277 lines
11 KiB
C++
277 lines
11 KiB
C++
/*
|
|
---------------------------------------------------------------------------
|
|
Open Asset Import Library (assimp)
|
|
---------------------------------------------------------------------------
|
|
|
|
Copyright (c) 2006-2020, assimp team
|
|
|
|
|
|
|
|
All rights reserved.
|
|
|
|
Redistribution and use of this software in source and binary forms,
|
|
with or without modification, are permitted provided that the following
|
|
conditions are met:
|
|
|
|
* Redistributions of source code must retain the above
|
|
copyright notice, this list of conditions and the
|
|
following disclaimer.
|
|
|
|
* Redistributions in binary form must reproduce the above
|
|
copyright notice, this list of conditions and the
|
|
following disclaimer in the documentation and/or other
|
|
materials provided with the distribution.
|
|
|
|
* Neither the name of the assimp team, nor the names of its
|
|
contributors may be used to endorse or promote products
|
|
derived from this software without specific prior
|
|
written permission of the assimp team.
|
|
|
|
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
|
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
|
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
|
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
|
|
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
|
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
|
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
|
|
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
|
|
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
---------------------------------------------------------------------------
|
|
*/
|
|
/** @file matrix4x4.h
|
|
* @brief 4x4 matrix structure, including operators when compiling in C++
|
|
*/
|
|
#pragma once
|
|
#ifndef AI_MATRIX4X4_H_INC
|
|
#define AI_MATRIX4X4_H_INC
|
|
|
|
#ifdef __GNUC__
|
|
# pragma GCC system_header
|
|
#endif
|
|
|
|
#include <assimp/vector3.h>
|
|
#include <assimp/defs.h>
|
|
|
|
#ifdef __cplusplus
|
|
|
|
template<typename TReal> class aiMatrix3x3t;
|
|
template<typename TReal> class aiQuaterniont;
|
|
|
|
// ---------------------------------------------------------------------------
|
|
/** @brief Represents a row-major 4x4 matrix, use this for homogeneous
|
|
* coordinates.
|
|
*
|
|
* There's much confusion about matrix layouts (column vs. row order).
|
|
* This is *always* a row-major matrix. Not even with the
|
|
* #aiProcess_ConvertToLeftHanded flag, which absolutely does not affect
|
|
* matrix order - it just affects the handedness of the coordinate system
|
|
* defined thereby.
|
|
*/
|
|
template<typename TReal>
|
|
class aiMatrix4x4t {
|
|
public:
|
|
|
|
/** set to identity */
|
|
aiMatrix4x4t() AI_NO_EXCEPT;
|
|
|
|
/** construction from single values */
|
|
aiMatrix4x4t ( TReal _a1, TReal _a2, TReal _a3, TReal _a4,
|
|
TReal _b1, TReal _b2, TReal _b3, TReal _b4,
|
|
TReal _c1, TReal _c2, TReal _c3, TReal _c4,
|
|
TReal _d1, TReal _d2, TReal _d3, TReal _d4);
|
|
|
|
|
|
/** construction from 3x3 matrix, remaining elements are set to identity */
|
|
explicit aiMatrix4x4t( const aiMatrix3x3t<TReal>& m);
|
|
|
|
/** construction from position, rotation and scaling components
|
|
* @param scaling The scaling for the x,y,z axes
|
|
* @param rotation The rotation as a hamilton quaternion
|
|
* @param position The position for the x,y,z axes
|
|
*/
|
|
aiMatrix4x4t(const aiVector3t<TReal>& scaling, const aiQuaterniont<TReal>& rotation,
|
|
const aiVector3t<TReal>& position);
|
|
|
|
// array access operators
|
|
/** @fn TReal* operator[] (unsigned int p_iIndex)
|
|
* @param [in] p_iIndex - index of the row.
|
|
* @return pointer to pointed row.
|
|
*/
|
|
TReal* operator[] (unsigned int p_iIndex);
|
|
|
|
/** @fn const TReal* operator[] (unsigned int p_iIndex) const
|
|
* @overload TReal* operator[] (unsigned int p_iIndex)
|
|
*/
|
|
const TReal* operator[] (unsigned int p_iIndex) const;
|
|
|
|
// comparison operators
|
|
bool operator== (const aiMatrix4x4t& m) const;
|
|
bool operator!= (const aiMatrix4x4t& m) const;
|
|
|
|
bool Equal(const aiMatrix4x4t& m, TReal epsilon = 1e-6) const;
|
|
|
|
// matrix multiplication.
|
|
aiMatrix4x4t& operator *= (const aiMatrix4x4t& m);
|
|
aiMatrix4x4t operator * (const aiMatrix4x4t& m) const;
|
|
aiMatrix4x4t operator * (const TReal& aFloat) const;
|
|
aiMatrix4x4t operator + (const aiMatrix4x4t& aMatrix) const;
|
|
|
|
template <typename TOther>
|
|
operator aiMatrix4x4t<TOther> () const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Transpose the matrix */
|
|
aiMatrix4x4t& Transpose();
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Invert the matrix.
|
|
* If the matrix is not invertible all elements are set to qnan.
|
|
* Beware, use (f != f) to check whether a TReal f is qnan.
