrix transpose(void) const;
96 SbMatrix & multRight(const SbMatrix & m);
97 SbMatrix & multLeft(const SbMatrix & m);
98 void multMatrixVec(const SbVec3f & src, SbVec3f & dst) const;
99 void multVecMatrix(const SbVec3f & src, SbVec3f & dst) const;
100 void multDirMatrix(const SbVec3f & src, SbVec3f & dst) const;
101 void multLineMatrix(const SbLine & src, SbLine & dst) const;
102 void multVecMatrix(const SbVec4f & src, SbVec4f & dst) const;
103
104 void print(FILE * fp) const;
105
106 operator float*(void);
107 operator SbMat&(void);
108
109 float * operator [](int i);
110 const float * operator [](int i) const;
111
112 SbMatrix & operator =(const SbMat & m);
113 SbMatrix & operator =(const SbMatrix & m);
114 SbMatrix & operator =(const SbRotation & q);
115 SbMatrix & operator *=(const SbMatrix & m);
116
117 friend COIN_DLL_API SbMatrix operator *(const SbMatrix & m1, const SbMatrix & m2);
118 friend COIN_DLL_API int operator ==(const SbMatrix & m1, const SbMatrix & m2);
119 friend COIN_DLL_API int operator !=(const SbMatrix & m1, const SbMatrix & m2);
120
121private:
122 float matrix[4][4];
123
124 void operator /=(const float v);
125 void operator *=(const float v);
126};
127
128COIN_DLL_API SbMatrix operator *(const SbMatrix & m1, const SbMatrix & m2);
129COIN_DLL_API int operator ==(const SbMatrix & m1, const SbMatrix & m2);
130COIN_DLL_API int operator !=(const SbMatrix & m1, const SbMatrix & m2);
131
132#endif // !COIN_SBMATRIX_H
SbDPMatrix
The SbDPMatrix class is a 4x4 dimensional representation of a double-precision matrix.
Definition SbDPMatrix.h:47
SbLine
The SbLine class represents a line in 3D space.
Definition SbLine.h:41
SbMatrix
The SbMatrix class is a 4x4 dimensional representation of a matrix.
Definition SbMatrix.h:47
SbRotation
The SbRotation class represents a rotation in 3D space.
Definition SbRotation.h:44
SbVec3f
The SbVec3f class is a 3 dimensional vector with floating point coordinates.
Definition SbVec3f.h:51
SbVec4f
The SbVec4f class is a 4 dimensional vector with floating point coordinates.
Definition SbVec4f.h:49