|
|
*/
|
|
aiMatrix4x4t& Inverse();
|
|
TReal Determinant() const;
|
|
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns true of the matrix is the identity matrix.
|
|
* The check is performed against a not so small epsilon.
|
|
*/
|
|
inline bool IsIdentity() const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Decompose a trafo matrix into its original components
|
|
* @param scaling Receives the output scaling for the x,y,z axes
|
|
* @param rotation Receives the output rotation as a hamilton
|
|
* quaternion
|
|
* @param position Receives the output position for the x,y,z axes
|
|
*/
|
|
void Decompose (aiVector3t<TReal>& scaling, aiQuaterniont<TReal>& rotation,
|
|
aiVector3t<TReal>& position) const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const
|
|
* @brief Decompose a trafo matrix into its original components.
|
|
* Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
|
|
* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
|
|
* @param [out] pRotation - Receives the output rotation as a Euler angles.
|
|
* @param [out] pPosition - Receives the output position for the x,y,z axes.
|
|
*/
|
|
void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotation, aiVector3t<TReal>& pPosition) const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @fn void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const
|
|
* @brief Decompose a trafo matrix into its original components
|
|
* Thx to good FAQ at http://www.gamedev.ru/code/articles/faq_matrix_quat
|
|
* @param [out] pScaling - Receives the output scaling for the x,y,z axes.
|
|
* @param [out] pRotationAxis - Receives the output rotation axis.
|
|
* @param [out] pRotationAngle - Receives the output rotation angle for @ref pRotationAxis.
|
|
* @param [out] pPosition - Receives the output position for the x,y,z axes.
|
|
*/
|
|
void Decompose(aiVector3t<TReal>& pScaling, aiVector3t<TReal>& pRotationAxis, TReal& pRotationAngle, aiVector3t<TReal>& pPosition) const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Decompose a trafo matrix with no scaling into its
|
|
* original components
|
|
* @param rotation Receives the output rotation as a hamilton
|
|
* quaternion
|
|
* @param position Receives the output position for the x,y,z axes
|
|
*/
|
|
void DecomposeNoScaling (aiQuaterniont<TReal>& rotation,
|
|
aiVector3t<TReal>& position) const;
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Creates a trafo matrix from a set of euler angles
|
|
* @param x Rotation angle for the x-axis, in radians
|
|
* @param y Rotation angle for the y-axis, in radians
|
|
* @param z Rotation angle for the z-axis, in radians
|
|
*/
|
|
aiMatrix4x4t& FromEulerAnglesXYZ(TReal x, TReal y, TReal z);
|
|
aiMatrix4x4t& FromEulerAnglesXYZ(const aiVector3t<TReal>& blubb);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns a rotation matrix for a rotation around the x axis
|
|
* @param a Rotation angle, in radians
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& RotationX(TReal a, aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns a rotation matrix for a rotation around the y axis
|
|
* @param a Rotation angle, in radians
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& RotationY(TReal a, aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns a rotation matrix for a rotation around the z axis
|
|
* @param a Rotation angle, in radians
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& RotationZ(TReal a, aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** Returns a rotation matrix for a rotation around an arbitrary axis.
|
|
* @param a Rotation angle, in radians
|
|
* @param axis Rotation axis, should be a normalized vector.
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& Rotation(TReal a, const aiVector3t<TReal>& axis,
|
|
aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns a translation matrix
|
|
* @param v Translation vector
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& Translation( const aiVector3t<TReal>& v,
|
|
aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief Returns a scaling matrix
|
|
* @param v Scaling vector
|
|
* @param out Receives the output matrix
|
|
* @return Reference to the output matrix
|
|
*/
|
|
static aiMatrix4x4t& Scaling( const aiVector3t<TReal>& v, aiMatrix4x4t& out);
|
|
|
|
// -------------------------------------------------------------------
|
|
/** @brief A function for creating a rotation matrix that rotates a
|
|
* vector called "from" into another vector called "to".
|
|
* Input : from[3], to[3] which both must be *normalized* non-zero vectors
|
|
* Output: mtx[3][3] -- a 3x3 matrix in column-major form
|
|
* Authors: Tomas Mueller, John Hughes
|
|
* "Efficiently Building a Matrix to Rotate One Vector to Another"
|
|
* Journal of Graphics Tools, 4(4):1-4, 1999
|
|
*/
|
|
static aiMatrix4x4t& FromToMatrix(const aiVector3t<TReal>& from,
|
|
const aiVector3t<TReal>& to, aiMatrix4x4t& out);
|
|
|
|
TReal a1, a2, a3, a4;
|
|
TReal b1, b2, b3, b4;
|
|
TReal c1, c2, c3, c4;
|
|
TReal d1, d2, d3, d4;
|
|
};
|
|
|
|
typedef aiMatrix4x4t<ai_real> aiMatrix4x4;
|
|
|
|
#else
|
|
|
|
struct aiMatrix4x4 {
|
|
ai_real a1, a2, a3, a4;
|
|
ai_real b1, b2, b3, b4;
|
|
ai_real c1, c2, c3, c4;
|
|
ai_real d1, d2, d3, d4;
|
|
};
|
|
|
|
|
|
#endif // __cplusplus
|
|
|
|
#endif // AI_MATRIX4X4_H_INC
|